Picamera и дистанционная съемка с живой картинкой

 # This Python file uses the following encoding: utf-8
import os, sys
# rwpbb.ru zero
# Python 3
import RPi.GPIO as gp
#import serial
import time
import picamera
import numpy as np
from tkinter import *
from picamera.array import PiRGBArray
from PIL import Image
from PIL import ImageTk
#from tkinter import filedialog
import cv2

#assert float(cv2.__version__.rsplit('.', 1)[0]) >= 3, 'OpenCV version 3 or newer required.'


fr=0 # номер снимка в текущем сеансе
frs=0 # номер стереоснимка в текущем сеансе
fram = 10
fcam0=295 # фокусное расстояние в пикселях
fcams=305 # фокусное расстояние в стерео режиме

# fcam0 Фокусное расстояние в пикселях. Т.е. если у нас  
# рыбий глаз с фокусным расстоянием 18 мм, матрица размером 36х24 мм 
# и кадр 640х480 пикселей, то фокусное расстояние будет равно 320
# угол обзора и фокусное расстояние в мм можно получить командой
# finfo=cv2.calibrationMatrixValues(K,(640,480),36,24)
z1=100
xt=0
var = 256 # длительность выдержки
flag =1 # если 0 то включен предпросмотр, блокируются другие включения 
flagdp=0 # если 1 то включена коррекция
w, h = 2592, 1944
gp.setmode(gp.BCM)
gp.setup(18, gp.IN, pull_up_down = gp.PUD_UP)
gp.setup(19, gp.OUT)
gp.setup(21, gp.OUT)
gp.output(19, False)
gp.output(21, False)
# Присвоение очередного номера новым снимкам
fn=0
namef="/home/pi/fotopicam/foto1.txt"
try:
    f = open(namef, 'r')
    fs = f.read()
    print(fs)
    f.close()
except IOError:
    ff = open(namef, 'w')
    fs ="0"
    ff.write(fs)
    ff.close()

f = open(namef, 'r')
fs = f.read()
f.close()
fn=int(fs)
ff = open(namef, 'w')
fn=fn+1
ffs=str(fn)
ff.write(ffs)   
ff.close()



# Предпросмотр с использованием CV, если flagdp=1, то с коррекцией  
#За основу взят пример http://www.pyimagesearch.com/2016/05/23/opencv-with-tkinter/
#Для коррекции искажений использован пример https://github.com/smidm/opencv-python-fisheye-example
def sinxv1dp():
    global flag, image0
        
    if flag==0:
        sels()
    else:
        flag=0
        panelB = None
        panelA = None       
        camera.resolution = (640, 480)
        camsetcv()      
        rawCapture = PiRGBArray(camera, size=(640, 480))
        time.sleep(0.1)
        for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
            image0 = frame.array
            if flagdp.get() == 1:
                image0 = cv2.fisheye.undistortImage(image0, K, D=D, Knew=Knew)
            image = cv2.cvtColor(image0, cv2.COLOR_BGR2RGB)
            image = Image.fromarray(image)
            image = ImageTk.PhotoImage(image)

            if panelA is None :
                panelA = Label(image=image)
                panelA.image = image
                panelA.grid(row=0,column=0,rowspan=24)                      
            else:
                panelA.configure(image=image)
                panelA.image = image
            
            rawCapture.truncate(0)
            root.update()
            if flag == 1:
                break

        panelA.grid_forget()
        panelB = None
        panelA = None
        flag=1



def g19():
    if CheckVar4.get() == 1:
        gp.output(19, True)
    else:
        gp.output(19, False)
def g21():
    if CheckVar5.get() == 1:
        gp.output(21, True)
    else:
        gp.output(21, False)    

# Пересчет матрицы при масштабировании
def camz(z):
    global fcam, K, D, Knew, z1 
    z1=float(z)
    cx=320-6*xt*(1-z1/100)
    cy=240
    fcam=100*fcam0/(z1+0)
    fsc=0.85 +(100-z1)/(500-2*z1)
    K = np.array([[  fcam,     0.  ,  cx],
                  [    0.  ,   fcam,   cy],
                  [    0.  ,     0.  ,     1.  ]])

    D = np.array([0., 0., 0., 0.])

    Knew = K.copy()
    Knew[(0,1), (0,1)] = fsc * Knew[(0,1), (0,1)]
    x=(1-z1/100)/2 +xt*(1-z1/100)/100
    y=(1-z1/100)/2
    w=z1/100
    h=z1/100
    camera.zoom = (x,y,w,h)
    finfo=cv2.calibrationMatrixValues(K,(640,480),36,24)
    print(finfo)
    print(z1,x,y,w,h)

# Пересчет матрицы при сдвиге
def tilt (x0):
    global xt,fcam, K, D, Knew
    xt=int(x0)
    cx=320-6*xt*(1-z1/100)
    cy=240
    fcam=100*fcam0/(z1+00)
    fsc=0.85 +(100-z1)/(500-2*z1)
    K = np.array([[  fcam,     0.  ,  cx],
                  [    0.  ,   fcam,   cy],
                  [    0.  ,     0.  ,     1.  ]])

    D = np.array([0., 0., 0., 0.])

    Knew = K.copy()
    Knew[(0,1), (0,1)] = fsc * Knew[(0,1), (0,1)]
    x=(1-z1/100)/2 +xt*(1-z1/100)/100
    y=(1-z1/100)/2
    w=z1/100
    h=z1/100
    camera.zoom = (x,y,w,h)

# Параметры баланса белого 
def swb():
    camera.awb_mode = Spinboxwb.get()
    r=int(Spinboxwbr.get())/10
    b=int(Spinboxwbb.get())/10
    camera.awb_gains =(r,b)

# Параметры баланса белого при  awb_mode = 'off'
def wbr():
    r=int(Spinboxwbr.get())/10
    b=int(Spinboxwbb.get())/10
    camera.awb_gains =(r,b)

def wbb():
    b=int(Spinboxwbb.get())/10
    r=int(Spinboxwbr.get())/10
    camera.awb_gains =(r,b)

def iso():
    iso=int(Spinbox2.get())
    camera.iso = iso
    print(camera.iso)

