def picam_capture(): iv = ivport.IVPort(ivport.TYPE_QUAD2, iv_jumper='A') iv.camera_open() iv.camera_change(1) iv.camera_capture("picam", use_video_port=False) iv.camera_change(2) iv.camera_capture("picam", use_video_port=False) iv.close()
def picam_capture(): iv = ivport.IVPort(ivport.TYPE_DUAL2) iv.camera_open() iv.camera_change(1) iv.camera_capture("picam", use_video_port=False) iv.camera_change(2) iv.camera_capture("picam", use_video_port=False) iv.close()
def main(): pub1 = rospy.Publisher('camera_topic1', Image, queue_size=10) #2 topica pub2 = rospy.Publisher('camera_topic2', Image, queue_size=10) rospy.init_node('camera_publish_node', anonymous=True) rate = rospy.Rate(5) #vise, brze bridge = CvBridge() iv = ivport.IVPort(ivport.TYPE_DUAL2) iv.camera_open(camera_v2=True) #za sequenace camera_v2 = True i = 0 #pogledaj u camera_publish_node.launch, ne kuzim zakaj ovo ne radi #dir = rospy.get_param('~dir') #print(dir) #/home/ivona-rpi/proba_ws/src/paket #dir = dir+'/' #print(dir) #/home/ivona-rpi/proba_ws/src/paket/ dir = '/home/ivona-rpi/proba_ws/src/rpi-ivport/' #stvaranje foldera cam1_frames i cam2_frames, brisanje nakon svakog pokretanja for j in range(1, 3): if not os.path.exists(dir + '/cam' + str(j) + '_frames'): os.makedirs(dir + '/cam' + str(j) + '_frames') else: empty_folder(dir + '/cam' + str(j) + '_frames') while not rospy.is_shutdown(): iv.camera_change(1) iv.camera_capture('picam', use_video_port=True) image = cv2.imread(dir + '/src/picam_CAM1.jpg') cv2.imwrite(dir + '/cam1_frames/' + str(i) + '.jpg', image) #print(image.shape) #480x720x3 #print(image.dtype) #uint8 image = np.uint8(image) image_message = bridge.cv2_to_imgmsg(image, encoding="passthrough") rospy.loginfo(image) pub1.publish(image_message) print('I publish1') rate.sleep() iv.camera_change(2) iv.camera_capture('picam', use_video_port=True) image = cv2.imread(dir + '/src/picam_CAM2.jpg') cv2.imwrite(dir + '/cam2_frames/' + str(i) + '.jpg', image) image = np.uint8(image) image_message = bridge.cv2_to_imgmsg(image, encoding="passthrough") rospy.loginfo(image) pub2.publish(image_message) print('I publish2') rate.sleep() i += 1 iv.close()
def still_capture2(): # raspistill capture def capture(camera): "This system command for raspistill capture" cmd = "raspistill -t 10 -o still_CAM%d.jpg" % camera os.system(cmd) ivA = ivport.IVPort(ivport.TYPE_QUAD2, iv_jumper='A') ivA.camera_change(1) capture(1) # ivA.camera_change(2) # capture(2) # ivA.camera_change(3) # capture(3) ivB = ivport.IVPort(ivport.TYPE_QUAD2, iv_jumper='B') ivB.camera_change(2) ivA.camera_change(4) capture(2) ivA.close() ivB.close()
def still_capture(): # raspistill capture def capture(camera): "This system command for raspistill capture" cmd = "raspistill -t 10 -o still_CAM%d.jpg" % camera os.system(cmd) iv = ivport.IVPort(ivport.TYPE_DUAL2) iv.camera_change(1) capture(1) iv.camera_change(2) capture(2) iv.close()
