def read_register(request):
global handle
register = request.register
rtn_val, output = ArducamSDK.Py_ArduCam_readSensorReg(handle,register)
if rtn_val == 0:
output = 'Register %d: %d' % (register, output)
else:
output = 'Invalid register'
return ReadRegResponse(output)
def get_extra_label_info(self):
if self.data_fields['LUM2'] == 0:
self.data_fields['LUM2'] = ArducamSDK.Py_ArduCam_readSensorReg(
self.handle, int(12546))[1]
if self.field_index == 0 or self.data_fields['TIME'] == 0:
self.data_fields['TIME'] = ArducamSDK.Py_ArduCam_readSensorReg(
self.handle, int(12644))[1]
if self.field_index == 1 or self.data_fields['TIME'] == 0:
self.data_fields['ISO'] = ArducamSDK.Py_ArduCam_readSensorReg(
self.handle, int(12586))[1]
if self.field_index == 2 or self.data_fields['TIME'] == 0:
self.data_fields['LUM1'] = ArducamSDK.Py_ArduCam_readSensorReg(
self.handle, int(12626))[1]
self.field_index = self.field_index + 1 if self.field_index < 2 else 0
return [("Time: {0} ISO: {1} LUM:{2}/{3}").format(
self.data_fields['TIME'], self.data_fields['ISO'],
self.data_fields['LUM1'], self.data_fields['LUM2'])]
def writeSingleSensorReg(reg_str,val_str):
global handle
regAddr = int(reg_str,16)
val = int(val_str,16)
ArducamSDK.Py_ArduCam_writeSensorReg(handle,regAddr,val)
#check if value sucessfully changed:
if (val == ArducamSDK.Py_ArduCam_readSensorReg(handle,regAddr)[1]):
print ("SUCCESFULLY CHANGED" + ' ' + hex(regAddr) + ' ' + "TO" + ' ' + hex(val))
else:
rospy.logerr ("WRITING COMMAND NOT SUCCESFULL")
def set_exposure(self, exposure):
#self.camera.set_exposure_time(exposure)#us
setval = round(exposure / 22.22)
print(setval)
ArducamSDK.Py_ArduCam_writeSensorReg(self.handle, 0x3012, setval)
print(ArducamSDK.Py_ArduCam_readSensorReg(self.handle, 0x3012))
def readSingleSensorReg(reg_str):
global handle
regAddr = int(reg_str, 16)
val = ArducamSDK.Py_ArduCam_readSensorReg(handle, regAddr)[1]
print("VALUE OF" + ' ' + hex(regAddr) + ' ' + "IS" + ' ' + hex(val))
def readImage_thread():
global handle,running,Width,Height,save_flag,acfg,color_mode,save_raw
global COLOR_BayerGB2BGR,COLOR_BayerRG2BGR,COLOR_BayerGR2BGR,COLOR_BayerBG2BGR
count = 0
totalFrame = 0
time0 = time.time()
time1 = time.time()
data = {}
cv2.namedWindow("ArduCam Demo",1)
counter = 0
clahe = cv2.createCLAHE(clipLimit=1.0, tileGridSize=(4,4))
while running:
display_time = time.time()
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:
print("read data fail!")
