Peter MaMica Wong
Published © LGPL

Vehicle Rear Vision

Vehicle Rear Vision for older cars.

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Vehicle Rear Vision

Things used in this project

Hardware components

Intel RealSense Camera
Intel RealSense Camera
×1
Walabot Developer Pack
Walabot Developer Pack
×1
DC to AC Direct Plug-in Power Inverter
×1

Software apps and online services

Snappy Ubuntu Core
Snappy Ubuntu Core
Intel RealSense SDK
Intel RealSense SDK
Android Studio
Android Studio

Hand tools and fabrication machines

3D Printer (generic)
3D Printer (generic)

Story

Read more

Custom parts and enclosures

RealSense License Plate Holder right side

This is the ride side of the RealSense License Plate Holder

RealSense License Plate Holder Left Side

Left Side of the RealSense License Plate Holder

Schematics

Schematics for all the components

Schematics for all the components that's attached

Intel Joule Breakout board

Intel Joule's breakout board, courtesy of Intel

Intel Joule Module

Module description for Intel Joule, courtesy of Intel

Walabot Pro Tech Spec

Walabot Pro Tech Spec, courtesy of Walabot

Code

Walabot distance measuring

Python
This is the python code that's used to measure distance between the vehicle and target behind. It is beings streamed through socket and udp in real time, which can be obtained from the Android phone/tablet.
from __future__ import print_function
from sys import platform
from os import system
import WalabotAPI
try:  # for Python 2
    import Tkinter as tk
except ImportError:  # for Python 3
    import tkinter as tk


MYPORT = 5002

import sys, time
from socket import *

s = socket(AF_INET, SOCK_DGRAM)
s.bind(('', 0))
s.setsockopt(SOL_SOCKET, SO_REUSEADDR, 1)
s.setsockopt(SOL_SOCKET, SO_BROADCAST, 1)


class Walabot:

    def __init__(self):
        self.wlbt = WalabotAPI
        self.wlbt.Init()
        self.wlbt.SetSettingsFolder()
        self.isConnected = False
        self.isTargets = False

        self.rMin = self.WalabotParameter(self, "R     Min", 1, 1000, 10.0)
        self.rMax = self.WalabotParameter(self, "R     Max", 1, 1000, 100.0)
        self.rRes = self.WalabotParameter(self, "R     Res", 0.1, 10, 2.0)
        self.tMax = self.WalabotParameter(self, "Theta Max", 1, 90, 20.0)
        self.tRes = self.WalabotParameter(self, "Theta Res", 1, 10, 10.0)
        self.pMax = self.WalabotParameter(self, "Phi   Max", 1, 90, 45.0)
        self.pRes = self.WalabotParameter(self, "Phi   Res", 1, 10, 2.0)
        self.thld = self.WalabotParameter(self, "Threshold", 0.1, 100, 15.0)
        self.mti = self.WalabotParameterMTI(self)
        self.parameters = (
            self.rMin, self.rMax, self.rRes, self.tMax, self.tRes,
            self.pMax, self.pRes, self.thld, self.mti)

    class WalabotParameter(tk.Frame):
        """ The frame that sets each Walabot parameter line.
        """

        def __init__(self, master, varVal, minVal, maxVal, defaultVal):
            """ Init the Labels (parameter name, min/max value) and entry.
            """            
            self.minVal, self.maxVal = minVal, maxVal
            self.var = tk.StringVar()
            self.var.set(defaultVal)
            self.var.trace("w", lambda a, b, c, var=self.var: self.validate())
            txt = "[{}, {}]".format(minVal, maxVal)

        def validate(self):
            """ Checks that the entered value is a valid number and between
                the min/max values. Change the font color of the value to red
                if False, else to black (normal).
            """
            num = self.var.get()
            try:
                num = float(num)
                if num < self.minVal or num > self.maxVal:
                    self.entry.config(fg="red")
                    return
                self.entry.config(fg="gray1")
            except ValueError:
                self.entry.config(fg="red")
                return

        def get(self):
            """ Returns the entry value as a float.
            """
            return float(self.var.get())

        def set(self, value):
            """ Sets the entry value according to a given one.
            """
            self.var.set(value)

        def changeState(self, state):
            """ Change the entry state according to a given one.
            """
            self.entry.configure(state=state)

    class WalabotParameterMTI(tk.Frame):
        """ The frame that control the Walabot MTI parameter line.
        """
        def __init__(self, master):
            self.mtiVar = tk.IntVar()
            self.mtiVar.set(0)

        def get(self):
            """ Returns the value of the pressed radiobutton.
            """
            return self.mtiVar.get()

        def set(self, value):
            """ Sets the pressed radiobutton according to a given value.
            """
            self.mtiVar.set(value)

        def changeState(self, state):
            """ Change the state of the radiobuttons according to a given one.
            """
            self.true.configure(state=state)
            self.false.configure(state=state)

    def getParameters(self):
        """ Return the values of all the parameters entries/radiobuttons.
        """
        rParams = (self.rMin.get(), self.rMax.get(), self.rRes.get())
        tParams = (-self.tMax.get(), self.tMax.get(), self.tRes.get())
        pParams = (-self.pMax.get(), self.pMax.get(), self.pRes.get())
        thldParam, mtiParam = self.thld.get(), self.mti.get()
        return rParams, tParams, pParams, thldParam, mtiParam


    def setParameters(self):
        """ Set the arena Parameters according given ones.
        """
        rParams = (self.rMin.get(), self.rMax.get(), self.rRes.get())
        tParams = (-self.tMax.get(), self.tMax.get(), self.tRes.get())
        pParams = (-self.pMax.get(), self.pMax.get(), self.pRes.get())
        thldParam, mtiParam = self.thld.get(), self.mti.get()

        self.wlbt.SetProfile(self.wlbt.PROF_SENSOR)
        self.wlbt.SetArenaR(self.rMin.get(), self.rMax.get(), self.rRes.get())
        self.wlbt.SetArenaTheta(-self.tMax.get(), self.tMax.get(), self.tRes.get())
        self.wlbt.SetArenaPhi(-self.pMax.get(), self.pMax.get(), self.pRes.get())
        self.wlbt.SetThreshold(thldParam)
        self.wlbt.SetDynamicImageFilter(mtiParam)
        self.wlbt.Start()
    def connect(self):
        try:
            self.wlbt.ConnectAny()
            self.isConnected = True
            self.setParameters()
        except self.wlbt.WalabotError as err:
            if err.code != 19:  # 'WALABOT_INSTRUMENT_NOT_FOUND'
                raise err

