rasp camera

client/drivers/camera_overlord.py

@@ -0,0 +1,28 @@
+# This script periodically takes photos and saves them to
+# a temporary file on ram. This allows multiple programs to
+# access the camera feed at once.
+
+from picamera2 import Picamera2
+import os
+import time
+
+picam2 = Picamera2()
+picam2.start()
+picam2.options['quality'] = 80
+
+try:
+    f = open('/tmp/snapshot.jpg','x')
+    f.close()
+except:
+    print('Snapshot already exists')
+
+try:
+    while True:
+        picam2.capture_file("/tmp/snapshot2.jpg")
+        os.replace("/tmp/snapshot2.jpg", "/tmp/snapshot.jpg")
+        time.sleep(0.5)
+
+except KeyboardInterrupt:
+    picam2.close()
+    print('Closed nicely')
+    quit()

client/models/pose_detection/frame_capturer.py

@@ -1,7 +1,9 @@
 from abc import ABC, abstractmethod
 
 import numpy as np
+import time
 import cv2
+import os
 
 
 class FrameCapturer(ABC):
@@ -30,3 +32,20 @@ def get_frame(self) -> tuple[np.ndarray, int]:
     def release(self) -> None:
         """Release the camera."""
         self._cam.release()
+
+
+class RaspCapturer(FrameCapturer):
+    """FrameCapturer using a temp file to read from the camera.
+    File is created using client/drivers/camera_overlord.py"""
+    def get_frame(self) -> tuple[np.ndarray, int]:
+        tries = 0
+        while True:
+            array = cv2.imread('/tmp/snapshot.jpg')
+            if array is None:
+                tries += 1
+                if tries > 5: raise FileNotFoundError('No snapshot found')
+                time.sleep(0.05) 
+            else:
+                tries = 0
+                finfo = os.stat('/tmp/snapshot.jpg')
+                return (array, finfo.st_mtime)