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카메라를 통한 운전자사진 스트리밍 및 조도센서를 이용한 LED밝기 제어

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CameraPi 개요

얼굴인식 카메라를 사용하는 RPi 관련 부분 / 웹캠, 라즈베리파이3, UV4L에 대해 다룹니다.
더불어 촬영시 어두운 환경일 경우 자동으로 LED를 ON하는 아두이노에 대해서도 다룹니다.

diagram이미지

#Graph Mermaid code (markdown)
graph LR
A(웹캠)-->B[라즈베리3]
B-->|UV4L| C[서버]
C-->D{권한요청}
D-->|X| C
D-->|O| E(opencv)

📄 Tech Spec

  • VPN : openVPN
  • VPN IP : 10.8.0.2 (External 51820 UDP)
  • UV4L Streaming WEB Port : 8090
  • AMQP 0-9-1 Protocol (RabbitMQ Server, Pika)
  • UV4L WEB Streaming

📁Tree

📁 CameraClient
┗ 📄 camera_client.py
┗ 📁 module
  ┗ 📄 rabbitmq_client.py
┗ 📁 uv4l
  ┗ 📄 run_uv4l.sh
  ┗ 📄 uv4l-uvc.conf
┗ 📁 vpn
  ┗ 📄 auth.txt
  ┗ 📄 camera.ovpn
  ┗ 📄 openvpn_start.sh

📁 .config
┗ 📁 autostart
  ┗ 📄 RUN_OPENVPN.desktop
  ┗ 📄 CAMERA_MQTT_CLIENT.desktop

✅ TODO

✅ 라즈베리파이3 OS 설치 및 기본설정

✅ 웹캠 연결 및 테스트

✅ UV4L 설치 후, 로컬 웹 스트리밍 테스트

✅ UV4L 외부 웹 스트리밍 테스트

✅ UV4L to openCV 외부 레벨 테스트 (서버측에서 정상적으로 사진을 받아올 수 있는지)

✅ VPN 서비스(openVPN) 연결을 통한 자체 보안 인증 네트워크 구성

✅ 얼굴인식 진행중인경우(AMQP 메세지를 통해 판단), 조도센서값이 낮은 경우 LED 점등 (운전중일때는 동작 X)

⬜ 부팅시 자동으로 VPN에 연결하고 관리하는 프로그램 작성

⬜ 부팅시 자동으로 UV4L Streaming을 진행하고 관리하는 프로그램 작성

⬜ 부팅시 자동으로 AMQP(RabbitMQ)에 접속하여 메세지를 불러오는 프로그램 작성

웹캠 연결 테스트

USB 웹캠 연결 확인

bash쉘에서 lsusb 명령어를 입력하여 정상적으로 장치가 연결되었는지 확인합니다.

pi@raspi3-ecb:~ $ lsusb
Bus 001 Device 004: ID 046d:081b Logitech, Inc. Webcam C310
Bus 001 Device 003: ID 0424:ec00 Standard Microsystems Corp. SMSC9512/9514 Fast Ethernet Adapter
Bus 001 Device 002: ID 0424:9514 Standard Microsystems Corp. SMC9514 Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

웹캠 사양 확인

bash쉘에서 v4l2-ctl --list-format-ext 명령어를 사용하여 해당 웹캠의 사양을 확인할 수 있습니다.

pi@raspi3-ecb:~ $ v4l2-ctl --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
        Index       : 0
        Type        : Video Capture
        Pixel Format: 'YUYV'
        Name        : YUYV 4:2:2
                Size: Discrete 640x480
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 160x120
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 176x144
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 320x176
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 320x240
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 352x288
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 432x240
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 544x288
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 640x360
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 752x416
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 800x448
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 800x600
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 864x480
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 960x544
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 960x720
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 1024x576
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 1184x656
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 1280x720
                        Interval: Discrete 0.133s (7.500 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 1280x960
                        Interval: Discrete 0.133s (7.500 fps)
                        Interval: Discrete 0.200s (5.000 fps)

        Index       : 1
        Type        : Video Capture
        Pixel Format: 'MJPG' (compressed)
        Name        : Motion-JPEG
                Size: Discrete 640x480
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 160x120
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 176x144
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 320x176
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 320x240
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 352x288
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 432x240
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 544x288
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 640x360
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 752x416
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 800x448
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 800x600
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 864x480
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 960x544
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 960x720
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 1024x576
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 1184x656
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 1280x720
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)
                Size: Discrete 1280x960
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.050s (20.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                        Interval: Discrete 0.100s (10.000 fps)
                        Interval: Discrete 0.200s (5.000 fps)

사용전 설정

bash쉘에서 sudo raspi-config를 입력하여 설정화면으로 접속합니다. 이후 interface config에서 camera 옵션을 enable 시켜주면 됩니다.
또한 그래픽처리가 지속적으로 필요하므로 advanced 에서 memory split을 256MB 이상으로 설정해줍니다.

간단한 동작테스트 (카메라 정상여부 확인)

fswebcam 명령어를 이용하여 웹캠으로 간단한 사진캡처가 가능합니다. 해당 명령어에 사용된 옵션은 1280x960의 해상도-r 1280*960 으로 사진하단에 시간이 찍히지 않게--no-banner 캡처하여 image2.jpg 경로에 저장하라는 뜻입니다.

pi@raspi3-ecb:~ $ fswebcam -r 1280*960 --no-banner image2.jpg
--- Opening /dev/video0...
Trying source module v4l2...
/dev/video0 opened.
No input was specified, using the first.
Adjusting resolution from 1280x-1 to 1280x960.
--- Capturing frame...
Captured frame in 0.00 seconds.
--- Processing captured image...
Disabling banner.
Writing JPEG image to 'image2.jpg'.