# Параметры камеры при CV
def camsetcv():
    global var
    #camera.hflip = 1
    camera.rotation = 0
    fram=int(Spinbox1.get())
    camera.framerate = fram
    iso=int(Spinbox2.get())
    expcomp=int(Spinbox3.get())
    camera.exposure_compensation = expcomp
    contr=int(Spinbox5.get())
    camera.contrast = contr
    
    camera.awb_mode = Spinboxwb.get()
    r=int(Spinboxwbr.get())/10
    b=int(Spinboxwbb.get())/10
    camera.awb_gains =(r,b)
    
    if CheckVar2.get() == 1:
        camera.color_effects = (128,128)
    else:
        camera.color_effects = None
    camera.drc_strength = Spinbox4.get()
    camera.contrast = contr
    
    if exp.get() == "auto":
        camera.iso = 0
        camera.shutter_speed = 0
        camera.exposure_mode = "auto"
        Spinbox2.delete(0,3)
        Spinbox2.insert(0,'0')

    elif exp.get() == "off":
        camera.shutter_speed = var
        camera.exposure_mode = "auto"
        time.sleep(0.5)
        camera.exposure_mode = "off"

    else:           
        camera.iso = iso
        camera.shutter_speed = var
        camera.exposure_mode = "auto"
    time.sleep(0.5)
    var=int(camera.exposure_speed)
    label.config(text= "1/" + str(int(1000000/var))) 

# Параметры камеры при HDMI. При разрешении большем 1296 частота кадров ограничена 15   
def camset():
    if Spinbox6.get() == "2592x1944":
        w, h = 2592, 1944
    elif Spinbox6.get() == "1620x1232":
        w, h = 1620, 1232
    elif Spinbox6.get() == "1296x972":
        w, h = 1296, 972
    else:       
        w, h = 640, 480

    camera.resolution = (w, h)
    #camera.hflip = 1
    camera.rotation = 0
    global fram, var
    fram=int(Spinbox1.get())
    iso=int(Spinbox2.get())
    expcomp=int(Spinbox3.get())
    contr=int(Spinbox5.get())
    camera.framerate = fram 
    camera.preview_fullscreen=CheckVar1.get()
    #camera.preview_window = (0,0,1600,1200)
    camera.preview_window = (0,0,1024,768)
    camera.awb_mode = Spinboxwb.get()
    r=int(Spinboxwbr.get())/10
    b=int(Spinboxwbb.get())/10
    camera.awb_gains =(r,b)
    if CheckVar2.get() == 1:
        camera.color_effects = (128,128)
    else:
        camera.color_effects = None
    camera.drc_strength = Spinbox4.get()
    camera.exposure_compensation = expcomp
    #camera.brightness = 40
    camera.contrast = contr
    if exp.get() == "auto":
        camera.iso = 0
        camera.shutter_speed = 0
        camera.exposure_mode = "auto"
        Spinbox2.delete(0,3)
        Spinbox2.insert(0,'0')

    elif exp.get() == "off":
        camera.shutter_speed = var
        camera.exposure_mode = "auto"
        time.sleep(0.5)
        camera.exposure_mode = "off"

    else:           
        camera.iso = iso
        camera.shutter_speed = var
        camera.exposure_mode = "auto"
    time.sleep(0.5)
    var=int(camera.exposure_speed)
    label.config(text= "1/" + str(int(1000000/var)))

# Выдержка  
def selp():
    global var
    var=int(var*2)
    camera.shutter_speed = var
    # Проверяем, что частота кадров позволяет увеличить выдержку
    time.sleep(0.5)
    var=int(camera.exposure_speed)
    label.config(text= "1/" + str(int(1000000/var)))

def seln():
    global var
    var=int(var/2)
    label.config(text= "1/" + str(int(1000000/var)))
    camera.shutter_speed = var

# Снимок
def selcam1():
    global flag,fr

    if flag==0:
        sels()
    else:
        fr=fr+1
        #camera.crop = (0,0,1,1)
        camset()
        camera.exif_tags['IFD0.Artist'] = "RWPBB"
        camera.exif_tags['EXIF.FocalLength'] = '50'
        camera.capture("/home/pi/fotopicam/"+ffs+"pi%03d.jpg" % fr)

# Снимок 2
def selcam2():
    global flag,fr

    if flag==0:
        sels()
    else:
        fr=fr+1
        if Spinbox6.get() == "2592x1944":
            w, h = 2592, 1944
        elif Spinbox6.get() == "1620x1232":
            w, h = 1620, 1232
        elif Spinbox6.get() == "1296x972":
            w, h = 1296, 972
        else:       
            w, h = 640, 480
        camsetcv()
        camera.resolution = (w, h)
        rawCapture = PiRGBArray(camera, size=(w, h)) 
        time.sleep(0.1)      
        camera.capture(rawCapture, format="bgr")
        image = rawCapture.array
        if flagdp.get() == 1:
            fcam1=w*fcam0/640
            cx=w/2-6*xt*(1-z1/100)
            cy=h/2
            fcam=100*fcam1/(z1+00)
            fsc=0.85 +(100-z1)/(500-2*z1)
            K = np.array([[  fcam,     0.  ,  cx],
                          [    0.  ,   fcam,   cy],
                          [    0.  ,     0.  ,     1.  ]])

            D = np.array([0., 0., 0., 0.])

