def __init__(self, hostname, username, password, flip, speed_control, frame_id="axis_camera",
use_encrypted_password=False, state_publishing_frequency=50, camera_id=1):
"""Initialize the PTZ driver and start publishing positional data.
:param hostname: Hostname of the camera (without http://, can be an IP address).
:type hostname: basestring
:param username: If login is needed, provide a username here.
:type username: basestring|None
:param password: If login is needed, provide a password here.
:type password: basestring|None
:param flip: Whether to flip the controls (for ceiling-mounted cameras). Deprecated.
:type flip: bool
:param speed_control: Use speed control instead of positional. Deprecated.
:type speed_control: bool
:param frame_id: Id of the frame in which positinal data should be published.
:type frame_id: basestring
:param use_encrypted_password: Whether to use Plain HTTP Auth (False) or Digest HTTP Auth (True).
:type use_encrypted_password: bool
:param state_publishing_frequency: The frequency at which joint states should be published.
:type state_publishing_frequency: int
:param camera_id: ID (number) of the camera. Can be 1 to 4.
:type camera_id: int
"""
self._hostname = hostname
self._camera_id = camera_id
self._frame_id = frame_id
self._state_publishing_frequency = state_publishing_frequency
self._executing_reconfigure = False
self._reconfigure_mutex = threading.Lock()
self._api = None
# autodetect the VAPIX API and connect to it; try it forever
while self._api is None and not rospy.is_shutdown():
try:
self._api = VAPIX.get_api_for_camera(hostname, username, password, camera_id, use_encrypted_password)
except (IOError, ValueError):
rospy.loginfo(
"Retrying connection to VAPIX on host %s, camera %d in 2 seconds." % (hostname, camera_id))
rospy.sleep(2)
if rospy.is_shutdown():
return
if not self._api.has_ptz():
raise RuntimeError("Camera %d on host %s doesn't have a Pan-Tilt-Zoom unit." % (self._camera_id, self._hostname))
# Create a controller of the camera
self._camera_controller = AxisCameraController(self._api, self, flip_vertically=flip, flip_horizontally=flip)
# BACKWARDS COMPATIBILITY LAYER
self.username = username # deprecated
self.password = password # deprecated
self.flip = flip # deprecated
self.speedControl = speed_control # deprecated
self.mirror = False # deprecated
self.msg = None # deprecated
self.cmdString = "" # deprecated
self.pub = rospy.Publisher("state", Axis, queue_size=100) # deprecated
self.command_subscriber = rospy.Subscriber("cmd", Axis, self.cmd, queue_size=100) # deprecated
self.mirror_subscriber = rospy.Subscriber("mirror", Bool, self.mirrorCallback, queue_size=100) # deprecated
self.srv = Server(PTZConfig, self.callback) # deprecated
# Needs to be after the backwards compatibility setup
# start the publisher thread
self._publisher_thread = PositionStreamingThread(self, self._api)
self.st = self._publisher_thread # deprecated
self._publisher_thread.start()
class AxisPTZ:
"""This class is a node to manage the PTZ functions of an Axis PTZ camera. The most of its work is done by
:py:class:`AxisCameraController <axis_camera.camera_control.AxisCameraController>` and this is just a ROS node
envelope.
"""
def __init__(self, hostname, username, password, flip, speed_control, frame_id="axis_camera",
use_encrypted_password=False, state_publishing_frequency=50, camera_id=1):
"""Initialize the PTZ driver and start publishing positional data.
:param hostname: Hostname of the camera (without http://, can be an IP address).
:type hostname: basestring
:param username: If login is needed, provide a username here.
:type username: basestring|None
:param password: If login is needed, provide a password here.
:type password: basestring|None
:param flip: Whether to flip the controls (for ceiling-mounted cameras). Deprecated.
:type flip: bool
:param speed_control: Use speed control instead of positional. Deprecated.
:type speed_control: bool
:param frame_id: Id of the frame in which positinal data should be published.
:type frame_id: basestring
:param use_encrypted_password: Whether to use Plain HTTP Auth (False) or Digest HTTP Auth (True).
:type use_encrypted_password: bool
:param state_publishing_frequency: The frequency at which joint states should be published.
:type state_publishing_frequency: int
:param camera_id: ID (number) of the camera. Can be 1 to 4.