UV4L 설치

UV4L 라이브러리를 다운받기 위하여 먼저 저장소 정보를 /etc/apt/sources.list에 아래와 같이 추가합니다.

$ sudo vi /etc/apt/sources.list
deb http://www.linux-projects.org/listing/uv4l_repo/raspbian/stretch stretch     main

이후 패키지관련 정보를 업데이트해준뒤에, UV4L 패키지를 설치합니다. 대표적으로 uv4l, uv4l-server, uv4l-uvc, uv4l-webrtc를 설치합니다.

$ sudo apt-get update
$ sudo apt-get install ***

========== 동작 시스템에서 설치한 패키지 참고 ==========
pi@raspi3-ecb:/ $ dpkg-query --list | grep uv4l
ii  uv4l                                  1.9.17                             armhf        User space Video4Linux Framework Core
ii  uv4l-decoder2                         1.3                                armhf        Video Hardware Decoder support for the
ii  uv4l-encoder                          1.20                               armhf        Video Hardware Encoder support for the
ii  uv4l-mjpegstream                      1.6                                armhf        MJPEGStream driver module for UV4L.
rc  uv4l-raspicam-extras                  1.53                               armhf        Extras for the CSI Camera Board driver for Raspberry Pi.
ii  uv4l-renderer                         1.10                               armhf        Video Renderer for the WebRTC Extension
ii  uv4l-server                           1.1.129                            armhf        Streaming Server module for UV4L with HTTP/HTTPS front-end.
ii  uv4l-uvc                              1.11                               armhf        Usb Video Class driver module for UV4L.
ii  uv4l-webrtc                           1.92                               armhf        WebRTC extension for the
ii  uv4l-xscreen                          1.6                                armhf        XScreen driver module for UV4L.
=======================================================

UV4L 실행

아래 명렁어를 통해 uv4l을 시작합니다. 또는 아래 명령어가 부팅시 백그라운드에서 자동실행됩니다.

$ uv4l --external-driver --device-name=video0
or
$ /usr/bin/uv4l -k --sched-rr --mem-lock --config-file=/etc/uv4l/uv4l-uvc.conf --driver uvc --driver-config-file=/etc/uv4l/uv4l-uvc.conf --server-option=--editable-config-file=/etc/uv4l/uv4l-uvc.conf --device-id 046d:081b

UV4L 스트리밍 확인 (WebPage)

webRTC 패키지를 설치하였기 때문에 HTTP 프로토콜을 통하여 실시간-스트리밍 영상을 확인할 수 있습니다. 브라우저에서 http://<IP>:<PORT>/stream에 접속하여 바로 확인 가능합니다. 또는 http://<IP>:<PORT>/에 접속하여 각 메뉴를 확인할 수 있습니다.

UV4L 스트리밍 확인 예시

아래 사진과 같이 실시간으로 웹캠 영상이 WEB으로 스트리밍 됩니다.

참고자료

Linux Opencv 설치

공식Build : https://docs.opencv.org/4.5.2/d7/d9f/tutorial_linux_install.html 파이썬-PreBuild : https://softtone-someday.tistory.com/8

UV4L를 이용한 실시간 스트리밍 (Pi Cam)

UV4L 설치 공식문서 : https://www.linux-projects.org/uv4l/installation/ , https://github.com/TJiiii/pipycctv
1 : https://code-developer.tistory.com/56
2 : https://m.blog.naver.com/PostView.naver?isHttpsRedirect=true&blogId=rhrkdfus&logNo=221405053557
3 : https://emptybox031.tistory.com/entry/%EB%9D%BC%EC%A6%88%EB%B2%A0%EB%A6%AC%ED%8C%8C%EC%9D%B43%EA%B3%BC-UV4L%EB%A1%9C-%EA%B5%AC%ED%98%84%ED%95%98%EB%8A%94-%EB%B9%84%EB%94%94%EC%98%A4-%EC%8A%A4%ED%8A%B8%EB%A6%AC%EB%B0%8D2-UV4L-%EC%84%A4%EC%B9%98%EB%B0%8F-%EC%84%A4%EC%A0%95
4 : https://www.highvoltagecode.com/post/webrtc-on-raspberry-pi-live-hd-video-and-audio-streaming
5 : https://github.com/guido57/IReye

라즈베리파이 웹캠 인식 fswebcam avconv

1 : 라즈베리파이 웹캠 인식 fswebcam avconv : https://m.blog.naver.com/PostView.naver?isHttpsRedirect=true&blogId=audiendo&logNo=220799711999
2 : 라즈베리파이 웹캠 사용 : http://wiki.bitplan.com/index.php/Raspberry_PI_WebCam

라즈베리파이 OpenCV를 이용 얼굴인식과 동작캡처로 구글 어시스턴트 동작하기

https://m.blog.naver.com/PostView.naver?isHttpsRedirect=true&blogId=cosmosjs&logNo=221344080130

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카메라를 통한 운전자사진 스트리밍 및 조도센서를 이용한 LED밝기 제어

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