    def start(self):
        self.wlbt.Start()

    def get_targets(self):
        self.wlbt.Trigger()
        return self.wlbt.GetSensorTargets()

    def stop(self):
        self.wlbt.Stop()

    def disconnect(self):
        self.wlbt.Disconnect()

    def calibrate(self):
        """ Calibrate the Walabot.
        """
        self.wlbt.StartCalibration()
        while self.wlbt.GetStatus()[0] == self.wlbt.STATUS_CALIBRATING:
            self.wlbt.Trigger()

def print_targets(targets):
    system("cls" if platform == "win32" else "clear")  # clear the screen
    if not targets:
        s.sendto(str(0), ('255.255.255.255', MYPORT))
        print("No targets")
        return

    s.sendto(str(targets[0].zPosCm), ('255.255.255.255', MYPORT))
#    //time.sleep(1)

    print(targets[0].zPosCm)

#    d_min = min(targets, key=lambda t: t[2])[2]  # closest target
#    d_amp = max(targets, key=lambda t: t[3])[2]  # "strongest" target


    #if d_min == d_amp:
        #print("THE DISTANCE IS {:3.0f}\n".format(d_min))
        #print("THE DISTANCE IS {:3.0f}\n".format(targets[0].zPosCm))           
    #else:
     #   print("CALCULATING...\n")


def main():
    root = tk.Tk()    

    wlbt = Walabot()
    wlbt.connect()

    if not wlbt.isConnected:
        print("Not Connected")
    else:
        print("Connected")

    #wlbt.start()
    while True:
        print_targets(wlbt.get_targets())
    

if __name__ == '__main__':
    main()

Vehicle Rear Vision Android Activity file

Java
This is the MainActivity used on Android, which includes connecting to wifi hotspot created by Joule, reading Walabot data via socket, and streaming the video using motion.
package rearvision.vehicle.vehiclerearvision;

import android.content.BroadcastReceiver;
import android.content.Context;
import android.content.Intent;
import android.content.IntentFilter;
import android.content.res.Configuration;
import android.graphics.Bitmap;
import android.graphics.Canvas;
import android.graphics.Color;
import android.graphics.Paint;
import android.graphics.Point;
import android.graphics.drawable.ShapeDrawable;
import android.net.ConnectivityManager;
import android.net.DhcpInfo;
import android.net.NetworkInfo;
import android.net.Uri;
import android.net.wifi.WifiConfiguration;
import android.net.wifi.WifiInfo;
import android.net.wifi.WifiManager;
import android.os.Bundle;
import android.support.v7.app.AppCompatActivity;
import android.text.format.Formatter;
import android.util.Log;
import android.view.Display;
import android.view.Gravity;
import android.view.SurfaceHolder;
import android.view.SurfaceView;
import android.view.ViewGroup.LayoutParams;
import android.view.WindowManager;
import android.widget.ImageView;
import android.widget.TextView;
import android.widget.Toast;
import org.videolan.libvlc.IVLCVout;
import org.videolan.libvlc.LibVLC;
import org.videolan.libvlc.Media;
import org.videolan.libvlc.MediaPlayer;
import java.io.IOException;
import java.lang.ref.WeakReference;
import java.net.DatagramPacket;
import java.net.DatagramSocket;
import java.net.InetAddress;
import java.util.ArrayList;
import java.util.List;

public class MainActivity extends AppCompatActivity implements IVLCVout.Callback, LibVLC.OnNativeCrashListener {
    public final static String TAG = "LibVLCAndroid/Stream";

    /** Called when the activity is first created. */
    ShapeDrawable mDrawable = new ShapeDrawable();
    public static int x;
    public static int y;

    //for video
    private String mFilePath;

    // display surface
    private SurfaceView mSurface;
    private SurfaceHolder holder;

    // media player
    private LibVLC libvlc;
    private MediaPlayer mMediaPlayer = null;
    private int mVideoWidth;
    private int mVideoHeight;

    DatagramSocket mSocket;
    Thread udpConnect;
    TextView mTxtDistance;

    //Used for server ip
    String gatewayIp;

    //line tracing
    ImageView traceLine;
    Bitmap bitmap;
    Canvas canvas;
    Paint paint;
    int LineLength = 70;
    int height,width;

    /**
     * Broadcast receiver is used to make sure wifi is connected
     */
    private BroadcastReceiver myWifiReceiver
            = new BroadcastReceiver(){

        @Override
        public void onReceive(Context context, Intent intent) {

            NetworkInfo info = intent.getParcelableExtra(WifiManager.EXTRA_NETWORK_INFO);
            WifiManager wifiManager = (WifiManager)context.getSystemService(Context.WIFI_SERVICE);

            ConnectivityManager connManager = (ConnectivityManager) getSystemService(Context.CONNECTIVITY_SERVICE);
            NetworkInfo mWifi = connManager.getNetworkInfo(ConnectivityManager.TYPE_WIFI);

            if(info != null && info.isConnected() && mWifi != null && mWifi.isConnected()) {
                // Do your work.