:type camera_id: int
"""
self._hostname = hostname
self._camera_id = camera_id
self._frame_id = frame_id
self._state_publishing_frequency = state_publishing_frequency
self._executing_reconfigure = False
self._reconfigure_mutex = threading.Lock()
self._api = None
# autodetect the VAPIX API and connect to it; try it forever
while self._api is None and not rospy.is_shutdown():
try:
self._api = VAPIX.get_api_for_camera(hostname, username, password, camera_id, use_encrypted_password)
except (IOError, ValueError):
rospy.loginfo(
"Retrying connection to VAPIX on host %s, camera %d in 2 seconds." % (hostname, camera_id))
rospy.sleep(2)
if rospy.is_shutdown():
return
if not self._api.has_ptz():
raise RuntimeError("Camera %d on host %s doesn't have a Pan-Tilt-Zoom unit." % (self._camera_id, self._hostname))
# Create a controller of the camera
self._camera_controller = AxisCameraController(self._api, self, flip_vertically=flip, flip_horizontally=flip)
# BACKWARDS COMPATIBILITY LAYER
self.username = username # deprecated
self.password = password # deprecated
self.flip = flip # deprecated
self.speedControl = speed_control # deprecated
self.mirror = False # deprecated
self.msg = None # deprecated
self.cmdString = "" # deprecated
self.pub = rospy.Publisher("state", Axis, queue_size=100) # deprecated
self.command_subscriber = rospy.Subscriber("cmd", Axis, self.cmd, queue_size=100) # deprecated
self.mirror_subscriber = rospy.Subscriber("mirror", Bool, self.mirrorCallback, queue_size=100) # deprecated
self.srv = Server(PTZConfig, self.callback) # deprecated
# Needs to be after the backwards compatibility setup
# start the publisher thread
self._publisher_thread = PositionStreamingThread(self, self._api)
self.st = self._publisher_thread # deprecated
self._publisher_thread.start()
# BACKWARDS COMPATIBILITY LAYER
def cmd(self, message):
"""Deprecated."""
self.msg = message
self.sanitisePTZCommands()
if self._api.has_capabilities('AbsolutePan', 'AbsoluteTilt', 'AbsoluteZoom'):
self._camera_controller.set_ptz(message.pan, message.tilt, message.zoom)
else:
rospy.loginfo("Camera on host %s doesn't support PTZ control." % self._hostname)
if self._api.has_capability('AbsoluteFocus'):
self._camera_controller.set_focus(message.focus, set_also_autofocus=False)
else:
rospy.loginfo("Camera on host %s doesn't support absolute focus control." % self._hostname)
if self._api.has_capability('AutoFocus'):
if message.focus != self._camera_controller._focus:
self._camera_controller.set_autofocus(False)
else:
self._camera_controller.set_autofocus(message.autofocus)
else:
rospy.loginfo("Camera on host %s doesn't support autofocus." % self._hostname)
if self._api.has_capability('AutoIris'):
self._camera_controller.set_autoiris(True)
else:
rospy.loginfo("Camera on host %s doesn't support autoiris." % self._hostname)
# there is no capability for brightness
self._camera_controller.set_brightness(message.brightness)
def adjustForFlippedOrientation(self):
"""Deprecated."""
self.msg.tilt = -self.msg.tilt
if self.speedControl:
self.msg.pan = -self.msg.pan
else:
self.msg.pan = 180.0 - self.msg.pan
def sanitisePTZCommands(self):
"""Deprecated."""
if not self.speedControl:
self.msg.pan = self._api.ptz_limits['Pan'].absolute.crop_value(self.msg.pan)
self.msg.tilt = self._api.ptz_limits['Tilt'].absolute.crop_value(self.msg.tilt)
self.msg.zoom = self._api.ptz_limits['Zoom'].absolute.crop_value(self.msg.zoom)
self.msg.focus = self._api.ptz_limits['Focus'].absolute.crop_value(self.msg.focus)
self.msg.brightness = self._api.ptz_limits['Brightness'].absolute.crop_value(self.msg.brightness)
self.msg.iris = self._api.ptz_limits['Iris'].absolute.crop_value(self.msg.iris)
else:
self.msg.pan = self._api.ptz_limits['Pan'].velocity.crop_value(self.msg.pan)
self.msg.tilt = self._api.ptz_limits['Tilt'].velocity.crop_value(self.msg.tilt)
self.msg.zoom = self._api.ptz_limits['Zoom'].velocity.crop_value(self.msg.zoom)
self.msg.focus = self._api.ptz_limits['Focus'].velocity.crop_value(self.msg.focus)
self.msg.brightness = self._api.ptz_limits['Brightness'].velocity.crop_value(self.msg.brightness)
self.msg.iris = self._api.ptz_limits['Iris'].velocity.crop_value(self.msg.iris)
def sanitisePan(self):
"""Deprecated."""
