def captureImage():
global handle,Width,Height,cfg,color_mode
global COLOR_BayerGB2BGR,COLOR_BayerRG2BGR,COLOR_BayerGR2BGR,COLOR_BayerBG2BGR
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
if rtn_val > 255:
print "Error capture image, rtn_val = ",rtn_val
if rtn_val == ArducamSDK.USB_CAMERA_USB_TASK_ERROR:
exit()
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 or datasize == 0:
print "read data fail!"
ArducamSDK.Py_ArduCam_del(handle)
return
image = convert_image(data,rtn_cfg,color_mode)
if h_flip:
image = cv2.flip(image, 1)
if v_flip:
image = cv2.flip(image, 0)
try:
img_msg = bridge.cv2_to_imgmsg(image, "bgr8")
img_msg.header.stamp = rospy.Time.now()
img_msg.header.frame_id = id_frame
pub.publish(img_msg)
cv2.waitKey(10)
except CvBridgeError as e:
pass
ArducamSDK.Py_ArduCam_del(handle)
else:
time.sleep(0.001)
def capture(request):
global handle,Width,Height,cfg,color_mode
global COLOR_BayerGB2BGR,COLOR_BayerRG2BGR,COLOR_BayerGR2BGR,COLOR_BayerBG2BGR
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!"
return CaptureResponse("Failed to Capture")
if datasize == 0:
return CaptureResponse("Failed to Capture")
image = convert_image(data,rtn_cfg,color_mode)
if h_flip:
image = cv2.flip(image, 1)
if v_flip:
image = cv2.flip(image, 0)
try:
img_msg = bridge.cv2_to_imgmsg(image, "bgr8")
img_msg.header.stamp = rospy.Time.now()
img_msg.header.frame_id = id_frame
pub_capture.publish(img_msg)
return CaptureResponse("Captured")
except CvBridgeError as e:
return CaptureResponse("Failed to Capture")
else:
return CaptureResponse("Failed to Capture")
def readImage_thread(self, child_conn):
count = 0
time0 = time.time()
time1 = time.time()
data = {}
while self.running:
if ArducamSDK.Py_ArduCam_availableImage(self.handle) > 0:
rtn_val, data, rtn_cfg = ArducamSDK.Py_ArduCam_readImage(
self.handle)
datasize = rtn_cfg['u32Size']
if rtn_val != 0 or datasize == 0:
self.ArducamSDK.Py_ArduCam_del(self.handle)
print("read data fail!")
continue
image_data = self.dBytesToMat(data, self.BitWidth, self.Width,
self.Height)
child_conn.send(image_data)
time1 = time.time()
if time1 - time0 >= 1:
# print("%s %d %s\n"%("camera fps:",count,"/s"))
count = 0
time0 = time1
count += 1
ArducamSDK.Py_ArduCam_del(self.handle)
# time.sleep(.01)
else:
time.sleep(0.005)
child_conn.close()
def process_thread(self):
global handle, running, Width, Height, save_flag, cfg, color_mode
global COLOR_BayerGB2BGR, COLOR_BayerRG2BGR, COLOR_BayerGR2BGR, COLOR_BayerBG2BGR
while running:
if ArducamSDK.Py_ArduCam_availableImage(handle) > 0:
self.rawImageTimeStamp = datetime.datetime.now()
self.imageTimeStamp = datetime.datetime.now().strftime(
'%Y_%m_%d_%H_%M_%S')
self.imageName = 'imagem_%s.jpg' % self.imageTimeStamp
self.imagePath = "images/" + self.imageName
rtn_val, data, rtn_cfg = ArducamSDK.Py_ArduCam_readImage(
handle)
datasize = rtn_cfg['u32Size']
if rtn_val != 0:
print("ardu cam read data fail!!")
if datasize == 0:
print("ardu cam read data size = 0!!")
