ADEEPT AWR Wheeled Robot Manual page 124

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'''
Clear the stream in preparation for the next frame
'''
rawCapture.truncate(0)
● In the following, we explain the program on the receiving end. Since the libraries used here are
cross-platform, PC.py can be run on a Windows computer or another Linux computer.
●PC.py :
'''
First import the required libraries
'''
import cv2
import zmq
import base64
import numpy as np
'''
Here we instantiate the zmq object used to receive the frame
Note that the port number needs to be consistent with the sender's
'''
context = zmq.Context()
footage_socket = context.socket(zmq.PAIR)
footage_socket.bind('tcp://*:5555')
while True:
'''
Received video frame data
'''
frame = footage_socket.recv_string()
'''
Decode and save it to the cache
'''
img = base64.b64decode(frame)
'''
Interpret a buffer as a 1-dimensional array
'''
npimg = np.frombuffer(img, dtype=np.uint8)
'''
Decode a one-dimensional array into an image
'''
source = cv2.imdecode(npimg, 1)