class StereoCamera(Camera):
"""
"""
def __init__(self, leftcamera, rightcamera):
"""
Stereo Vision.
"""
self._leftcamera = leftcamera
self._rightcamera = rightcamera
self._dev = Stereo(self._leftcamera._dev, self._rightcamera._dev)
self.vision = VisionSystem()
self._dev.setRGB(leftcamera.rgb[0], leftcamera.rgb[1],
leftcamera.rgb[2])
self.rgb = leftcamera.rgb
self.format = leftcamera.format
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
## -------------------------------------------------
Camera.__init__(self, self._dev.getWidth(), self._dev.getHeight(),
self._dev.getDepth(), "Stereo Camera")
self.data = CBuffer(self._cbuf)
def update(self):
if not self.active: return
self._dev.updateMMap()
self.processAll()
class StereoCamera(Camera):
"""
"""
def __init__(self, leftcamera, rightcamera):
"""
Stereo Vision.
"""
self._leftcamera = leftcamera
self._rightcamera = rightcamera
self._dev = Stereo( self._leftcamera._dev, self._rightcamera._dev)
self.vision = VisionSystem()
self._dev.setRGB(leftcamera.rgb[0], leftcamera.rgb[1], leftcamera.rgb[2])
self.rgb = leftcamera.rgb
self.format = leftcamera.format
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
## -------------------------------------------------
Camera.__init__(self, self._dev.getWidth(), self._dev.getHeight(), self._dev.getDepth(),
"Stereo Camera")
self.data = CBuffer(self._cbuf)
def update(self):
if not self.active: return
self._dev.updateMMap()
self.processAll()
class FourwayCamera(Camera):
"""
"""
def __init__(self, camera, splits, quad, rot = 0):
"""
Can split a camera 2 or 4 ways.
"""
self._camera = camera
self._splits = splits
self._quad = quad
self._dev = Fourway( self._camera._dev, splits, quad, rot)
self.vision = VisionSystem()
self._dev.setRGB(camera.rgb[0], camera.rgb[1], camera.rgb[2])
self.rgb = camera.rgb
self.format = camera.format
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
## -------------------------------------------------
Camera.__init__(self, self._dev.getWidth(), self._dev.getHeight(), self._dev.getDepth(),
"Quad #%d" % quad)
self.data = CBuffer(self._cbuf)
def update(self):
if not self.active: return
self._dev.updateMMap()
self.processAll()
def __init__(self, width, height, depth):
self.width = width
self.height = height
self.depth = depth
self._dev = Fake("", self.width, self.height, self.depth)
self.vision = VisionSystem()
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Fake Camera View")
self.subtype = "simulated"
self.data = CBuffer(self._cbuf)
def __init__(self, robot, visionSystem):
self.robot = robot
self.width = 320
self.height = 240
self.depth = 3
self._dev = Fake("", self.width, self.height, self.depth)
self.vision = VisionSystem()
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Rovio Camera View")
self.subtype = "rovio"
self.data = CBuffer(self._cbuf)
def __init__(self, leftcamera, rightcamera):
"""
Stereo Vision.
"""
self._leftcamera = leftcamera
self._rightcamera = rightcamera
self._dev = Stereo(self._leftcamera._dev, self._rightcamera._dev)
self.vision = VisionSystem()
self._dev.setRGB(leftcamera.rgb[0], leftcamera.rgb[1],
leftcamera.rgb[2])
self.rgb = leftcamera.rgb
self.format = leftcamera.format
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
## -------------------------------------------------
Camera.__init__(self, self._dev.getWidth(), self._dev.getHeight(),
self._dev.getDepth(), "Stereo Camera")
self.data = CBuffer(self._cbuf)
def INIT(robot):
return {
"camera":
FakeCamera(pattern="vision/iarc2006/fiducial-?.ppm",
start=1,
stop=5,
interval=1,
visionSystem=VisionSystem())
}
def INIT(robot):
return {
"camera":
FakeCamera(pattern="vision/blimp/bullseye-?.pbm",
start=1,
stop=5,
interval=1,
visionSystem=VisionSystem())
}
def INIT(robot):
return {
"camera":
FakeCamera(pattern="vision/tutorial2/?.ppm",
start=1,
stop=10,
interval=1,
visionSystem=VisionSystem())
}
def setup(self):
self.imageCount = 1
if not self.robot.hasA("camera"):
self.robot.startDevice("Frequency")
self.robot.startDevice({
"camera":
V4LCamera(640, 480, channel=0, visionSystem=VisionSystem())
})
self.robot.startDevice(setupFourway(self.robot))
self.robot.camera[3].addFilter("grayScale")
def INIT(robot):
if robot.name == "Aria":
# Pioneers. You may have to set channel by hand to one that works
ch = 0 # channel
else:
