def takePictures(directory, interval):
camera = PiCamera()
while(True):
dateNow = datetime.now(timezone('US/Central'))
filename = dateNow.strftime('%Y-%m-%d-%H-%M-%S') + '.jpg'
camera.capture(directory + '/' + filename)
sleep(interval)
def main():
global preview
parse_args(sys.argv[1:])
cam = PiCamera()
cam.rotation = -90
cam.resolution = (width, height)
cam.framerate = 60
rawCapture = PiRGBArray(cam, size=(width, height))
startTime = time.time()
endTime = time.time() + capTime
frames = 0
for image in cam.capture_continuous(rawCapture, format="bgr", use_video_port=True):
if image is None:
print 'capture failed'
break
frames += 1
frame = image.array
if preview:
cv2.imshow("frame", frame)
key = cv2.waitKey(1) & 0xFF
if time.time() > endTime:
break
rawCapture.truncate(0)
print "Average Framerate for " + str(frames) + \
" frames was: " + str(float(frames) / capTime) + "fps"
cv2.destroyAllWindows()
def getImage():
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(640, 480))
# print("setting is end!")
# allow the camera to warmup
# time.sleep(0.1)
dst = None
# capture frames from the camera
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
# grab the raw NumPy array representing the image, then initialize the timestamp
# and occupied/unoccupied text
image = frame.array
mtx =np.array([[100, 0, 320], [0, 100, 240], [0, 0, 1]], dtype=np.float32)
dist = np.array([-0.009, 0.0, 0.0, 0.0], dtype=np.float32)
h, w = image.shape[:2]
newcameramtx, roi=cv2.getOptimalNewCameraMatrix(mtx,dist,(w,h),1,(w,h))
# undistort
dst = cv2.undistort(image, mtx, dist, None, newcameramtx)
break
return dst
class Camera(object):
'''
classdocs
'''
def __init__(self, number, led_pin):
'''
Constructor
'''
self.__cameraNumber = number
self.__led_pin = led_pin
self.__camera = PiCamera()
GPIO.setmode(GPIO.BOARD)
GPIO.setup(led_pin, GPIO.OUT)
def capture(self):
'''
'''
GPIO.output(self.__led_pin, GPIO.HIGH)
time.sleep(0.1)
rawCapture = PiRGBArray(self.__camera)
# allow the camera to warmup
time.sleep(0.1)
self.__camera.capture(rawCapture, format="bgr")
image = rawCapture.array
time.sleep(0.1)
GPIO.output(self.__led_pin, GPIO.LOW)
return image
def __init__(self, color, color_params_initial={'b1': 0,'g1': 0,'r1': 0,'b2': 255,'g2': 255,'r2': 255}):
self.color = color
self.window_name = "Set " + self.color + " Ranges"
self.image = None
if platform.system() == 'Linux':
from picamera.array import PiRGBArray
from picamera import PiCamera
camera = PiCamera()
time.sleep(0.25)
camera.resolution = (1120, 630)
rawCapture = PiRGBArray(camera, size=(1120, 630))
camera.capture(rawCapture, format="bgr")
self.image = rawCapture.array
else:
camera = cv2.VideoCapture(0)
time.sleep(0.25)
(grabbed, image) = camera.read()
if not grabbed:
raise Exception('Couldn\'t grab snapshot.' )
self.image = image
self.params = color_params_initial
self.build_sliders()
class CameraRule(Rule):
""" represents the rule that will take pictures """
def __init__(self, periodicity, displays):
super().__init__('CAMERA_RULE', periodicity)
self.displays = displays
self.camera = PiCamera()
def create_image(self):
now = datetime.now()
filename = now.strftime("%H.%M.%S_%Y-%m-%d.jpg")
path = '{0}_{1}'.format(now.month, now.day)
distutils.dir_util.mkpath(path)
self.camera.capture(os.path.join(path, filename))
def execute(self):
self.create_image()
sleep(5)
for display in self.displays:
display.write(0)
sleep(0.5)
display.write(10)
sleep(0.5)
display.write(0)
class PiVideoStream: def __init__(self, resolution=(320, 240), framerate=32): # initialize the camera and stream self.camera = PiCamera() self.camera.resolution = resolution self.camera.framerate = framerate self.rawCapture = PiRGBArray(self.camera, size=resolution) self.stream = self.camera.capture_continuous(self.rawCapture, format="bgr", use_video_port=True) # initialize the frame and the variable used to indicate # if the thread should be stopped self.frame = None self.stopped = False def __init__(self, resolution=(320, 240), framerate=32, rotate=0): # initialize the camera and stream self.camera = PiCamera() self.camera.rotation = rotate self.camera.resolution = resolution self.camera.framerate = framerate self.rawCapture = PiRGBArray(self.camera, size=resolution) self.stream = self.camera.capture_continuous(self.rawCapture, format="bgr", use_video_port=True) # initialize the frame and the variable used to indicate # if the thread should be stopped self.frame = None self.stopped = False def start(self): # start the thread to read frames from the video stream t = Thread(target=self.update, args=()) t.daemon = True t.start() return self def update(self): # keep looping infinitely until the thread is stopped for f in self.stream: # grab the frame from the stream and clear the stream in # preparation for the next frame self.frame = f.array self.rawCapture.truncate(0) # if the thread indicator variable is set, stop the thread # and resource camera resources if self.stopped: self.stream.close() self.rawCapture.close() self.camera.close() return def read(self): # return the frame most recently read return self.frame def stop(self): # indicate that the thread should be stopped self.stopped = True
def _captureBayer(shutter_speed):
camera = None
try:
camera = PiCamera()
_setup_camera(camera, _max_resolution, shutter_speed, _iso)
rawCapture = PiBayerArray(camera)
print("capture...")
bayerCapture = PiBayerArray(camera)
camera.capture(bayerCapture, "jpeg", bayer=True) # grab the 10 bit resolution with the raw bayer data
imageBayer = bayerCapture.demosaic()
print("done")
except:
if camera is None:
raise Exception("Failed to initialize PiCamera.")
else:
raise Exception("Failed to capture image.")
finally:
if camera is not None:
camera.close()
return imageBayer
def rpiCapture(opts):
global _frame
global _frameCounter
# initialize the camera and grab a reference to the raw camera capture
camera= PiCamera()
camera.resolution = CAPTURE_RES
camera.framerate = 4
rawCapture = PiRGBArray(camera, size=CAPTURE_RES)
# allow the camera to warmup
time.sleep(0.1)
# capture frames from the camera
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True) :
# grab the raw NumPy array representing the image, then initialize the timestamp
# and occupied/unoccupied text
with _frameLock :
#copy frame handled by video capturing structure, so it won't be modified by next captures
_frame = numpy.copy(frame.array)
if(_frameCounter == 0) :
initStream(frame, opts)
_frameCounter += 1
# clear the stream in preparation for the next frame
rawCapture.truncate(0)
if _stopThreads :
return
class Capture(threading.Thread):
def __init__(self, threadID, name, queue, config):
threading.Thread.__init__(self)
self.threadID = threadID
self.name = name
self.queue = queue
self.config = config
self.exit = threading.Event()
self.totalframes = 0
def run(self):
# initialize camera
try:
self.camera = PiCamera()
self.camera.resolution = (int(self.config.get('rpi-art', 'width')), int(self.config.get('rpi-art', 'height')))
self.camera.framerate = 12
rawCapture = PiRGBArray(self.camera, size=(int(self.config.get('rpi-art', 'width')), int(self.config.get('rpi-art', 'height'))))
time.sleep(1)
except:
print "Error opening camera"
exit(1)
# add frames to queue
for frame in self.camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
self.queue.put(frame.array)
self.totalframes += 1
if self.config.getboolean('rpi-art', 'debug'):
print "Captured frame", self.totalframes
rawCapture.truncate(0)
if self.exit.is_set():
break
self.camera.close()
class VideoCamera(object):
def __init__(self):