            Knew = K.copy()
            Knew[(0,1), (0,1)] = fsc * Knew[(0,1), (0,1)]
            image = cv2.fisheye.undistortImage(image, K, D=D, Knew=Knew)
        cv2.imwrite("/home/pi/fotopicam/"+ffs+"pifcv%03d.jpg" % fr, image)
        image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
        image = Image.fromarray(image)
        image = ImageTk.PhotoImage(image)
        flag = 0
        panelA = None 
        if panelA is None:
            panelA = Label(image=image)
            panelA.image = image
            panelA.grid(row=0,column=0,rowspan=24)                      
        else:
            panelA.configure(image=image)
            panelA.image = image        
        rawCapture.truncate(0)
        root.update()
        
        time.sleep(10)
        panelA.grid_forget()
        panelB = None
        panelA = None
        flag=1
        
# Компенсация экспозиции
def expc():
    expcomp=int(Spinbox3.get())
    camera.exposure_compensation = expcomp

# Контраст  
def contr():
    contr=int(Spinbox5.get())
    camera.contrast = contr

# Индикация текущей выдержки в автоматическом режиме    
def info(): 
    label.config(text= "1/" + str(int(1000000/camera.exposure_speed)))  
    print(camera.iso)

# Вычисление и индикация коэффициента локального контраста
def infof():    
    gray = cv2.cvtColor(image0, cv2.COLOR_BGR2GRAY)
    fm = cv2.Laplacian(gray, cv2.CV_64F).var()  
    labelf.config(text= str(int(fm)))



# Остановка проедпросмотра
def sels(): 
    global flag
    flag = 1
    if camera.preview:
        camera.stop_preview()

# Установка параметров и включение предпросмотра через HDMI 
def preview():
    global flag 
    if flag==0:
        sels()
    else:
        camset()
        #camera.crop = (0,0,1,1)
        camera.start_preview()
        flag = 0
def piexit():
    camera.close()
    gp.cleanup()
    exit()
# Реакция на кнопку 18
def finFunction(can):   
   
    sels()
    gp.output(21, True)
    time.sleep(0.2)
    gp.output(21, False)
    time.sleep(3.2)
    selcam2()
    
    
gp.add_event_detect(18, gp.FALLING, callback=finFunction, bouncetime=1000)    
with picamera.PiCamera() as camera: 
    root = Tk()
    root.title("PiCamera")
    root.wm_geometry("1280x760+0+0")
    panelA = None
    panelB = None
    exp = Spinbox(values =('auto','P','off'),width =4, font=('monospace',16))
    exp.grid(row=0,column=2, sticky='w')
    Spinbox6 = Spinbox(values =('1296x972','2592x1944','1620x1232','640x480'),width =9, font=('monospace',16))
    Spinbox6.grid(row=0,column=2, sticky='e', columnspan=2)
    Spinboxwb = Spinbox(values =('auto','sunlight','cloudy','tungsten','shade','off'),width =8, font=('monospace',14), command=swb)
    Spinboxwb.grid(row=2,column=2,columnspan=2)
    Spinboxwbr = Spinbox(from_=5, to=29,width =2, font=('monospace',16), command=wbr)
    Spinboxwbr.grid(row=2,column=2, sticky='w')
    Spinboxwbr.delete(0)
    Spinboxwbr.insert(0,10)
    Spinboxwbb = Spinbox(from_=5, to=29,width =2, font=('monospace',16), command=wbb)
    Spinboxwbb.grid(row=2,column=3, sticky='e')
    Spinboxwbb.delete(0)
    Spinboxwbb.insert(0,10)

    CheckVar1 = IntVar()
    CheckVar1.set(0)
    C1 = Checkbutton(text = "full", variable = CheckVar1, \
                 onvalue = 1, offvalue = 0, height=1, \
                 width =4, font=('monospace',16))
    C1.grid(row=3,column=2,columnspan=2)
    
    CheckVar2 = IntVar()
    CheckVar2.set(0)    
    C2 = Checkbutton(text = "B&W", variable = CheckVar2, \
                 onvalue = 1, offvalue = 0, height=1, \
                 width = 3, font=('monospace',16))
    C2.grid(row=3,column=2, sticky='w')
    
    flagdp = IntVar()
    flagdp.set(0)   
    C3 = Checkbutton(text = "DP", variable = flagdp, \
                 onvalue = 1, offvalue = 0, height=1, \
                 width =2, font=('monospace',16))
    C3.grid(row=3,column=3, sticky='e')

    button = Button(text="shutter_speed", command=info, font=('monospace',16))
    button.grid(row=4,column=2,columnspan=2)

    buttonp = Button(text="+", command=selp, font=('monospace',16), width = 2)
    buttonp.grid(row=5,column=2, sticky='w',columnspan=2)

    buttonn = Button(text="-", command=seln, font=('monospace',16), width = 2)
    buttonn.grid(row=5,column=2, sticky='e',columnspan=2)

    label = Label(text= "1/" + str(var), font=('monospace',16))
    label.grid(row=5,column=2,columnspan=2)

    button = Button(text="preview", command=preview, font=('monospace',16), height=1, width = 6)
    button.grid(row=8,column=2, sticky='w')
    buttonpstop = Button(text="Stop", command=sels, font=('monospace',16), height=1, width = 6)
    buttonpstop.grid(row=8,column=3, sticky='e')
    buttonpstopl = Button(text="Stop", command=sels, font=('monospace',16), height=25, width = 78)
    buttonpstopl.grid(row=1,column=0, sticky='w', rowspan=23)
    scalezoom = Scale(root, from_=20, to=100, orient=HORIZONTAL, resolution=5,  command=camz)
    scalezoom.grid(row=9,column=2, columnspan=2, sticky='e')
    scaletilt = Scale(root, from_=-50, to=50, orient=HORIZONTAL, resolution=1, command=tilt)
    scaletilt.grid(row=10,column=2, columnspan=2)
    scalezoom.set(100)
    labelzoom = Label(text= "Zoom", font=('monospace',16))
    labelzoom.grid(row=9,column=2,sticky='w')
    labelzooml = Label(text= "L", font=('monospace',16))
    labelzooml.grid(row=10,column=2,sticky='w')
    labelzoomr = Label(text= "R", font=('monospace',16))
    labelzoomr.grid(row=10,column=3,sticky='e')
   
    
    buttoncv1 = Button(text="CV", command=sinxv1dp, font=('monospace',16), height=1, width = 2)
    buttoncv1.grid(row=13,column=2, sticky='w')
   
    
    Spinbox1 = Spinbox(from_=3, to=32,width =3, font=('monospace',16))
    Spinbox1.grid(row=15,column=3)
    Spinbox1.delete(0)
    Spinbox1.insert(0,12)
    labelframe = Label( root, text="Frame", font=('monospace',16))
    labelframe.grid(row=15,column=2)
    
