def readThread(threadName,read_Flag):
global flag,handle
count = 0
time0 = time.time()
time1 = time.time()
data = {}
cv2.namedWindow("MT9M001",1)
cv2.setMouseCallback("MT9M001",mouse_callback)
while flag:
if ArducamSDK.Py_ArduCam_available(handle) > 0:
res,data = ArducamSDK.Py_ArduCam_read(handle,Width * Height)
if res == 0:
count += 1
time1 = time.time()
ArducamSDK.Py_ArduCam_del(handle)
else:
print "read data fail!"
else:
print "is not available"
if len(data) >= Width * Height:
if time1 - time0 >= 1:
print "%s %d %s\n"%("fps:",count,"/s")
count = 0
time0 = time1
show(data)
else:
print "data length is not enough!"
if flag == False:
break
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 readThread(threadName, read_Flag):
global flag, handle, storeFlag, bufferData, openFlag
global a_lock
count = 0
time0 = time.time()
time1 = time.time()
data = {}
# Wait for the arducam object to be ready
while openFlag == False:
time1 = time.time()
if time1 - time0 > 20:
#timeout
exit
while flag:
res = ArducamSDK.Py_ArduCam_available(handle)
#~ print "Available frames %d"%(res)
if res > 0:
res, data = ArducamSDK.Py_ArduCam_read(handle, Width * Height)
if res == 0:
count += 1
time1 = time.time()
ArducamSDK.Py_ArduCam_del(handle)
else:
print("read data fail!")
else:
#print "No data availiable"
time.sleep(.01)
if len(data) >= Width * Height:
if time1 - time0 >= 5:
print("%s %f %s\n" % ("fps:", count * 1.0 /
(time1 - time0), "/s"))
count = 0
time0 = time1
a_lock.acquire()
bufferData = data
data = []
storeFlag = True
a_lock.release()
#show(data)
#else:
# print "data length is not enough!"
if flag == False:
break
def readThread(threadName, read_Flag):
global flag, handle
data = {}
cv2.namedWindow("MT9F002", 1)
while flag:
if ArducamSDK.Py_ArduCam_availiable(handle) > 0:
res, data = ArducamSDK.Py_ArduCam_read(handle, Width * Height)
if res == 0:
ArducamSDK.Py_ArduCam_del(handle)
else:
print "read data fail!"
else:
print "is not availiable"
if len(data) >= Width * Height:
show(data)
flag = False
else:
print "data length is not enough!"
if flag == False:
break