# Using OpenCV to capture from device 0. If you have trouble capturing
# from a webcam, comment the line below out and use a video file
# instead.
#self.video = cv2.VideoCapture(0)
self.camera = PiCamera()
#self.rawCapture = PiRGBArray(self.camera)
self.camera.resolution = (640, 480)
self.camera.framerate = 32
self.rawCapture = PiRGBArray(self.camera, size=(640, 480))
# allow the camera to warmup
time.sleep(0.1)
# If you decide to use video.mp4, you must have this file in the folder
# as the main.py.
# self.video = cv2.VideoCapture('video.mp4')
def __del__(self):
#self.video.release()
pass
def get_frame(self):
# grab an image from the camera
self.camera.capture(self.rawCapture, format="bgr")
image = self.rawCapture.array
self.rawCapture.truncate(0)
# We are using Motion JPEG, but OpenCV defaults to capture raw images,
# so we must encode it into JPEG in order to correctly display the
# video stream.
ret, jpeg = cv2.imencode('.jpg', image)
return jpeg.tostring()
def init_camera():
global camera, rawCapture
camera = PiCamera()
camera.resolution = (1280, 720)
rawCapture = PiRGBArray(camera)
print("Recognizer: Camera initialized")
def generate(centeoid0, centroid1):
# initialize the cameras and grab reference to the raw camera capture
camera = PiCamera() # create an instance of the PiCamera class
gocam(0)
rawCapture0 = PiRGBArray(camera)
gocam(1)
rawCapture1 = PiRGBArray(camera)
# allow the cameras to warmup
time.sleep(0.1)
# ------ main loop start here ------
loopFlag = 1
while loopFlag == 1 :
# load the image from camera 0
gocam(0)
camera.capture(rawCapture0, format="bgr")
image0 = rawCapture0.array
# load the image from camera 1
gocam(1)
camera.capture(rawCapture1, format="bgr")
image1 = rawCapture1.array
# image proccessing and analyse the object special location
obj0 = getobj(image0)
obj1 = getobj(image1)
cent0X, cent0Y = getcent(obj0)
cent1X, cent1Y = getcent(obj1)
objDistance, objHorizonalOffset = getposition(cent0, cent1)
class PiCameraAction( AbstractAction ) :
def __init__( self ) :
#AbstractAction.__init__(self)
self.camera = None
def do_GET(self, handler) :
try :
self.ensure_camera()
self.camera.capture( handler.wfile, 'jpeg' )
handler.wfile.close()
except Exception as e :
print "Failed to take a photo"
print(traceback.format_exc())
self.camera = None
self.error( handler, "Failed to take a photo" )
def ensure_camera( self ) :
if self.camera:
return
self.camera = PiCamera( resolution=(640,480) )
self.camera.start_preview()
# Camera warm-up time
time.sleep(2)
class FrameGrabber(threading.Thread):
def __init__(self, frameQueue, angleQueue):
threading.Thread.__init__(self)
self.frameQueue = frameQueue
self.angleQueue = angleQueue
self.camera = PiCamera()
self.camera.hflip = CAMERA_HFLIP
self.camera.vflip = CAMERA_VFLIP
self.camera.resolution = (CAMERA_WIDTH, CAMERA_HEIGHT)
self.camera.framerate = CAMERA_FRAMERATE
self.rawCapture = PiRGBArray(self.camera, size=(CAMERA_WIDTH, CAMERA_HEIGHT))
self.startCaptureTime = time.time()
self.sc = ServoController()
def run(self):
# allow the camera to warmup
runtime = time.time()
sleeptime = min(runtime - self.startCaptureTime,1)
time.sleep(sleeptime)
# capture frames from the camera
while not shutdownEvent.isSet():
angle = self.angleQueue.get(block=True)
self.sc.setCameraAngle(angle)
ts = time.time()
self.camera.capture(self.rawCapture, format='bgr', use_video_port=True)
self.frameQueue.put((ts,self.rawCapture.array,angle))
self.rawCapture.truncate(0)
class PiCamIface(Iface):
""" Read from raspberry pi camera.
:param name: name of interface (str), default 'picam'
:param source: id of device, dummy not used yet, default = 0
"""
def __init__(self, name='picam', source=0):
""" Constructor
"""
super(PiCamIface, self).__init__(name)
self.source = source
self.video = None
self.camera = PiCamera()
self.rawCapture = PiRGBArray(self.camera)
def __del__(self):
""" Destructor
"""
self.camera.close()
def GetImage(self):
""" Get image from stream
:returns: an image or None
"""
if self.state == self.IF_OK:
self.camera.capture(self.rawCapture, format="bgr")
img = self.rawCapture.array
if img is None:
self.state = self.IF_EOF
logging.warning(" eof on video source")
return img
return None
def initialize_camera(camera, res):
"""
Initializes this camera using current time to set framerate
:param res: image resolution to use
:return: None
"""
try: # Release the camera resources if already exist
camera.close()
except AttributeError: # Camera doesn't already exist
pass
camera = PiCamera()
camera.resolution = res
set_framerate_by_time(FPS, TIME_ON, camera) # Set initial frame rate.
