static_camera

code of static camera functionalities

Init dir includes executable files to start up theasis system.

Open up a terminal and type:

1. ./SetupUI.sh
2. ./Init1.sh - to start mongodb, memcached, docker and create Theasis hotspot
3. web_browser --> http://localhost:1234
4. ./Init2.sh - to start Node.js server application
5. ./Init3.sh - to run websocket_client
6. ./Init4.sh - to run algorithm for smoke/fire detection from static camera and drone thermal camera stream

( if any of the above is not executable, you can force it to be by typing "sudo chmod +777 /path/to/file.extension" )

image_processing dir includes python files of Smoke Detection algorithm

• Subsense.py
• SmokeDetection.py

alarmRequests.py includes http request functions:

• newAlarm(latitude,longitude): to introduce a new smoke/fire alarm to the system
• deleteAlarm(): to delete an unvalidated alarm
• validateAlarm(): to validate an alarm
• getQuadCoords(): to get current (with a small latency) quadcopter latitude, longitude

TonboCamera.py contains Tonbo class with all necessary static camera functionalities

• resetOptical2Default()/resetThermal2Default(): resets optical/thermal cam to its default settings

• setZoom()/getZoom(): sets/returns the optical cam zoom level

• setThermalZoom()/getThermalZoom(): sets/returns the thermal cam zoom level

• setThermalFocusNear(): focus thermal cam for near distances

• setThermalFocusFar(): focus thermal cam for far distances

• setThermalGain(): sets the thermal cam gain level (values: 00-62)

• setThermalBrightness(): sets the thermal cam brightness level (values: 00-62)

• setPanPos()/getPanPos(): sets/returns the pan position, that is the camera rotation angle from the zero position

• setTiltPos()/getTiltPos(): sets/returns the tilt position, that is the camera upside down angle

• setZeroPos(): sets the initial position of the camera (getPanPos() on zero position will return 0 angle)

• stopAllAction(): stops any move of the camera

• getCoordinates(): returns the target (possible fire/smoke pixels) coordinates given the estimated distance and the camera pan position

• imCoords2angles(): computes the pan, tilt angles of the target

To check via ffplay if image signal is properly transmitted:

Tonbo Static Camera:

• (optical cam): ffplay "rtsp://192.168.2.233:8554/video0"
• (thermal cam): ffplay "rtsp://192.168.2.233:8555/video1"

DJI Quadcopter (only thermal camera signal is transmitted and stream is enabled when quadcopter is on mission):

• ffplay "rtmp://127.0.0.1:1935/live/quad"

To record via ffmpeg quadcopter stream:

ffmpeg -i rtmp://127.0.0.1:1935/live/quad -vcodec copy -acodec copy -strftime 1 "%Y-%m-%d_%H-%M-%S_quadStream.jpg"