image = convert_image(data, rtn_cfg, color_mode)
if save_flag:
cv2.imwrite(self.imagePath, image)
self.image = np.uint8(
ndimage.imread(self.imagePath, flatten=True))
self.image = self.crop_end(self.image, 0, 150)
save_flag = False
ArducamSDK.Py_ArduCam_del(handle)
else:
time.sleep(0.01)
def read_next_frame(self):
code = ArducamSDK.Py_ArduCam_captureImage(self.handle)
if code > 255:
raise ArducamException("Error capturing image", code=code)
if ArducamSDK.Py_ArduCam_availableImage(self.handle):
try:
rtn_val, data, rtn_cfg = ArducamSDK.Py_ArduCam_readImage(
self.handle)
if rtn_val != 0 or rtn_cfg['u32Size'] == 0:
raise ArducamException(
"Bad image read! Datasize was {}".format(
rtn_cfg['u32Size']),
code=rtn_val)
return convert_image(data, rtn_cfg, self.color_mode)
finally:
ArducamSDK.Py_ArduCam_del(self.handle)
def readImage_thread():
global handle, running, Width, Height, save_flag, cfg, 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)
if not os.path.exists("images"):
os.makedirs("images")
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)
time1 = time.time()
if time1 - time0 >= 1:
print("%s %d %s\n" % ("fps:", count, "/s"))
count = 0
time0 = time1
count += 1
if save_flag:
cv2.imwrite("images/image%d.jpg" % totalFrame, image)
if save_raw:
with open("images/image%d.raw" % totalFrame, 'wb') as f:
f.write(data)
totalFrame += 1
image = cv2.resize(image, (640, 480),
interpolation=cv2.INTER_LINEAR)
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)
def capture_background():
global handle, running, width, height, cfg, color_mode, select, background_image
while ArducamSDK.Py_ArduCam_availableImage(handle) == 0:
time.sleep(0.001)
rtn_val, data, rtn_cfg = ArducamSDK.Py_ArduCam_readImage(handle)
datasize = rtn_cfg['u32Size']
if rtn_val != 0 or datasize == 0:
ArducamSDK.Py_ArduCam_del(handle)
print("Failed to read data!")
exit()
ArducamSDK.Py_ArduCam_del(handle)
background_image = ImageConvert.convert_image(data, rtn_cfg, color_mode)
background_image = cv2.resize(background_image,
(screen_width, screen_height),
interpolation=cv2.INTER_LINEAR)
return background_image
if len(sys.argv) > 1:
config_file_name = sys.argv[1]
if not os.path.exists(config_file_name):
print("Config file does not exist.")
exit()
else:
showHelp()
exit()
if camera_initFromFile(config_file_name):
ArducamSDK.Py_ArduCam_setMode(handle, ArducamSDK.CONTINUOUS_MODE)
while True:
if ArducamSDK.Py_ArduCam_availableImage(handle) > 0:
print('hello')
rtn_val, data, rtn_cfg = ArducamSDK.Py_ArduCam_readImage(
handle)
image = convert_image(data, rtn_cfg, color_mode)
#pause
#ArducamSDK.Py_ArduCam_writeReg_8_8(handle,0x46,3,0x40)
rtn_val = ArducamSDK.Py_ArduCam_close(handle)
if rtn_val == 0:
print("device close success!")
else:
print("device close fail!")
#os.system("pause")
def readImage_thread(publisher_img):
global handle, running, Width, Height, save_flag, cfg, color_mode, rt_lock, count1
global COLOR_BayerGB2BGR, COLOR_BayerRG2BGR, COLOR_BayerGR2BGR, COLOR_BayerBG2BGR
global logpath, loghandle, log_stepsize, logging, curr_logging, loghandle1, max_num_frames_log, curr_num_frames_log
bridge = CvBridge()
count = 0
totalFrame = 0
time0 = time.time()
time1 = time.time()
