def video():
global flag, regArr, handle
regNum = 0
res, handle = ArducamSDK.Py_ArduCam_autoopen(cfg)
if res == 0:
openFlag = True
print "device open success!"
while (regArr[regNum][0] != 0xFFFF):
ArducamSDK.Py_ArduCam_writeSensorReg(handle, regArr[regNum][0],
regArr[regNum][1])
regNum = regNum + 1
res = ArducamSDK.Py_ArduCam_beginCapture(handle)
if res == 0:
print "transfer task create success!"
while flag:
res = ArducamSDK.Py_ArduCam_capture(handle)
if res != 0:
print "capture fail!"
break
time.sleep(0.03)
if flag == False:
break
else:
print "transfer task create fail!"
res = ArducamSDK.Py_ArduCam_close(handle)
if res == 0:
openFlag = False
print "device close success!"
else:
print "device close fail!"
else:
print "device open fail!"
def show2():
global flag, regArr, handle
global W_zoom, H_zoom, V_value, H_value, lx, ly, downFlag, saveFlag, saveNum
regNum = 0
res, handle = ArducamSDK.Py_ArduCam_autoopen(cfg)
if res == 0:
openFlag = True
print "device open success!"
while (regArr[regNum][0] != 0xFFFF):
ArducamSDK.Py_ArduCam_writeSensorReg(handle, regArr[regNum][0],
regArr[regNum][1])
regNum = regNum + 1
res = ArducamSDK.Py_ArduCam_beginCapture(handle)
if res == 0 and flag:
print "transfer task create success!"
res = ArducamSDK.Py_ArduCam_capture(handle)
if ArducamSDK.Py_ArduCam_available(handle) > 0:
print "estou available"
res, data = ArducamSDK.Py_ArduCam_read(handle, Width * Height)
image = Image.frombuffer("L", (Width, Height), data)
img = np.array(image)
height, width = img.shape[:2]
img2 = cv2.cvtColor(img, COLOR_BYTE2RGB)
if args.name and capture:
cv2.imwrite(args.name + "." + args.type, img2)
if not args.show:
return
if saveFlag:
saveFlag = False
saveNum += 1
name = ""
if "bmp" == args.type:
name = str(saveNum) + ".bmp"
if "png" == args.type:
name = str(saveNum) + ".png"
if "jpg" == args.type:
name = str(saveNum) + ".jpg"
cv2.imwrite(name, img2)
if res != 0:
print "capture fail!"
return
if flag == False:
return
else:
print "transfer task create fail!"
res = ArducamSDK.Py_ArduCam_close(handle)
if res == 0:
openFlag = False
print "device close success!"
else:
print "device close fail!"
else:
print "device open fail!"
def readThread():
global timestamps, images
handle = {}
data = {}
regNum = 0
res, handle = ArducamSDK.Py_ArduCam_autoopen(cfg)
#print(handle)
#print(3)
if res == 0:
print("device open success!")
while (regArr[regNum][0] != 0xFFFF):
ArducamSDK.Py_ArduCam_writeSensorReg(handle, regArr[regNum][0], regArr[regNum][1])
regNum = regNum + 1
#print(32143)
res = ArducamSDK.Py_ArduCam_beginCapture(handle)
if res == 0:
print("transfer task create success!")
while not rospy.is_shutdown():
#print(2134124)
res = ArducamSDK.Py_ArduCam_capture(handle)
#print(res)
if res == 0:
timestamp = rospy.Time.now()
#print(7324627864)
res, data = ArducamSDK.Py_ArduCam_read(handle, Width * Height)
#print(34242)
if res == 0:
#print(3746827346782)
ArducamSDK.Py_ArduCam_del(handle)
#print(374623846278)
timestamps.put(timestamp)
#print(3742846237846)
images.put(data)
#print(382746278346782)
time.sleep(0.03)
else:
print("read data fail!")
if res != 0:
print("capture fail!")
break
else:
print("transfer task create fail!")
res = ArducamSDK.Py_ArduCam_close(handle)
if res == 0:
print("device close success!")
else:
print("device close fail!")
else:
print("device open fail!")
def init_and_read_arducam():
global flag, regArr, handle, openFlag
regNum = 0
res, handle = ArducamSDK.Py_ArduCam_autoopen(cfg)
if res == 0:
openFlag = True
print("device open success!")
while (regArr[regNum][0] != 0xFFFF):
ArducamSDK.Py_ArduCam_writeSensorReg(handle, regArr[regNum][0],
regArr[regNum][1])
regNum = regNum + 1
res = ArducamSDK.Py_ArduCam_beginCapture(handle)
if res == 0:
print("transfer task create success!")
while flag:
res = ArducamSDK.Py_ArduCam_capture(handle)
if res != 0:
print("capture failed!")
flag = False
break
time.sleep(0.1)
if flag == False:
break
else:
print("transfer task create fail!")
time.sleep(2)
res = ArducamSDK.Py_ArduCam_close(handle)
if res == 0:
openFlag = False
print("device close success!")
else:
print("device close fail!")
else:
print("device open fail!")