if self.speedControl:
self.msg.pan = self._api.ptz_limits['Pan'].velocity.crop_value(self.msg.pan)
else:
self.msg.pan = self._api.ptz_limits['Pan'].absolute.crop_value(self.msg.pan)
def sanitiseTilt(self):
"""Deprecated."""
if self.speedControl:
self.msg.tilt = self._api.ptz_limits['Tilt'].velocity.crop_value(self.msg.tilt)
else:
self.msg.tilt = self._api.ptz_limits['Tilt'].absolute.crop_value(self.msg.tilt)
def sanitiseZoom(self):
"""Deprecated."""
if self.speedControl:
self.msg.zoom = self._api.ptz_limits['Zoom'].velocity.crop_value(self.msg.zoom)
else:
self.msg.zoom = self._api.ptz_limits['Zoom'].absolute.crop_value(self.msg.zoom)
def sanitiseFocus(self):
"""Deprecated."""
if self.speedControl:
self.msg.focus = self._api.ptz_limits['Focus'].velocity.crop_value(self.msg.focus)
else:
self.msg.focus = self._api.ptz_limits['Focus'].absolute.crop_value(self.msg.focus)
def sanitiseBrightness(self):
"""Deprecated."""
if self.speedControl:
self.msg.brightness = self._api.ptz_limits['Brightness'].velocity.crop_value(self.msg.brightness)
else:
self.msg.brightness = self._api.ptz_limits['Brightness'].absolute.crop_value(self.msg.brightness)
def sanitiseIris(self):
"""Deprecated."""
if self.msg.iris > 0.000001:
rospy.logwarn("Iris value is read-only.")
def applySetpoints(self):
"""Deprecated."""
"""Apply the command to the camera using the HTTP API"""
self._camera_controller.set_ptz(self.msg.pan, self.msg.tilt, self.msg.zoom)
self._camera_controller.set_autofocus(self.msg.autofocus)
if not self.msg.autofocus:
self._camera_controller.set_focus(self.msg.focus)
self._camera_controller.set_autoiris(True)
self._camera_controller.set_brightness(self.msg.brightness)
def createCmdString(self):
"""Deprecated."""
"""Created tje HTTP API string to command PTZ camera"""
self.cmdString = '/axis-cgi/com/ptz.cgi?'
if self.speedControl:
self.cmdString += 'continuouspantiltmove=%d,%d&' % (int(self.msg.pan), int(self.msg.tilt))
self.cmdString += 'continuouszoommove=%d&' % self.msg.zoom
self.cmdString += 'continuousbrightnessmove=%d&' % self.msg.brightness
# Note that brightness adjustment has no effect for Axis 214PTZ.
if self.msg.autofocus:
self.cmdString += 'autofocus=on&'
else:
self.cmdString += 'autofocus=off&continuousfocusmove=%d&' % self.msg.focus
self.cmdString += 'autoiris=on'
else: # position control:
self.cmdString += 'pan=%f&tilt=%f&' % (self.msg.pan, self.msg.tilt)
self.cmdString += 'zoom=%d&' % self.msg.zoom
self.cmdString += 'brightness=%d&' % self.msg.brightness
if self.msg.autofocus:
self.cmdString += 'autofocus=on&'
else:
self.cmdString += 'autofocus=off&focus=%d&' % self.msg.focus
self.cmdString += 'autoiris=on'
def mirrorCallback(self, msg):
"""Deprecated."""
'''Command the camera with speed control or position control commands'''
self.mirror = msg.data
self._camera_controller.mirror_horizontally = self.mirror
def callback(self, config, level):
"""Deprecated."""
#self.speedControl = config.speed_control
if self._executing_reconfigure or (hasattr(self, '_camera_controller') and (self._camera_controller._executing_parameter_update or self._camera_controller._executing_reconfigure)):
return config
with self._reconfigure_mutex:
self._executing_reconfigure = True
# create temporary message and fill with data from dynamic reconfigure
command = Axis()
command.pan = config.pan
command.tilt = config.tilt
command.zoom = config.zoom
command.focus = config.focus
command.brightness = config.brightness
command.autofocus = config.autofocus
# check sanity and apply values
self.cmd(command)
# read sanitized values and update GUI
config.pan = command.pan
config.tilt = command.tilt
config.zoom = command.zoom
config.focus = self._camera_controller._focus
config.brightness = self._camera_controller._brightness
config.autofocus = self._camera_controller._autofocus
self._executing_reconfigure = False
# update GUI with sanitized values
return config