data = {}
# DEMO WINDOW DECISION!!!
cv2.namedWindow("ArduCam Demo", 1)
if not os.path.exists("images1"):
os.makedirs("images1")
print "CIAO"
if not os.path.exists(logpath):
oldmask = os.umask(000)
os.makedirs(logpath, 0777)
print "CREATING DIRECTORY"
while running:
if count1 == 1:
if rt_lock.acquire(False):
print "read image", count1
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 = None
emImageFmtMode = cfg['emImageFmtMode']
if emImageFmtMode == ArducamSDK.FORMAT_MODE_JPG:
image = JPGToMat(data, datasize)
if emImageFmtMode == ArducamSDK.FORMAT_MODE_YUV:
image = YUVToMat(data)
if emImageFmtMode == ArducamSDK.FORMAT_MODE_RGB:
image = RGB565ToMat(data)
if emImageFmtMode == ArducamSDK.FORMAT_MODE_MON:
image = np.frombuffer(data, np.uint8).reshape(
Height, Width, 1)
if logging:
curr_logging = True
#save ENTIRE IMAGE!!!
np.save(loghandle1, image)
prev_bin = 0
for i in range(log_stepsize, 255, log_stepsize):
#print i
#print bigger0-bigger20
smaller = (image < i).sum()
loghandle.write(
str(smaller - prev_bin) + ',' + ' ')
prev_bin = smaller
#last one:
smaller = (image < 256).sum()
loghandle.write(
str(smaller - prev_bin) + ';' + '\n')
curr_num_frames_log += 1
if not (curr_num_frames_log <= max_num_frames_log):
logging = False
loghandle.close()
loghandle1.close()
print "Logging to" + logname + "has ended"
curr_num_frames_log = 0
curr_logging = False
if emImageFmtMode == ArducamSDK.FORMAT_MODE_RAW:
image = np.frombuffer(data, np.uint8).reshape(
Height, Width, 1)
if color_mode == 0:
image = cv2.cvtColor(image, COLOR_BayerRG2BGR)
if color_mode == 1:
image = cv2.cvtColor(image, COLOR_BayerGR2BGR)
if color_mode == 2:
image = cv2.cvtColor(image, COLOR_BayerGB2BGR)
if color_mode == 3:
image = cv2.cvtColor(image, COLOR_BayerBG2BGR)
if color_mode < 0 and color_mode > 3:
image = cv2.cvtColor(image, COLOR_BayerGB2BGR)
#HERE ONLY OUTPUTS CURRENT FPS -> IS THIS REALLY NEEDED?
time1 = time.time()
if time1 - time0 >= 1:
#print "%s %d %s\n"%("fps:",count,"/s")
print(time1 - time0)
count = 0
time0 = time1
count += 1
# POTENTIALLY SAVES THE IMAGE -> NEEDED?!
if save_flag:
cv2.imwrite("images/image%d.jpg" % totalFrame, image)
totalFrame += 1
# Descide if you want to resize or not here!!
# ATTENTION: THIS INFLUENCES THE RESULTING FRAME RATE
#image = cv2.resize(image,(640,480),interpolation = cv2.INTER_LINEAR)
# INCLUDE FCT INN THE FUTURE WHICH PART OF THE IMAGE I WANT TO SEE,...
# CROPPING IS HERE:
#image = image[0:640, 0:480]
# DESCIDE IF THE NORMAL DEMO WINDOW SHOULD OPEN OR NOT
# IN LONG EXPOSURE SCENARIO THIS MAKES NO BIG DIFFERENCE!!!
cv2.imshow("ArduCam Demo", image)
cv2.waitKey(10)
#NEWLY INSERTED ROS PUBLISHER
try:
publisher_img.publish(
bridge.cv2_to_imgmsg(image, 'mono8'))
except CvBridgeError as e:
print(e)
#publisher_img.publish(image)
# assuming: del deletes the pic,...
#ArducamSDK.Py_ArduCam_del(handle)
ArducamSDK.Py_ArduCam_flush(handle)
#print "------------------------display time:",(time.time() - display_time)
else:
time.sleep(0.001)
count1 = count1 - 1
rt_lock.release()
else:
time.sleep(0.001)
else:
time.sleep(0.001)
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);
def readImage_thread(publisher_img):
global handle,running,Width,Height,save_flag,cfg,color_mode
global COLOR_BayerGB2BGR,COLOR_BayerRG2BGR,COLOR_BayerGR2BGR,COLOR_BayerBG2BGR
bridge = CvBridge()
count = 0
totalFrame = 0
time0 = time.time()
time1 = time.time()