    Spinbox2 = Spinbox(values =('0','100','200','400','800'),width =4, font=('monospace',16), command=iso)
    Spinbox2.grid(row=16,column=3)
    labeliso = Label( root, text="ISO", font=('monospace',16))
    labeliso.grid(row=16,column=2) 
    
    Spinbox3 = Spinbox(from_=-25, to=25,width =4, font=('monospace',16), command=expc)
    Spinbox3.grid(row=17,column=3)
    Spinbox3.delete(0,"end")
    Spinbox3.insert(0, 0)
    labelexp = Label( root, text="EXP", font=('monospace',16))
    labelexp.grid(row=17,column=2)
    
    Spinbox4 = Spinbox(values =('high','low','off'),width =4, font=('monospace',16))
    Spinbox4.grid(row=19,column=3)
    labeldrc = Label( root, text="DRC", font=('monospace',16))
    labeldrc.grid(row=19,column=2)  
    
    Spinbox5 = Spinbox(from_=-25, to=25,width =4, font=('monospace',16), command=contr)
    Spinbox5.grid(row=18,column=3)
    Spinbox5.delete(0,"end")
    Spinbox5.insert(0,-1)
    labelcontr = Label( root, text="Contr", font=('monospace',16))
    labelcontr.grid(row=18,column=2) 
    CheckVar4 = IntVar()
    CheckVar4.set(0)
    C4 = Checkbutton(text = "19",variable = CheckVar4, command=g19,\
                 onvalue = 1, offvalue = 0, height=1, \
                 width =2, font=('monospace',16))
    C4.grid(row=20,column=3, sticky='e') 
    CheckVar5 = IntVar()
    CheckVar5.set(0)
    C5 = Checkbutton(text = "21", variable = CheckVar5, command=g21,\
                 onvalue = 1, offvalue = 0, height=1, \
                 width =2, font=('monospace',16))
    C5.grid(row=20,column=2, sticky='w') 
   
    labelf = Label(text= "0", font=('monospace',16))
    labelf.grid(row=22,column=2,columnspan=2)
    buttoncani = Button(text="LC", command=infof, font=('monospace',16),width =3)
    buttoncani.grid(row=22,column=2, sticky='w')
    buttoncanf4 = Button(text="exit", command=piexit, font=('monospace',16),width =3)
    buttoncanf4.grid(row=22,column=3, sticky='e')
   

    buttonpcam = Button(text="F1", command=selcam1, font=('monospace',16), height=1, width = 2)
    buttonpcam.grid(row=13,column=2, columnspan=2)
    buttonpcam2 = Button(text="F2", command=selcam2, font=('monospace',16), height=1, width = 2)
    buttonpcam2.grid(row=13,column=3, sticky='e')
    root.mainloop()


camera.close()
gp.cleanup()



    

import picamera
from datetime import datetime
import io
import logging
import socketserver
from threading import Condition
from http import server
from time import sleep
from PIL import ImageFont, ImageDraw, Image
import cv2
import traceback
from picamera.array import PiRGBArray
import time
import numpy as np
import datetime as dt

fcam0=250 # фокусное расстояние в пикселях
z1=100
xt=0
flag=0
ev=0 # компенсация экспозиции
def camz(z):
    global fcam, K, D, Knew, z1 
    z1=float(z)
    cx=320-6*xt*(1-z1/100)
    cy=240
    fcam=100*fcam0/(z1+0)
    fsc=0.85 +(100-z1)/(500-2*z1)
    K = np.array([[  fcam,     0.  ,  cx],
                  [    0.  ,   fcam,   cy],
                  [    0.  ,     0.  ,     1.  ]])

    D = np.array([0., 0., 0., 0.])

    Knew = K.copy()
    Knew[(0,1), (0,1)] = fsc * Knew[(0,1), (0,1)]
    #x=(1-z1/100)/2 +xt*(1-z1/100)/100
    #y=(1-z1/100)/2
    #w=z1/100
    #h=z1/100
    #self.camera.zoom = (x,y,w,h)
    #finfo=cv2.calibrationMatrixValues(K,(640,480),36,24)
    #print(finfo)
    #print(z1,x,y,w,h)


PAGE="""\
<html>
<head>
<meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
<title>Raspberry Pi</title>
<style>
body {
    background: #999999;
    margin: 10px;
    font-family: Arial, sans-serif;
    font-size: 40px;
    text-align: center;
}
.button {
    width: 100px;
    background-color: #4CAF50; /* Green */
    border: none;
    color: white;
    padding: 10px;
    text-align: center;
    margin: 10px 10px;
    border-radius: 15px;
    font-size: 20px;
    opacity: 1;
    transition: 0.5s;
}
.button:hover {opacity: 0.6}
</style>    
</head>
<body>
<center><h1>Raspberry Pi</h1>
<img src="stream.mjpg" width="640" height="480">
<div class="button"><a href="/capture/">Снимок</a></div> </center>
<form>
<p><button name="hid0" type="submit" class="button"> -- </button>
<button name="hid1" type="submit" class="button"> Выкл </button> 
<button name="hid"  type="submit" class="button"> Вкл </button>
<button name="hid2" type="submit" class="button"> ++ </button></p>
</form>

