def __init__(self): self.hCam = ueye.HIDS( 1 ) # 0: first available camera; 1-254: The camera with the specified camera ID self.sInfo = ueye.SENSORINFO() self.cInfo = ueye.CAMINFO() self.pcImageMemory = ueye.c_mem_p() self.MemID = ueye.int() self.rectAOI = ueye.IS_RECT() self.pitch = ueye.INT() self.nBitsPerPixel = ueye.INT( 24 ) # 24: bits per pixel for color mode; take 8 bits per pixel for monochrome self.channels = 3 # 3: channels for color mode(RGB); take 1 channel for monochrome self.m_nColorMode = ueye.INT() # Y8/RGB16/RGB24/REG32 self.bytes_per_pixel = int(self.nBitsPerPixel / 8) self.f_length = (652.7396, 653.3803) # FocalLength self.p_center = (321.8104, 259.7124) # PrincipalPoint self.intrinsic = np.array( [[self.f_length[0], 0, self.p_center[0]], [0, self.f_length[1], self.p_center[1]], [0, 0, 1]], dtype=np.float) self.offset = [0, 0, 50] #milimeter # --------------------------------------------------------------------------------------------------------------------------------------- print("In hand camera initilized")
def __init__(self, camID, buffer_count=3): # Variables self.cam = ueye.HIDS(camID) self.sInfo = ueye.SENSORINFO() self.cInfo = ueye.CAMINFO() self.pcImageMemory = ueye.c_mem_p() self.MemID = ueye.int() self.rectAOI = ueye.IS_RECT() self.pitch = ueye.INT() self.nBitsPerPixel = ueye.INT(8) self.channels = 3 self.m_nColorMode = ueye.IS_CM_SENSOR_RAW8 self.bytes_per_pixel = int(self.nBitsPerPixel / 8) self.buffer_count = buffer_count self.img_buffer = [] self.mode_filename = 0 self.pixelclock = 0 self.exposure = 0 self.width = 0 self.height = 0 self.nRet = 0 self.camID = camID self.current_fps = 0 self.FPS = 0 self.gain = 0 self.rGain = 0 self.bGain = 0 self.gGain = 0
def __init__(self): self.cam = ueye.HIDS(0) self.cam_info = ueye.CAMINFO() self.sensor_info = ueye.SENSORINFO() self.image_memory = ueye.c_mem_p() self.memory_id = ueye.int() self.rect_aoi = ueye.IS_RECT() self.bits_per_pixel = ueye.INT(24) self.bytes_per_pixel = int(self.bits_per_pixel / 8) self.pitch = ueye.INT() self.color_mode = ueye.INT() self.width = 0 self.height = 0 self.status = 'IDLE' self.data = [] self.lock = Lock() self.pipe = 0 self.offset_x = 2 self.offset_y = 2 self.__init_camera() self.__get_camera_info() self.__get_sensor_info() #self.__default() self.__display_mode() self.__get_color_mode() self.__get_dimensions() self.__memory_allocation() self.__set_color_mode() self.__set_events() self.__mandatory_shit() print("Color mode {}".format(self.color_mode)) print("Bits per pixel {}".format(self.bits_per_pixel)) print("Bytes per pixel {}".format(self.bytes_per_pixel))
def __init__(self): # Variabeln für Kameraverarbeitung self.h_cam = ueye.HIDS(0) self.pitch = ueye.INT() self.ColorMode = ueye.IS_CM_BGRA8_PACKED self.nBitsPerPixel = ueye.INT(32) self.bytes_per_pixel = int(self.nBitsPerPixel / 8) self.pitch = ueye.INT() self.pcImageMemory = ueye.c_mem_p() self.rectAOI = ueye.IS_RECT() self.MemID = ueye.int() self.width = None self.height = None self.size_of_square = 3.6 # Zentimeter self.nx = 8 self.ny = 6 self.n_im = 0 self.gray = None self.objectpoints = None self.imagepoints = None self.camera_matrix = None self.dist_coeff = None self.mean_error = 0 # Pfad zum Speichern der Bilder angeben self.path = os.path.dirname(os.path.abspath(sys.argv[0])) + "/images/"