camera.vflip = False
camera.hflip = False
camera.rotate = 90
rawCapture = PiRGBArray(camera, size=camera.resolution)
time.sleep(0.9) # allow the camera to warm up
print("Camera initialized")
return camera, rawCapture
def main():
args = get_arguments()
range_filter = args['filter'].upper()
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(640, 480))
setup_trackbars(range_filter)
while True:
if args['webcam']:
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
# grab the raw NumPy array representing the image, then initialize the timestamp
# and occupied/unoccupied text
image = frame.array
if range_filter == 'RGB':
frame_to_thresh = image.copy()
else:
frame_to_thresh = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
v1_min, v2_min, v3_min, v1_max, v2_max, v3_max = get_trackbar_values(range_filter)
thresh = cv2.inRange(frame_to_thresh, (v1_min, v2_min, v3_min), (v1_max, v2_max, v3_max))
cv2.imshow("Original", image)
cv2.imshow("Thresh", thresh)
if cv2.waitKey(1) & 0xFF is ord('q'):
break
class CamThread(Thread): """ Thread to continuously read incoming frames from the raspberry pi camera and send those frames to all the clients connected to the server. """ def __init__(self): print 'init CamThread' self.cam = PiCamera() self.cam.resolution = (480,320) self.cam.framerate = 25 self.rawCap = PiRGBArray(self.cam) # Wait for the webcam to open sleep(0.2) self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) Thread.__init__(self) self.daemon = True self.running = True def run(self): print 'CamThread running' for frame in self.cam.capture_continuous(self.rawCap, format='bgr', use_video_port=True): if not self.running: break img = self.rawCap.array rows, cols, channels = img.shape if rows > 0 and cols > 0: # 180 degrees rotation img = self.rotate(img, 180) # Serialize and send img_ser = self.encode(img, '.jpg') for c in connected_clients: self.send(img_ser, (c, CLIENT_PORT)) # Clear the camera buffer begore grabbing the next frame self.rawCap.truncate(0) self.sock.close() self.cam.close() def encode(self, img, ext='.jpg'): return cv2.imencode(ext, img)[1].tostring() def rotate(self, frame, angle): rows, cols, channels = frame.shape RotMat = cv2.getRotationMatrix2D((cols/2, rows/2), angle, 1) return cv2.warpAffine(frame, RotMat, (cols, rows)) def send(self, data, addr): # Send the data splitted in oackets of 1024 bytes while len(data) > 1024: self.sock.sendto(data[:1024], addr) data = data[1024:] if len(data) > 0: self.sock.sendto(data, addr) def stop(self): self.running = False
def initCam():
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (tools.SIZE_X, tools.SIZE_Y)
#camera.framerate = 64
rawCapture = PiRGBArray(camera, size=(tools.SIZE_X, tools.SIZE_Y))
# allow the camera to warmup
time.sleep(0.1)
return camera, rawCapture
def initcam(pi_cam=False):
if pi_cam:
from picamera.array import PiRGBArray
from picamera import PiCamera
camera = PiCamera()
camera.resolution = (320, 240)
raw = PiRGBArray(camera)
return camera, raw
return cv2.VideoCapture(0)
class OpenCVTEST:
def __init__(self):
# initialize the camera and grab a reference to the raw camera capture
factor = 1.5
self.camera = PiCamera()
self.camera.resolution = (640, 480)
self.camera.framerate = 32
self.rawCapture = PiRGBArray(self.camera, size=(640, 480))
# allow the camera to warmup
time.sleep(0.1)
cv2.namedWindow("Video")
self.pictureBuffer = deque()
self.currentPicture = None
self.firstPicture = None
def showPicture(self, picture):
cv2.imshow("Video", picture)
def addPicture(self, picture):
self.pictureBuffer.append(picture)
def getCurrentPicture(self):
return self.currentPicture
def getPicture(self):
return self.pictureBuffer.popleft()
def forePlay(self):
number = 0
for frame in self.camera.capture_continuous(self.rawCapture, format="bgr", use_video_port=True):
# grab the raw NumPy array representing the image, then initialize the timestamp
# and occupied/unoccupied text
self.currentPicture = frame.array
self.addPicture(self.currentPicture)
self.rawCapture.truncate(0)
number += 1
if number >= 100:
break
self.play()
def play(self):
for frame in self.camera.capture_continuous(self.rawCapture, format="bgr", use_video_port=True):
# grab the raw NumPy array representing the image, then initialize the timestamp
# and occupied/unoccupied text
self.currentPicture = frame.array
self.addPicture(self.currentPicture)
self.showPicture(self.getPicture())
self.rawCapture.truncate(0)
key = cv2.waitKey(1) & 0xFF
if key == ord("q"):
break
print("Bye bye!")
def Offset_Detect(offset_array):
data=[0,0,0,0,0,0,0,0,0] #三个一组 dx,dy,radius
#global offset_array
FRAME_WIDTH = 320
FRAME_HEIGHT = 240
HUE_BLUE = 240/2
HUE_YELLOW = 60/2
HUE_RED = 0
HUE_RANGE = 10
SAT_MIN = 100
SAT_MAX = 255
VAL_MIN = 50
VAL_MAX = 255
CLOSE_MASK_SIZE = 30
KERNEL = np.ones((CLOSE_MASK_SIZE, CLOSE_MASK_SIZE), np.uint8)
camera = PiCamera()
camera.resolution = (FRAME_WIDTH, FRAME_HEIGHT)
camera.framerate = 30
camera.awb_mode = "incandescent"
rawCapture = PiRGBArray(camera, size=(FRAME_WIDTH, FRAME_HEIGHT))
time.sleep(0.1)
last_time=0
for rawFrame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
#print 'alltime:',time.time()-last_time
#last_time=time.time()
input_frame = rawFrame.array
correct_frame = calibration(input_frame)
frame = cv2.resize(correct_frame, (120,90))
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
#print '1time:',time.time()-last_time
data[0:3]=processImage(hsv, 1, frame)
#print '2time:',time.time()-last_time
data[3:6]=processImage(hsv, 2, frame)
#print '3time:',time.time()-last_time
data[6:9]=processImage(hsv, 3, frame)
#print '4time:',time.time()-last_time
#print data
offset_array[:]=data
#print offset_data
cv2.imshow("Frame", frame)
next_frame(rawCapture)
key=cv2.waitKey(1)&0xFF
if key == 27:
break
cv2.destroyAllWindows()
def PiVideo(self):
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 30
# allow the camera to warmup
time.sleep(2)
return camera
def snapshot():
if not os.path.exists('/home/pi/OSecuritySnapshots'):
os.makedirs('/home/pi/OSecuritySnapshots')
camera = PiCamera()
camera.rotation = -90
camera.start_preview()
sleep (3)
camera.capture('/home/pi/OSecuritySnapshots/latestSnapshot.JPG')
camera.stop_preview()
camera.close()
def GetPhotos(counter = 0):
"""
Photo aquisition
"""
global filename
debug("Camera init")
try:
camera = PiCamera()
except picamera.exc.PiCameraMMALError:
print "Camera crashed... calling again."
