qr.py

import numpy as np
import cv2


def read_camera_parameters():
    cam_mtx = np.loadtxt("cam_mtx.dat")
    dist_params = np.loadtxt("dist_params.dat")

    # cmtx = camera matrix, dist = distortion parameters
    return cam_mtx, dist_params


def get_qr_coords(cam_mat, dist_para, points):
    qr_edges = np.array(
        [
            [0, 0, 0],
            [0, 1, 0],
            [1, 1, 0],
            [1, 0, 0]
        ],
        dtype='float32'
    ).reshape((4, 1, 3))

    ret, rvec, tvec = cv2.solvePnP(qr_edges, points, cam_mat, dist_para)

    unitv_points = np.array(
        [
            [0, 0, 0],
            [1, 0, 0],
            [0, 1, 0],
            [0, 0, 1]
        ],
        dtype='float32'
    ).reshape((4, 1, 3))

    if ret:
        points, jac = cv2.projectPoints(unitv_points, rvec, tvec, cam_mat, dist_para)
        return points, rvec, tvec

    return [], [], []


def main():
    capture = cv2.VideoCapture(input_src)

    qr = cv2.QRCodeDetector()
    # cv2.namedWindow("Frame", cv2.WINDOW_NORMAL)

    while capture.isOpened():
        ret, frame = capture.read()
        if not ret:
            break

        value, points, qr_matrix = qr.detectAndDecode(frame)
        if value:
            print(value, points)

        key = cv2.waitKey(1)

        if key == ord('q') or key == 27:
            break

        if value:
            axis_points, rvec, tvec = get_qr_coords(cmtx, dist, points)

            # rvec, jacobian = cv2.Rodrigues(rvec)
            # camera_position = -rvec.transpose() @ tvec

            # BGR formatted colors
            colors = [(255, 0, 0), (0, 255, 0), (0, 0, 255), (0, 0, 0)]

            if len(axis_points):
                axis_points = axis_points.reshape((4, 2))

                origin = (int(axis_points[0][0]), int(axis_points[0][1]))

                for p, c in zip(axis_points[1:], colors[:3]):
                    p = (int(p[0]), int(p[1]))

                    # Sometimes qr detector will make a mistake and projected point will overflow integer value.
                    # We skip these cases.
                    if origin[0] > 5 * frame.shape[1] or origin[1] > 5 * frame.shape[1]:
                        break
                    if p[0] > 5 * frame.shape[1] or p[1] > 5 * frame.shape[1]:
                        break

                    cv2.line(frame, origin, p, c, 5)

                cv2.putText(frame, f"{value}", origin, cv2.FONT_HERSHEY_SIMPLEX, 2, (255, 255, 255), 5,
                            cv2.LINE_AA)

        cv2.imshow("Frame", frame)

        key = cv2.waitKey(1)

        if key == ord('q') or key == 27:
            break

    capture.release()
    cv2.destroyAllWindows()


if __name__ == "__main__":
    input_src = "rstp://192.168.1.167:31332/1"
    print("!")

    cmtx, dist = read_camera_parameters()
    main()

tr.py

import socket
import sys
import cv2
import pickle
import numpy as np

HOST = 'http://192.168.1.167:4747/video'

cap = cv2.VideoCapture("http://192.168.1.167:4747/video")
print(cv2.getBuildInformation())
# cap.open(HOST)

print(cap.isOpened())

while True:
    ret, frame = cap.read()
    cv2.imshow('s', frame)
    if cv2.waitKey(1) == ord("q"):
        break

cap.release()
cv2.destroyAllWindows()