def init_cam(hcam): # get fps # hcam_fps = is_GetFramesPerSecond(hcam, None) # set color mode ueye.is_SetColorMode(hcam, ueye.IS_CM_BGR8_PACKED) # set region of interest rect_aoi = ueye.IS_RECT() rect_aoi.s32X = ueye.int(0) rect_aoi.s32Y = ueye.int(0) rect_aoi.s32Width = ueye.int(width) rect_aoi.s32Height = ueye.int(height) ueye.is_AOI(hcam, ueye.IS_AOI_IMAGE_SET_AOI, rect_aoi, ueye.sizeof(rect_aoi)) # allocate memory mem_ptr = ueye.c_mem_p() mem_id = ueye.int() ueye.is_AllocImageMem(hcam, width, height, bitspixel, mem_ptr, mem_id) ueye.is_SetImageMem(hcam, mem_ptr, mem_id) # continuous capture to memory ueye.is_CaptureVideo(hcam, ueye.IS_DONT_WAIT) return mem_ptr
def convert_image_data(self): rect_aoi = ueye.IS_RECT() bits_per_pixel = 24 converted_image_data = ImageData() conversion_params = ueye.BUFFER_CONVERSION_PARAMS() ueye.is_AOI(self.hCam, ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi, ueye.sizeof(rect_aoi)) converted_image_data.memory_pointer = self.converted_memory_pointer converted_image_data.memory_id = self.converted_memory_id converted_image_data.width = rect_aoi.s32Width converted_image_data.height = rect_aoi.s32Height converted_image_data.bits_per_pixel = bits_per_pixel conversion_params.nDestPixelFormat = ueye.IS_CM_RGB8_PACKED conversion_params.pSourceBuffer = self.img_data.memory_pointer conversion_params.pDestBuffer = converted_image_data.memory_pointer conversion_params.nDestPixelConverter = ueye.IS_CONV_MODE_SOFTWARE_3X3 conversion_params.nDestColorCorrectionMode = ueye.IS_CCOR_DISABLE conversion_params.nDestGamma = ueye.INT(100) conversion_params.nDestSaturationU = ueye.INT(100) conversion_params.nDestSaturationV = ueye.INT(100) conversion_params.nDestEdgeEnhancement = ueye.INT(0) ueye.is_Convert(self.hCam, ueye.IS_CONVERT_CMD_APPLY_PARAMS_AND_CONVERT_BUFFER, conversion_params, ueye.sizeof(conversion_params)) return converted_image_data
def __init__(self, graphic=None, mainf=None): self.camera = False self.graphic = graphic self.mainf = mainf self.detected_devices = {} self.nRet = None try: self.hid = ueye.HIDS() self.sinfo = ueye.SENSORINFO() self.hwnd = ueye.HWND() self.width = ueye.INT() self.height = ueye.INT() self.psize = None self.bitspixel = ueye.INT(24) self.bytesppixel = int(self.bitspixel / 8) self.ppcImgMem = ueye.c_mem_p() self.pid = ueye.INT() self.MemID = ueye.INT() self.colorm = ueye.INT() self.pitch = ueye.INT() self.rect = ueye.IS_RECT() self.maxExp = ueye.double() self.minExp = ueye.double() self.Exp = ueye.double() except: return