                // e.g. To check the Network Name or other info:
                WifiInfo wifiInfo = wifiManager.getConnectionInfo();
                String ssid = wifiInfo.getSSID();
                Log.d("ssid", ssid);
                if(ssid.contains("vehicle-rear-vision"))
                {
                    DhcpInfo d = wifiManager.getDhcpInfo();
                    gatewayIp = Formatter.formatIpAddress(d.gateway);
                    startApp();
                }
            }
        }
    };

    /**
     * We need the router ip in order to stream video as well as getting information from Walabot
     */
    private void startApp()
    {
        // Receive path to play from intent
        mFilePath = "http://" + gatewayIp + ":5001/";
        Log.d(TAG, "Playing back " + mFilePath);
        holder = mSurface.getHolder();

        udpConnect = new Thread(new ClientListen());
        udpConnect.start();

        setupTraceline();
    }


    @Override
    public void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);
        getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
        mSurface = (SurfaceView) findViewById(R.id.surfView);
        traceLine = (ImageView)findViewById(R.id.traceLine);
        mTxtDistance = (TextView)findViewById(R.id.txtDistance);

        //Register receiver for Wifi
        this.registerReceiver(this.myWifiReceiver,
                new IntentFilter(ConnectivityManager.CONNECTIVITY_ACTION));

        connectToWifi();
    }

    /**
     * Traceline used for backing up
     */
    private void setupTraceline()
    {
        CreateBitmap();
        CreateCanvas();
        CreatePaint();

        height = canvas.getHeight();
        width = canvas.getWidth();

        DrawLine();
        traceLine.setImageBitmap(bitmap);

    }

    public void CreateBitmap(){

        Display display = getWindowManager().getDefaultDisplay();
        Point size = new Point();
        display.getSize(size);

        bitmap = Bitmap.createBitmap(
                size.x - size.x * 1/2,
                size.y - size.y * 6/7,
                Bitmap.Config.ARGB_8888
        );

    }

    public void CreateCanvas(){

        canvas = new Canvas(bitmap);

        canvas.drawColor(Color.TRANSPARENT);

    }

    public void CreatePaint(){

        paint = new Paint();

        paint.setStyle(Paint.Style.FILL);

        paint.setColor(Color.WHITE);

        paint.setAntiAlias(true);
        paint.setStrokeWidth(10);
    }

    public void DrawLine(){

        canvas.drawLine(
                width * 1/5,
                0,
                0,
                height,
                paint
        );

        canvas.drawLine(
                width * 4/5,
                0,
                width,
                height,
                paint
        );

    }


    /**
     * The thread is used to listen to port 5002 in UDP from Intel Joule, this is mainly for data transfer
     * from Walabot
     */
    public class ClientListen implements Runnable {
        @Override
        public void run() {
            boolean run = true;
            try {
                mSocket = new DatagramSocket(5002, InetAddress.getByName("0.0.0.0"));

                while (run) {
                    byte[] message = new byte[20];
                    DatagramPacket packet = new DatagramPacket(message,message.length);
//                    Log.i("UDP client: ", "about to wait to receive");
                    mSocket.receive(packet);
                    String text = new String(message, 0, packet.getLength());
//                    Log.d("Received data", text);

                    final Float number = Float.valueOf(text.replace("\"", ""));

                    runOnUiThread(new Runnable() {

                        @Override
                        public void run() {
                            if(number < 16)
                            {
                                //This is just a number from walabot for being too low,
                                //false postives and default number walabot seems to put out
                                mTxtDistance.setText("");
                            }
                            else if(number >= 16 && number <= 22)
                            {
                                //Below 22cm is just too close
                                mTxtDistance.setText("too close");
                                mTxtDistance.setTextColor(Color.RED);
                            }
                            else
                            {
                                mTxtDistance.setText(String.format("%.2f", number) + "cm");
                                mTxtDistance.setTextColor(Color.WHITE);
                            }
                        }
                    });

                }
            }catch (IOException e) {
                Log.e("UDP", "error: ", e);
                run = false;
            }
        }
    }

    /**
     * When starting the app, we need to first connect to the IoT device via wifi port
     */
    private void connectToWifi()
    {
        if(checkWifiSet())
        {
            startApp();
            return;
        }

        String networkSSID = "vehicle-rear-vision";
        String networkPass = "safedriving";

        WifiConfiguration conf = new WifiConfiguration();
        conf.SSID = "\"" + networkSSID + "\"";
        conf.preSharedKey = "\""+ networkPass +"\"";


        WifiManager wifiManager = (WifiManager)this.getApplicationContext().getSystemService(Context.WIFI_SERVICE);
        wifiManager.addNetwork(conf);

        List<WifiConfiguration> list = wifiManager.getConfiguredNetworks();
        for( WifiConfiguration i : list ) {
            if(i.SSID != null && i.SSID.equals("\"" + networkSSID + "\"")) {
                wifiManager.disconnect();
                wifiManager.enableNetwork(i.networkId, true);
                return;
            }
        }

        Toast.makeText(this.getApplicationContext(), "", Toast.LENGTH_LONG).show();
        this.finish();
    }

    /**
     * This is mainly used for debugging where wifi doesn't
     * @return
     */
    private boolean checkWifiSet()
    {
        ConnectivityManager connManager = (ConnectivityManager) getSystemService(Context.CONNECTIVITY_SERVICE);
        NetworkInfo mWifi = connManager.getNetworkInfo(ConnectivityManager.TYPE_WIFI);

        if(mWifi != null && mWifi.isConnected()) {
            // Do your work.
            WifiManager wifiManager = (WifiManager)this.getApplicationContext().getSystemService(Context.WIFI_SERVICE);

            // e.g. To check the Network Name or other info:
            WifiInfo wifiInfo = wifiManager.getConnectionInfo();
            String ssid = wifiInfo.getSSID();
            if(ssid.contains("vehicle-rear-vision"))
            {
                DhcpInfo d = wifiManager.getDhcpInfo();
                gatewayIp = Formatter.formatIpAddress(d.gateway);
                return true;
            }
        }

        return false;
    }


    @Override
    public void onConfigurationChanged(Configuration newConfig) {
        super.onConfigurationChanged(newConfig);
        setSize(mVideoWidth, mVideoHeight);
    }

    @Override
    protected void onResume() {
        super.onResume();
        createPlayer(mFilePath);
    }

    @Override
    protected void onPause() {
        super.onPause();
        releasePlayer();
    }

    @Override
    protected void onStop() {
        super.onStop();
        finish();
    }

    @Override
    protected void onDestroy() {
        super.onDestroy();
        //getting rid of receiver
        this.unregisterReceiver(this.myWifiReceiver);

        //Closing the socket on udp
        if(mSocket != null)
        {
            mSocket.close();
        }

        //get rid of the player
        releasePlayer();
    }

    private void setSize(int width, int height) {
        mVideoWidth = width;
        mVideoHeight = height;
        if (mVideoWidth * mVideoHeight <= 1)
            return;

        if(holder == null || mSurface == null)
            return;

