meerk40t 0.9.3001__py2.py3-none-any.whl → 0.9.7020__py2.py3-none-any.whl

meerk40t/camera/camera.py

@@ -1,397 +1,514 @@
-import threading
-import time
-
-import cv2
-import numpy as np
-
-from meerk40t.kernel import Service
-
-CORNER_SIZE = 25
-
-
-class Camera(Service):
-    def __init__(self, kernel, camera_path, *args, **kwargs):
-        Service.__init__(self, kernel, camera_path)
-
-        self._camera_job = None
-
-        self._current_frame = None
-        self._last_frame = None
-
-        self._current_raw = None
-        self._last_raw = None
-
-        self.capture = None
-        self.image_width = -1
-        self.image_height = -1
-
-        # Used during calibration.
-        self._object_points = []  # 3d point in real world space
-        self._image_points = []  # 2d points in image plane.
-
-        self.camera_lock = threading.Lock()
-
-        self.connection_attempts = 0
-        self.frame_attempts = 0
-        self.frame_index = 0
-        self.quit_thread = False
-        self.camera_thread = None
-        self.max_tries_connect = 10
-        self.max_tries_frame = 10
-        self.setting(int, "width", 640)
-        self.setting(int, "height", 480)
-        self.setting(bool, "correction_fisheye", False)
-        self.setting(bool, "correction_perspective", False)
-        self.setting(list, "fisheye", None)
-        self.setting(list, "perspective", None)
-        try:
-            index = int(camera_path[7:])
-        except ValueError:
-            index = 0
-        self.setting(str, "uri", str(index))
-        self.setting(int, "index", index)
-        self.setting(bool, "autonormal", False)
-        self.setting(bool, "aspect", False)
-        self.setting(str, "preserve_aspect", "xMinYMin meet")
-        self.fisheye_k = None
-        self.fisheye_d = None
-        if self.fisheye is not None and len(self.fisheye) != 0:
-            self.fisheye_k, self.fisheye_d = self.fisheye
-
-        try:
-            self.uri = int(self.uri)  # URI is an index.
-        except ValueError:
-            pass
-
-    def __repr__(self):
-        return "Camera()"
-
-    def get_frame(self):
-        return self._last_frame
-
-    def get_raw(self):
-        return self._last_raw
-
-    def shutdown(self, *args, **kwargs):
-        self.close_camera()
-
-    def fisheye_capture(self):
-        """
-        Raw Camera frame was requested and should be processed.
-
-        This attempts to perform checkerboard detection.
-
-        @return:
-        """
-        _ = self._
-        frame = self._last_raw
-        if frame is None:
-            return
-        CHECKERBOARD = (6, 9)
-        subpix_criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.1)
-        calibration_flags = (
-            cv2.fisheye.CALIB_RECOMPUTE_EXTRINSIC
-            + cv2.fisheye.CALIB_CHECK_COND
-            + cv2.fisheye.CALIB_FIX_SKEW
-        )
-        objp = np.zeros((1, CHECKERBOARD[0] * CHECKERBOARD[1], 3), np.float32)
-        objp[0, :, :2] = np.mgrid[0 : CHECKERBOARD[0], 0 : CHECKERBOARD[1]].T.reshape(
-            -1, 2
-        )
-
-        img = frame
-        gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
-        # Find the chess board corners
-        ret, corners = cv2.findChessboardCorners(
-            gray,
-            CHECKERBOARD,
-            cv2.CALIB_CB_ADAPTIVE_THRESH
-            + cv2.CALIB_CB_FAST_CHECK
-            + cv2.CALIB_CB_NORMALIZE_IMAGE,
-        )
-        # If found, add object points, image points (after refining them)
-
-        if ret:
-            self._object_points.append(objp)
-            cv2.cornerSubPix(gray, corners, (3, 3), (-1, -1), subpix_criteria)
-            self._image_points.append(corners)
-        else:
-            self.signal(
-                "warning",
-                _("Checkerboard 6x9 pattern not found."),
-                _("Pattern not found."),
-                4,
-            )
-            return
-        N_OK = len(self._object_points)
-        K = np.zeros((3, 3))
-        D = np.zeros((4, 1))
-        rvecs = [np.zeros((1, 1, 3), dtype=np.float64) for i in range(N_OK)]
-        tvecs = [np.zeros((1, 1, 3), dtype=np.float64) for i in range(N_OK)]
-        try:
-            rms, a, b, c, d = cv2.fisheye.calibrate(
-                self._object_points,
-                self._image_points,
-                gray.shape[::-1],
-                K,
-                D,
-                rvecs,
-                tvecs,
-                calibration_flags,
-                (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-6),
-            )
-        except cv2.error:
-            # Ill conditioned matrix for input values.