def get_aoi(self): rect_aoi = ueye.IS_RECT() ueye.is_AOI(self.h_cam, ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi, ueye.sizeof(rect_aoi)) return Rect(rect_aoi.s32X.value, rect_aoi.s32Y.value, rect_aoi.s32Width.value, rect_aoi.s32Height.value)
def __init__(self): # Variabeln für Kameraverarbeitung self.h_cam = ueye.HIDS(0) self.pitch = ueye.INT() self.ColorMode = ueye.IS_CM_BGRA8_PACKED self.nBitsPerPixel = ueye.INT(32) self.bytes_per_pixel = int(self.nBitsPerPixel / 8) self.pitch = ueye.INT() self.pcImageMemory = ueye.c_mem_p() self.rectAOI = ueye.IS_RECT() self.MemID = ueye.int() self.width = None self.height = None self.dst = None self.path_images = os.path.dirname(os.path.abspath( sys.argv[0])) + "/images/" # laden der intrinsischen Kalibriermatrix self.load_calibration_config() # Variabeln zur Farberkennung self.found_container = False self.contours_rectangle = [] blue_lower = [50, 0, 0] blue_upper = [255, 75, 75] self.boundaries = [(blue_lower, blue_upper)] self.cX = None self.cY = None self.cX_container = None self.cY_container = None # Variablen zur Positionsbestimmung self.container_world_position = [] self.ball_position = [] self.container_position = [] self.qr_centres = [] self.world_points = [] self.qr_codes = None self.image_points_of_qr_codes = None self.localization_qr_codes = [] self.world_localization_qr_codes = [] self.increment = 0.25 self.results = 0 # Wahl des Ansatzes self.method = 0 while self.method <= 0 or self.method >= 4: try: self.method = eval( input( "Mit welchem Ansatz sollen die Positionen ermittelt werden?\n (1) GPS-Ansatz\n " "(2) Vergleichsansattz\n (3) Berechnen der Weltkoordinaten\n" )) except NameError: self.method = 0 except SyntaxError: self.method = 0 except TypeError: self.method = 0
def set_aoi(self, x, y, width, height): rect_aoi = ueye.IS_RECT() rect_aoi.s32X = ueye.int(x) rect_aoi.s32Y = ueye.int(y) rect_aoi.s32Width = ueye.int(width) rect_aoi.s32Height = ueye.int(height) return ueye.is_AOI(self.h_cam, ueye.IS_AOI_IMAGE_SET_AOI, rect_aoi, ueye.sizeof(rect_aoi))
def get_aoi(self): rect_aoi = ueye.IS_RECT() ueye.is_AOI(self.cam, ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi, ueye.sizeof(rect_aoi)) # --- --- # x, y, width, height = rect_aoi.s32X.value, rect_aoi.s32Y.value, rect_aoi.s32Width.value, rect_aoi.s32Height.value # --- --- # #self.frame_buffer = np.zeros([height,width]) #self.frame_color_buffer = np.zeros([height,width,3]) return x, y, width, height
def __init__(self): super(CamDialog, self).__init__() loadUi('cam.ui', self) self.image=None self.roi_color=None self.startButton.clicked.connect(self.start_webcam) self.stopButton.clicked.connect(self.stop_webcam) # self.detectButton.setCheckable(True) # self.detectButton.toggled.connect(self.detect_webcam_face) self.face_Enabled=False self.faceCascade=cv2.CascadeClassifier('haarcascade_frontalface_default.xml') self.hCam = ueye.HIDS(0) # 0: first available camera; 1-254: The camera with the specified camera ID self.sInfo = ueye.SENSORINFO() self.cInfo = ueye.CAMINFO() self.pcImageMemory = ueye.c_mem_p() self.MemID = ueye.int() self.rectAOI = ueye.IS_RECT() self.pitch = ueye.INT() self.nBitsPerPixel = ueye.INT(24) # 24: bits per pixel for color mode; take 8 bits per pixel for monochrome self.channels = 3 # 3: channels for color mode(RGB); take 1 channel for monochrome self.m_nColorMode = ueye.INT() # Y8/RGB16/RGB24/REG32 self.bytes_per_pixel = int(self.nBitsPerPixel / 8) self.nRet = ueye.is_InitCamera(self.hCam, None) self.nRet = ueye.is_GetCameraInfo(self.hCam, self.cInfo) self.nRet = ueye.is_GetSensorInfo(self.hCam, self.sInfo) self.nRet = ueye.is_ResetToDefault(self.hCam) self.nRet = ueye.is_SetDisplayMode(self.hCam, ueye.IS_SET_DM_DIB) ueye.is_GetColorDepth(self.hCam, self.nBitsPerPixel, self.m_nColorMode) self.nRet = ueye.is_AOI(self.hCam, ueye.IS_AOI_IMAGE_GET_AOI, self.rectAOI, ueye.sizeof(self.rectAOI)) self.width = self.rectAOI.s32Width self.height = self.rectAOI.s32Height self.nRet = ueye.is_AllocImageMem(self.hCam, self.width, self.height, self.nBitsPerPixel, self.pcImageMemory, self.MemID) self.nRet = ueye.is_SetImageMem(self.hCam, self.pcImageMemory, self.MemID) self.nRet = ueye.is_SetColorMode(self.hCam, self.m_nColorMode) self.nRet = ueye.is_CaptureVideo(self.hCam, ueye.IS_DONT_WAIT) self.nRet = ueye.is_InquireImageMem(self.hCam, self.pcImageMemory, self.MemID, self.width, self.height, self.nBitsPerPixel, self.pitch) self.xp=[] self.yp=[] self.lxp=[] self.lyp = [] self.rxp = [] self.ryp = [] self.sx = 200 self.sy = 150 self.endx = 600 self.endy = 450 # self.avgx = 0 # self.avgy = 0 self.holeflag = 0 self.lflag = 0 self.rflag = 0
def set_aoi(self, x, y, width, height): rect_aoi = ueye.IS_RECT() rect_aoi.s32X = ueye.int(x) rect_aoi.s32Y = ueye.int(y) rect_aoi.s32Width = ueye.int(width) rect_aoi.s32Height = ueye.int(height) # --- --- # hasWorked = ueye.is_AOI( self.cam, ueye.IS_AOI_IMAGE_SET_AOI, rect_aoi, ueye.sizeof(rect_aoi)) # set and return the success of AOI change #print('SET AOI: ', hasWorked ) return hasWorked
def getAOI(self): self.AOI=ueye.IS_RECT() if ueye.is_AOI(self.hcam, ueye.IS_AOI_IMAGE_GET_AOI, self.AOI, ueye.sizeof(self.AOI)): _logger.error("Error retrinving AOI") self.status=True return True x0=self.AOI.s32X.value y0=self.AOI.s32Y.value width=self.AOI.s32Width.value height=self.AOI.s32Height.value self.xaxis=np.arange(width)+x0 self.yaxis=np.arange(height)+y0 return False
def __init__(self, cam_ID = 0): # Several parameters are unused, but may be needed in the future self.hCam = ueye.HIDS(cam_ID) self.sInfo = ueye.SENSORINFO() self.cInfo = ueye.CAMINFO() self.pcImageMemory = ueye.c_mem_p() self.MemID = ueye.int() self.rectAOI = ueye.IS_RECT() self.pitch = ueye.INT() self.nBitsPerPixel = ueye.INT(32) # 32 bits for color camera self.channels = 3 # 3: channels for color mode(RGB); take 1 channel for monochrome self.m_nColorMode = ueye.IS_CM_BGRA8_PACKED # RGB32 self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