</body>
</html>
"""
Redirection="""<html><head><meta http-equiv="refresh" content="0;URL=/index.html"></head></html>"""

class StreamingOutput(object):
    def __init__(self):
        self.frame = None
        self.buffer = io.BytesIO()
        self.condition = Condition()
        self.camera=picamera.PiCamera(resolution='640x480', framerate=12)

    def write(self, buf):
        if buf.startswith(b'\xff\xd8'):
            # New frame, copy the existing buffer's content and notify all
            # clients it's available
            self.buffer.truncate()
            with self.condition:
                self.frame = self.buffer.getvalue()
                self.condition.notify_all()
            self.buffer.seek(0)
        return self.buffer.write(buf)
    def shot_camera(self):
        self.camera.wait_recording(0.5)
        self.camera.stop_recording()
        sleep(0.5)
        self.camera.resolution=(2592, 1944)
        #self.camera.start_preview()
        sleep(0.5)
        self.camera.capture("/home/pi/" + datetime.now().strftime("%d-%b-%Y.(%H_%M_%S_%f)") + ".jpg")
        self.camera.resolution=(640,480)
        self.camera.start_recording(self, format='mjpeg')
    def shot_camera3(self):
        global flag
        flag=1
    def shot_camera2(self):
        global flag
        flag=0
    def shot_camera0(self):
        global ev
        ev=ev-2
        self.camera.exposure_compensation =ev
    def shot_camera4(self):
        global ev
        ev=ev+2
        self.camera.exposure_compensation =ev
    def start_recording(self):
        #Uncomment the next line to change your Pi's Camera rotation (in degrees)
        #camera.rotation = 90
        self.camera.start_recording(self, format='mjpeg')
    def stop_camera(self):
        self.camera.stop_recording()
    


class StreamingHandler(server.BaseHTTPRequestHandler):
    def do_GET(self):
        if self.path == '/':
            self.send_response(301)
            self.send_header('Location', '/index.html')
            self.end_headers()
        elif self.path == '/index.html':
            content = PAGE.encode('utf-8')
            self.send_response(200)
            self.send_header('Content-Type', 'text/html')
            self.send_header('Content-Length', len(content))
            self.end_headers()
            self.wfile.write(content)
        elif self.path == '/stream.mjpg':
            self.send_response(200)
            self.send_header('Age', 0)
            self.send_header('Cache-Control', 'no-cache, private')
            self.send_header('Pragma', 'no-cache')
            self.send_header('Content-Type', 'multipart/x-mixed-replace; boundary=FRAME')
            self.end_headers()
            try:
                while True:
                    with output.condition:
                        output.condition.wait()
                        frame = output.frame
                        if flag == 1:
                            # Convert to PIL Image
                            npframe = np.fromstring(frame, dtype=np.uint8)
                            pil_frame = cv2.imdecode(npframe,1)
                            
                            pil_frame = cv2.fisheye.undistortImage(pil_frame, K, D=D, Knew=Knew)
                            cv2_im_rgb = cv2.cvtColor(pil_frame, cv2.COLOR_BGR2RGB)
                            pil_im = Image.fromarray(cv2_im_rgb)
                            
                            buf= io.BytesIO()
                            pil_im.save(buf, format= 'JPEG')
                            frame = buf.getvalue()
                        
                    self.wfile.write(b'--FRAME\r\n')
                    self.send_header('Content-Type', 'image/jpeg')
                    self.send_header('Content-Length', len(frame))
                    self.end_headers()
                    self.wfile.write(frame)
                    self.wfile.write(b'\r\n')
            except Exception as e:
                logging.warning(
                    'Removed streaming client %s: %s',
                    self.client_address, str(e))
        elif self.path == '/capture/':
            output.shot_camera()
            content = Redirection.encode('utf-8')
            self.send_response(200)
            self.send_header('Content-Type', 'text/html')
            self.send_header('Content-Length', len(content))
            self.end_headers()
            self.wfile.write(content)
        elif self.path == '/index.html?hid1=':
            output.shot_camera2()
            content = Redirection.encode('utf-8')
            self.send_response(200)
            self.send_header('Content-Type', 'text/html')
            self.send_header('Content-Length', len(content))
            self.end_headers()
            self.wfile.write(content)
        elif self.path == '/index.html?hid=':
            output.shot_camera3()
            content = Redirection.encode('utf-8')
            self.send_response(200)
            self.send_header('Content-Type', 'text/html')
            self.send_header('Content-Length', len(content))
            self.end_headers()
            self.wfile.write(content)
        elif self.path == '/index.html?hid0=':
            output.shot_camera0()
            content = Redirection.encode('utf-8')
            self.send_response(200)
            self.send_header('Content-Type', 'text/html')
            self.send_header('Content-Length', len(content))
            self.end_headers()
            self.wfile.write(content)
        elif self.path == '/index.html?hid2=':
            output.shot_camera4()
            content = Redirection.encode('utf-8')
            self.send_response(200)
            self.send_header('Content-Type', 'text/html')
            self.send_header('Content-Length', len(content))
            self.end_headers()
            self.wfile.write(content)
        else:
            self.send_error(404)
            self.end_headers()

class StreamingServer(socketserver.ThreadingMixIn, server.HTTPServer):
    allow_reuse_address = True
    daemon_threads = True
camz(100)
output = StreamingOutput()
output.start_recording()
try:
        address = ('', 8000)
        serveur = StreamingServer(address, StreamingHandler)
        serveur.serve_forever()
finally:
        output.stop_camera()

#!/usr/bin/env python
from datetime import datetime
from importlib import import_module
import os, sys
from flask import Flask, render_template, Response, request,jsonify 
import io
import time
import picamera
from base_camera import BaseCamera
import numpy as np
from PIL import ImageFont, ImageDraw, Image
import cv2
from picamera.array import PiRGBArray
rot=0
z=85
rbc="checked='checked'"
rbc6=""
dpp="DP:ON"
prr="Preview:ON"
mdd="Mode:M"
option="auto"
sh1="off"
iso=0
con=0
bri=50
sat=0
sharp=0
wb8=15 # баланс белого красный
wb9=15 # синий
sl1=0 # Значение для slider1
sl5=0
sl6=0
sl7=0
sl10=0
sl11=0
sl13=50
wh1="3280x2464"
fcam0=250 # фокусное расстояние в пикселях для матрицы 640х480 пикселей
#z1=100
#xt=0
flag=1
flag1=1 # 0 выйти из цикла трансляции видео
fr=12 # частота кадров
camera=picamera.PiCamera()
camera.exposure_mode = "auto"
camera.framerate = fr
ev=int(sl1)-25
camera.exposure_compensation =ev
def infof():    
    gray = cv2.cvtColor(image0, cv2.COLOR_BGR2GRAY)
    fm = cv2.Laplacian(gray, cv2.CV_64F).var()  
    text= str(int(fm))
    return text
def camz(z):
    global fcam, K, D, Knew, z1 
    z1=100
    cx=320
    cy=240
    fcam=100*fcam0/z1
    fsc=z/100
    K = np.array([[  fcam,     0.  ,  cx],
                  [    0.  ,   fcam,   cy],
                  [    0.  ,     0.  ,     1.  ]])

    D = np.array([0., 0., 0., 0.])