-            self.backtrack_fisheye()
-            self.signal(
-                "warning", _("Ill-conditioned Matrix. Keep trying."), _("Matrix."), 4
-            )
-            return
-        self.signal(
-            "warning",
-            _("Success. {count} images so far.").format(count=len(self._object_points)),
-            _("Image Captured"),
-            4 | 2048,
-        )
-        self.fisheye = [K.tolist(), D.tolist()]
-        self.fisheye_k = K.tolist()
-        self.fisheye_d = D.tolist()
-
-    def open_camera(self):
-        """
-        Open Camera device.
-
-        @return:
-        """
-        self.quit_thread = False
-        if self.uri is not None:
-            t = self.camera_thread
-            if t is not None:
-                self.quit_thread = True  # Inform previous thread it must die, if it doesn't already know.
-                t.join()  # Join previous thread, before starting new thread.
-                self.quit_thread = False
-            self.camera_thread = self.threaded(
-                self.threaded_image_fetcher,
-                thread_name=f"CameraFetcher-{self._path}-{self.uri}",
-            )
-
-    def close_camera(self):
-        """
-        Disconnect from the current camera.
-
-        @return:
-        """
-        self.quit_thread = True
-
-    def process_frame(self):
-        frame = self._current_raw
-        if (
-            self.fisheye_k is not None
-            and self.fisheye_d is not None
-            and self.correction_fisheye
-        ):
-            # Unfisheye the drawing
-            K = np.array(self.fisheye_k)
-            D = np.array(self.fisheye_d)
-            DIM = frame.shape[:2][::-1]
-            map1, map2 = cv2.fisheye.initUndistortRectifyMap(
-                K, D, np.eye(3), K, DIM, cv2.CV_16SC2
-            )
-            frame = cv2.remap(
-                frame,
-                map1,
-                map2,
-                interpolation=cv2.INTER_LINEAR,
-                borderMode=cv2.BORDER_CONSTANT,
-            )
-        width, height = frame.shape[:2][::-1]
-        if self.perspective is None:
-            self.perspective = [
-                [0, 0],
-                [width, 0],
-                [width, height],
-                [0, height],
-            ]
-        if self.correction_perspective:
-            # Perspective the drawing.
-            dest_width = self.width
-            dest_height = self.height
-            rect = np.array(
-                self.perspective,
-                dtype="float32",
-            )
-            dst = np.array(
-                [
-                    [0, 0],
-                    [dest_width - 1, 0],
-                    [dest_width - 1, dest_height - 1],
-                    [0, dest_height - 1],
-                ],
-                dtype="float32",
-            )
-            M = cv2.getPerspectiveTransform(rect, dst)
-            frame = cv2.warpPerspective(frame, M, (dest_width, dest_height))
-        frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
-        if self.autonormal:
-            cv2.normalize(frame, frame, 0, 255, cv2.NORM_MINMAX)
-        self._last_frame = self._current_frame
-        self._current_frame = frame
-
-    def _attempt_recovery(self):
-        channel = self.channel("camera")
-        if self.quit_thread:
-            return False
-        self.connection_attempts += 1
-        if self.capture is not None:
-            try:
-                self.capture.release()
-            except cv2.error:
-                pass
-            self.capture = None
-        uri = self.uri
-        self.signal("camera_reconnect")
-        self.capture = cv2.VideoCapture(uri)
-        channel(f"Capture: {str(self.capture)}")
-        if self.capture is None:
-            return False
-        return True
-
-    def _thread_looper(self, uri):
-        channel = self.channel("camera")
-        frame = None
-        while True:
-            if self.quit_thread:
-                return  # Abort.