def Camera_Initialization(self): self.hcam = ueye.HIDS(0) self.ret = ueye.is_InitCamera(self.hcam, None) self.ret = ueye.is_SetColorMode(self.hcam, ueye.IS_CM_MONO12) self.IDS_FPS = float(50) self.newrate = ueye.DOUBLE(self.IDS_FPS) self.rate = ueye.DOUBLE(self.IDS_FPS) self.IDS_exposure = float(20) self.width = 2056 self.height = 1542 self.rect_aoi = ueye.IS_RECT() self.rect_aoi.s32X = ueye.int(0) self.rect_aoi.s32Y = ueye.int(0) self.rect_aoi.s32Width = ueye.int(self.width) self.rect_aoi.s32Height = ueye.int(self.height) ueye.is_AOI(self.hcam, ueye.IS_AOI_IMAGE_SET_AOI, self.rect_aoi, ueye.sizeof(self.rect_aoi)) self.mem_ptr = ueye.c_mem_p() self.mem_id = ueye.int() self.bitspixel = 16 self.ret = ueye.is_AllocImageMem(self.hcam, self.width, self.height, self.bitspixel, self.mem_ptr, self.mem_id) self.ret = ueye.is_SetImageMem(self.hcam, self.mem_ptr, self.mem_id) self.ret = ueye.is_CaptureVideo(self.hcam, ueye.IS_DONT_WAIT) #self.lineinc = self.width * int((self.bitspixel + 7) / 8) self.lineinc = self.width * int(self.bitspixel / 8) self.nRet = ueye.is_SetFrameRate(self.hcam, self.rate, self.newrate) self.expms = ueye.DOUBLE(self.IDS_exposure) self.nRet = ueye.is_Exposure(self.hcam, ueye.IS_EXPOSURE_CMD_SET_EXPOSURE, self.expms, ueye.sizeof(self.expms)) self.pixelclock = ueye.c_uint(197) self.nRet = ueye.is_PixelClock(self.hcam, ueye.IS_PIXELCLOCK_CMD_SET, self.pixelclock, 4) #pixelclock = ueye.c_uint() #ueye.is_PixelClock(hcam, ueye.IS_PIXELCLOCK_CMD_GET, pixelclock, 4) self.nRet = ueye.is_SetHardwareGain(self.hcam, 100, ueye.IS_IGNORE_PARAMETER, ueye.IS_IGNORE_PARAMETER, ueye.IS_IGNORE_PARAMETER) #gg = ueye.c_uint() #ueye.is_SetHWGainFactor(hcam, ueye.IS_GET_MASTER_GAIN_FACTOR, gg) self.nRet = ueye.is_SetHardwareGamma(self.hcam, ueye.IS_SET_HW_GAMMA_ON)
def get_aoi(self): """ Get the current area of interest. Returns ======= rect: Rect object Area of interest """ rect_aoi = ueye.IS_RECT() ueye.is_AOI(self.h_cam, ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi, ueye.sizeof(rect_aoi)) return Rect(rect_aoi.s32X.value, rect_aoi.s32Y.value, rect_aoi.s32Width.value, rect_aoi.s32Height.value)
def init_cam(hcam): # get fps # hcam_fps = is_GetFramesPerSecond(hcam, None) # set color mode ueye.is_SetColorMode(hcam, ueye.IS_CM_BGR8_PACKED) # set region of interest rect_aoi = ueye.IS_RECT() rect_aoi.s32X = ueye.int(0) rect_aoi.s32Y = ueye.int(0) rect_aoi.s32Width = ueye.int(width) rect_aoi.s32Height = ueye.int(height) ueye.is_AOI(hcam, ueye.IS_AOI_IMAGE_SET_AOI, rect_aoi, ueye.sizeof(rect_aoi)) # # # set parameters, see ids doc for parameter setting flow chart # ueye.is_PixelClock(hcam, ueye.IS_PIXELCLOCK_CMD_GET, exp, ueye.sizeof(pclock)) # pclock = ueye.int(220) # ueye.is_PixelClock(hcam, ueye.IS_PIXELCLOCK_CMD_GET, pclock, ueye.sizeof(pclock)) # # expo_rng = ueye.is_Exposure(hcam, IS_EXPOSURE_CMD_GET_CAPS, ncap, size(ncap)) # ftime_rng = ueye.is_GetFrameTimeRange() # expo_rng = (expo_rng[0], max(expo_rng[1], ftime_rng[1])) # # fps_actual = ueye.cdouble() # ueye.is_SetFrameRate(hcam, ueye.cdouble(fps_set), byref(fps_actual)) # # exp_cap = ueye.uint32() # ueye.is_Exposure(hcam, ueye.IS_EXPOSURE_GET_EXPOSURE_RANGE, ueye.byref(exp_cap), ueye.sizeof(exp_cap)) # exp_cur = ueye.cdouble() # in s # ueye.is_Exposure(hcam, ueye.IS_EXPOSURE_SET_EXPOSURE, ueye.byref(exp_cur), ueye.sizeof(exp_cur)) # ueye.is_SetGainBoost() # ueye.is_Gamma() # ueye.is_SetHWGainFactor() # # allocate memory mem_ptr = ueye.c_mem_p() mem_id = ueye.int() ueye.is_AllocImageMem(hcam, width, height, bitspixel, mem_ptr, mem_id) ueye.is_SetImageMem(hcam, mem_ptr, mem_id) # continuous capture to memory ueye.is_CaptureVideo(hcam, ueye.IS_DONT_WAIT) return mem_ptr
def GetROI(self): """ Returns ------- The ROI, [x1, y1, x2, y2] in the numpy convention used by SetROI """ aoi = ueye.IS_RECT() self.check_success( ueye.is_AOI(self.h, ueye.IS_AOI_IMAGE_GET_AOI, aoi, ueye.sizeof(aoi))) x0, y0 = aoi.s32X.value, aoi.s32Y.value return x0, y0, x0 + aoi.s32Width.value, y0 + aoi.s32Height.value
def initialize_dimensions(self): ''' Gets dimensions of the camera. Sets: self.width self.height ''' log.info('Getting camera dimensions...') rectAOI = ueye.IS_RECT() nRet = ueye.is_AOI(self.input, ueye.IS_AOI_IMAGE_GET_AOI, rectAOI, ueye.sizeof(rectAOI)) if nRet != ueye.IS_SUCCESS: log.error("is_AOI ERROR") self.width = rectAOI.s32Width self.height = rectAOI.s32Height self.config['res'] = (self.width.value, self.height.value)
def __init__(self, h_cam, img_buff): self.x = ueye.int() self.y = ueye.int() self.bits = ueye.int() self.pitch = ueye.int() self.img_buff = img_buff rect_aoi = ueye.IS_RECT() check(ueye.is_AOI(h_cam, ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi, ueye.sizeof(rect_aoi))) self.width = rect_aoi.s32Width.value self.height = rect_aoi.s32Height.value check(ueye.is_InquireImageMem(h_cam, self.img_buff.mem_ptr, self.img_buff.mem_id, self.x, self.y, self.bits, self.pitch))
def __init__(self): # Variabeln für Kameraverarbeitung self.h_cam = ueye.HIDS(0) self.pitch = ueye.INT() self.ColorMode = ueye.IS_CM_BGRA8_PACKED self.nBitsPerPixel = ueye.INT(32) self.bytes_per_pixel = int(self.nBitsPerPixel / 8) self.pitch = ueye.INT() self.pcImageMemory = ueye.c_mem_p() self.rectAOI = ueye.IS_RECT() self.MemID = ueye.int() self.width = None self.height = None self.dst = None self.path_images = os.path.dirname(os.path.abspath( sys.argv[0])) + "/images/" # laden der intrinsischen Kalibriermatrix self.load_calibration_config() # Variabeln zur Farberkennung blue_lower = [50, 0, 0] blue_upper = [255, 75, 75] red_lower = [0, 0, 100] red_upper = [50, 50, 255] green_lower = [0, 75, 50] green_upper = [50, 255, 150] self.blue_boundaries = [(blue_lower, blue_upper)] self.red_boundaries = [(red_lower, red_upper)] self.green_boundaries = [(green_lower, green_upper)] # Variablen zur Positionsbestimmung self.found_blue_container = False self.found_red_container = False self.found_green_container = False self.qr_centres = [] self.world_points = [] self.localization_qr_codes = [] self.world_localization_qr_codes = [] self.results = 0 # Farbbereiche self.blue = Color(self.blue_boundaries, "blue") self.red = Color( self.red_boundaries, "red", ) self.green = Color(self.green_boundaries, "green")