GetPhotos(counter)
return
debug("Camera start")
camera.start_preview()
time.sleep(1)
#if not os.path.exists(SAVEDIR):
# os.makedirs(SAVEDIR)
year = time.strftime("%Y", time.localtime())
month = time.strftime("%m", time.localtime())
if not os.path.exists("%s/%s/%s" % (SAVEDIR, year, month)):
os.makedirs("%s/%s/%s" % (SAVEDIR, year, month) )
timestamp = time.strftime("%Y-%m-%d_%H%M%S", time.localtime())
filename = "%s/%s/%s/%s-%04d.jpg" % (SAVEDIR, year, month, timestamp,counter)
debug("Saving file %s" % filename)
camera.capture(filename)
camera.stop_preview()
camera.close()
class PiVideoStream:
def __init__(self, resolution=(640, 480), framerate=48):
# initialize the camera and stream
self.camera = PiCamera()
#self.camera.video_stabilization = True
self.camera.resolution = resolution
self.camera.framerate = framerate
self.rawCapture = PiRGBArray(self.camera, size=resolution)
self.stream = self.camera.capture_continuous(self.rawCapture,
format="bgr", use_video_port=True)
# initialize the frame and the variable used to indicate
# if the thread should be stopped
self.frame = None
self.stopped = False
def start(self):
# start the thread to read frames from the video stream
t = Thread(target=self.update, args=())
t.daemon = True
t.start()
return self
def update(self):
# keep looping infinitely until the thread is stopped
for f in self.stream:
# grab the frame from the stream and clear the stream in
# preparation for the next frame
self.frame = f.array
self.rawCapture.truncate(0)
# if the thread indicator variable is set, stop the thread
# and resource camera resources
if self.stopped:
self.stream.close()
self.rawCapture.close()
self.camera.close()
return
def read(self):
# return the frame most recently read
return self.frame
def stop(self):
# indicate that the thread should be stopped
self.stopped = True
# Settings for consistent images capture
# Must be called some times after the camera is started
def consistent(self):
self.camera.shutter_speed = self.camera.exposure_speed
self.camera.exposure_mode = 'off'
g = self.camera.awb_gains
self.camera.awb_mode = 'off'
self.camera.awb_gains = g
def capture_image():
camera = PiCamera()
camera.start_preview()
sleep(3)
camera.capture('/home/pi/kaffe.jpg')
camera.stop_preview()
camera.close()
def connect(self):
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server_address = (conf.ip, conf.videoport)
sock.connect(server_address)
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(640, 480))
# allow the camera to warmup
time.sleep(0.1)
frm = 0
# capture frames from the camera
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
# grab the raw NumPy array representing the image, then initialize the timestamp
# and occupied/unoccupied text
image = frame.array
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
gray = cv2.flip(gray,0)
gray = cv2.flip(gray,1)
frm = frm + 1
if (frm >= 256):
frm = 0
data = np.zeros((640), dtype=np.uint8)
data[0] = data[1] = data[2] = data[3] = data[5] = 32
sent = sock.sendto(data, server_address)
# for i in range(1,480):
# data = gray[i,:]
# sent = sock.sendto(data, server_address)
data = gray.reshape(640*480,1)
sent = sock.sendto(data, server_address)
#cv2.imshow("My Image", gray)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
# clear the stream in preparation for the next frame
rawCapture.truncate(0)
if (self.keeprunning == False):
break
def on_key_release(event):
path = sys.path[0]
cv2.putText(found, iso_str, (30, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.75, 255,
2)
cv2.putText(found, shutter_str, (300, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.75,
255, 2)
cv2.putText(found, awb_str, (30, 475), cv2.FONT_HERSHEY_SIMPLEX, 0.75, 255,
2)
cv2.imwrite(
str(path) + "/" + strftime("%Y_%m_%d__%I_%M_%S", gmtime()) +
"_test.jpg", found)
print "Picture saved"
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 30
camera.awb_mode = 'off'
#camera.awb_mode = 'sunlight'
aruco_dic = aruco.Dictionary_get(aruco.DICT_6X6_250)
master = Tk()
master.title("Adjust")
awbgain_r = Scale(master,
from_=0.1,
to=8,
orient=HORIZONTAL,
label='awb_gain red',
def __init__(self, server, resolution, framerate):
PiCamera.__init__(self, resolution=resolution, framerate=framerate)
self.server = server
self.compid = None
self.capturing = Event()
picam = False
if picam:
from picamera import PiCamera
else:
import cv2
import time
import telepot
import RPi.GPIO as GPIO
import subprocess
if picam:
camera = PiCamera()
camera.rotation = 180
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)
GPIO.setup(11, GPIO.IN)
intruder = False
enabled = False
def handle(msg):
global enabled
global intruder
command = msg['text']
from_id = msg['from']['id']
#chat_id = msg['chat']['id']
#print 'Got command: %s' % command
def diff_avg(diff_frames, fs):
means = []
for i in range(
1, len(diff_frames)): # To remove diff of first frame with itself
means.append(np.mean(diff_frames[i]))
hamming_coeffs_resp = firwin(65, [0.05 / (fs / 2), 2.0 / (fs / 2)],
pass_zero=False) # Bandpass filter
hamming = np.convolve(hamming_coeffs_resp, means, mode='same')
return hamming
################################# Main ################################
# Picamera
camera = PiCamera(resolution=(640, 480), framerate=40)
fps = 5
stream = io.BytesIO()
frame_count = 0
diff_frames = []
sampling_freq = args.fs
sampling_num = fps / sampling_freq # number of frames between the two frames used for diff calculation
samp_count = 0
pic_count = 0
time.sleep(0.1)
start = time.time()
flag = 0
for foo in camera.capture_continuous(stream, 'jpeg', use_video_port=True):
frame = np.array(Image.open(stream))
# # VJ
client = None
if conf["use_dropbox"]:
# connect to dropbox and start the session authorization process
flow = DropboxOAuth2FlowNoRedirect(conf["dropbox_key"], conf["dropbox_secret"])
print "[INFO] Authorize this application: {}".format(flow.start())
authCode = raw_input("Enter auth code here: ").strip()
# finish the authorization and grab the Dropbox client
(accessToken, userID) = flow.finish(authCode)
client = DropboxClient(accessToken)
print "[SUCCESS] dropbox account linked"
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = tuple(conf["resolution"])
camera.framerate = conf["fps"]
rawCapture = PiRGBArray(camera, size=tuple(conf["resolution"]))
# allow the camera to warmup, then initialize the average frame, last
# uploaded timestamp, and frame motion counter
print "[INFO] warming up..."
time.sleep(conf["camera_warmup_time"])
avg = None
lastUploaded = datetime.datetime.now()
motionCounter = 0
# capture frames from the camera
for f in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
# grab the raw NumPy array representing the image and initialize
def measureCamera():
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (320, 240)
camera.framerate = 10
camera.awb_mode='off'
camera.shutter_speed=5000*4
camera.awb_gains=awb_gains_default
rawCapture = PiRGBArray(camera, size=(320, 240))
# allow the camera to warmup
time.sleep(0.1)
tubo_inserido=False
amostra_detectada=False
baricentro_y_ant=-1
a=0
v_min_ant=100
time_c=0
counter=0
def captura(luz):
gpio.output(gpioW1,gpio.LOW)
gpio.output(gpioW2,gpio.LOW)
gpio.output(gpioR,gpio.LOW)
gpio.output(gpioG,gpio.LOW)
if(luz=='R'):
gpio.output(gpioR,gpio.HIGH)
awbgains=(65/128,175/64)
elif(luz=='G'):
gpio.output(gpioG,gpio.HIGH)
awbgains=(417/256,449/256)
else:
awbgains=(417/256,449/256)
gpio.output(gpioW2,gpio.HIGH)
camera.shutter_speed=5284*4
camera.iso=10
camera.awb_gains=awbgains
time.sleep(0.1)
raw_output = PiRGBArray(camera)
camera.capture(raw_output, 'bgr')
"""print(camera.awb_gains)
print(camera.analog_gain)
print(camera.digital_gain)"""
output=raw_output.array
return output
# capture frames from the camera
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
# grab the raw NumPy array representing the image, then initialize the timestamp
# and occupied/unoccupied text
image = frame.array
crop=image[35:196,153:153+16]
#converte no espaco hsv