-            if self.connection_attempts > self.max_tries_connect:
-                return  # Too many connection attempts.
-            if self.capture is None:
-                return  # No capture the thread dies.
-            try:
-                channel(f"Grabbing Frame: {str(uri)}")
-                ret = self.capture.grab()
-            except AttributeError:
-                time.sleep(0.2)
-                channel(f"Grab Failed, trying Reconnect: {str(uri)}")
-                if self._attempt_recovery():
-                    continue
-                else:
-                    return
-
-            for i in range(self.max_tries_frame):
-                if self.quit_thread:
-                    return  # Abort.
-                channel(f"Retrieving Frame: {str(uri)}")
-                try:
-                    ret, frame = self.capture.retrieve()
-                except cv2.error:
-                    ret, frame = False, None
-                if not ret or frame is None:
-                    channel(f"Failed Retry: {str(uri)}")
-                    time.sleep(0.1)
-                else:
-                    break
-            if not ret:  # Try auto-reconnect.
-                time.sleep(0.2)
-                channel(f"Frame Failed, trying Reconnect: {str(uri)}")
-                if self._attempt_recovery():
-                    continue  # Recovery was successful.
-                else:
-                    return
-            channel(f"Frame Success: {str(uri)}")
-            self.connection_attempts = 0
-
-            self._last_raw = self._current_raw
-            self._current_raw = frame
-            self.frame_index += 1
-            self.process_frame()
-            channel(f"Processing Frame: {str(uri)}")
-
-    def threaded_image_fetcher(self):
-        channel = self.channel("camera")
-        uri = self.uri
-        channel(f"URI: {str(uri)}")
-        if uri is None:
-            channel("No camera uri.")
-            return
-        self.quit_thread = (
-            True  # If another thread exists this will let it die gracefully.
-        )
-
-        with self.camera_lock:
-            self.quit_thread = False
-            self.connection_attempts = 0
-            self.frame_attempts = 0
-            uri = self.uri
-            channel(f"Connecting {str(uri)}")
-            self.signal("camera_state", 1)
-            self.capture = cv2.VideoCapture(uri)
-            channel(f"Capture: {str(self.capture)}")
-
-            self._thread_looper(uri)
-
-            if self.capture is not None:
-                channel(f"Releasing Capture: {str(uri)}")
-                try:
-                    self.capture.release()
-                except cv2.error:
-                    pass
-                self.capture = None
-                channel(f"Released: {str(uri)}")
-            if self is not None:
-                self.signal("camera_state", 0)
-            channel(f"Camera Thread Exiting: {str(uri)}")
-
-    def reset_perspective(self):
-        """
-        Reset the perspective settings.
-
-        @return:
-        """
-        self.perspective = None
-
-    def backtrack_fisheye(self):
-        if self._object_points:
-            del self._object_points[-1]
-            del self._image_points[-1]
-
-    def reset_fisheye(self):
-        """
-        Reset the fisheye settings.
-
-        @return:
-        """
-        self.fisheye_k = None
-        self.fisheye_d = None
-        self._object_points = []
-        self._image_points = []
-        self.fisheye = None
-
-    def set_uri(self, uri):
-        self.uri = uri
-        try:
-            self.uri = int(self.uri)  # URI is an index.
-        except ValueError:
-            pass
-
-    def background(self):
-        """
-        Sets image background to main scene.
-        @return:
-        """
-        frame = self._last_frame
-        if frame is not None:
-            self.image_height, self.image_width = frame.shape[:2]
-            self.signal("background", (self.image_width, self.image_height, frame))
-            return self.image_width, self.image_height, frame
-        return None
-
-    def export(self):
-        """
-        Sends an image to the scene as an exported object.