continue
if datasize == 0:
continue
image = convert_image(data,rtn_cfg,color_mode)
# digits_area = image[int(image.shape[0] * 0.965):int((1 - 0) * image.shape[0]), int(image.shape[1] * 0):int((1 - 0.5) * image.shape[1]),:]
#Defines height
#From XXX to image.shape[1]
a1 = [0, int(image.shape[0] * 0.93)] #0,896
a2 = [0, int((1 - 0) * image.shape[0])] #0,964
#Defines width
#From XXX to image.shape[1]
a3 = [int(image.shape[1] * 0.4), int((1 - 0) * image.shape[0])] #512,964
a4 = [int(image.shape[1] * 0.4), int(image.shape[0] * 0.93)] #512,896
digits_area = np.array([[a1, a2, a3, a4]], dtype=np.int32)
#image shape: [H,W]
#digits area: [W,H]
# digits_area = np.array([[[512,964], [0,964], [0,896], [512,896]]], dtype=np.int32)
# print(digits_area)
#930
#964
#0
#640
# cv2.fillConvexPoly(image, np.array(a1, a2, a3, a4, 'int32'), 255)
cv2.fillPoly( image, digits_area, (0,0,0) )
if counter == 0:
filename = datetime.datetime.now().strftime("%Y-%m-%d_%H-%M-%S") + "_front_top.avi"
out = cv2.VideoWriter(filename, cv2.VideoWriter_fourcc('X', 'V', 'I', 'D'), 8, (1280, 964))
# out = cv2.VideoWriter(filename, cv2.VideoWriter_fourcc('M', 'J', '2', 'C'), 8, (1280, 964)) #Lossless
# out = cv2.VideoWriter(filename, cv2.VideoWriter_fourcc('H', 'F', 'Y', 'U'), 8, (1280, 964)) #Lossless
reprint("Creating file " + str(filename))
cv2.putText(image, datetime.datetime.now().strftime("%Y-%m-%d: %H:%M:%S %f"), (10, image.shape[0] - 10), cv2.FONT_HERSHEY_DUPLEX, 0.8, (255, 255, 255), 1, cv2.LINE_AA)
ardu = ("Time: " + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12644))[1])) + " ISO: " + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12586))[1])) + " lum: " + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12626))[1])) + "/" + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12546))[1])))
cv2.putText(image, ardu, (10, image.shape[0] - 40), cv2.FONT_HERSHEY_DUPLEX, 0.8, (255, 255, 255), 1, cv2.LINE_AA)
# cv2.imshow("stream", image)
# cv2.waitKey(0)
out.write(image)
# regAddr = int(12644)
# val = hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, regAddr)[1])
# print("Integration time\t" + str(hex(12644)) + "\t" + str(hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12644))[1])))
# print("Gains\t" + str(hex(12586)) + "\t" + str(hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12586))[1])))
# print("Mean gain\t" + str(hex(12626)) + "\t" + str(hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12626))[1])))
# print("Dark current\t" + str(hex(12680)) + "\t" + str(hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12680))[1])))
# print("Frame exposure\t" + "\t" + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12460))[1])))
# logger.write(str(datetime.datetime.now().strftime("%Y-%m-%d: %H:%M:%S")) + "\t")
# logger.write(str(hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12644))[1])) + "\t")
# logger.write(str(hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12586))[1])) + "\t")
# logger.write(str(hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12626))[1])) + "\t")
# logger.write(str(hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12680))[1])) + "\n")
# logger.flush()
cv2.resize(image,(512,384))
try:
colorconversion = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
except:
colorconversion = image
pass
for i in range(2):
colorconversion = clahe.apply(colorconversion)
# image = image[:,:,0]
# print(image.shape)
# image = cv2.cvtColor(colorconversion, cv2.COLOR_GRAY2BGR)
# print(image.shape)
# image = cv2.GaussianBlur(image, (3, 3), 0)
# for i in range(image.shape[2]):
# image[:,:,i] = colorconversion
fh.post_image(colorconversion)
counter += 1
if counter == 500:
out.release()
reprint("Sending file " + str(filename))
threading.Thread(target=fh.post_files,args=[filename]).start()
counter = 0
# print("Exposure: " + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12460))[1])) + "\tAcq time: " + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12644))[1])) + "\tGain: " + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12586))[1])) + " lum: " + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12626))[1])) + "/" + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12546))[1])) + " DC: " + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12680))[1])) + "/" + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12580))[1])))
# print("Noise correction\t" + "\t" + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12500))[1])))
#print(str(regAddr) + "\t" + str(val))
#["0x3012","0x0032"] = 12306 50
#3012 (hex) = 12306 (dec)
#0032 (hex) = 50 (dec)
# print(str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12644))[1])) + "\t" + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12586))[1])) + "\t" + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12626))[1])) + "\t" + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12680))[1])))
#["0x3012","0x0032"] = 12306 50
#3012 (hex) = 12306 (dec)
#0032 (hex) = 50 (dec)
# if counter == 5:
# cimage = cv2.cvtColor(image, cv2.COLOR_GRAY2BGR)
# cv2.imwrite(os.path.join(local_dir, "frame.jpg"), cv2.resize(cimage,(512,384)))
# counter = 0
# cv2.imwrite(os.path.join(local_dir, "Desktop", "images", str(datetime.datetime.now().strftime("%Y-%m-%d-%H-%M-%S-%f") + ".jpg")), image)
# counter += 1
# cv2.imshow("ArduCam Demo",image)
# cv2.waitKey(10)
ArducamSDK.Py_ArduCam_del(handle)
#print("------------------------display time:",(time.time() - display_time))
else:
time.sleep(0.001);