hsv = cv2.cvtColor(crop, cv2.COLOR_BGR2HSV)
count_amostra=0
baricentro_y=0
baricentro_x=0
points=0
average_brightness=0
v_min=100
for i in range(0,len(crop)):
for j in range(0,len(crop[0])):
h=hsv[i][j][0]*360/179
s=hsv[i][j][1]*100/255
v=hsv[i][j][2]*100/255
if(i>70 and j>5 and j<9):
if(v<v_min):
v_min=v
#se nao for escuro
if(h<40 or h>340):
if(s>50):
#se saturacao eh maior q um valor, isto e, se for colorido, eh amostra
amostra=True
else:
amostra=False
else:
amostra=False
#conta os pixels por linha q eh de amostra
if(amostra):
count_amostra+=1
baricentro_x+=j
baricentro_y+=i
if(count_amostra==0):
amostra_detectada=False
baricentro_y=-1
else:
baricentro_x=baricentro_x/count_amostra
baricentro_y=baricentro_y/count_amostra
if(abs(baricentro_y_ant-baricentro_y)<2 and baricentro_y>0):
amostra_detectada=True
baricentro_y_ant=baricentro_y
if(time_c>=2):
time_c=0
tubo_inserido=v_min_ant<90 and v_min<90
v_min_ant=v_min
else:
time_c+=1
if(tubo_inserido):
if(status!='medido'):
if(amostra_detectada):
if(baricentro_x>4 and baricentro_x<12):
status='medicao'
else:
status='ajuste'
else:
status='invertido'
else:
status='inicial'
changeStatus(status)
if(status=='medicao'):
outputW=captura('W')
outputR=captura('R')
outputG=captura('G')
gpio.output(gpioW1,gpio.HIGH)
gpio.output(gpioW2,gpio.LOW)
gpio.output(gpioR,gpio.LOW)
gpio.output(gpioG,gpio.LOW)
crop=outputW[35:196,153:153+16]
cropR=outputR[35:196,153:153+16]
cropG=outputG[35:196,153:153+16]
process=np.zeros((len(crop),len(crop[0]),3)).astype(np.uint8)
hsv = cv2.cvtColor(crop, cv2.COLOR_BGR2HSV)
#1 filtragem: verifica saturacao
start_success=-1
success_sum=0
factor=0.2
last_row=0
for i in range(0,len(crop)):
success=0
for j in range(0,len(crop[0])):
h=hsv[i][j][0]*360/179
s=hsv[i][j][1]*100/255
v=hsv[i][j][2]*100/255
#se matiz esta dentro do vermelho/laranja
if(h<35 or h>345):
if(s>45):
#se saturacao eh maior q um valor, isto e, se for colorido, eh amostra
amostra=True
else:
amostra=False
else:
amostra=False
#conta os pixels por linha q eh de amostra
if(amostra):
success+=1
process[i][j]=hsv[i][j]
last_row=i
#2 filtragem para descartar os blocos nao conectados
if(success>0 and start_success==-1):
start_success=i
if(start_success>=0):
success_sum+=success
success_average=success_sum/(i-start_success+1)
if(success<factor*success_average and (i-start_success)>10 and success_average>5):
process[i]=np.zeros((1,len(crop[0]),3)).astype(np.uint8)
break
color_count=0
W_average=(0,0,0)
R_average=(0,0,0)
G_average=(0,0,0)
for i in range(0,last_row+1):
for j in range(0,len(process[0])):
if(not np.array_equal(process[i][j],[0,0,0])):
W_average+=crop[i][j]
R_average+=cropR[i][j]
G_average+=cropG[i][j]
color_count+=1
if(color_count!=0):
W_average=W_average/color_count
R_average=R_average/color_count
G_average=G_average/color_count
print(W_average)
fileW.write(str(W_average)+'\n')
fileR.write(str(R_average)+'\n')
fileG.write(str(G_average)+'\n')
#funcao da rede neural
indice=W_average[1]
cv2.imwrite('imageW'+str(counter)+'.png',outputW)
cv2.imwrite('imageR'+str(counter)+'.png',outputR)
cv2.imwrite('imageG'+str(counter)+'.png',outputG)
counter+=1
status='medido'
changeStatus(status)
camera.shutter_speed=5000*4
camera.awb_gains=awb_gains_default
# show the frame
print(status)
key=cv2.waitKey(1)&0xFF
# clear the stream in preparation for the next frame
rawCapture.truncate(0)
# if the `q` key was pressed, break from the loop
if key == ord("q"):
fileW.close()
fileG.close()
fileR.close()
break
from picamera import PiCamera
from datetime import datetime
import RPi.GPIO as GPIO
import smbus
import time
from time import sleep
port = 1
bus = smbus.SMBus(port)
apds = APDS9960(bus)
GPIO.setmode(GPIO.BOARD)
GPIO.setup(7, GPIO.IN)
GPIO.setup(38, GPIO.OUT)
camera = PiCamera()
cameraFlag = 0
#define callbacks
def intH(channel):
print("take picture")
#def cameraFlash(channel):
# print("make flash")
# GPIO.output(38,GPIO.HIGH)
try:
#interrupt event-driven
GPIO.add_event_detect(7, GPIO.FALLING, callback = intH)
apds.setProximityIntLowThreshold(50)
RECORDING = True # set recording flag
return
def stop_record():
camera.stop_recording() #stop recording
RECORDING = False
return
try:
print("PIR Module Test started")
start_time = time.time()
time.sleep(1)
count = 0
camera = PiCamera()
while True:
inputTrigger = GPIO.input(PIR_PIN)
if (inputTrigger and not RECORDING):
count = count + 1 #increase total motion count
print("Motion Detected!"
) #print motion detection, later will want to log it
start_record() #record motion!
time.sleep(2) # loop delay in seconds - smooth out sensor readings
if (not inputTrigger and RECORDING):
stop_record()
except KeyboardInterrupt:
print("...Program Interrupt")
print("Total Motion Count: " + str(count))
print("Elapsed Time: " + str(time.time() - start_time))
lenreg = length / 4
failCounter = 0
print("running {} cycles on all pins".format(cycles))
input = raw_input("run y/n")
if input == "y":
run = 0
wiringpi.digitalWrite(17, 0)
wiringpi.digitalWrite(27, 0)
wiringpi.digitalWrite(22, 0)
wiringpi.digitalWrite(5, 0)
wiringpi.digitalWrite(6, 0)
print("running {} cycles on all pins".format(cycles))
with camera as PiCamera():
camera.resolution = (width, length)
camera.framerate = 20
rawCapture = PiRGBArray(camera, size=(width, length))
startCase = np.empty((width, length, 3), dtype=np.uint32)
endCase = np.empty((width, length, 3), dtype=np.uint32)
delta = []
time.sleep(0.1)
roi1 = []
roi2 = []
roi3 = []
roi4 = []
roi5 = []
camera.start_recording(test.h264)
import cv2
import time
from picamera.array import PiRGBArray
from picamera import PiCamera
#в строках 1-4 мы пдключаем библиотеки
print("enter name of file")
name=int(input())
print("enter the period of observation (second)")
period=int(input())
print("enter the videoTime (second)")
videoTime=int(input())
#в строках 6-11 вводим переменные для настройки времени работы
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 24
raw = PiRGBArray(camera)
time.sleep(0.1)
#в строках 15-19 подключаем камеру для RPi
fourcc = cv2.VideoWriter_fourcc(*'XVID')
vid = cv2.VideoWriter(name+'.avi',fourcc, 24.0, (640,480))
#в строках 23-24 настраиваем видеовыход
if(period<videoTime):
print("error! videoTime > period")
exit()
#в строках 28-30 проверяем правильность введенных переменных
import sys
from twython import Twython
from picamera import PiCamera
from time import sleep
apiKey = "sQQEszZ8Gwy8SVnZeeuLMF40C"
apiSecret = "GWdTgpS7p9t6P7ZCC3QdRFTMBl75NyTVQwodz20sOIV85n7ooo"
accessToken = "1271178365219766272-R5eAnVIeIRDFdlYpp7namiweyFk3Zp"
accessTokenSecret = "1XxHeiD9vL851hbbuuXoJHMuCTvPEqymbdtYCopQ1UxdG"
api = Twython(apiKey, apiSecret, accessToken, accessTokenSecret)
camera = PiCamera()
for i in range(5):
camera.start_preview()
sleep(5)
camera.capture('./image{}.jpg'.format(i))
camera.stop_preview()
sleep(5)
photo = open('./image{}.jpg'.format(i), 'rb')
response = api.upload_media(media=photo)
api.update_status(status="Image{} from Raspberry Pi Camera".format(i),
media_ids=[response['media_id']])
tilt_pin = 5
tilt_MAXDUTY = 9.5
tilt_MINDUTY = 3.5
GPIO.setmode(GPIO.BCM)
GPIO.setup(pan_pin, GPIO.OUT)
pan = GPIO.PWM(pan_pin, 50)
pan.start(7.5)
GPIO.setup(tilt_pin, GPIO.OUT)
tilt = GPIO.PWM(tilt_pin, 50)
tilt.start(7.5)
camera = PiCamera()
camera.resolution = (160, 128)
camera.framerate = 40
rawCapture = PiRGBArray(camera, size=(160, 128))
time.sleep(0.1)
face_cascade = cv2.CascadeClassifier('haarcascade_frontalface_default.xml')
for frame in camera.capture_continuous(rawCapture,
format='bgr',
use_video_port=True):
img = frame.array
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
faces = face_cascade.detectMultiScale(gray, 1.3, 5)
for (x, y, w, h) in faces:
def socket_send(sock, data):
if data == None:
return
sock.send( str(data.shape[0]).ljust(16).encode() );
sock.send( data );
#연결할 서버(수신단)의 ip주소와 port번호
TCP_IP = '192.168.0.7'
TCP_PORT = 5001
CAM_WIDTH = 320
CAM_HEIGHT = 240
#송신을 위한 socket 준비
print("Getting ready for camera ...")