-        """
-        frame = self._last_frame
-        if frame is not None:
-            self.image_height, self.image_width = frame.shape[:2]
-            self.signal("export-image", (self.image_width, self.image_height, frame))
-            return self.image_width, self.image_height, frame
-        return None
+import threading
+import time
+
+import cv2
+import numpy as np
+
+from meerk40t.kernel import Service
+
+CORNER_SIZE = 25
+
+
+class Camera(Service):
+    def __init__(self, kernel, camera_path, *args, **kwargs):
+        Service.__init__(self, kernel, camera_path)
+
+        self._camera_job = None
+
+        self._current_frame = None
+        self._last_frame = None
+
+        self._current_raw = None
+        self._last_raw = None
+
+        self.capture = None
+        self.image_width = -1
+        self.image_height = -1
+
+        # Used during calibration.
+        self._object_points = []  # 3d point in real world space
+        self._image_points = []  # 2d points in image plane.
+
+        self.camera_lock = threading.Lock()
+
+        self.connection_attempts = 0
+        self.frame_attempts = 0
+        self.frame_index = 0
+        self.quit_thread = False
+        self.camera_thread = None
+        self.max_tries_connect = 10
+        self.max_tries_frame = 10
+        self.setting(int, "width", 640)
+        self.setting(int, "height", 480)
+        self.setting(bool, "correction_fisheye", False)
+        self.setting(bool, "correction_perspective", False)
+        self.setting(list, "fisheye", None)
+        self.setting(list, "perspective", None)
+        try:
+            index = int(camera_path[7:])
+        except ValueError:
+            index = 0
+        self.setting(str, "uri", str(index))
+        self.setting(int, "index", index)
+        self.setting(bool, "autonormal", False)
+        self.setting(bool, "aspect", False)
+        self.setting(str, "preserve_aspect", "xMinYMin meet")
+        self.fisheye_k = None
+        self.fisheye_d = None
+        if self.fisheye is not None and len(self.fisheye) != 0:
+            self.fisheye_k, self.fisheye_d = self.fisheye
+
+        try:
+            self.uri = int(self.uri)  # URI is an index.
+        except ValueError:
+            pass
+
+    def __repr__(self):
+        return "Camera()"
+
+    @property
+    def is_virtual(self):
+        try:
+            i = int(self.uri)
+            return False
+        except ValueError:
+            return True
+
+    @property
+    def is_physical(self):
+        try:
+            i = int(self.uri)
+            return True
+        except ValueError:
+            return False
+
+    def get_frame(self):
+        return self._last_frame
+
+    def get_raw(self):
+        return self._last_raw
+
+    def shutdown(self, *args, **kwargs):
+        self.close_camera()
+
+    def fisheye_capture(self):
+        """
+        Raw Camera frame was requested and should be processed.
+
+        This attempts to perform checkerboard detection.
+
+        @return:
+        """
+        _ = self._
+        frame = self._last_raw
+        if frame is None:
+            return
+        CHECKERBOARD = (6, 9)
+        subpix_criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.1)
+        calibration_flags = (
+            cv2.fisheye.CALIB_RECOMPUTE_EXTRINSIC
+            + cv2.fisheye.CALIB_CHECK_COND
+            + cv2.fisheye.CALIB_FIX_SKEW
+        )
+        objp = np.zeros((1, CHECKERBOARD[0] * CHECKERBOARD[1], 3), np.float32)
+        objp[0, :, :2] = np.mgrid[0 : CHECKERBOARD[0], 0 : CHECKERBOARD[1]].T.reshape(
+            -1, 2
+        )
+
+        img = frame
+        gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
+        # Find the chess board corners
+        ret, corners = cv2.findChessboardCorners(
+            gray,
+            CHECKERBOARD,
+            cv2.CALIB_CB_ADAPTIVE_THRESH
+            + cv2.CALIB_CB_FAST_CHECK
+            + cv2.CALIB_CB_NORMALIZE_IMAGE,
+        )
+        # If found, add object points, image points (after refining them)
+
+        if ret:
+            self._object_points.append(objp)
+            cv2.cornerSubPix(gray, corners, (3, 3), (-1, -1), subpix_criteria)
+            self._image_points.append(corners)
+        else:
+            self.signal(
+                "warning",
+                _("Checkerboard 6x9 pattern not found."),
+                _("Pattern not found."),
+                4,
+            )
+            return
+        N_OK = len(self._object_points)
+        K = np.zeros((3, 3))
+        D = np.zeros((4, 1))
+        rvecs = [np.zeros((1, 1, 3), dtype=np.float64) for _i in range(N_OK)]
+        tvecs = [np.zeros((1, 1, 3), dtype=np.float64) for _i in range(N_OK)]
+        try:
+            rms, a, b, c, d = cv2.fisheye.calibrate(
+                self._object_points,
+                self._image_points,
+                gray.shape[::-1],
+                K,
+                D,
+                rvecs,
+                tvecs,
+                calibration_flags,
+                (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 1e-6),
+            )
+        except cv2.error:
+            # Ill conditioned matrix for input values.
