def camera_loop(self):
"""Makes the camera take pictures and save them.
This loop is executed in a separate thread.
"""
from io import BytesIO
from base64 import b64encode
try:
from picamera import PiCamera
from picamera.array import PiRGBArray
except Exception as e:
print('picamera import error : ', e)
try:
cam = PiCamera(framerate=self.fps)
except Exception as e:
print('Exception ', e, 'yoooooooooooooo')
raise CameraException()
image_name = os.path.join(self.stream_path, 'capture.jpg')
cam.resolution = CAM_RESOLUTION
cam_output = PiRGBArray(cam, size=CAM_RESOLUTION)
stream = cam.capture_continuous(cam_output,
format="rgb",
use_video_port=True)
for f in stream:
img_arr = f.array
im = PIL_convert(img_arr)
im.save(image_name)
# Predict the direction only when needed
if self.mode in ['dirauto', 'auto'] and self.started:
prediction = self.predict_from_img(img_arr)
else:
prediction = [0, 0, 1, 0, 0]
self.mode_function(img_arr, prediction)
if self.streaming_state:
index_class = prediction.index(max(prediction))
buffered = BytesIO()
im.save(buffered, format="JPEG")
img_str = b64encode(buffered.getvalue())
socketio.emit('picture_stream', {
'image': True,
'buffer': img_str.decode('ascii'),
'index': index_class,
'pred': [float(x) for x in prediction]
},
namespace='/car')
cam_output.truncate(0)
def training(self, img, prediction):
"""Saves the image of the picamera with the right labels of dir
and gas.
"""
image_name = '_'.join(['frame', str(self.n_img), 'gas',
str(self.curr_gas), 'dir', str(self.curr_dir)])
image_name += '.jpg'
image_name = os.path.join(self.save_folder, image_name)
img_arr = np.array(img[80:, :, :], copy=True)
img_arr = PIL_convert(img_arr)
img_arr.save(image_name)
self.n_img += 1
def training(self, img):
"""
Enregistre les images du stream lorsque started = True.
"""
image_name = '_'.join(['frame', str(self.n_img), 'gas',
str(self.curr_gas), 'dir', str(self.curr_dir)])
image_name += '.jpg'
image_name = os.path.join(self.save_folder, image_name)
img_arr = np.array(img[20:, :, :], copy=True)
img_arr = PIL_convert(img_arr)
img_arr.save(image_name)
self.n_img += 1