camera = PiCamera()
camera.resolution = (CAM_WIDTH, CAM_HEIGHT)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(CAM_WIDTH, CAM_HEIGHT))
time.sleep(0.1)
print("Connecting to the server ...")
while(True):
try:
sock = socket.socket()
sock.connect((TCP_IP, TCP_PORT))
break
except:
continue
#else:
# global overlay # http://stackoverflow.com/questions/843277/how-do-i-check-if-a-variable-exists
# overlay = next(all_overlays)# http://stackoverflow.com/questions/26545051/is-there-a-way-to-delete-created-variables-functions-etc-from-the-memory-of-th
#preview_overlay(camera, overlay)
# Tell the take picture button what to do
def take_picture():
camera.capture(output)
camera.stop_preview()
# Set up buttons
next_overlay_btn = Button(23)
next_overlay_btn.when_pressed = next_overlay
take_pic_btn = Button(25)
take_pic_btn.when_pressed = take_picture
# Set up camera (with resolution of the touchscreen)
camera = PiCamera()
camera.resolution = (800, 480)
camera.hflip = True
# Start camera preview (delete alpha=128 once you know your code works)
camera.start_preview(alpha=128)
# Set up filename
output = strftime(
"/home/pi/photobooth/tests/allseeingpi_test/image-%d-%m %H:%M.png",
gmtime())
from picamera import PiCamera, Color
from time import sleep
camera = PiCamera() # PiCamera객체 생성
camera.rotation = 180
camera.start_preview() # 미리보기 화면을 시작
#동영상 저장 시작
camera.start_recording("/home/pi/iot/video.h264")
sleep(10)
camera.stop_recording()
camera.stop_preview() # 미리보기 화면 정지
# import the necessary packages
from imutils import contours
from picamera.array import PiRGBArray
from picamera import PiCamera
import time
import serial
import numpy as np
import imutils
import cv2
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (512, 512)
camera.framerate = 25
rawCapture = PiRGBArray(camera, size=(512, 512))
# allow the camera to warmup
time.sleep(0.1)
ser = serial.Serial('/dev/ttyUSB0',9600)
shape_C = 0
shape_R = 0
shape_D = 0
while True :
while True :
read_serial=ser.readline()
read_serial_num = int (read_serial, 10)
if read_serial_num == 1:
break
from io import BytesIO
from time import sleep
from picamera import PiCamera
import numpy
import scipy
from PIL import Image
camera = PiCamera()
#camera.start_preview()
#sleep(1)
camera.color_effects = (128, 128)
for res in [1024]:
imgID = 0
camera.resolution = (800, 600)
for repo in range(5):
stream = BytesIO()
camera.capture(stream, 'png')
stream.seek(0)
#with open("./testimgs/test.{}.{}.png".format(res,imgID), "wb") as fout:
# fout.write(stream.read())
imgID += 1
#stream.flush()
print("ready...")
#sleep(2)
class My_Cam:
def __init__(self, pserve, clothes, playvid, appdirs, config, logger):
self._pv = playvid
self._cfg = config
self._log = logger
self._appdir = appdirs
self.clothes = clothes
self.pserve = pserve
def start(self):
self.cam = PiCamera()
# self.cam.led = False
self.cam.framerate = 24
self.cam.hflip = True
# Camera Controls
self.cam.rotation = self._cfg.getint("PI CAMERA", "rotation") #90
#cam.resolution = (640, 1024)
self.cam.contrast = self._cfg.getint("PI CAMERA",
"contrast") #100 # Range -100 100
#cam.saturation = 100 # Range -100 100
self.cam.brightness = self._cfg.getint("PI CAMERA",
"brightness") # 80 # 0 100
#cam.awb_mode = "shade"
self.cam.iso = self._cfg.getint("PI CAMERA", "iso") # 1600
self.cam.sensor_mode = self._cfg.getint("PI CAMERA",
"sensor_mode") # 1
self.cam.shutter_speed = 1 / self._cfg.getint("PI CAMERA",
"shutter_speed")
# Preview window
self.x = self._cfg.getint("PI CAMERA", "x")
self.y = self._cfg.getint("PI CAMERA", "y")
self.w = self._cfg.getint("PI CAMERA", "width")
self.h = self._cfg.getint("PI CAMERA", "height")
def turn_on(self):
self.start()
self.pserve.send("m_camera", "cam_on")
self._log.info("warming camera up")
self.cam.start_preview(fullscreen=False,
window=(self.x, self.y, self.w, self.h))
self.pserve.send("m_camera", "preview_on")
def turn_off(self):
# Stop Preview Video
self.quit()
# Stop Camera Preview
self.cam.stop_preview()
self.pserve.send("m_camera", "preview_off")
# Close off camera class
self.cam.close()
self.pserve.send("m_camera", "cam_off")
def quit(self):
self._pv.stop_auto()
def rec_start(self):
self.t = str(int(time()))
# Campure thumbnail
self._log.info("Capturing thumbnail")
self.cam.capture('%s/cls/%s.jpg' % (
self._appdir,
self.t,
))
# Compress image
cmp_im = Image.open('%s/cls/%s.jpg' % (
self._appdir,
self.t,
))
cmp_im.save('%s/cls/%s.jpg' % (
self._appdir,
self.t,
),
optimize=True,
quality=20)
self.pserve.send("m_camera", "thumb_captured")
self._log.info("Recording video")
self.pserve.send("m_camera", "video_start")
self.cam.start_recording("%s/cls/%s.h264" % (
self._appdir,
self.t,
))
def rec_stop(self):
self.cam.stop_recording()
self._log.info("Recording stopped")
self.pserve.send("m_camera", "video_end")
# Compress video
self.pserve.send("m_camera", "compression_begin")
call("MP4Box -add %s/cls/%s.h264 %s/cls/%s.mp4" % (
self._appdir,
self.t,
self._appdir,
self.t,
),
shell=True)
self.pserve.send("m_camera", "compression_off")
os.remove("%s/cls/%s.h264" % (
self._appdir,
self.t,
))
self.pserve.send("m_camera", "getting_dresscode")
cl = self.clothes.add("casual", self.t + ".jpg")
self.pserve.send("m_camera_dat", json.dumps(cl))
self._log.info("Camera stop")
self.cam.stop_preview()
try:
self._pv.add_size()
thread.start_new_thread(self._pv.play_auto, (cl[0]["id"], ))
except:
self._log.error("Playing video failed")
return cl
import RPi.GPIO as GPIO
from time import sleep
import schedule
import time
from camera_google import googleCamera
from camera_file import dir_entries
from picamera import PiCamera
from datetime import datetime
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
camera = PiCamera()
camera.resolution = (640, 480)
buzz = 2
button = 27
recording = False
GPIO.setup(buzz, GPIO.OUT)
GPIO.setup(button, GPIO.IN, pull_up_down=GPIO.PUD_UP)
def cam_record():
timestamp = datetime.now().isoformat()
camera.annotate_text = timestamp
camera.annotate_text_size = 50
#camera.annotate_foreground = Color("yellow")
# For testing
# Replace libraries by fake ones
import sys
import fake_rpi
sys.modules['picamera'] = fake_rpi.picamera # Fake picamera
from time import sleep
from picamera import PiCamera
import pickle
import cv2 as cv
from tkinter import Tk
from tkinter.filedialog import askopenfilename
camera = PiCamera()
camera.resolution = (1024, 768)
camera.start_preview()
sleep(10)
camera.capture('foo.jpg')
camera.stop_preview()
# Load calibration
print('Choose the calibration .pkl file.')