+            self.backtrack_fisheye()
+            self.signal(
+                "warning", _("Ill-conditioned Matrix. Keep trying."), _("Matrix."), 4
+            )
+            return
+        self.signal(
+            "warning",
+            _("Success. {count} images so far.").format(count=len(self._object_points)),
+            _("Image Captured"),
+            4 | 2048,
+        )
+        self.fisheye = [K.tolist(), D.tolist()]
+        self.fisheye_k = K.tolist()
+        self.fisheye_d = D.tolist()
+
+    def set_resolution(self, width, height):
+        self.width = width
+        self.height = height
+
+    def get_resolution(self):
+        actual_width = self.width
+        actual_height = self.height
+        if self.capture:
+            # We have a frame, so let's get the data from there
+            try:
+                actual_width = int(self.capture.get(cv2.CAP_PROP_FRAME_WIDTH))
+                actual_height = int(self.capture.get(cv2.CAP_PROP_FRAME_HEIGHT))
+            except:
+                pass
+        return actual_width, actual_height
+
+    def _get_capture(self, set_resolution = True):
+        import platform
+        # print (self.uri, type(self.uri).__name__)
+        if platform.system() == "Windows":
+            self.logger("Set DSHOW for Windows")
+            cv2.CAP_DSHOW
+            #sets the Windows cv2 backend to DSHOW (Direct Video Input Show)
+            cap = cv2.VideoCapture(self.uri)
+        elif platform.system() == "Linux":
+            self.logger("Set GSTREAMER for Linux")
+            cv2.CAP_GSTREAMER # set the Linux cv2 backend to GTREAMER
+            #cv2.CAP_V4L
+            cap = cv2.VideoCapture(self.uri)
+        else:
+            self.logger("Try something for Darwin")
+            cap = cv2.VideoCapture(self.uri)
+            # For MAC please refer to link below for I/O
+            cap.set(cv2.CAP_FFMPEG, cv2.CAP_AVFOUNDATION) # not sure!
+            #please refer to reference link at bottom of page for more I/O
+        if set_resolution:
+            self.logger (f"Try to start camera with {self.width}x{self.height}")
+            cap.set(cv2.CAP_PROP_FRAME_WIDTH, self.width)
+            cap.set(cv2.CAP_PROP_FRAME_HEIGHT, self.height)
+            self.logger (
+                f"Capture: {str(self.capture)}\n" +
+                f"Frame resolution set to: ({cap.get(cv2.CAP_PROP_FRAME_WIDTH)}x{cap.get(cv2.CAP_PROP_FRAME_HEIGHT)})"
+            )
+
+        return cap
+
+    def open_camera(self):
+        """
+        Open Camera device.
+
+        @return:
+        """
+        self.quit_thread = False
+        if self.uri is not None:
+            t = self.camera_thread
+            if t is not None:
+                self.quit_thread = True  # Inform previous thread it must die, if it doesn't already know.
+                t.join()  # Join previous thread, before starting new thread.
+                self.quit_thread = False
+            self.camera_thread = self.threaded(
+                self.threaded_image_fetcher,
+                thread_name=f"CameraFetcher-{self._path}-{self.uri}",
+            )
+
+    def close_camera(self):
+        """
+        Disconnect from the current camera.