        // get screen size
        int w = getWindow().getDecorView().getWidth();
        int h = getWindow().getDecorView().getHeight();

        // getWindow().getDecorView() doesn't always take orientation into
        // account, we have to correct the values
        boolean isPortrait = getResources().getConfiguration().orientation == Configuration.ORIENTATION_PORTRAIT;
        if (w > h && isPortrait || w < h && !isPortrait) {
            int i = w;
            w = h;
            h = i;
        }

        float videoAR = (float) mVideoWidth / (float) mVideoHeight;
        float screenAR = (float) w / (float) h;

        if (screenAR < videoAR)
            h = (int) (w / videoAR);
        else
            w = (int) (h * videoAR);

        // force surface buffer size
        holder.setFixedSize(mVideoWidth, mVideoHeight);

        // set display size
        LayoutParams lp = mSurface.getLayoutParams();
        lp.width = w;
        lp.height = h;
        mSurface.setLayoutParams(lp);
        mSurface.invalidate();
    }

    private void createPlayer(String media) {
        releasePlayer();
        try {
            if (media.length() > 0) {
                Toast toast = Toast.makeText(this, media, Toast.LENGTH_LONG);
                toast.setGravity(Gravity.BOTTOM | Gravity.CENTER_HORIZONTAL, 0,
                        0);
                toast.show();
            }

            // Create LibVLC
            // TODO: make this more robust, and sync with audio demo
            ArrayList<String> options = new ArrayList<>();
            //options.add("--subsdec-encoding <encoding>");
            options.add("-vvv"); // verbosity
            libvlc = new LibVLC(options);
            libvlc.setOnNativeCrashListener(this);
            holder.setKeepScreenOn(true);

            // Create media player
            mMediaPlayer = new MediaPlayer(libvlc);
            mMediaPlayer.setEventListener(mPlayerListener);

            // Set up video output
            final IVLCVout vout = mMediaPlayer.getVLCVout();
            vout.setVideoView(mSurface);
            //vout.setSubtitlesView(mSurfaceSubtitles);
            vout.addCallback(this);
            vout.attachViews();

            Media m = new Media(libvlc, Uri.parse(media));
            mMediaPlayer.setMedia(m);
            mMediaPlayer.play();
        } catch (Exception e) {
            Toast.makeText(this, "Error creating player!", Toast.LENGTH_LONG).show();
        }
    }

    // TODO: handle this cleaner
    private void releasePlayer() {
        if (libvlc == null)
            return;
        mMediaPlayer.stop();
        final IVLCVout vout = mMediaPlayer.getVLCVout();
        vout.removeCallback(this);
        vout.detachViews();
        holder = null;
        libvlc.release();
        libvlc = null;

        mVideoWidth = 0;
        mVideoHeight = 0;
    }

    private MediaPlayer.EventListener mPlayerListener = new MyPlayerListener(this);

    @Override
    public void onNewLayout(IVLCVout vout, int width, int height, int visibleWidth, int visibleHeight, int sarNum, int sarDen) {
        if (width * height == 0)
            return;

        // store video size
        mVideoWidth = width;
        mVideoHeight = height;
        setSize(mVideoWidth, mVideoHeight);
    }

    @Override
    public void onHardwareAccelerationError(IVLCVout vlcVout) {
        // Handle errors with hardware acceleration
        Log.e(TAG, "Error with hardware acceleration");
        this.releasePlayer();
        Toast.makeText(this, "Error with hardware acceleration", Toast.LENGTH_LONG).show();
    }

    @Override
    public void onSurfacesCreated(IVLCVout vout) {

    }

    @Override
    public void onSurfacesDestroyed(IVLCVout vout) {

    }

    private static class MyPlayerListener implements MediaPlayer.EventListener {
        private WeakReference<MainActivity> mOwner;

        public MyPlayerListener(MainActivity owner) {
            mOwner = new WeakReference<>(owner);
        }

        @Override
        public void onEvent(MediaPlayer.Event event) {
            MainActivity player = mOwner.get();

            switch(event.type) {
                case MediaPlayer.Event.EndReached:
                    Log.d(TAG, "MediaPlayerEndReached");
                    player.releasePlayer();
                    break;
                case MediaPlayer.Event.Playing:
                case MediaPlayer.Event.Paused:
                case MediaPlayer.Event.Stopped:
                default:
                    break;
            }
        }
    }

    @Override
    public void onNativeCrash() {
        // Handle errors with hardware acceleration
        Log.e(TAG, "Native Crash");
        this.releasePlayer();
        Toast.makeText(this, "Native Crash", Toast.LENGTH_LONG).show();
    }
}

Camera streaming conf

Plain text
Configuration for camera streaming
# Rename this distribution example file to motion.conf
#
# This config file was generated by motion 3.2.12+git20140228


############################################################
# Daemon
############################################################

# Start in daemon (background) mode and release terminal (default: off)
daemon on

# File to store the process ID, also called pid file. (default: not defined)
;process_id_file /var/run/motion/motion.pid
process_id_file /home/peter/motion/motion.pid

############################################################
# Basic Setup Mode
############################################################

# Start in Setup-Mode, daemon disabled. (default: off)
setup_mode off


# Use a file to save logs messages, if not defined stderr and syslog is used. (default: not defined)
logfile /home/peter/log/motion/motion.log

# Level of log messages [1..9] (EMR, ALR, CRT, ERR, WRN, NTC, INF, DBG, ALL). (default: 6 / NTC)
log_level 6

# Filter to log messages by type (COR, STR, ENC, NET, DBL, EVT, TRK, VID, ALL). (default: ALL)
log_type all

###########################################################
# Capture device options
############################################################

# Videodevice to be used for capturing  (default /dev/video0)
# for FreeBSD default is /dev/bktr0
videodevice /dev/video2