# For framegrabbers:
# Channel - 0: television; 1: composite; 2: S-Video
ch = 1 # channel
return {
"camera":
V4LGrabber(160,
120,
device="/dev/video0",
channel=ch,
visionSystem=VisionSystem()),
"camera":
V4LGrabber(160,
120,
device="/dev/video1",
channel=ch,
visionSystem=VisionSystem())
}
def __init__(self, width, height, depth):
self.width = width
self.height = height
self.depth = depth
self._dev = Fake("", self.width, self.height, self.depth)
self.vision = VisionSystem()
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Fake Camera View")
self.subtype = "simulated"
self.data = CBuffer(self._cbuf)
def INIT(robot):
retval = ask("Please enter the parameters for the Video4Linux Camera",
(("Device", "/dev/video0"),
("Width", "160"),
("Height", "120"),
("Channel", "0"),
))
if retval["ok"]:
return {"camera" : V4LCamera( int(retval["Width"]),
int(retval["Height"]),
device = retval["Device"],
channel = int(retval["Channel"]),
visionSystem = VisionSystem())}
else:
raise "Cancelled!"
def __init__(self, leftcamera, rightcamera):
"""
Stereo Vision.
"""
self._leftcamera = leftcamera
self._rightcamera = rightcamera
self._dev = Stereo( self._leftcamera._dev, self._rightcamera._dev)
self.vision = VisionSystem()
self._dev.setRGB(leftcamera.rgb[0], leftcamera.rgb[1], leftcamera.rgb[2])
self.rgb = leftcamera.rgb
self.format = leftcamera.format
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
## -------------------------------------------------
Camera.__init__(self, self._dev.getWidth(), self._dev.getHeight(), self._dev.getDepth(),
"Stereo Camera")
self.data = CBuffer(self._cbuf)
def startDeviceBuiltin(self, item, index=0):
if item == "laser":
return {"laser": PlayerLaserDevice(self._client)}
elif item == "sonar":
return {"sonar": PlayerSonarDevice(self._client)}
elif item == "camera":
from pyrobot.camera.player import PlayerCamera
from pyrobot.vision.cvision import VisionSystem
camera = PlayerCamera(self.hostname,
self.port,
visionSystem=VisionSystem())
return {"camera": camera}
elif item == "fiducial":
return {"fiducial": PlayerFiducialDevice(self._client)}
elif item == "gripper":
return {"gripper": PlayerGripperDevice(self._client)}
elif item == "position":
return {"position": PlayerPositionDevice(self._client)}
elif item == "speech":
return {"speech": PlayerSpeechDevice(self._client)}
elif item == "graphics2d":
return {"graphics2d": PlayerGraphics2dDevice(self._client)}
elif item == "map":
return {"map": PlayerMapDevice(self._client)}
elif item == "simulation":
obj = None
try:
obj = PlayerSimulationDevice(self.hostname)
except:
pass
return {"simulation": obj}
elif item == "ptz":
return {"ptz": PlayerPTZDevice(self._client, "ptz")}
elif item == "bumper":
return {"bumper": PlayerBumperDevice(self._client)}
## elif item == "camera":
## if self.simulated:
## return self.startDevice("BlobCamera", visible=0)
## else:
## return self.startDevice("V4LCamera")
## elif item in self.builtinDevices:
return {item: PlayerDevice(self._client, item, index=index)}
def INIT(robot):
return {
"camera": V4LCamera(160, 120, channel=1, visionSystem=VisionSystem())
}
self.start = self.oldStart
self.oldStart = None
self.oldStop = None
def update(self):
if not self.active: return
if (self.current < self.stop):
currentTime = time.time()
if currentTime - self.lastUpdate > self.interval:
if self.match:
currname = self.pattern[:self.match.start()] + \
self.fstring % self.current + \
self.pattern[self.match.end():]
else:
currname = self.pattern
if self.verbose:
print("info: reading file '%s'..." %
(self.path + currname))
self._dev.updateMMap(self.path + currname)
self.processAll()
self.current += 1
self.lastUpdate = currentTime
else:
self.current = self.start
if __name__ == "__main__":
from pyrobot.vision.cvision import VisionSystem
camera = FakeCamera(visionSystem=VisionSystem())
camera.update()
def INIT(robot):
return {"camera": RobocupCamera(robot, visionSystem=VisionSystem())}
def INIT(robot):
return {"camera": FakeCamera(visionSystem=VisionSystem())}
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
self.data = CBuffer(self._cbuf)
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self,
self.width,
self.height,
self.depth,
"Rovio Camera View",
async=1)
self.subtype = "rovio"
self.data = CBuffer(self._cbuf)
def update(self):
"""
This is called very often, or as fast as possible.