data = {}
# DEMO WINDOW DECISION!!!
#cv2.namedWindow("ArduCam Demo",1)
if not os.path.exists("images"):
os.makedirs("images")
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 = None
emImageFmtMode = cfg['emImageFmtMode']
if emImageFmtMode == ArducamSDK.FORMAT_MODE_JPG:
image = JPGToMat(data,datasize)
if emImageFmtMode == ArducamSDK.FORMAT_MODE_YUV:
image = YUVToMat(data)
if emImageFmtMode == ArducamSDK.FORMAT_MODE_RGB:
image = RGB565ToMat(data)
if emImageFmtMode == ArducamSDK.FORMAT_MODE_MON:
image = np.frombuffer(data, np.uint8).reshape( Height,Width , 1 )
if emImageFmtMode == ArducamSDK.FORMAT_MODE_RAW:
image = np.frombuffer(data, np.uint8).reshape( Height,Width , 1 )
if color_mode == 0:
image = cv2.cvtColor(image,COLOR_BayerRG2BGR)
if color_mode == 1:
image = cv2.cvtColor(image,COLOR_BayerGR2BGR)
if color_mode == 2:
image = cv2.cvtColor(image,COLOR_BayerGB2BGR)
if color_mode == 3:
image = cv2.cvtColor(image,COLOR_BayerBG2BGR)
if color_mode < 0 and color_mode > 3:
image = cv2.cvtColor(image,COLOR_BayerGB2BGR)
#HERE ONLY OUTPUTS CURRENT FPS -> IS THIS REALLY NEEDED?
time1 = time.time()
if time1 - time0 >= 1:
#print "%s %d %s\n"%("fps:",count,"/s")
print (time1 - time0)
count = 0
time0 = time1
count += 1
# POTENTIALLY SAVES THE IMAGE -> NEEDED?!
if save_flag:
cv2.imwrite("images/image%d.jpg"%totalFrame,image)
totalFrame += 1
# Descide if you want to resize or not here!!
# ATTENTION: THIS INFLUENCES THE RESULTING FRAME RATE
#image = cv2.resize(image,(640,480),interpolation = cv2.INTER_LINEAR)
# INCLUDE FCT INN THE FUTURE WHICH PART OF THE IMAGE I WANT TO SEE,...
# CROPPING IS HERE:
#image = image[0:640, 0:480]
# DESCIDE IF THE NORMAL DEMO WINDOW SHOULD OPEN OR NOT,...
#cv2.imshow("ArduCam Demo",image)
#NEWLY INSERTED ROS PUBLISHER
try:
publisher_img.publish(bridge.cv2_to_imgmsg(image,'mono8'))
except CvBridgeError as e:
print(e)
#publisher_img.publish(image)
cv2.waitKey(10)
ArducamSDK.Py_ArduCam_del(handle)
#print "------------------------display time:",(time.time() - display_time)
else:
time.sleep(0.001);
def readImage_thread():
global handle, running, width, height, save_multiview, LED_DROP, save_single_flag, save_flag, save_beginning, save_raw, cfg, color_mode, \
calibrate_flag, calibrate_grey, calibrate_at, calibrate_target, calibrate_color, calibrate_results
time0 = time.time()
time1 = time.time()
single_count = 0
count = 0
totalFrame = 0
data = {}
cv2.namedWindow("ArduCam output", 1)
if not os.path.exists("images"):
os.makedirs("images")
while running:
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 or datasize == 0:
ArducamSDK.Py_ArduCam_del(handle)
print("Failed to read data.")
continue
image = ImageConvert.convert_image(data, rtn_cfg, color_mode)
time1 = time.time()
interval = 3 # compute framerate every [interval] seconds
if time1 - time0 >= interval:
if save_flag:
elapsed_time = time.time() - save_beginning
print(
"Frames per second: %d/s (#%d to #%d), elapsed time: %ds."