# v4l2_palette allows to choose preferable palette to be use by motion
# to capture from those supported by your videodevice. (default: 17)
# E.g. if your videodevice supports both V4L2_PIX_FMT_SBGGR8 and
# V4L2_PIX_FMT_MJPEG then motion will by default use V4L2_PIX_FMT_MJPEG.
# Setting v4l2_palette to 2 forces motion to use V4L2_PIX_FMT_SBGGR8
# instead.
#
# Values :
# V4L2_PIX_FMT_SN9C10X : 0  'S910'
# V4L2_PIX_FMT_SBGGR16 : 1  'BYR2'
# V4L2_PIX_FMT_SBGGR8  : 2  'BA81'
# V4L2_PIX_FMT_SPCA561 : 3  'S561'
# V4L2_PIX_FMT_SGBRG8  : 4  'GBRG'
# V4L2_PIX_FMT_SGRBG8  : 5  'GRBG'
# V4L2_PIX_FMT_PAC207  : 6  'P207'
# V4L2_PIX_FMT_PJPG    : 7  'PJPG'
# V4L2_PIX_FMT_MJPEG   : 8  'MJPEG'
# V4L2_PIX_FMT_JPEG    : 9  'JPEG'
# V4L2_PIX_FMT_RGB24   : 10 'RGB3'
# V4L2_PIX_FMT_SPCA501 : 11 'S501'
# V4L2_PIX_FMT_SPCA505 : 12 'S505'
# V4L2_PIX_FMT_SPCA508 : 13 'S508'
# V4L2_PIX_FMT_UYVY    : 14 'UYVY'
# V4L2_PIX_FMT_YUYV    : 15 'YUYV'
# V4L2_PIX_FMT_YUV422P : 16 '422P'
# V4L2_PIX_FMT_YUV420  : 17 'YU12'
#
v4l2_palette 17

# Tuner device to be used for capturing using tuner as source (default /dev/tuner0)
# This is ONLY used for FreeBSD. Leave it commented out for Linux
; tunerdevice /dev/tuner0

# The video input to be used (default: -1)
# Should normally be set to 0 or 1 for video/TV cards, and -1 for USB cameras
input -1

# The video norm to use (only for video capture and TV tuner cards)
# Values: 0 (PAL), 1 (NTSC), 2 (SECAM), 3 (PAL NC no colour). Default: 0 (PAL)
norm 0

# The frequency to set the tuner to (kHz) (only for TV tuner cards) (default: 0)
frequency 0

# Rotate image this number of degrees. The rotation affects all saved images as
# well as movies. Valid values: 0 (default = no rotation), 90, 180 and 270.
rotate 0

# Image width (pixels). Valid range: Camera dependent, default: 352
width 1080

# Image height (pixels). Valid range: Camera dependent, default: 288
height 720

# Maximum number of frames to be captured per second.
# Valid range: 2-100. Default: 100 (almost no limit).
framerate 30

# Minimum time in seconds between capturing picture frames from the camera.
# Default: 0 = disabled - the capture rate is given by the camera framerate.
# This option is used when you want to capture images at a rate lower than 2 per second.
minimum_frame_time 0

# URL to use if you are using a network camera, size will be autodetected (incl http:// ftp:// mjpg:// rstp:// or file:///)
# Must be a URL that returns single jpeg pictures or a raw mjpeg stream. Default: Not defined
; netcam_url value

# Username and password for network camera (only if required). Default: not defined
# Syntax is user:password
; netcam_userpass value

# The setting for keep-alive of network socket, should improve performance on compatible net cameras.
# off:   The historical implementation using HTTP/1.0, closing the socket after each http request.
# force: Use HTTP/1.0 requests with keep alive header to reuse the same connection.
# on:    Use HTTP/1.1 requests that support keep alive as default.
# Default: off
netcam_keepalive on

# URL to use for a netcam proxy server, if required, e.g. "http://myproxy".
# If a port number other than 80 is needed, use "http://myproxy:1234".
# Default: not defined
; netcam_proxy value

# Set less strict jpeg checks for network cameras with a poor/buggy firmware.
# Default: off
netcam_tolerant_check off

# Let motion regulate the brightness of a video device (default: off).
# The auto_brightness feature uses the brightness option as its target value.
# If brightness is zero auto_brightness will adjust to average brightness value 128.
# Only recommended for cameras without auto brightness
auto_brightness off

# Set the initial brightness of a video device.
# If auto_brightness is enabled, this value defines the average brightness level
# which Motion will try and adjust to.
# Valid range 0-255, default 0 = disabled
brightness 0

# Set the contrast of a video device.
# Valid range 0-255, default 0 = disabled
contrast 0

# Set the saturation of a video device.
# Valid range 0-255, default 0 = disabled
saturation 0

# Set the hue of a video device (NTSC feature).
# Valid range 0-255, default 0 = disabled
hue 0


############################################################
# Round Robin (multiple inputs on same video device name)
############################################################

# Number of frames to capture in each roundrobin step (default: 1)
roundrobin_frames 1

# Number of frames to skip before each roundrobin step (default: 1)
roundrobin_skip 1

# Try to filter out noise generated by roundrobin (default: off)
switchfilter off


############################################################
# Motion Detection Settings:
############################################################

# Threshold for number of changed pixels in an image that
# triggers motion detection (default: 1500)
threshold 1500

# Automatically tune the threshold down if possible (default: off)
threshold_tune off

# Noise threshold for the motion detection (default: 32)
noise_level 32

# Automatically tune the noise threshold (default: on)
noise_tune on

# Despeckle motion image using (e)rode or (d)ilate or (l)abel (Default: not defined)
# Recommended value is EedDl. Any combination (and number of) of E, e, d, and D is valid.
# (l)abeling must only be used once and the 'l' must be the last letter.
# Comment out to disable
despeckle_filter EedDl

# Detect motion in predefined areas (1 - 9). Areas are numbered like that:  1 2 3
# A script (on_area_detected) is started immediately when motion is         4 5 6
# detected in one of the given areas, but only once during an event.        7 8 9
# One or more areas can be specified with this option. Take care: This option
# does NOT restrict detection to these areas! (Default: not defined)
; area_detect value

# PGM file to use as a sensitivity mask.
# Full path name to. (Default: not defined)
; mask_file value

# Dynamically create a mask file during operation (default: 0)
# Adjust speed of mask changes from 0 (off) to 10 (fast)
smart_mask_speed 0

