class MyVideoCapture:
def __init__(self, video_source=0, ser_num=0):
self.vs = video_source
if (video_source == 0):
# Open the video source
self.vid = cv2.VideoCapture(video_source)
if not self.vid.isOpened():
raise ValueError("Unable to open video source", video_source)
# Get video source width and height
self.width = self.vid.get(cv2.CAP_PROP_FRAME_WIDTH)
self.height = self.vid.get(cv2.CAP_PROP_FRAME_HEIGHT)
else:
self.live = False
self.color = False
self.stop_video = threading.Event()
self.ser_num = ser_num
self.exposure = 3.16
self.filter = (255, 255, 255)
self.width = 640
self.height = 512
self.terminate = False
self.rec_state = 0
self.cap_state = 0
self.init_camera()
self.stopEvent = threading.Event()
self.thread = threading.Thread(target=self.videoLoop, args=())
self.thread.start()
while (True):
time.sleep(0.001)
if (self.live == True):
break
def set_filter(self, filter):
if (filter != None):
self.filter = filter
def set_color(self, color):
self.cam.color_gray(color)
def set_exposure(self, exposure):
self.exposure = (pow(10.0, (exposure + 20.0) / 10.0)) / 1000.0
self.cam.set_exposure(self.exposure)
def capture(self, directory):
if not os.path.exists(directory + "/images"):
os.makedirs(directory + "/images")
self.cap_state = 1
self.directory = directory
def set_rec_state(self, state, directory):
if (state == 1):
if not os.path.exists(directory + "/videos"):
os.makedirs(directory + "/videos")
fourcc = cv2.VideoWriter_fourcc(*'XVID')
self.out = cv2.VideoWriter(
directory + "/videos/video-" +
time.strftime("%d-%m-%Y-%H-%M-%S") + ".avi", fourcc,
self.frame_rate, (640, 512))
else:
self.out.release()
self.rec_state = state
def init_camera(self):
ns = locate_ns(host="camacholab.ee.byu.edu")
objs = str(ns.list())
while (True):
temp_str = objs[objs.find('\'') + 1:-1]
temp_obj = temp_str[0:temp_str.find('\'')]
if (temp_obj[0:5] == "UC480"):
temp_ser_no = int(temp_obj[6:len(temp_obj)])
if (temp_ser_no == self.ser_num):
cam_str = temp_obj
if (objs.find(',') == -1):
break
objs = objs[objs.find(',') + 1:-1]
try:
cam_str
except NameError:
raise Exception("Camera with serial number " + str(self.ser_num) +
" could not be found")
self.cam = Proxy(ns.lookup(cam_str))
self.cam.start(exposure=65)
ip_address = self.cam.start_capture(self.color)
self.clientsocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.clientsocket.connect((str(ip_address), PORT))
self.time_s = 0
self.frame_rate = 0
self.count = -1
def bayer_convert(self, bayer):
if (self.color):
ow = (bayer.shape[0] // 4) * 4
oh = (bayer.shape[1] // 4) * 4
R = bayer[0::2, 0::2]
B = bayer[1::2, 1::2]
G0 = bayer[0::2, 1::2]
G1 = bayer[1::2, 0::2]
G = G0[:oh, :ow] // 2 + G1[:oh, :ow] // 2
bayer_R = np.array(R, dtype=np.uint8).reshape(512, 640)
bayer_G = np.array(G, dtype=np.uint8).reshape(512, 640)
bayer_B = np.array(B, dtype=np.uint8).reshape(512, 640)
dStack = np.clip(
np.dstack(
(bayer_B * (BRIGHTNESS / 5), bayer_G * (BRIGHTNESS / 5),
bayer_R * (BRIGHTNESS / 5))), 0, 255).astype('uint8')
else:
bayer_T = np.array(bayer, dtype=np.uint8).reshape(512, 640)
dStack = np.clip((np.dstack(
((bayer_T * (self.filter[2] / 255)) * (BRIGHTNESS / 5),
(bayer_T * (self.filter[1] / 255)) * (BRIGHTNESS / 5),
(bayer_T * (self.filter[0] / 255)) * (BRIGHTNESS / 5)))), 0,
255).astype('uint8')
#dStack = np.clip((np.dstack(((0.469 + bayer_T*0.75 - (bayer_T^2)*0.003)*(BRIGHTNESS/5),(bayer_T*0.95)*(BRIGHTNESS/5),(0.389 + bayer_T*1.34 - (bayer_T^2)*0.004)*(BRIGHTNESS/5)))),0,255).astype('uint8')
#dStack = np.clip(np.dstack((bayer,bayer,bayer)),0,255).astype('uint8')
return dStack
def videoLoop(self):
while not self.stop_video.is_set():
if (self.count >= 0):
t = time.time() - self.time_s
self.frame_rate = (self.frame_rate * self.count +
1 / t) / (self.count + 1)
self.time_s = time.time()
if (self.count < 50):
self.count = self.count + 1
else:
self.count = 1
msg = b''
new_msg = True
msg_len = None
imList = None
while True:
if new_msg:
sub_msg = self.clientsocket.recv(HEADERSIZE)
msg_len = int((sub_msg[:HEADERSIZE]))
new_msg = False
else:
sub_msg = self.clientsocket.recv(32800)
msg += sub_msg
if len(msg) == msg_len:
imList = pickle.loads(msg)
break
if (imList.size == 327680):
self.color = False
self.count = 0
else:
self.color = True
self.count = 0
dStack = self.bayer_convert(imList)
if (self.cap_state == 1):
cv2.imwrite(
self.directory + "/images/frame-" +
time.strftime("%d-%m-%Y-%H-%M-%S") + ".jpg", dStack)
self.cap_state = 0
if (self.rec_state == 1):
self.out.write(dStack)
self.frame = cv2.cvtColor(dStack, cv2.COLOR_BGR2RGB)
if (self.terminate == True):
self.clientsocket.send(b'b')
self.live = False
break
self.clientsocket.send(b'g')
self.live = True
def get_frame(self):
if (self.vs == 0):
if self.vid.isOpened():
ret, frame = self.vid.read()
if ret:
# Return a boolean success flag and the current frame converted to BGR
return (ret, cv2.cvtColor(frame, cv2.COLOR_BGR2RGB))
else:
return (ret, None)
else:
return (ret, None)
else:
return (True, self.frame)
# Release the video source when the object is destroyed
def __del__(self):
if (self.vs == 0):
if self.vid.isOpened():
self.vid.release()
else:
self.terminate = True
while (True):
time.sleep(0.001)
if (self.live == False):
break
self.cam.close()
self.stop_video.set()
try:
self.out.release()
except AttributeError:
pass
# -*- coding: utf-8 -*-
#
# Copyright © PyroLab Project Contributors
# Licensed under the terms of the GNU GPLv3+ License
# (see pyrolab/__init__.py for details)
"""
Kinesis KCube Driver Example
============================
This example demonstrates the use of the Thorlabs KCube DC Servo controlling a
Z825B translational stage using PyroLab.
"""
from pyrolab.api import NameServerConfiguration, Proxy, locate_ns
nscfg = NameServerConfiguration(host="yourdomain.com")
nscfg.update_pyro_config()
# Be considerate; don't stay connected to the nameserver too long.
with locate_ns() as ns:
motor = Proxy(ns.lookup("Z825B_PyroName"))
motor.autoconnect()
print(motor.get_position())
motor.close()