    Knew = K.copy()
    Knew[(0,1), (0,1)] = fsc * Knew[(0,1), (0,1)]
class Camera(BaseCamera):
    camz(z)
    #camera.resolution=(640,480)
    @staticmethod
    def frames():
        global image0
        if flag1 == 1:
            if rot == 0 or rot == 180:
                w, h = 640, 480
            else :
                w, h = 480, 640
            camera.resolution=(w, h)
            camera.rotation = rot
            # let camera warm up
            time.sleep(1)
            rawCapture = PiRGBArray(camera, size=(w, h))

            for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
                
                image0 = frame.array
                if flag == 2:
                    image0 = cv2.fisheye.undistortImage(image0, K, D=D, Knew=Knew)
                image = cv2.cvtColor(image0, cv2.COLOR_BGR2RGB)
                pil_im = Image.fromarray(image)
                stream= io.BytesIO()
                pil_im.save(stream, format= 'JPEG')

                # return current frame
                stream.seek(0)
                yield stream.read()

                # reset stream for next frame
                rawCapture.truncate(0)
                if flag1 == 0:
                    break

app = Flask(__name__)

@app.route('/')
def index():
    global spa
    #"""Video streaming home page."""
    var=int(camera.exposure_speed)
    spa=str(int(1000000/var))
    return render_template('index.html',val15=z, opt3=wh1, opt=option, opt2=sh1, rb6=rbc6, val14=rot,val12=fcam0, val11=sl11, val10=sl10, val13=sl13, val=sl1, val5=sl5, val6=sl6, val7=sl7, val7a=spa, dp=dpp, pr=prr,md=mdd, val8=wb8, val9=wb9)

@app.route('/process_data/', methods=['POST'])
def doit():
    global flag, flag1, dpp, prr, mdd, spa, sl5, sl6
    index = request.form['index']
    # ... обработать данные ...
    var=int(camera.exposure_speed)
    if index == "1":
        if flag <2:
            flag =2
            dpp="DP:OFF"
        else:
            flag=1
            dpp="DP:ON"
    if index == "2":
        if prr == "Preview:ON":
            flag1=0
            time.sleep(0.2)
            camera.resolution=(1920, 1080)
            camera.start_preview()
            prr="Preview:OFF"
        else:
            camera.stop_preview()
            flag1=1
            prr="Preview:ON"
    if index == "3":
        if mdd == "Mode:M":
            camera.shutter_speed = var
            camera.exposure_mode = "auto"
            time.sleep(0.5)
            camera.exposure_mode = "off"
            mdd="Mode:A"
            sl6=str(int(var/1000))
        else:
            camera.iso = 0
            camera.shutter_speed = 0
            camera.exposure_mode = "auto"
            mdd="Mode:M"
            sl5="0"
            sl6="0"
    if index == "4":
        if wh1 =="3280x2464":
            w, h =3280, 2464
        elif wh1 =="1920x1080":
            w, h =1920, 1080
        elif wh1 =="1640x1232":
            w, h =1640, 1232
        elif wh1 =="2592x1944":
            w, h =2592, 1944
        elif wh1 =="1296x972":
            w, h =1296, 972
        else:
            w,h=640,480
        flag1=0
        time.sleep(0.2)
        camera.resolution=(w, h)
        camera.capture("/home/pi/" + datetime.now().strftime("%d-%b-%Y.(%H_%M_%S_%f)") + ".jpg")
        #camera.resolution=(640,480)
        flag1=1
    spa=str(int(1000000/var))
    return render_template('index.html',val15=z, opt3=wh1, opt=option, opt2=sh1, rb6=rbc6, val14=rot,val12=fcam0, val11=sl11, val10=sl10, val13=sl13, val=sl1, val5=sl5, val6=sl6, val7=sl7, val7a=spa, dp=dpp, pr=prr,md=mdd, val8=wb8, val9=wb9)

@app.route('/process_data2/', methods=['POST'])
def slid():
    global sl1, sl5, sl6, sl7, sl10, sl11, fcam0, sl13, spa,z
    sl1 = request.form['slider1']
    ev=int(sl1)
    camera.exposure_compensation =ev
    sl5 = request.form['slider5']
    iso=int(sl5)*100
    camera.iso = iso
    sl6 = request.form['slider6']
    sp=int(sl6)*1000
    camera.shutter_speed =sp
    sl7 = request.form['slider7']
    con=int(sl7)
    camera.contrast = con
    sl13 = request.form['slider13']
    bri=int(sl13)
    camera.brightness = bri
    sl10 = request.form['slider10']
    sat=int(sl10)
    camera.saturation = sat
    sl11 = request.form['slider11']
    sharp=int(sl11)
    camera.sharpness = sharp
    infsh=infof()
    print(infsh)
    sl12 = request.form['slider12']
    fcam0=int(sl12)
    sl15 = request.form['slider15']
    z=int(sl15)
    camz(z)
    time.sleep(0.1)
    var=int(camera.exposure_speed)
    spa=str(int(1000000/var))
    return render_template('index.html',val15=z, val11a=infsh, opt3=wh1, opt=option, opt2=sh1, rb6=rbc6, val14=rot,val12=fcam0, val11=sl11, val10=sl10, val13=sl13, val=sl1, val5=sl5, val6=sl6, val7=sl7, val7a=spa, dp=dpp, pr=prr,md=mdd, val8=wb8, val9=wb9)
@app.route('/process_data14/', methods=['POST'])
def rotcam():
    global rot, flag1
    sl14 = request.form['slider14']
    rot=int(sl14)
    flag1=0
    time.sleep(0.2)
    flag1=1
    return render_template('index.html',val15=z, opt3=wh1, opt=option, opt2=sh1, rb6=rbc6, val14=rot,val12=fcam0, val11=sl11, val10=sl10, val13=sl13, val=sl1, val5=sl5, val6=sl6, val7=sl7, val7a=spa, dp=dpp, pr=prr,md=mdd, val8=wb8, val9=wb9)
def gen(camera):
    """Video streaming generator function."""
    while True:
        frame = camera.get_frame()
        yield (b'--frame\r\n'
               b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n')
@app.route('/process_data8/', methods=['POST'])
def rad():
    global spa, option,wb8, wb9, rbc6
    option = request.form['options']
    wb8 = request.form['slider8']
    wb9 = request.form['slider9']
    # ... обработать данные ...
    camera.awb_mode = option
    if option =="off":
        r=int(wb8)/10
        b=int(wb9)/10
        camera.awb_gains =(r,b)
        rbc6=rbc
    else:
        rbc6=""
    