"""
if not self.active: return
self._dev.updateMMap(1) # read and map very often
self.processAll() # need to process filters
if __name__ == "__main__":
from pyrobot.vision.cvision import VisionSystem
class MyRobot:
theurl = "http://liquidsoapdispenser.com/rovio/treo_cam.jpg"
camera = RovioCamera(MyRobot(), VisionSystem())
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
self.data = CBuffer(self._cbuf)
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Aibo Camera View")
self.subtype = "aibo"
self.data = CBuffer(self._cbuf)
def update(self):
"""
This is called very often, or as fast as possible.
"""
if not self.active: return
self._dev.updateMMap(1) # read and map very often
self.processAll() # need to process filters
if __name__ == "__main__":
from pyrobot.vision.cvision import VisionSystem
class MyRobot:
host = "k-8"
PORT = {"Raw Cam Server": 10011}
def setRemoteControl(self, *args):
pass
camera = AiboCamera(MyRobot(), VisionSystem())
class ManualFakeCamera(Camera):
"""
camera = ManualFakeCamera(w, h, d)
Used when you are creating the image from Python, and wish
to have the camera class show or manipulate the image.
Currently only depth 3 works.
Values in camera array are ints between 0 and 255.
"""
def __init__(self, width, height, depth):
self.width = width
self.height = height
self.depth = depth
self._dev = Fake("", self.width, self.height, self.depth)
self.vision = VisionSystem()
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Fake Camera View")
self.subtype = "simulated"
self.data = CBuffer(self._cbuf)
def blankImage(self, val=0):
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(w, h, d, val)
def setGrayImage(self, array):
"""
Will set the RGB camera image from a grayscale array (depth 1)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
val = array[h * self.width + w]
for d in range(self.depth):
self.vision.setVal(w, h, d, val)
def setRGBImage(self, array):
"""
Will set the RGB camera image from a RGB array (depth 3)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(w, h, d, array[(w + h * self.width) * self.depth + d])
def setRGB3Image(self, array):
"""
Will set the RGB camera image from a RGB array (depth 3)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(w, h, d, array[w][h][d])
class RovioCamera(Camera):
"""
camera = RovioCamera()
"""
def __init__(self, robot, visionSystem):
self.robot = robot
self.width = 320
self.height = 240
self.depth = 3
self._dev = Fake("", self.width, self.height, self.depth)
self.vision = VisionSystem()
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Rovio Camera View")
self.subtype = "rovio"
self.data = CBuffer(self._cbuf)
def blankImage(self, val=0):
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(w, h, d, val)
def setGrayImage(self, array):
"""
Will set the RGB camera image from a grayscale array (depth 1)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
val = array[h * self.width + w]
for d in range(self.depth):
self.vision.setVal(w, h, d, val)
def setRGBImage(self, array):
"""
Will set the RGB camera image from a RGB array (depth 3)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(
w, h, d, array[(w + h * self.width) * self.depth + d])
def setRGB3Image(self, array):
"""
Will set the RGB camera image from a RGB array (depth 3)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(w, h, d, array[w][h][d])
def update(self):
self.robot.camLock.acquire()
if not self.active: return
import PIL.Image as PyImage
import array
self.processAll()
filename = "/home/rwalker1/research/test.jpg"
width = 352
height = 288
#fp = open(filename, "r")
#fp = self.robot.imageGrab()
#image = PyImage.open(fp)
image = PyImage.open(filename)
width, height = image.size
pixels = image.load()
for w in range(width):
for h in range(height):
r, g, b = pixels[w, h]
self.vision.setVal(w, h, 0, r)
self.vision.setVal(w, h, 1, g)
self.vision.setVal(w, h, 2, b)
self.robot.camLock.release()
def INIT(robot):
return {
"camera": V4LCamera(640, 480, channel=0, visionSystem=VisionSystem())
}
def INIT(robot):
return {"camera": BT848Camera(160, 120, visionSystem=VisionSystem())}
self._dev = Fourway( self._camera._dev, splits, quad, rot)
self.vision = VisionSystem()
self._dev.setRGB(camera.rgb[0], camera.rgb[1], camera.rgb[2])
self.rgb = camera.rgb
self.format = camera.format
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
## -------------------------------------------------
Camera.__init__(self, self._dev.getWidth(), self._dev.getHeight(), self._dev.getDepth(),
"Quad #%d" % quad)
self.data = CBuffer(self._cbuf)
def update(self):
if not self.active: return
self._dev.updateMMap()
self.processAll()
if __name__ == "__main__":
from pyrobot.camera.fake import FakeCamera
cam = FakeCamera(pattern = "../../vision/tutorial/test-?.ppm", start = 0,
stop = 11, interval = 1, visionSystem = VisionSystem())
cam.update()
cam.makeWindow()
cam.updateWindow()
cameras = [0] * 4
for i in range(4):
cameras[i] = FourwayCamera(cam, 4, i)
cameras[i].update()
cameras[i].makeWindow()
cameras[i].updateWindow()
class ManualFakeCamera(Camera):
"""
camera = ManualFakeCamera(w, h, d)
Used when you are creating the image from Python, and wish
to have the camera class show or manipulate the image.
