Nao机器人如何实现视频监控

最近发现群里有朋友在问如何实现Nao机器人视频监控，就写下这篇博客，希望能帮助到大家。

直入正题，法国Nao机器人如何实现视频监控，这里提供三种方式，第一种是基于socket传输的，第二种是使用opencv进行显示，第三种是使用pyqt显示的，推荐后两种方式

一、通过socket传输，这个实现比较麻烦，是在nao本体上实现一个socket服务端，每获取一张图片，并通过socket传输出来，PC上实现客户端接收服务端传输过来的图片数据并显示，不推荐使用，可以尝试实现一下，代码是以前的代码片段，写这篇博客时并未进行测试过，如有错误请指出，谢谢

Server：

#!/usr/bin/env python
# -*- coding: utf-8 -*-  import socket
from naoqi import ALProxy
import timeHOST = '192.168.123.26'
PORT = 8000photoCapture = ALProxy("ALPhotoCapture",HOST,9559)
path = '/home/nao/camera/'
name = 'photo.jpg'
# Configure socket
sd = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sd.bind((HOST, PORT))
sd.listen(3)
print 'Wait for connecting:'
try:conn, addr = sd.accept()
except:sd.close()
print 'connect successfully:'+str(addr)# receive message
try:conn.sendall('ok')
except:conn.close()sd.close()
while True:photoCapture.takePicture(path, name)fd = open('/home/nao/camera/photo.jpg','rb') img = fd.read()fd.close()img_len = len(img)if img_len == 0:continue# sd.sendall(str(img_len))count = (img_len//13000) + 1# print countfor i in range(count):if i < count - 1:conn.send(img[i*13000:(i+1)*13000])elif i == count - 1:conn.send(img[i*13000:]+'end')
# close connection
conn.close()
sd.close()

Client：

#!/usr/bin/env python
# -*- coding: utf-8 -*-  def thread_func():data= ""temp = 0while True:buf = sd.recv(13010)buf_len = len(buf)if buf[buf_len-3:] == 'end':data += buf[:buf_len-3]image_bytes = data data_stream = io.BytesIO(image_bytes) pil_image = Image.open(data_stream) tk_image = ImageTk.PhotoImage(pil_image)label['image'] = tk_imagedata = ""else:data += buf
import socket
import os
import io
import threading
import time
from PIL import Image, ImageTk
try:   # Python2   import Tkinter as tk   from urllib2 import urlopen
except ImportError:   # Python3   import tkinter as tk   from urllib.request import urlopen # Address
HOST = '192.168.123.26'
PORT = 8000
# configure socket
sd = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:sd.connect((HOST, PORT))
except:sd.close()# send message
try:print 'connection state:'+sd.recv(10)
except:sd.close()
root = tk.Tk()
t = threading.Thread(target=thread_func, name='LoopThread')
t.start()
fd = open('tt.png','rb')
image_data = fd.read()
fd.close()
image_bytes = image_data
data_stream = io.BytesIO(image_bytes)
pil_image = Image.open(data_stream)
tk_image = ImageTk.PhotoImage(pil_image)
label = tk.Label(root, image=tk_image, bg='brown')
label.pack(padx=5, pady=5)
root.mainloop()
sd.close()
t.join()

二、通过OpenCV显示

#!/usr/bin/env python
# -*- coding: utf-8 -*-
# This is a tiny example that shows how to show live images from Nao using OpenCV.import sys
import cv2.cv as cv
from naoqi import ALProxy
import vision_definitionsclass OpenCVModule():def __init__(self, IP, PORT, CameraID):self._videoProxy = Noneself._cameraID = CameraIDself._resolution = vision_definitions.kQVGA  # 320 * 240self._colorSpace = vision_definitions.kBGRColorSpaceself._fps = 20self._imgClient = ""self._imgData = Noneself._img = cv.CreateImageHeader((320,240),cv.IPL_DEPTH_8U,3)cv.NamedWindow("Camera_OpenCV", 0)self._registerImageClient(IP, PORT)def _registerImageClient(self, IP, PORT):self._videoProxy = ALProxy("ALVideoDevice", IP, PORT)self._imgClient = self._videoProxy.subscribeCamera("OpenCV_Client", self._cameraID, self._resolution, self._colorSpace,self._fps)def _unregisterImageClient(self):if self._imgClient != "":self._videoProxy.unsubscribe(self._imgClient)def showImage(self):while True:try:self._imgData = self._videoProxy.getImageRemote(self._imgClient)cv.SetData(self._img, self._imgData[6])cv.ShowImage("Camera_OpenCV", self._img)except KeyboardInterrupt:breakexcept:passif cv.WaitKey(10) == 27:breakcv.DestroyAllWindows()self._unregisterImageClient()if __name__ == '__main__':IP = "192.168.123.26" PORT = 9559CameraID = 0if len(sys.argv) > 1:IP = sys.argv[1]if len(sys.argv) > 2:CameraID = int(sys.argv[2])myWidget = OpenCVModule(IP, PORT, CameraID)myWidget.showImage()

三、通过PyQt显示

#!/usr/bin/env python
# -*- coding: utf-8 -*-
# This is a tiny example that shows how to show live images from Nao using PyQt.import sys
from PyQt4.QtGui import QWidget, QImage, QApplication, QPainter
from naoqi import ALProxy
import vision_definitionsclass ImageWidget(QWidget):def __init__(self, IP, PORT, CameraID, parent=None):QWidget.__init__(self, parent)self._image = QImage()self.setWindowTitle('Nao')self._widWidth = 640self._widHeight = 480self.resize(self._widWidth, self._widHeight)self._videoProxy = Noneself._cameraID = CameraIDself._resolution = vision_definitions.kQVGA  # 320 * 240self._colorSpace = vision_definitions.kRGBColorSpaceself._fps = 10self._imgClient = ""self._alImage = Noneself._registerImageClient(IP, PORT)self.startTimer(50)def _registerImageClient(self, IP, PORT):self._videoProxy = ALProxy("ALVideoDevice", IP, PORT)self._imgClient = self._videoProxy.subscribeCamera("PyQt_Client", self._cameraID, self._resolution, self._colorSpace, self._fps)def _unregisterImageClient(self):if self._imgClient != "":self._videoProxy.unsubscribe(self._imgClient)def paintEvent(self, event):painter = QPainter(self)painter.drawImage(painter.viewport(), self._image)def _updateImage(self):self._alImage = self._videoProxy.getImageRemote(self._imgClient)self._image = QImage(self._alImage[6],           # Pixel array.self._alImage[0],           # Width.self._alImage[1],           # Height.QImage.Format_RGB888)def timerEvent(self, event):self._updateImage()self.update()def __del__(self):self._unregisterImageClient()if __name__ == '__main__':IP = "192.168.123.26" PORT = 9559CameraID = 0if len(sys.argv) > 1:IP = sys.argv[1]if len(sys.argv) > 2:CameraID = int(sys.argv[2])app = QApplication(sys.argv)myWidget = ImageWidget(IP, PORT, CameraID)myWidget.show()sys.exit(app.exec_())

这里推荐使用后面两种方式，不推荐使用第一种方式

最后重申一下，写这篇博客时候，代码是以前的的代码片段，如有错误，可以指出，见谅，谢谢

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