# Ignore sudden massive light intensity changes given as a percentage of the picture
# area that changed intensity. Valid range: 0 - 100 , default: 0 = disabled
lightswitch 0

# Picture frames must contain motion at least the specified number of frames
# in a row before they are detected as true motion. At the default of 1, all
# motion is detected. Valid range: 1 to thousands, recommended 1-5
minimum_motion_frames 1

# Specifies the number of pre-captured (buffered) pictures from before motion
# was detected that will be output at motion detection.
# Recommended range: 0 to 5 (default: 0)
# Do not use large values! Large values will cause Motion to skip video frames and
# cause unsmooth movies. To smooth movies use larger values of post_capture instead.
pre_capture 0

# Number of frames to capture after motion is no longer detected (default: 0)
post_capture 0

# Event Gap is the seconds of no motion detection that triggers the end of an event.
# An event is defined as a series of motion images taken within a short timeframe.
# Recommended value is 60 seconds (Default). The value -1 is allowed and disables
# events causing all Motion to be written to one single movie file and no pre_capture.
# If set to 0, motion is running in gapless mode. Movies don't have gaps anymore. An
# event ends right after no more motion is detected and post_capture is over.
event_gap 60

# Maximum length in seconds of a movie
# When value is exceeded a new movie file is created. (Default: 0 = infinite)
max_movie_time 0

# Always save images even if there was no motion (default: off)
emulate_motion off


############################################################
# Image File Output
############################################################

# Output 'normal' pictures when motion is detected (default: on)
# Valid values: on, off, first, best, center
# When set to 'first', only the first picture of an event is saved.
# Picture with most motion of an event is saved when set to 'best'.
# Picture with motion nearest center of picture is saved when set to 'center'.
# Can be used as preview shot for the corresponding movie.
output_pictures off

# Output pictures with only the pixels moving object (ghost images) (default: off)
output_debug_pictures off

# The quality (in percent) to be used by the jpeg compression (default: 75)
quality 75

# Type of output images
# Valid values: jpeg, ppm (default: jpeg)
picture_type jpeg

############################################################
# FFMPEG related options
# Film (movies) file output, and deinterlacing of the video input
# The options movie_filename and timelapse_filename are also used
# by the ffmpeg feature
############################################################

# Use ffmpeg to encode movies in realtime (default: off)
ffmpeg_output_movies off

# Use ffmpeg to make movies with only the pixels moving
# object (ghost images) (default: off)
ffmpeg_output_debug_movies off

# Use ffmpeg to encode a timelapse movie
# Default value 0 = off - else save frame every Nth second
ffmpeg_timelapse 0

# The file rollover mode of the timelapse video
# Valid values: hourly, daily (default), weekly-sunday, weekly-monday, monthly, manual
ffmpeg_timelapse_mode daily

# Bitrate to be used by the ffmpeg encoder (default: 400000)
# This option is ignored if ffmpeg_variable_bitrate is not 0 (disabled)
ffmpeg_bps 500000

# Enables and defines variable bitrate for the ffmpeg encoder.
# ffmpeg_bps is ignored if variable bitrate is enabled.
# Valid values: 0 (default) = fixed bitrate defined by ffmpeg_bps,
# or the range 2 - 31 where 2 means best quality and 31 is worst.
ffmpeg_variable_bitrate 0

# Codec to used by ffmpeg for the video compression.
# Timelapse mpegs are always made in mpeg1 format independent from this option.
# Supported formats are: mpeg1 (ffmpeg-0.4.8 only), mpeg4 (default), and msmpeg4.
# mpeg1 - gives you files with extension .mpg
# mpeg4 or msmpeg4 - gives you files with extension .avi
# msmpeg4 is recommended for use with Windows Media Player because
# it requires no installation of codec on the Windows client.
# swf - gives you a flash film with extension .swf
# flv - gives you a flash video with extension .flv
# ffv1 - FF video codec 1 for Lossless Encoding ( experimental )
# mov - QuickTime ( testing )
# ogg - Ogg/Theora ( testing )
ffmpeg_video_codec mpeg4

# Use ffmpeg to deinterlace video. Necessary if you use an analog camera
# and see horizontal combing on moving objects in video or pictures.
# (default: off)
ffmpeg_deinterlace off

############################################################
# SDL Window
############################################################

# Number of motion thread to show in SDL Window (default: 0 = disabled)
sdl_threadnr 0

############################################################
# External pipe to video encoder
# Replacement for FFMPEG builtin encoder for ffmpeg_output_movies only.
# The options movie_filename and timelapse_filename are also used
# by the ffmpeg feature
#############################################################

# Bool to enable or disable extpipe (default: off)
use_extpipe off

# External program (full path and opts) to pipe raw video to
# Generally, use '-' for STDIN...
;extpipe mencoder -demuxer rawvideo -rawvideo w=320:h=240:i420 -ovc x264 -x264encopts bframes=4:frameref=1:subq=1:scenecut=-1:nob_adapt:threads=1:keyint=1000:8x8dct:vbv_bufsize=4000:crf=24:partitions=i8x8,i4x4:vbv_maxrate=800:no-chroma-me -vf denoise3d=16:12:48:4,pp=lb -of   avi -o %f.avi - -fps %fps



############################################################
# Snapshots (Traditional Periodic Webcam File Output)
############################################################

# Make automated snapshot every N seconds (default: 0 = disabled)
snapshot_interval 0


############################################################
# Text Display
# %Y = year, %m = month, %d = date,
# %H = hour, %M = minute, %S = second, %T = HH:MM:SS,
# %v = event, %q = frame number, %t = thread (camera) number,
# %D = changed pixels, %N = noise level, \n = new line,
# %i and %J = width and height of motion area,
# %K and %L = X and Y coordinates of motion center
# %C = value defined by text_event - do not use with text_event!
# You can put quotation marks around the text to allow
# leading spaces
############################################################

# Locate and draw a box around the moving object.
# Valid values: on, off, preview (default: off)
# Set to 'preview' will only draw a box in preview_shot pictures.
locate_motion_mode off