def set_aoi(self, x, y, width, height): """ Set the area of interest. Parameters ========== x, y, width, height: integers Position and size of the area of interest. """ rect_aoi = ueye.IS_RECT() rect_aoi.s32X = ueye.int(x) rect_aoi.s32Y = ueye.int(y) rect_aoi.s32Width = ueye.int(width) rect_aoi.s32Height = ueye.int(height) return ueye.is_AOI(self.h_cam, ueye.IS_AOI_IMAGE_SET_AOI, rect_aoi, ueye.sizeof(rect_aoi))
def __init__(self, camID): super().__init__() # Define the variables that will be used to retrieve the properties # of the camera (generic dictionnaries from ueye) # ----------------------------------------------- self.hcam = ueye.HIDS( camID ) # 0 for the first available camera - 1-254 when we already have a specified ID self.sensor_info = ueye.SENSORINFO() self.cam_info = ueye.CAMINFO() self.rectAOI = ueye.IS_RECT() self.pcImageMemory = ueye.c_mem_p() self.MemID = ueye.int() self.pitch = ueye.INT()
def Init_Cam(width=640, heigth=480, gain_boost=1): """inits the uEye camera""" # inits next available cam cam = ueye.HIDS(0) ueye.is_InitCamera(cam, None) ueye.is_EnableAutoExit(cam, ueye.IS_ENABLE_AUTO_EXIT) # sets the Colourmode of the camera ueye.is_SetColorMode(cam, ueye.IS_CM_SENSOR_RAW8) # sets the trigger ret = ueye.is_SetExternalTrigger(cam, ueye.IS_SET_TRIGGER_SOFTWARE) mode = ueye.int(0) # sets the blacklevel ueye.is_Blacklevel(cam, ueye.IS_BLACKLEVEL_CMD_SET_MODE, mode, ueye.sizeof(mode)) # sets the size of the image rectAOI = ueye.IS_RECT() rectAOI.s32X = 44 rectAOI.s32Y = 0 rectAOI.s32Width = 480 rectAOI.s32Height = 480 ueye.is_AOI(cam, ueye.IS_AOI_IMAGE_SET_AOI, rectAOI, ueye.sizeof(rectAOI)) # allocates memory with given size width = ueye.int(width) heigth = ueye.int(heigth) bitspixel = ueye.int(8) pcImgMem = ueye.c_mem_p() pid = ueye.int() ueye.is_AllocImageMem(cam, 480, heigth, bitspixel, pcImgMem, pid) # sets the image memory as active ueye.is_SetImageMem(cam, pcImgMem, pid) # activates video mode ueye.is_CaptureVideo(cam, ueye.IS_DONT_WAIT) # sets gain boost mode if gain_boost == 1: ueye.is_SetGainBoost(cam, ueye.IS_SET_GAINBOOST_ON) else: ueye.is_SetGainBoost(cam, ueye.IS_SET_GAINBOOST_OFF) return cam, ret, pcImgMem, pid
def alloc(self, h_cam): rect_aoi = ueye.IS_RECT() memory_id = ueye.int() memory_pointer = ueye.c_mem_p() bits_per_pixel = 8 ueye.is_AOI(h_cam, ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi, ueye.sizeof(rect_aoi)) ueye.is_AllocImageMem(h_cam, rect_aoi.s32Width, rect_aoi.s32Height, bits_per_pixel, memory_pointer, memory_id) ueye.is_SetImageMem(h_cam, memory_pointer, memory_id) self.img_data.memory_pointer = memory_pointer self.img_data.memory_id = memory_id self.img_data.width = rect_aoi.s32Width self.img_data.height = rect_aoi.s32Height self.img_data.bits_per_pixel = bits_per_pixel ueye.is_AllocImageMem(h_cam, rect_aoi.s32Width, rect_aoi.s32Height, 24, self.converted_memory_pointer, self.converted_memory_id)
