46 lines
1.1 KiB
Python
46 lines
1.1 KiB
Python
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#!/usr/bin/env python3
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#
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# An example script that receives images from a WebotsArduVehicle
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# on port 5599 and displays using OpenCV.
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# Requires opencv-python (`pip3 install opencv-python`)
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#
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import cv2
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import socket
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import struct
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import numpy as np
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# connect to WebotsArduVehicle
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s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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s.connect(("127.0.0.1", 5599))
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header_size = struct.calcsize("=HH")
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while True:
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# receive header
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header = s.recv(header_size)
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if len(header) != header_size:
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print("Header size mismatch")
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break
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# parse header
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width, height = struct.unpack("=HH", header)
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# receive image
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bytes_to_read = width * height
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img = bytes()
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while len(img) < bytes_to_read:
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img += s.recv(min(bytes_to_read - len(img), 4096))
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# convert incoming bytes to a numpy array (a grayscale image)
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img = np.frombuffer(img, np.uint8).reshape((height, width))
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# Do cool stuff with the image here
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# ...
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# display image
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cv2.imshow("image", img)
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if cv2.waitKey(1) == ord("q"):
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break
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s.close()
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