    print(option,wb8,wb9)
    
    
    return render_template('index.html',opt3=wh1, opt=option, opt2=sh1, rb6=rbc6, val14=rot,val12=fcam0, val11=sl11, val10=sl10, val13=sl13, val=sl1, val5=sl5, val6=sl6, val7=sl7, val7a=spa, dp=dpp, pr=prr,md=mdd, val8=wb8, val9=wb9)
@app.route('/process_data3/', methods=['POST'])
def sh():
    global sh1
    sh1 = request.form['opt']
    # ... обработать данные ...
    camera.drc_strength = sh1
    print(sh1)
    
    return render_template('index.html',opt3=wh1, opt=option, opt2=sh1, rb6=rbc6, val14=rot,val12=fcam0, val11=sl11, val10=sl10, val13=sl13, val=sl1, val5=sl5, val6=sl6, val7=sl7, val7a=spa, dp=dpp, pr=prr,md=mdd, val8=wb8, val9=wb9)
@app.route('/process_data5/', methods=['POST'])
def wh():
    global wh1
    wh1 = request.form['opti']

    print(wh1)
    
    return render_template('index.html',opt3=wh1, opt=option, opt2=sh1, rb6=rbc6, val14=rot,val12=fcam0, val11=sl11, val10=sl10, val13=sl13, val=sl1, val5=sl5, val6=sl6, val7=sl7, val7a=spa, dp=dpp, pr=prr,md=mdd, val8=wb8, val9=wb9)
@app.route('/video_feed')
def video_feed():
    """Video streaming route. Put this in the src attribute of an img tag."""
    return Response(gen(Camera()),
                    mimetype='multipart/x-mixed-replace; boundary=frame')


if __name__ == '__main__':
    app.run(host='0.0.0.0', threaded=True)

<html>
  <head>
    <meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
    <title>PiCamera</title>

<style>
.slidecontainer {
  width: 640px;
}
.slidecontainer1 {
  width: 630px;
}
.slider {
  -webkit-appearance: none;
  width: 95%;
  height: 15px;
  background: #d3d3d3;
  outline: none;
  opacity: 0.7;
  -webkit-transition: .2s;
  transition: opacity .2s;
}

.slider:hover {
  opacity: 1;
}

.slider::-webkit-slider-thumb {
  -webkit-appearance: none;
  appearance: none;
  width: 20px;
  height: 30px;
  background: #4CAF50;
  cursor: pointer;
}

.slider::-moz-range-thumb {
  width: 20px;
  height: 30px;
  background: #4CAF50;
  cursor: pointer;
}
.slider1::-webkit-slider-thumb {
  -webkit-appearance: none;
  appearance: none;
  width: 10px;
  height: 20px;
  background: #5050AF;
  cursor: pointer;
}

.slider1::-moz-range-thumb {
  width: 10px;
  height: 20px;
  background: #5050AF;
  cursor: pointer;
}
.slider1 {
  -webkit-appearance: none;
  width: 45%;
  height: 10px;
  background: #d3d3d3;
  outline: none;
  opacity: 0.7;
  -webkit-transition: .2s;
  transition: opacity .2s;
}
.slider1:hover {
  opacity: 1;
}
.button {
    width: 120px;
    background-color: #4CAF50; /* Green */
    border: none;
    color: white;
    padding: 5px;
    text-align: center;
    margin: 2px 5px;
    border-radius: 15px;
    font-size: 18px;
    opacity: 0.7;
    transition: 0.5s;
}
.button:hover {opacity: 0.9}
</style>
</head>
<body>
<table width="640" border="0" align="center">
  <tr>
    <td>
   <center> 
    <img src="{{ url_for('video_feed') }}">
<form action="/process_data/" method="POST">
  <button name="index" value="1"  type="submit" class="button"> {{dp}} </button> 
  <button name="index" value="2"  type="submit" class="button"> {{pr}} </button>
  <button name="index" value="3"  type="submit" class="button"> {{md}} </button>
  <button name="index" value="4"  type="submit" class="button"> Снимок </button>
</form>

<form action="/process_data2/" method="POST">
<div class="slidecontainer">
<table width="640" border="0" align="center">
  <tr>  
<td><p align="left">
  Компенсация экспозиции: <span id="demo"></span></p></td><td><p align="right">  <input type="submit" class="button" value="Enter"></p></td></tr></table>
  <input type="range" min="-25" max="25" value={{val}} class="slider" id="myRange" name="slider1">

<p align="left">
ISO: <span id="demo5"></span>00</p>
<input type="range" min="0" max="8" value={{val5}} class="slider" id="myRange5" name="slider5">

<p align="left">
  Выдержка: <span id="demo6"></span>мс 1/{{val7a}}с</p>
  <input type="range" min="0" max="100" value={{val6}} class="slider" id="myRange6" name="slider6">

<p align="left">
  Контраст: <span id="demo7"></span></p>
  <input type="range" min="-100" max="100" value={{val7}} class="slider" id="myRange7" name="slider7">

<p align="left">
   Яркость: <span id="demo13"></span></p>
  <input type="range" min="0" max="100" value={{val13}} class="slider" id="myRange13" name="slider13">