def main(): print "beginning of main" if camera_v2 is True: iviic = IIC.IIC(addr=(0x70), bus_enable=(0x01)) print "right after iviic = IIC.IIC...." camera_list = range(1, 5) print camera_list #picam_capture_into_files() #exit() iv = ivport.IVPort(board_type, iv_jumper='A') print "right after iv = ivport.IVPort(...." iv.camera_open(camera_v2=camera_v2) print "right after iv.camear_open" time.sleep(2.0) print "stop to sleep" #for i in range(1, 2): # cv2.namedWindow( windows_name_by_id(i) ) while True: images = {} print "right after images = {}" # first take all the images and store them for i in camera_list: image_new = get_one_image_by_cameraId(iv, i) #cv2.imshow( windows_name_by_id(i) , image_new) images[windows_name_by_id(i)] = image_new #print "taking new image port %u windows_name:%s" % (i, windows_name_by_id(i)) print "got the images" # print all the images for i in camera_list: image_new = images[windows_name_by_id(i)] cv2.imshow(windows_name_by_id(i), image_new) #images[windows_name_by_id(i)] = image_new #print "taking new image port %u windows_name:%s" % (i, windows_name_by_id(i)) key = cv2.waitKey(1) if key == ord("q"): # if the `q` key was pressed, break from the loop break cv2.destroyAllWindows()
def picam_sequence(): FRAMES = 30 CAM = 0 def sequence_outputs(iv): frame = 0 while frame < FRAMES: camera = (frame%2)+1 time.sleep(0.2) # SD Card Bandwidth Correction Delay iv.camera_change(camera) time.sleep(0.2) # SD Card Bandwidth Correction Delay yield 'sequence_%02d.jpg' % frame frame += 1 print camera iv = ivport.IVPort(ivport.TYPE_QUAD2, iv_jumper='A') iv.camera_open(camera_v2=True, resolution=(640, 480), framerate=60) #iv.picam.resolution = (640, 480) #iv.picam.framerate = 30 #time.sleep(1) iv.camera_sequence(outputs=sequence_outputs(iv), use_video_port=True) iv.close()
def picam_capture_into_files(): iv = ivport.IVPort(board_type, iv_jumper='A') iv.camera_open(camera_v2=camera_v2) iv.camera_change(1) iv.camera_capture("picam", use_video_port=False) iv.camera_change(2) iv.camera_capture("picam", use_video_port=False) iv.camera_change(3) iv.camera_capture("picam", use_video_port=False) iv.camera_change(4) iv.camera_capture("picam", use_video_port=False) img = cv2.imread('picam_CAM1.jpg') cv2.imshow("desparateWindows1", img) img = cv2.imread('picam_CAM2.jpg') cv2.imshow("desparateWindows2", img) print "press any key to exit" cv2.waitKey(0) print "just read my file" time.sleep(0.5) cv2.destroyAllWindows() iv.close()
GPIO.setup(ECHO3,GPIO.IN) GPIO.output(TRIG1, False) print "Waiting For Sensor1 To Settle" time.sleep(2) GPIO.output(TRIG2, False) print "Waiting For Sensor2 To Settle" time.sleep(2) GPIO.output(TRIG3, False) print "Waiting For Sensor3 To Settle" time.sleep(2) GPIO.output(TRIG4, False) print "Waiting For Sensor4 To Settle" time.sleep(2) #Camera multiplexer setup iv = ivport.IVPort(ivport.TYPE_DUAL2) camera = picamera.PiCamera() cur_camera = 1 #1 is IR 2 is Visible light talons = 0 #0 is open 1 is closed def getTemperature(pin): temp = GPIO.input(pin) camera.annotate_text = temp return temp def openTalons(): for pulse in range(50, 250, 1):
from utils import * #import picamera import ivport import time import os if __name__ == '__main__': to_measure = True to_plot = not to_measure if to_measure: os.system('~/Downloads/ivport-v2/init_ivport.py') os.system('~/Downloads/ivport-v2/vcgencmd get_camera') os.system('~/Downloads/ivport-v2/i2cdetect -y 1') iv = ivport.IVPort(ivport.TYPE_QUAD2) iv.camera_change(1) iv.camera_open(resolution=(1920, 1080), framerate=24) #camera = picamera.PiCamera() #camera.resolution = (1920,1080) #camera.framerate=24 time.sleep(2) #img = snapshot(iv.camera) iv.camera_capture('single') #print(np.array_repr(img)) iv.close() if to_plot: exit()