+
+        @return:
+        """
+        self.quit_thread = True
+
+    def logger(self, msg):
+        # print (msg)
+        self.channel(msg)
+
+    def guess_supported_resolutions(self):
+        # List of supported resolutions
+        supported_resolutions = []
+        # We need to stop the camera for that
+        if self.capture:
+            self.close_camera()
+            waiting_time = 0
+            while self.quit_thread and waiting_time < 3.0:
+                waiting_time += 0.1
+                time.sleep(0.1)
+            if self.quit_thread:
+                self.logger("Camera couldn't be stopped")
+                return []
+        # Open the camera
+        cap = self._get_capture(set_resolution=False)
+        if not cap.isOpened():
+            self.logger("Camera couldn't be opened")
+            return []
+
+        # There is no defnitive list of resolutions that you could
+        # inquire, so we try a couple of popular combinations
+        if self.is_virtual:
+            actual_width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
+            actual_height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
+            supported_resolutions.append((actual_width, actual_height, "Webcam"))
+            return supported_resolutions
+
+        for combinations in (
+            (640, 480, "0.3MP 4:3"),
+            (800, 600, "0.5MP 4:3"),
+            (960, 544, "0.5MP 30:17"),
+            (1280, 720, "0.9MP 16:9"),
+            (1440, 1080, "1.5MP 16:9"),
+            (1920, 1080, "2.1MP 16:9"),
+            (3840, 2160, "8MP 16:9"),
+            (7680, 4320, "33MP 16:9"),
+        ):
+            width, height, description = combinations
+            try:
+                cap.set(cv2.CAP_PROP_FRAME_WIDTH, width)
+                cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
+                actual_width = cap.get(cv2.CAP_PROP_FRAME_WIDTH)
+                actual_height = cap.get(cv2.CAP_PROP_FRAME_HEIGHT)
+                msg = "(OK)"
+            except Exception as e:
+                actual_height = 0
+                actual_width = 0
+                msg = f"(Fail: {e})"
+            self.logger(f"Tried {width}x{height} ({description}) - received {actual_width}x{actual_height} {msg}")
+            if int(actual_width) == width and int(actual_height) == height:
+                supported_resolutions.append((width, height, description))
+
+        cap.release()
+        return supported_resolutions
+
+
+    def process_frame(self):
+        frame = self._current_raw
+        if (
+            self.fisheye_k is not None
+            and self.fisheye_d is not None
+            and self.correction_fisheye
+        ):
+            # Unfisheye the drawing
+            K = np.array(self.fisheye_k)
+            D = np.array(self.fisheye_d)
+            DIM = frame.shape[:2][::-1]
+            map1, map2 = cv2.fisheye.initUndistortRectifyMap(
+                K, D, np.eye(3), K, DIM, cv2.CV_16SC2
+            )
+            frame = cv2.remap(
+                frame,
+                map1,
+                map2,
+                interpolation=cv2.INTER_LINEAR,
+                borderMode=cv2.BORDER_CONSTANT,
+            )
+        width, height = frame.shape[:2][::-1]
+        if self.perspective is None:
+            self.perspective = [
+                [0, 0],
+                [width, 0],
+                [width, height],
+                [0, height],
+            ]
+        if self.correction_perspective:
+            # Perspective the drawing.
+            dest_width = self.width
+            dest_height = self.height
+            rect = np.array(
+                self.perspective,
+                dtype="float32",
+            )
+            dst = np.array(
+                [
+                    [0, 0],
+                    [dest_width - 1, 0],
+                    [dest_width - 1, dest_height - 1],
+                    [0, dest_height - 1],
+                ],
+                dtype="float32",
+            )
+            M = cv2.getPerspectiveTransform(rect, dst)
+            frame = cv2.warpPerspective(frame, M, (dest_width, dest_height))
+        frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+        if self.autonormal:
+            cv2.normalize(frame, frame, 0, 255, cv2.NORM_MINMAX)
+        self._last_frame = self._current_frame
+        self._current_frame = frame
+
+    def _attempt_recovery(self):
+        channel = self.channel("camera")
+        if self.quit_thread:
+            return False
+        self.connection_attempts += 1
+        if self.capture is not None:
+            try:
+                self.capture.release()
+            except cv2.error:
+                pass
+            self.capture = None
+        self.signal("camera_reconnect")
+        self.capture = self._get_capture()
+        if self.capture is None:
+            return False
+        return True
+
+    def _thread_looper(self, uri):
+        channel = self.channel("camera")
+        frame = None
+        while True:
+            if self.quit_thread:
+                return  # Abort.