Currently only depth 3 works.
Values in camera array are ints between 0 and 255.
"""
def __init__(self, width, height, depth):
self.width = width
self.height = height
self.depth = depth
self._dev = Fake("", self.width, self.height, self.depth)
self.vision = VisionSystem()
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Fake Camera View")
self.subtype = "simulated"
self.data = CBuffer(self._cbuf)
def blankImage(self, val=0):
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(w, h, d, val)
def setGrayImage(self, array):
"""
Will set the RGB camera image from a grayscale array (depth 1)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
val = array[h * self.width + w]
for d in range(self.depth):
self.vision.setVal(w, h, d, val)
def setRGBImage(self, array):
"""
Will set the RGB camera image from a RGB array (depth 3)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(
w, h, d, array[(w + h * self.width) * self.depth + d])
def setRGB3Image(self, array):
"""
Will set the RGB camera image from a RGB array (depth 3)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(w, h, d, array[w][h][d])
def INIT(robot):
return {
"camera": PlayerCamera("localhost", 6665, visionSystem=VisionSystem())
}
self.robot.camLock.acquire()
if not self.active: return
import PIL.Image as PyImage
import array
self.processAll()
filename = "/home/rwalker1/research/test.jpg"
width = 352
height = 288
#fp = open(filename, "r")
#fp = self.robot.imageGrab()
#image = PyImage.open(fp)
image = PyImage.open(filename)
width, height = image.size
pixels = image.load()
for w in range(width):
for h in range(height):
r, g, b = pixels[w, h]
self.vision.setVal(w, h, 0, r)
self.vision.setVal(w, h, 1, g)
self.vision.setVal(w, h, 2, b)
self.robot.camLock.release()
if __name__ == '__main__':
x = RovioRobot('10.0.0.9')
x.update()
x.move(1, 0)
from pyrobot.vision.cvision import VisionSystem
camera = RovioCamera(x, visionSystem=VisionSystem())
camera.update()
self.format = camera.format
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
## -------------------------------------------------
Camera.__init__(self, self._dev.getWidth(), self._dev.getHeight(),
self._dev.getDepth(), "Quad #%d" % quad)
self.data = CBuffer(self._cbuf)
def update(self):
if not self.active: return
self._dev.updateMMap()
self.processAll()
if __name__ == "__main__":
from pyrobot.camera.fake import FakeCamera
cam = FakeCamera(pattern="../../vision/tutorial/test-?.ppm",
start=0,
stop=11,
interval=1,
visionSystem=VisionSystem())
cam.update()
cam.makeWindow()
cam.updateWindow()
cameras = [0] * 4
for i in range(4):
cameras[i] = FourwayCamera(cam, 4, i)
cameras[i].update()
cameras[i].makeWindow()
cameras[i].updateWindow()
def INIT(robot):
return {"camera": AiboCamera(robot, visionSystem=VisionSystem())}
"""
self._dev = PlayerCam(host, port)
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
self.data = CBuffer(self._cbuf)
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Player Camera View")
self.subtype = "player"
self.data = CBuffer(self._cbuf)
def update(self):
if not self.active: return
self._dev.updateMMap(1) # read and map
self.processAll() # need to process filters
if __name__ == "__main__":
from pyrobot.vision.cvision import VisionSystem
camera = PlayerCamera("localhost", 6665, VisionSystem())
camera.makeWindow()
while 1:
camera.update()
camera.updateWindow()
