Initial web ui and control for robot

webui/backend/webrtc.py

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+import asyncio
+import os
+
+import av
+import cv2
+from aiortc import VideoStreamTrack
+
+CAMERA_DEVICE = int(os.environ.get('CAMERA_DEVICE', '0'))
+
+
+class CameraVideoTrack(VideoStreamTrack):
+    def __init__(self):
+        super().__init__()
+        self._cap = cv2.VideoCapture(CAMERA_DEVICE)
+        self._cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
+        self._cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
+        self._cap.set(cv2.CAP_PROP_FPS, 30)
+        self._cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
+
+    async def recv(self) -> av.VideoFrame:
+        pts, time_base = await self.next_timestamp()
+
+        loop = asyncio.get_event_loop()
+        ret, frame = await loop.run_in_executor(None, self._cap.read)
+
+        if not ret:
+            import numpy as np
+            frame = np.zeros((480, 640, 3), dtype=np.uint8)
+        else:
+            frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+
+        video_frame = av.VideoFrame.from_ndarray(frame, format='rgb24')
+        video_frame.pts = pts
+        video_frame.time_base = time_base
+        return video_frame
+
+    def __del__(self) -> None:
+        if self._cap:
+            self._cap.release()