# Set the look and style of the locate box if enabled.
# Valid values: box, redbox, cross, redcross (default: box)
# Set to 'box' will draw the traditional box.
# Set to 'redbox' will draw a red box.
# Set to 'cross' will draw a little cross to mark center.
# Set to 'redcross' will draw a little red cross to mark center.
locate_motion_style box

# Draws the timestamp using same options as C function strftime(3)
# Default: %Y-%m-%d\n%T = date in ISO format and time in 24 hour clock
# Text is placed in lower right corner
text_right %Y-%m-%d\n%T-%q

# Draw a user defined text on the images using same options as C function strftime(3)
# Default: Not defined = no text
# Text is placed in lower left corner
; text_left CAMERA %t

# Draw the number of changed pixed on the images (default: off)
# Will normally be set to off except when you setup and adjust the motion settings
# Text is placed in upper right corner
text_changes off

# This option defines the value of the special event conversion specifier %C
# You can use any conversion specifier in this option except %C. Date and time
# values are from the timestamp of the first image in the current event.
# Default: %Y%m%d%H%M%S
# The idea is that %C can be used filenames and text_left/right for creating
# a unique identifier for each event.
text_event %Y%m%d%H%M%S

# Draw characters at twice normal size on images. (default: off)
text_double off


# Text to include in a JPEG EXIF comment
# May be any text, including conversion specifiers.
# The EXIF timestamp is included independent of this text.
;exif_text %i%J/%K%L

############################################################
# Target Directories and filenames For Images And Films
# For the options snapshot_, picture_, movie_ and timelapse_filename
# you can use conversion specifiers
# %Y = year, %m = month, %d = date,
# %H = hour, %M = minute, %S = second,
# %v = event, %q = frame number, %t = thread (camera) number,
# %D = changed pixels, %N = noise level,
# %i and %J = width and height of motion area,
# %K and %L = X and Y coordinates of motion center
# %C = value defined by text_event
# Quotation marks round string are allowed.
############################################################

# Target base directory for pictures and films
# Recommended to use absolute path. (Default: current working directory)
target_dir /var/lib/motion

# File path for snapshots (jpeg or ppm) relative to target_dir
# Default: %v-%Y%m%d%H%M%S-snapshot
# Default value is equivalent to legacy oldlayout option
# For Motion 3.0 compatible mode choose: %Y/%m/%d/%H/%M/%S-snapshot
# File extension .jpg or .ppm is automatically added so do not include this.
# Note: A symbolic link called lastsnap.jpg created in the target_dir will always
# point to the latest snapshot, unless snapshot_filename is exactly 'lastsnap'
snapshot_filename %v-%Y%m%d%H%M%S-snapshot

# File path for motion triggered images (jpeg or ppm) relative to target_dir
# Default: %v-%Y%m%d%H%M%S-%q
# Default value is equivalent to legacy oldlayout option
# For Motion 3.0 compatible mode choose: %Y/%m/%d/%H/%M/%S-%q
# File extension .jpg or .ppm is automatically added so do not include this
# Set to 'preview' together with best-preview feature enables special naming
# convention for preview shots. See motion guide for details
picture_filename %v-%Y%m%d%H%M%S-%q

# File path for motion triggered ffmpeg films (movies) relative to target_dir
# Default: %v-%Y%m%d%H%M%S
# Default value is equivalent to legacy oldlayout option
# For Motion 3.0 compatible mode choose: %Y/%m/%d/%H%M%S
# File extension .mpg or .avi is automatically added so do not include this
# This option was previously called ffmpeg_filename
movie_filename %v-%Y%m%d%H%M%S

# File path for timelapse movies relative to target_dir
# Default: %Y%m%d-timelapse
# Default value is near equivalent to legacy oldlayout option
# For Motion 3.0 compatible mode choose: %Y/%m/%d-timelapse
# File extension .mpg is automatically added so do not include this
timelapse_filename %Y%m%d-timelapse

############################################################
# Global Network Options
############################################################
# Enable or disable IPV6 for http control and stream (default: off )
ipv6_enabled off

############################################################
# Live Stream Server
############################################################

# The mini-http server listens to this port for requests (default: 0 = disabled)
stream_port 5001

# Quality of the jpeg (in percent) images produced (default: 50)
stream_quality 50

# Output frames at 1 fps when no motion is detected and increase to the
# rate given by stream_maxrate when motion is detected (default: off)
stream_motion off

# Maximum framerate for stream streams (default: 1)
stream_maxrate 30

# Restrict stream connections to localhost only (default: on)
stream_localhost off

# Limits the number of images per connection (default: 0 = unlimited)
# Number can be defined by multiplying actual stream rate by desired number of seconds
# Actual stream rate is the smallest of the numbers framerate and stream_maxrate
stream_limit 0

# Set the authentication method (default: 0)
# 0 = disabled
# 1 = Basic authentication
# 2 = MD5 digest (the safer authentication)
stream_auth_method 0

# Authentication for the stream. Syntax username:password
# Default: not defined (Disabled)
; stream_authentication username:password


############################################################
# HTTP Based Control
############################################################

# TCP/IP port for the http server to listen on (default: 0 = disabled)
webcontrol_port 8080

# Restrict control connections to localhost only (default: on)
webcontrol_localhost off

# Output for http server, select off to choose raw text plain (default: on)
webcontrol_html_output off

# Authentication for the http based control. Syntax username:password
# Default: not defined (Disabled)
; webcontrol_authentication username:password


############################################################
# Tracking (Pan/Tilt)
#############################################################

# Type of tracker (0=none (default), 1=stepper, 2=iomojo, 3=pwc, 4=generic, 5=uvcvideo, 6=servo)
# The generic type enables the definition of motion center and motion size to
# be used with the conversion specifiers for options like on_motion_detected
track_type 0

# Enable auto tracking (default: off)
track_auto off

# Serial port of motor (default: none)
;track_port /dev/ttyS0

# Motor number for x-axis (default: 0)
;track_motorx 0

# Set motorx reverse (default: 0)
;track_motorx_reverse 0

# Motor number for y-axis (default: 0)
;track_motory 1

# Set motory reverse (default: 0)
;track_motory_reverse 0

# Maximum value on x-axis (default: 0)
;track_maxx 200

# Minimum value on x-axis (default: 0)
;track_minx 50

# Maximum value on y-axis (default: 0)
;track_maxy 200

# Minimum value on y-axis (default: 0)
;track_miny 50

# Center value on x-axis (default: 0)
;track_homex 128

# Center value on y-axis (default: 0)
;track_homey 128

# ID of an iomojo camera if used (default: 0)
track_iomojo_id 0

# Angle in degrees the camera moves per step on the X-axis
# with auto-track (default: 10)
# Currently only used with pwc type cameras
track_step_angle_x 10

