def load_camera_settings():
global image_height, image_width
c_params = CameraParams(lens=4.0, xresolution=0, yresolution=0)
if os.path.exists(config_file):
c_params.load(config_file)
image_height = c_params.yresolution
image_width = c_params.xresolution
print("Loaded %s" % config_file)
else:
print("Warning: %s not found. Using default resolution height=%i and width=%i" % (config_file,image_height,image_width))
def load_camera_settings():
global image_height, image_width
c_params = CameraParams(lens=4.0, xresolution=0, yresolution=0)
if os.path.exists(config_file):
c_params.load(config_file)
image_height = c_params.yresolution
image_width = c_params.xresolution
print("Loaded %s" % config_file)
else:
print(
"Warning: %s not found. Using default resolution height=%i and width=%i"
% (config_file, image_height, image_width))
def getCameraWidth(self, alt):
'''Using the camera parameters, with the width of the
ground strip that the camera can see from a particular altitude'''
#use the camera parameters
c_params = CameraParams(lens=4.0)
# load camera params and get the width of an image on the ground
path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', 'data', 'chameleon1_arecont0.json')
c_params.load(path)
aov = math.degrees(2.0*math.atan((c_params.sensorwidth/1000.0)/(2.0*c_params.lens/1000.0)))
groundWidth = 2.0*alt*math.tan(math.radians(aov/2))
return groundWidth
def getCameraWidth(self, alt):
'''Using the camera parameters, with the width of the
ground strip that the camera can see from a particular altitude'''
#use the camera parameters
c_params = CameraParams(lens=4.0)
# load camera params and get the width of an image on the ground
path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..',
'data', 'chameleon1_arecont0.json')
c_params.load(path)
aov = math.degrees(2.0 * math.atan(
(c_params.sensorwidth / 1000.0) / (2.0 * c_params.lens / 1000.0)))
groundWidth = 2.0 * alt * math.tan(math.radians(aov / 2))
return groundWidth
class camera_state(object):
def __init__(self):
self.running = False
self.unload = threading.Event()
self.unload.clear()
self.capture_thread = None
self.save_thread = None
self.scan_thread1 = None
self.scan_thread2 = None
self.transmit_thread = None
self.view_thread = None
self.settings = mp_settings.MPSettings(
[
("depth", int, 8),
("gcs_address", str, None),
("gcs_view_port", int, 7543),
("bandwidth", int, 40000),
("bandwidth2", int, 2000),
("capture_brightness", int, 150),
("gamma", int, 950),
("brightness", float, 1.0),
("quality", int, 75),
("save_pgm", int, 1),
("transmit", int, 1),
("roll_stabilised", int, 1),
("minscore", int, 75),
("minscore2", int, 500),
("altitude", int, None),
("send1", int, 1),
("send2", int, 1),
("maxqueue1", int, None),
("maxqueue2", int, 30),
("thumbsize", int, 60),
("packet_loss", int, 0),
("gcs_slave", str, None),
("filter_type", str, "simple"),
("fullres", int, 0),
]
)
self.capture_count = 0
self.scan_count = 0
self.error_count = 0
self.error_msg = None
self.region_count = 0
self.fps = 0
self.scan_fps = 0
self.cam = None
self.save_queue = Queue.Queue()
self.scan_queue = Queue.Queue()
self.transmit_queue = Queue.Queue()
self.viewing = False
self.c_params = CameraParams(lens=4.0)
self.jpeg_size = 0
self.xmit_queue = 0
self.xmit_queue2 = 0
self.efficiency = 1.0
self.last_watch = 0
self.frame_loss = 0
self.boundary = None
self.boundary_polygon = None
self.bandwidth_used = 0
self.rtt_estimate = 0
self.bsocket = None
self.bsend2 = None
self.bsend_slave = None
# setup directory for images
self.camera_dir = os.path.join(os.path.dirname(mpstate.logfile_name), "camera")
cuav_util.mkdir_p(self.camera_dir)
self.mpos = mav_position.MavInterpolator(backlog=5000, gps_lag=0.3)
self.joelog = cuav_joe.JoeLog(os.path.join(self.camera_dir, "joe.log"), append=mpstate.continue_mode)
# load camera params
path = os.path.join(
os.path.dirname(os.path.realpath(__file__)), "..", "..", "..", "cuav", "data", "chameleon1_arecont0.json"
)
self.c_params.load(path)
class camera_state(object):
def __init__(self):
self.running = False
self.unload = threading.Event()
self.unload.clear()
self.capture_thread = None
self.save_thread = None
self.scan_thread1 = None
self.scan_thread2 = None
self.transmit_thread = None
self.view_thread = None
self.settings = mp_settings.MPSettings(
[ ('depth', int, 8),
('gcs_address', str, None),
('gcs_view_port', int, 7543),
('bandwidth', int, 40000),
('bandwidth2', int, 2000),
('capture_brightness', int, 150),
('gamma', int, 950),
('brightness', float, 1.0),
('quality', int, 75),
('save_pgm', int, 1),
('transmit', int, 1),
('roll_stabilised', int, 1),
('minscore', int, 75),
('minscore2', int, 500),
('altitude', int, None),
('send1', int, 1),
('send2', int, 1),
('maxqueue1', int, None),
('maxqueue2', int, 30),
('thumbsize', int, 60),
('packet_loss', int, 0),
('gcs_slave', str, None)
]
)
self.capture_count = 0
self.scan_count = 0
self.error_count = 0
self.error_msg = None
self.region_count = 0
self.fps = 0
self.scan_fps = 0
self.cam = None
self.save_queue = Queue.Queue()
self.scan_queue = Queue.Queue()
self.transmit_queue = Queue.Queue()
self.viewing = False
self.c_params = CameraParams(lens=4.0)
self.jpeg_size = 0
self.xmit_queue = 0
self.xmit_queue2 = 0
self.efficiency = 1.0
self.last_watch = 0
self.frame_loss = 0
self.boundary = None
self.boundary_polygon = None
self.bandwidth_used = 0
self.rtt_estimate = 0
self.bsocket = None
self.bsend2 = None
self.bsend_slave = None
# setup directory for images
self.camera_dir = os.path.join(os.path.dirname(mpstate.logfile_name),
"camera")
cuav_util.mkdir_p(self.camera_dir)
self.mpos = mav_position.MavInterpolator(backlog=5000, gps_lag=0.3)
self.joelog = cuav_joe.JoeLog(os.path.join(self.camera_dir, 'joe.log'), append=mpstate.continue_mode)
# load camera params
path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', '..', '..',
'cuav', 'data', 'chameleon1_arecont0.json')
self.c_params.load(path)