def getImageData(self): # --- set AOI --- # rect_aoi = ueye.IS_RECT() hasWorked = ueye.is_AOI(self.cam, ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi, ueye.sizeof(rect_aoi)) self.check(hasWorked, 'getImageData') # --- --- # x = ueye.int() y = ueye.int() bits = ueye.int() pitch = ueye.int() self.frame_width = rect_aoi.s32Width.value self.frame_height = rect_aoi.s32Height.value hasWorked = ueye.is_InquireImageMem(self.cam, self.img_buffer.mem_ptr, self.img_buffer.mem_id, x, y, bits, pitch) self.check(hasWorked, 'getImageData') self.imgdata = ueye.get_data(self.img_buffer.mem_ptr, self.frame_width, self.frame_height, bits, pitch, True)
def setAOI(self, x0, y0, width, height): self.AOI=ueye.IS_RECT() if (x0<0)|((x0+width)>self.sensorInfo.nMaxWidth.value): self.status=True return True if (y0<0)|((y0+height)>self.sensorInfo.nMaxHeight.value): self.status=True return True self.AOI.s32X.value=x0 self.AOI.s32Y.value=y0 self.AOI.s32Width.value=width self.AOI.s32Height.value=height self.xaxis=np.arange(width)+x0 self.yaxis=np.arange(height)+y0 if ueye.is_AOI(self.hcam, ueye.IS_AOI_IMAGE_SET_AOI, self.AOI, ueye.sizeof(self.AOI)): self.status=True return True return False
def __init__(self): rospy.init_node("coordinates_publisher") self.coordinates_pub = rospy.Publisher("/coordinates", Coordinates, queue_size=1) self.coordinates_msg = Coordinates() self.h_cam = ueye.HIDS(0) self.pitch = ueye.INT() self.ColorMode = ueye.IS_CM_BGRA8_PACKED self.nBitsPerPixel = ueye.INT(32) self.bytes_per_pixel = int(self.nBitsPerPixel / 8) self.pitch = ueye.INT() self.pcImageMemory = ueye.c_mem_p() self.rectAOI = ueye.IS_RECT() self.MemID = ueye.int() self.width = None self.height = None self.dst = None self.load_calibration_config() self.found_container = False self.contours_rectangle = [] blue_lower = [51, 0, 0] blue_upper = [255, 62, 62] self.boundaries = [(blue_lower, blue_upper)] self.cX = None self.cY = None self.cX_container = None self.cY_container = None self.container_world_position = [] self.ball_position = [] self.container_position = [] self.qr_centres = [] self.world_points = [] self.qr_codes = None self.image_points_of_qr_codes = None self.localization_qr_codes = [] self.world_localization_qr_codes = [] self.increment = 0.25
def initialize(self): self.hcam = ueye.HIDS(self.cam_num) self.sInfo = ueye.SENSORINFO() self.cInfo = ueye.CAMINFO() self.pcImageMemory = ueye.c_mem_p() self.MemID = ueye.int() self.rectAOI = ueye.IS_RECT() self.pitch = ueye.INT() self.nBitsPerPixel = ueye.INT(24) # 8 bit for monochrome 24 for color self.channels = 3 # 3: for color mode(RGB); 1 channel for monochrome self.m_nColorMode = ueye.INT(24) # Y8/RGB16/RGB24/REG32 self.bytes_per_pixel = int(self.nBitsPerPixel / 8) self.ret = ueye.is_InitCamera(self.hcam, None) if self.ret != ueye.IS_SUCCESS: print("is_InitCamera ERROR") self.setAOI() self.setmemory() self.acquireimage()