# Angle in degrees the camera moves per step on the Y-axis
# with auto-track (default: 10)
# Currently only used with pwc type cameras
track_step_angle_y 10

# Delay to wait for after tracking movement as number
# of picture frames (default: 10)
track_move_wait 10

# Speed to set the motor to (stepper motor option) (default: 255)
track_speed 255

# Number of steps to make (stepper motor option) (default: 40)
track_stepsize 40


############################################################
# External Commands, Warnings and Logging:
# You can use conversion specifiers for the on_xxxx commands
# %Y = year, %m = month, %d = date,
# %H = hour, %M = minute, %S = second,
# %v = event, %q = frame number, %t = thread (camera) number,
# %D = changed pixels, %N = noise level,
# %i and %J = width and height of motion area,
# %K and %L = X and Y coordinates of motion center
# %C = value defined by text_event
# %f = filename with full path
# %n = number indicating filetype
# Both %f and %n are only defined for on_picture_save,
# on_movie_start and on_movie_end
# Quotation marks round string are allowed.
############################################################

# Do not sound beeps when detecting motion (default: on)
# Note: Motion never beeps when running in daemon mode.
quiet on

# Command to be executed when an event starts. (default: none)
# An event starts at first motion detected after a period of no motion defined by event_gap
; on_event_start value

# Command to be executed when an event ends after a period of no motion
# (default: none). The period of no motion is defined by option event_gap.
; on_event_end value

# Command to be executed when a picture (.ppm|.jpg) is saved (default: none)
# To give the filename as an argument to a command append it with %f
; on_picture_save value

# Command to be executed when a motion frame is detected (default: none)
; on_motion_detected value

# Command to be executed when motion in a predefined area is detected
# Check option 'area_detect'.   (default: none)
; on_area_detected value

# Command to be executed when a movie file (.mpg|.avi) is created. (default: none)
# To give the filename as an argument to a command append it with %f
; on_movie_start value

# Command to be executed when a movie file (.mpg|.avi) is closed. (default: none)
# To give the filename as an argument to a command append it with %f
; on_movie_end value

# Command to be executed when a camera can't be opened or if it is lost
# NOTE: There is situations when motion don't detect a lost camera!
# It depends on the driver, some drivers dosn't detect a lost camera at all
# Some hangs the motion thread. Some even hangs the PC! (default: none)
; on_camera_lost value

#####################################################################
# Common Options for database features.
# Options require database options to be active also.
#####################################################################

# Log to the database when creating motion triggered picture file  (default: on)
; sql_log_picture on

# Log to the database when creating a snapshot image file (default: on)
; sql_log_snapshot on

# Log to the database when creating motion triggered movie file (default: off)
; sql_log_movie off

# Log to the database when creating timelapse movies file (default: off)
; sql_log_timelapse off

# SQL query string that is sent to the database
# Use same conversion specifiers has for text features
# Additional special conversion specifiers are
# %n = the number representing the file_type
# %f = filename with full path
# Default value:
# Create tables :
## 
# Mysql
# CREATE TABLE security (camera int, filename char(80) not null, frame int, file_type int, time_stamp timestamp(14), event_time_stamp timestamp(14));
#
# Postgresql
# CREATE TABLE security (camera int, filename char(80) not null, frame int, file_type int, time_stamp timestamp without time zone, event_time_stamp timestamp without time zone);
#
# insert into security(camera, filename, frame, file_type, time_stamp, text_event) values('%t', '%f', '%q', '%n', '%Y-%m-%d %T', '%C')
; sql_query insert into security(camera, filename, frame, file_type, time_stamp, event_time_stamp) values('%t', '%f', '%q', '%n', '%Y-%m-%d %T', '%C')


############################################################
# Database Options
############################################################

# database type : mysql, postgresql, sqlite3 (default : not defined)
; database_type value

# database to log to (default: not defined)
; database_dbname value

# The host on which the database is located (default: localhost)
; database_host value

# User account name for database (default: not defined)
; database_user value

# User password for database (default: not defined)
; database_password value

# Port on which the database is located
#  mysql 3306 , postgresql 5432 (default: not defined)
; database_port value

############################################################
# Database Options For SQLite3
############################################################

# SQLite3 database (file path) (default: not defined)
; sqlite3_db value



############################################################
# Video Loopback Device (vloopback project)
############################################################

# Output images to a video4linux loopback device
# The value '-' means next available (default: not defined)
; video_pipe value

# Output motion images to a video4linux loopback device
# The value '-' means next available (default: not defined)
; motion_video_pipe value


##############################################################
# Thread config files - One for each camera.
# Except if only one camera - You only need this config file.
# If you have more than one camera you MUST define one thread
# config file for each camera in addition to this config file.
##############################################################

# Remember: If you have more than one camera you must have one
# thread file for each camera. E.g. 2 cameras requires 3 files:
# This motion.conf file AND thread1.conf and thread2.conf.
# Only put the options that are unique to each camera in the
# thread config files.
; thread /etc/motion/thread1.conf
; thread /etc/motion/thread2.conf
; thread /etc/motion/thread3.conf
; thread /etc/motion/thread4.conf

Vehicle Rear Vision app repo

the repo contains Android app, the motion.conf and python script for Walabot

Credits

Peter Ma

Peter Ma

49 projects • 393 followers
Prototype Hacker, Hackathon Goer, World Traveler, Ecological balancer, integrationist, technologist, futurist.
Mica Wong

Mica Wong

3 projects • 10 followers
Self taught 3D modeling and printing skills. Work at a grooming salon part time and delve into projects and hackathons as hobby.

Comments

Awards
Best of China
Walabot - Power to the Makers
Related channels and tags
  • Android
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  • Vehicles
  • Walabot Developer Pack