From ba56e9c3b4e888dd645177a370b4fe77f3d5bad4 Mon Sep 17 00:00:00 2001
From: Jeff Moe <moe@spacecruft.org>
Date: Sat, 24 Sep 2022 12:09:34 -0600
Subject: [PATCH] Quick & dirty mjpeg stream on PoE CM4

---
 requirements.txt        |  6 +++
 scripts/stream-mjpeg.py | 89 +++++++++++++++++++++++++++++++++++++++++
 2 files changed, 95 insertions(+)
 create mode 100644 requirements.txt
 create mode 100755 scripts/stream-mjpeg.py

diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..72f031d
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,6 @@
+depthai
+numpy
+numpy
+opencv-python
+pillow
+blobconverter
diff --git a/scripts/stream-mjpeg.py b/scripts/stream-mjpeg.py
new file mode 100755
index 0000000..b0de3a3
--- /dev/null
+++ b/scripts/stream-mjpeg.py
@@ -0,0 +1,89 @@
+#!/usr/bin/env python3
+
+import json
+import socketserver
+import threading
+import time
+from http.server import BaseHTTPRequestHandler, HTTPServer
+from io import BytesIO
+from pathlib import Path
+import sys
+from socketserver import ThreadingMixIn
+from time import sleep
+import depthai as dai
+import numpy as np
+import cv2
+from PIL import Image
+import blobconverter
+
+HTTP_SERVER_PORT = 8080
+
+class TCPServerRequest(socketserver.BaseRequestHandler):
+    def handle(self):
+        header = 'HTTP/1.0 200 OK\r\nServer: Mozarella/2.2\r\nAccept-Range: bytes\r\nConnection: close\r\nMax-Age: 0\r\nExpires: 0\r\nCache-Control: no-cache, private\r\nPragma: no-cache\r\nContent-Type: application/json\r\n\r\n'
+        self.request.send(header.encode())
+        while True:
+            sleep(0.1)
+            if hasattr(self.server, 'datatosend'):
+                self.request.send(self.server.datatosend.encode() + "\r\n".encode())
+
+# HTTPServer MJPEG
+class VideoStreamHandler(BaseHTTPRequestHandler):
+    def do_GET(self):
+        self.send_response(200)
+        self.send_header('Content-type', 'multipart/x-mixed-replace; boundary=--jpgboundary')
+        self.end_headers()
+        while True:
+            sleep(0.1)
+            if hasattr(self.server, 'frametosend'):
+                image = Image.fromarray(cv2.cvtColor(self.server.frametosend, cv2.COLOR_BGR2RGB))
+                stream_file = BytesIO()
+                image.save(stream_file, 'JPEG')
+                self.wfile.write("--jpgboundary".encode())
+
+                self.send_header('Content-type', 'image/jpeg')
+                self.send_header('Content-length', str(stream_file.getbuffer().nbytes))
+                self.end_headers()
+                image.save(self.wfile, 'JPEG')
+
+
+class ThreadedHTTPServer(ThreadingMixIn, HTTPServer):
+    """Handle requests in a separate thread."""
+    pass
+
+# start MJPEG HTTP Server
+server_HTTP = ThreadedHTTPServer(('0.0.0.0', HTTP_SERVER_PORT), VideoStreamHandler)
+th = threading.Thread(target=server_HTTP.serve_forever)
+th.daemon = True
+th.start()
+
+
+# Create pipeline
+pipeline = dai.Pipeline()
+
+# Define source and output
+camRgb = pipeline.createColorCamera()
+xoutVideo = pipeline.createXLinkOut()
+
+xoutVideo.setStreamName("rgb")
+
+# Properties
+camRgb.setBoardSocket(dai.CameraBoardSocket.RGB)
+camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
+camRgb.setVideoSize(1920, 1080)
+
+xoutVideo.input.setBlocking(False)
+xoutVideo.input.setQueueSize(1)
+
+# Linking
+camRgb.video.link(xoutVideo.input)
+
+# Connect to device and start pipeline
+with dai.Device(pipeline) as device:
+    previewQueue = device.getOutputQueue(name="rgb", maxSize=1, blocking=False)
+
+    while True:
+        inPreview = previewQueue.get()
+        frame = inPreview.getCvFrame()
+        server_HTTP.frametosend = frame
+