Tk().withdraw()
cal_file = askopenfilename()
F = open(cal_file, 'rb')
ret = pickle.load(F)
mtx = pickle.load(F)
dist = pickle.load(F)
def get_cv():
global w
global h
# for i in range(5):
# GPIO.output(CAMLED,True) # On
# time.sleep(0.5)
# GPIO.output(CAMLED,False) # Off
# time.sleep(0.5)
camera = PiCamera()
camera.close()
camera = PiCamera()
rawCapture = PiRGBArray(camera)
rawCapture2 = PiRGBArray(camera)
# Turn the camera's LED off
camera.led = False
w = 800
h = 600
camera.resolution = (w, h)
# Take a picture while the LED remains off
time.sleep(.2)
# camera.iso = 400
camera.contrast = 100
# camera = PiCamera(resolution=(1280, 720), framerate=30)
# Set ISO to the desired value
# Wait for the automatic gain control to settle
#time.sleep(4)
# Now fix the values
camera.shutter_speed = camera.exposure_speed
s = camera.shutter_speed
if s < 10000:
camera.iso = 600
ciso = camera.iso
camera.exposure_mode = 'off'
g = camera.awb_gains
camera.awb_mode = 'off'
camera.awb_gains = g
# Finally, take several photos with the fixed settings
#camera.capture_sequence(['image%02d.jpg' % i for i in range(10)])
camera.capture(rawCapture, format="bgr")
picam_01 = rawCapture.array
time.sleep(1)
GPIO.output(CAMLED, True) # On
time.sleep(1)
camera.capture(rawCapture2, format="bgr")
picam_02 = rawCapture2.array
#camera.capture(rawCapture, format="bgr")
#picam_01 = rawCapture.array
#time.sleep(.1)
#GPIO.output(CAMLED,True) # On
#time.sleep(10)
#GPIO.output(CAMLED,True) # On
#camera.capture(rawCapture2, format="bgr")
#picam_02 = rawCapture2.array
time.sleep(2)
GPIO.output(CAMLED, False) # Off
crop_img = picam_02[(h / 5.33):(h / 1.23), (w / 24):(
w / 1.04)].copy() # Crop from x, y, w, h -> 100, 200, 300, 400
crop_img2 = picam_01[(h / 5.33):(h / 1.23), (w / 24):(
w / 1.04)].copy() # Crop from x, y, w, h -> 100, 200, 300, 400
#gray = cv2.cvtColor(crop_img,cv2.COLOR_BGR2GRAY)
#gray2 = cv2.cvtColor(crop_img2,cv2.COLOR_BGR2GRAY)
cv2.imwrite("g1.jpg", crop_img)
cv2.imwrite("g2.jpg", crop_img2)
diff = cv2.absdiff(crop_img, crop_img2)
camera.close()
# CLAHE (Contrast Limited Adaptive Histogram Equalization)
clahe = cv2.createCLAHE(clipLimit=3., tileGridSize=(8, 8))
lab = cv2.cvtColor(
diff, cv2.COLOR_BGR2LAB) # convert from BGR to LAB color space
l, a, b = cv2.split(lab) # split on 3 different channels
l2 = clahe.apply(l) # apply CLAHE to the L-channel
lab = cv2.merge((l2, a, b)) # merge channels
img2 = cv2.cvtColor(lab, cv2.COLOR_LAB2BGR) # convert from LAB to BGR
cv2.imwrite('sunset_modified.jpg', img2)
gray = cv2.cvtColor(crop_img, cv2.COLOR_BGR2GRAY)
#blur2 = cv2.GaussianBlur(diff,(15,15),0)
#ret,thresh2 = cv2.threshold(blur2, 6,255,cv2.THRESH_BINARY_INV)
#cv2.imwrite( "gray.jpg", gray )
#blur = cv2.bilateralFilter(gray,6,12,3)
img_hsv = cv2.cvtColor(img2, cv2.COLOR_BGR2HSV)
lower_red = np.array([0, 20, 20])
upper_red = np.array([20, 255, 255])
mask0 = cv2.inRange(img_hsv, lower_red, upper_red)
# upper mask (170-180)
lower_red = np.array([160, 20, 20])
upper_red = np.array([180, 255, 255])
mask1 = cv2.inRange(img_hsv, lower_red, upper_red)
# join my masks
mask = mask0 + mask1
cv2.imwrite("mask.jpg", mask)
blur = cv2.GaussianBlur(gray, (15, 15), 4)
ret3, th3 = cv2.threshold(gray, 120, 255, cv2.THRESH_BINARY_INV)
cv2.imwrite("blur.jpg", blur)
edges = cv2.Canny(th3, 8, 24, 3) #working
cv2.imwrite("edges.jpg", edges)
cv2.imwrite("th3.jpg", th3)
lines = cv2.HoughLines(edges, 1, np.pi / 180, 50)
data = []
counter = 0
rho_all = 0
course = 200
overlay = crop_img.copy()
overlay2 = crop_img.copy()
if lines is not None:
for rho, theta in lines[0]:
course = 0
a = np.cos(theta)
b = np.sin(theta)
x0 = a * rho
y0 = b * rho
x1 = int(x0 + 1000 * (-b))
y1 = int(y0 + 1000 * (a))
x2 = int(x0 - 1000 * (-b))
y2 = int(y0 - 1000 * (a))
#data.insert(0,[rho,theta])
data.insert(0, [theta, rho])
if theta > ((np.pi / 4) * 3) or theta < (np.pi / 4):
counter = counter + 1
#cv2.line(crop_img,(x1,y1),(x2,y2),(0,255,10),2)
temp = theta * (180 / np.pi)
if temp > 90:
temp = temp - 180
#data.insert(0,[theta,rho])
rho_all = rho_all + temp
# if counter < 10:
# cv2.putText(crop_img, str(theta) ,(10,73+counter*30), cv2.FONT_HERSHEY_SIMPLEX, .4,(0,0,255),2)
# if counter>9 and counter < 20:
# cv2.putText(crop_img, str(theta) ,(100,73+(counter-10)*30), cv2.FONT_HERSHEY_SIMPLEX, .4,(0,0,255),2)#
# if counter>19 and counter < 30:
# cv2.putText(crop_img, str(theta) ,(200,73+(counter-20)*30), cv2.FONT_HERSHEY_SIMPLEX, .4,(0,0,255),2)
# if counter>29 and counter < 40:
# cv2.putText(crop_img, str(theta) ,(300,73+(counter-20)*30), cv2.FONT_HERSHEY_SIMPLEX, .4,(0,0,255),2)
# if counter>39 and counter < 50:
# cv2.putText(crop_img, str(theta) ,(400,73+(counter-20)*30), cv2.FONT_HERSHEY_SIMPLEX, .4,(0,0,255),2)
else:
