def captureImage():
global handle,Width,Height,cfg,color_mode
global COLOR_BayerGB2BGR,COLOR_BayerRG2BGR,COLOR_BayerGR2BGR,COLOR_BayerBG2BGR
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
if rtn_val > 255:
print "Error capture image, rtn_val = ",rtn_val
if rtn_val == ArducamSDK.USB_CAMERA_USB_TASK_ERROR:
exit()
if ArducamSDK.Py_ArduCam_availableImage(handle) > 0:
rtn_val,data,rtn_cfg = ArducamSDK.Py_ArduCam_readImage(handle)
datasize = rtn_cfg['u32Size']
if rtn_val != 0 or datasize == 0:
print "read data fail!"
ArducamSDK.Py_ArduCam_del(handle)
return
image = convert_image(data,rtn_cfg,color_mode)
if h_flip:
image = cv2.flip(image, 1)
if v_flip:
image = cv2.flip(image, 0)
try:
img_msg = bridge.cv2_to_imgmsg(image, "bgr8")
img_msg.header.stamp = rospy.Time.now()
img_msg.header.frame_id = id_frame
pub.publish(img_msg)
cv2.waitKey(10)
except CvBridgeError as e:
pass
ArducamSDK.Py_ArduCam_del(handle)
else:
time.sleep(0.001)
def captureImage_thread(self):
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(self.handle)
if rtn_val != 0:
print("Error beginning capture, rtn_val = ", rtn_val)
self.running = False
return
else:
print("Capture began, rtn_val = ", rtn_val)
while self.running:
if self.loading:
rtn_val = ArducamSDK.Py_ArduCam_captureImage(self.handle)
if rtn_val > 255:
# print("Error capture image, rtn_val = ",rtn_val)
if rtn_val == ArducamSDK.USB_CAMERA_USB_TASK_ERROR:
break
else:
print("restarting camera...")
# time.sleep(1)
ArducamSDK.Py_ArduCam_endCaptureImage(self.handle)
self.camera_initFromFile(self.fileName, self.expconf)
ArducamSDK.Py_ArduCam_beginCaptureImage(self.handle)
self.loading = True
self.running = False
ArducamSDK.Py_ArduCam_endCaptureImage(self.handle)
def captureImage_thread():
global handle, running, ct_lock, count1
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print "Error beginning capture, rtn_val = ", rtn_val
running = False
return
else:
print "Capture began, rtn_val = ", rtn_val
while (running and (not rospy.is_shutdown())):
#print "capture"
if count1 == 0:
if ct_lock.acquire(False):
print "capture image", count1
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
count1 = count1 + 1
if rtn_val != 0:
print "Error capture image, rtn_val = ", rtn_val
break
else:
time.sleep(0.005)
ct_lock.release()
else:
time.sleep(0.005)
else:
time.sleep(0.005)
running = False
ArducamSDK.Py_ArduCam_endCaptureImage(handle)
def capture_thread(self):
global handle, running
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print("Error beginning capture, rtn_val = ", rtn_val)
else:
logging.info("Capture began, rtn_val = ", rtn_val)
while running:
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
if rtn_val > 255:
#print("Error capture image, rtn_val = ", rtn_val)
if rtn_val == ArducamSDK.USB_CAMERA_USB_TASK_ERROR:
print("ardu cam USB_CAMERA_USB_TASK_ERROR!!")
time.sleep(0.01)
def read_next_frame(self):
code = ArducamSDK.Py_ArduCam_captureImage(self.handle)
if code > 255:
raise ArducamException("Error capturing image", code=code)
if ArducamSDK.Py_ArduCam_availableImage(self.handle):
try:
rtn_val, data, rtn_cfg = ArducamSDK.Py_ArduCam_readImage(
self.handle)
if rtn_val != 0 or rtn_cfg['u32Size'] == 0:
raise ArducamException(
"Bad image read! Datasize was {}".format(
rtn_cfg['u32Size']),
code=rtn_val)
return convert_image(data, rtn_cfg, self.color_mode)
finally:
ArducamSDK.Py_ArduCam_del(self.handle)
def captureImage_thread():
global handle,running
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print "Error beginning capture, rtn_val = ",rtn_val
running = False
return
else:
print "Capture began, rtn_val = ",rtn_val
while running:
#print "capture"
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
if rtn_val != 0:
print "Error capture image, rtn_val = ",rtn_val
break
time.sleep(0.005)
running = False
ArducamSDK.Py_ArduCam_endCaptureImage(handle)
def captureImage_thread():
global handle, running
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print("Error beginning capture, rtn_val = ", rtn_val)
running = False
return
else:
print("Capture began, rtn_val = ", rtn_val)
while running:
#print "capture"
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
if rtn_val > 255:
print("Error capture image, rtn_val = ", rtn_val)
if rtn_val == ArducamSDK.USB_CAMERA_USB_TASK_ERROR:
break
time.sleep(0.005)
running = False
ArducamSDK.Py_ArduCam_endCaptureImage(handle)
def captureImage_thread():
global handle, running
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print("Failed to begin capture, return value: %s." % (rtn_val))
running = False
return
else:
print("Capture began: %s." % (rtn_val))
while running:
# print "capture"
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
if rtn_val > 255:
print("Error while capturing image: %s." % (rtn_val))
if rtn_val == ArducamSDK.USB_CAMERA_USB_TASK_ERROR:
break
time.sleep(0.005)
running = False
ArducamSDK.Py_ArduCam_endCaptureImage(handle)
def captureImage_thread():
global handle, running
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print "Error beginning capture, rtn_val = ", rtn_val
running = False
return
else:
print "Capture began, rtn_val = ", rtn_val
while (running and (not rospy.is_shutdown())):
#print "capture"
time0 = time.time()
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
time1 = time.time()
print str(time1 - time0)
if rtn_val != 0:
print "Error capture image, rtn_val = ", rtn_val
break
time.sleep(0.005)
running = False
ArducamSDK.Py_ArduCam_endCaptureImage(handle)