% (count / interval, totalFrame - count, totalFrame,
elapsed_time))
else:
print("Frames per second: %d/s." % (count / interval))
count = 0
time0 = time1
count += 1
if LED_DROP > 0:
LED_DROP -= 1
else:
if calibrate_flag is not None:
if calibrate_grey is None: # first pass
calibrate_grey = np.median(image)
print("Target grey: %f." % (calibrate_grey))
elif calibrate_flag >= 0:
target, color = get_multiview_components(
calibrate_flag)
if target != calibrate_target or color != calibrate_color:
calibrate_target = target
calibrate_color = color
arduino_write_read(target, color)
ArducamSDK.Py_ArduCam_writeSensorReg(
handle, 0x0202, calibrate_at)
LED_DROP = 1
else:
current_grey = np.median(image)
if current_grey + calibrate_threshold >= calibrate_grey or calibrate_at >= calibrate_cap:
print(
"Calibration result for led %d and color %d (raw: %d): %d (current grey: %f)."
% (target, color, calibrate_flag,
calibrate_at, current_grey))
if target not in calibrate_results.keys():
calibrate_results[target] = {
color: calibrate_at
}
else:
calibrate_results[target][
color] = calibrate_at
calibrate_at = calibrate_start
calibrate_flag -= 1
else:
calibrate_at += calibrate_increase # TODO: adaptative increase
ArducamSDK.Py_ArduCam_writeSensorReg(
handle, 0x0202, calibrate_at)
LED_DROP = 1
else:
print("Middle led: %d." % (LED_MIDDLE))
arduino_write_read(LED_MIDDLE, 0)
ArducamSDK.Py_ArduCam_writeSensorReg(
handle, 0x0202, coarse_integration)
LED_DROP = 1
print("Calibration finished.")
calibrate_flag = None
elif save_multiview is not None:
previous = save_multiview + 1
if save_multiview >= 0:
target, color = get_multiview_components(
save_multiview)
if target in calibrate_results.keys():
integration = calibrate_results[target][color]
else:
integration = coarse_integration
arduino_write_read(target, color)
ArducamSDK.Py_ArduCam_writeSensorReg(
handle, 0x0202, integration)
LED_DROP = 1
if save_multiview != LED_MAX_ITERATIONS: # first pass
target, color = get_multiview_components(
previous) # previous
if target in calibrate_results.keys():
integration = calibrate_results[target][color]
else:
integration = coarse_integration
grey = np.median(image)
cv2.imwrite(
"images/_multi_%d_%d.png" % (target, color),
image)
print(
"Multiview image with led %d and color %d saved (raw: %d), with integration time: %d (grey: %f)."
% (target, color, previous, integration, grey))
save_multiview -= 1
else:
print("Middle led: %d." % (LED_MIDDLE))
arduino_write_read(LED_MIDDLE, 0)
ArducamSDK.Py_ArduCam_writeSensorReg(
handle, 0x0202, coarse_integration
) # reset integration to base value
LED_DROP = 1
target, color = get_multiview_components(
previous) # previous
cv2.imwrite(
"images/_multi_%d_%d.png" % (target, color), image)
print(
"Multiview image with led %d and color %d saved (raw: %d)."
% (target, color, previous))
save_multiview = None
else:
if save_single_flag:
cv2.imwrite("images/_single%d.png" % single_count,
image)
print("Single image #%d saved." % (single_count))
single_count += 1
save_single_flag = False
if save_flag:
cv2.imwrite("images/image%d.png" % totalFrame, image)
if save_raw:
with open("images/image%d.raw" % totalFrame,
'wb') as f:
f.write(data)
totalFrame += 1
image = cv2.resize(image, (width, height),
interpolation=cv2.INTER_LINEAR)
cv2.imshow("ArduCam output", image)
cv2.waitKey(10)
ArducamSDK.Py_ArduCam_del(handle)
else:
time.sleep(0.001)