<p align="left">
   Насыщенность: <span id="demo10"></span></p>
  <input type="range" min="-100" max="100" value={{val10}} class="slider" id="myRange10" name="slider10">

<p align="left">
   Резкость: <span id="demo11"></span>({{val11a}})</p>
  <input type="range" min="-100" max="100" value={{val11}} class="slider" id="myRange11" name="slider11">

<p align="left">
   Фокусное расстояние: <span id="demo12"></span></p>
  <input type="range" min="100" max="500" value={{val12}} class="slider" id="myRange12" name="slider12">
<p align="left">
   Масштаб: <span id="demo15"></span></p>
  <input type="range" min="0" max="100"  value={{val15}} class="slider" id="myRange15" name="slider15">  

</div>
</form>
<form action="/process_data14/" method="POST">
<div class="slidecontainer">
<table width="640" border="0" align="center"><tr>
  <td><p align="left">Вращение: <span id="demo14"></span></p></td>
  <td><p align="right">  <input type="submit" class="button" value="Enter"></p></td></tr></table>
  <input type="range" min="0" max="270" step="90" value={{val14}} class="slider" id="myRange14" name="slider14"> 
</div>
</form>
<form name="myForm" action="/process_data8/" method="POST" >


<input type="radio" name="options" id="option1" value="auto" {{rb1}}> auto </input>
<input type="radio" name="options" id="option2" value="sunlight" {{rb2}}> sunlight </input>
<input type="radio" name="options" id="option3" value="cloudy" {{rb3}}> cloudy </input>
<input type="radio" name="options" id="option3" value="tungsten" {{rb4}}> tungsten </input>
<input type="radio" name="options" id="option3" value="shade" {{rb5}}> shade </input>
<input type="radio" name="options" id="option3" value="off" {{rb6}}> off </input><br>
<div class="slidecontainer1">
<input type="range" min="1" max="25" value={{val8}} class="slider1" id="myRange8" name="slider8">
<input type="range" min="1" max="25" value={{val9}} class="slider1" id="myRange9" name="slider9"><br>
Красный:<span id="demo8"></span><input type=submit class="button" value={{opt}}>Синий:<span id="demo9"></span>
</div>
</form>
<form name="myForm2" action="/process_data3/" method="POST" >
<input type="radio" name="opt" id="opt1" value="off" {{cb1}}> off </input>
<input type="radio" name="opt" id="opt2" value="low" {{cb2}}> low </input>
<input type="radio" name="opt" id="opt3" value="medium" {{cb3}}> medium </input>
<input type="radio" name="opt" id="opt4" value="high" {{cb4}}> high </input>
<input type=submit class="button" value={{opt2}}>
</form>
<form name="myForm3" action="/process_data5/" method="POST" >
<input type="radio" name="opti" id="opti1" value="3280x2464" {{wh1}}> 3280x2464 </input>
<input type="radio" name="opti" id="opti2" value="2592x1944" {{wh2}}> 2592x1944</input>
<input type="radio" name="opti" id="opti3" value="1920x1080" {{wh3}}> 1920x1080 </input>
<input type="radio" name="opti" id="opti4" value="1640x1232" {{wh4}}> 1640x1232 </input><br>
<input type="radio" name="opti" id="opti5" value="1296x972" {{wh5}}> 1296x972 </input>
<input type="radio" name="opti" id="opti6" value="640x480" {{wh7}}> 640x480 </input>
<input type=submit class="button" value={{opt3}}>
</form>
</center>

<script>
var slider = document.getElementById("myRange");
var output = document.getElementById("demo");
output.innerHTML = slider.value;

slider.oninput = function() {
  output.innerHTML = this.value;
}
</script>
<script>
var slider5 = document.getElementById("myRange5");
var output5 = document.getElementById("demo5");
output5.innerHTML = slider5.value;

slider5.oninput = function() {
  output5.innerHTML = this.value;
}
</script>
<script>
var slider6 = document.getElementById("myRange6");
var output6 = document.getElementById("demo6");
output6.innerHTML = slider6.value;

slider6.oninput = function() {
  output6.innerHTML = this.value;
}
</script>
<script>
var slider7 = document.getElementById("myRange7");
var output7 = document.getElementById("demo7");
output7.innerHTML = slider7.value;

slider7.oninput = function() {
  output7.innerHTML = this.value;
}
</script>
<script>
var slider8 = document.getElementById("myRange8");
var output8 = document.getElementById("demo8");
output8.innerHTML = slider8.value;

slider8.oninput = function() {
  output8.innerHTML = this.value;
}
</script>
<script>
var slider9 = document.getElementById("myRange9");
var output9 = document.getElementById("demo9");
output9.innerHTML = slider9.value;

slider9.oninput = function() {
  output9.innerHTML = this.value;
}
</script>

<script>
var slider10 = document.getElementById("myRange10");
var output10 = document.getElementById("demo10");
output10.innerHTML = slider10.value;

slider10.oninput = function() {
  output10.innerHTML = this.value;
}
</script>

<script>
var slider11 = document.getElementById("myRange11");
var output11 = document.getElementById("demo11");
output11.innerHTML = slider11.value;

slider11.oninput = function() {
  output11.innerHTML = this.value;
}
</script>

<script>
var slider12 = document.getElementById("myRange12");
var output12 = document.getElementById("demo12");
output12.innerHTML = slider12.value;

slider12.oninput = function() {
  output12.innerHTML = this.value;
}
</script>

<script>
var slider13 = document.getElementById("myRange13");
var output13 = document.getElementById("demo13");
output13.innerHTML = slider13.value;

slider13.oninput = function() {
  output13.innerHTML = this.value;
}
</script>

<script>
var slider14 = document.getElementById("myRange14");
var output14 = document.getElementById("demo14");
output14.innerHTML = slider14.value;

slider14.oninput = function() {
  output14.innerHTML = this.value;
}
</script>
<script>
var slider15 = document.getElementById("myRange15");
var output15 = document.getElementById("demo15");
output15.innerHTML = slider15.value;

slider15.oninput = function() {
  output15.innerHTML = this.value;
}
</script>
</td>
  </tr>
</table>

  </body>
</html>