+            if self.connection_attempts > self.max_tries_connect:
+                return  # Too many connection attempts.
+            if self.capture is None:
+                return  # No capture the thread dies.
+            try:
+                # channel(f"Grabbing Frame: {str(uri)}")
+                ret = self.capture.grab()
+            except AttributeError:
+                time.sleep(0.2)
+                channel(f"Grab Failed, trying Reconnect: {str(uri)}")
+                if self._attempt_recovery():
+                    continue
+                return
+
+            for i in range(self.max_tries_frame):
+                if self.quit_thread:
+                    return  # Abort.
+                # channel(f"Retrieving Frame: {str(uri)}")
+                try:
+                    ret, frame = self.capture.retrieve()
+                except cv2.error:
+                    ret, frame = False, None
+                if not ret or frame is None:
+                    channel(f"Failed Retry: {str(uri)}")
+                    time.sleep(0.1)
+                else:
+                    break
+            if not ret:  # Try auto-reconnect.
+                time.sleep(0.2)
+                channel(f"Frame Failed, trying Reconnect: {str(uri)}")
+                if self._attempt_recovery():
+                    continue  # Recovery was successful.
+                return
+            # channel(f"Frame Success: {str(uri)}")
+            self.connection_attempts = 0
+
+            self._last_raw = self._current_raw
+            self._current_raw = frame
+            self.frame_index += 1
+            self.process_frame()
+            # channel(f"Processing Frame: {str(uri)}")
+
+    def threaded_image_fetcher(self):
+        channel = self.channel("camera")
+        uri = self.uri
+        # channel(f"URI: {str(uri)}")
+        if uri is None:
+            channel("No camera uri.")
+            return
+        self.quit_thread = (
+            True  # If another thread exists this will let it die gracefully.
+        )
+
+        with self.camera_lock:
+            self.quit_thread = False
+            self.connection_attempts = 0
+            self.frame_attempts = 0
+            uri = self.uri
+            channel(f"Connecting {str(uri)}")
+            self.signal("camera_state", 1)
+            # Open the camera
+            self.capture = self._get_capture()
+            self._thread_looper(uri)
+
+            if self.capture is not None:
+                channel(f"Releasing Capture: {str(uri)}")
+                try:
+                    self.capture.release()
+                except cv2.error:
+                    pass
+                self.capture = None
+                channel(f"Released: {str(uri)}")
+            if self is not None:
+                self.signal("camera_state", 0)
+            channel(f"Camera Thread Exiting: {str(uri)}")
+
+    def reset_perspective(self):
+        """
+        Reset the perspective settings.
+
+        @return:
+        """
+        self.perspective = None
+
+    def backtrack_fisheye(self):
+        if self._object_points:
+            del self._object_points[-1]
+            del self._image_points[-1]
+
+    def reset_fisheye(self):
+        """
+        Reset the fisheye settings.
+
+        @return:
+        """
+        self.fisheye_k = None
+        self.fisheye_d = None
+        self._object_points = []
+        self._image_points = []
+        self.fisheye = None
+
+    def set_uri(self, uri):
+        self.uri = uri
+        try:
+            self.uri = int(self.uri)  # URI is an index.
+        except ValueError:
+            pass
+
+    def background(self):
+        """
+        Sets image background to main scene.
+        @return:
+        """
+        frame = self._last_frame
+        if frame is not None:
+            self.image_height, self.image_width = frame.shape[:2]
+            self.signal("background", (self.image_width, self.image_height, frame))
+            return self.image_width, self.image_height, frame
+        return None
+
+    def export(self):
+        """
+        Sends an image to the scene as an exported object.
+        """
+        frame = self._last_frame
+        if frame is not None:
+            self.image_height, self.image_width = frame.shape[:2]
+            self.signal("export-image", (self.image_width, self.image_height, frame))
+            return self.image_width, self.image_height, frame
+        return None