#cv2.line(overlay,(x1,y1),(x2,y2),(255,10,10),2)
a = "oli"
# data1=(set(data))
# print data1
# cl = HierarchicalClustering(data1, lambda x,y: abs(x-y))
# data2 = cl.getlevel(8)
# print data2
# flattened_list = []
# for x in data2:
# check=0
# for y in x:
# check=check+y
# checksum=check/len(x)
# flattened_list.append(checksum)
# print flattened_list
print data
kmeans = KMeans(n_clusters=2, random_state=0, max_iter=3000).fit(data)
print kmeans.cluster_centers_
for rho, theta in lines[0]:
a = np.cos(theta)
b = np.sin(theta)
x0 = a * rho
y0 = b * rho
x1 = int(x0 + 1000 * (-b))
y1 = int(y0 + 1000 * (a))
x2 = int(x0 - 1000 * (-b))
y2 = int(y0 - 1000 * (a))
if (kmeans.predict([theta, rho])) == 0:
cv2.line(overlay, (x1, y1), (x2, y2), (255, 10, 255), 2)
else:
cv2.line(overlay, (x1, y1), (x2, y2), (255, 50, 10), 2)
opacity = .3
cv2.addWeighted(overlay, opacity, crop_img, 1 - opacity, 0, crop_img)
ta = np.cos(kmeans.cluster_centers_[0][0])
tb = np.sin(kmeans.cluster_centers_[0][0])
tx0 = ta * kmeans.cluster_centers_[0][1]
ty0 = tb * kmeans.cluster_centers_[0][1]
tx1 = int(tx0 + 1000 * (-tb))
ty1 = int(ty0 + 1000 * (ta))
tx2 = int(tx0 - 1000 * (-tb))
ty2 = int(ty0 - 1000 * (ta))
cv2.putText(crop_img,
str(kmeans.cluster_centers_[0][0] * (180 / np.pi)),
(30, 190), cv2.FONT_HERSHEY_SIMPLEX, .4, (0, 0, 255), 2)
cv2.line(crop_img, (tx1, ty1), (tx2, ty2), (255, 0, 0), 2)
ta = np.cos(kmeans.cluster_centers_[1][0])
tb = np.sin(kmeans.cluster_centers_[1][0])
tx0 = ta * kmeans.cluster_centers_[1][1]
ty0 = tb * kmeans.cluster_centers_[1][1]
tx1 = int(tx0 + 1000 * (-tb))
ty1 = int(ty0 + 1000 * (ta))
tx2 = int(tx0 - 1000 * (-tb))
ty2 = int(ty0 - 1000 * (ta))
cv2.line(crop_img, (tx1, ty1), (tx2, ty2), (255, 0, 255), 2)
cv2.putText(crop_img,
str(kmeans.cluster_centers_[1][0] * (180 / np.pi)),
(300, 190), cv2.FONT_HERSHEY_SIMPLEX, .4, (0, 0, 255), 2)
#opacity = 1
#cv2.addWeighted(overlay2, opacity, crop_img, 1 - opacity, 0, crop_img)
#bandwidth = estimate_bandwidth(lines, quantile=0.2, n_samples=500)
#print lines
#X = StandardScaler().fit_transform(lines)
#print X
#bandwidth = estimate_bandwidth(data2, quantile=0.2, n_samples=len(data2))
#print bandwith
# ms = MeanShift()
# ms.fit(data2)
# labels = ms.labels_
# cluster_centers = ms.cluster_centers_
# labels_unique = np.unique(labels)
# n_clusters_ = len(labels_unique)
# print("number of estimated clusters : %d" % n_clusters_)
if counter > 0:
rho_all = rho_all / counter
course = rho_all
#if course>90:
#course=course-180
else:
course = 200
cv2.putText(crop_img, str(rho_all), (200, 13),
cv2.FONT_HERSHEY_SIMPLEX, .5, (0, 0, 255), 2)
#cv2.putText(crop_img, str(course) ,(10,13), cv2.FONT_HERSHEY_SIMPLEX, .5,(0,0,255),2)
cv2.putText(crop_img, str(g), (10, 33), cv2.FONT_HERSHEY_SIMPLEX, .5,
(0, 0, 255), 2)
cv2.putText(crop_img, str(s), (10, 53), cv2.FONT_HERSHEY_SIMPLEX, .5,
(0, 0, 255), 2)
now = datetime.datetime.now()
filename = "pictures/"
filename += str(now.microsecond)
filename += ".jpg"
filename2 = "<img src=\""
filename2 += filename
filename2 += "\" alt=\"Fehler beim anzeigen\" />,"
cv2.imwrite(filename, crop_img)
test_results = {
'shutter_speed': str(s),
'awb_gain': str(g),
'course': str(course),
'img': filename2,
'iso': str(ciso),
}
# dict of colors for each result:
result_colors = {
'success': 'lime',
'failure': 'red',
'error': 'yellow',
}
t = HTML.Table(header_row=['Test', 'Result'])
for test_id in sorted(test_results):
# create the colored cell:
#color = result_colors[test_results[test_id]]
colored_result = HTML.TableCell(test_results[test_id], 'white')
# append the row with two cells:
t.rows.append([test_id, colored_result])
htmlcode = str(t)
f = open('report2.html', 'a+')
f.write(htmlcode)
f.close()
return course
import time from picamera.array import PiRGBArray from picamera import PiCamera import cv2 import numpy as np import Adafruit_PCA9685 from threading import Thread from flask import Blueprint, jsonify, Response #Get the picture (low resolution, so it should be quite fast) #Here you can also specify other parameters (e.g.:rotate the image) pwm = Adafruit_PCA9685.PCA9685() camera = PiCamera() ## CONSTANTS ## HEIGHT = 480 WIDTH = 640 SCALE_FACTOR = 0.25 SCALED_WIDTH = int(WIDTH * SCALE_FACTOR) SCALED_HEIGHT = int(HEIGHT * SCALE_FACTOR) SCALED_X_CENTER = int(SCALED_WIDTH / 2) SCALED_Y_CENTER = int(SCALED_HEIGHT / 2) HORIZ_LINE_WIDTH = (WIDTH * .75) ESC_PIN = 1
import cv2
import numpy as np
from picamera import PiCamera
import time
camera = PiCamera()
camera.capture('capture6.jpg')
img1 = cv2.imread('timcup.png', 0)
img2 = cv2.imread('capture6.jpg', 0)
ret, thresh = cv2.threshold(img1, 127, 255, 0)
ret, thresh2 = cv2.threshold(img2, 127, 255, 0)
contours, hierarchy = cv2.findContours(thresh, 2, 1)
cnt1 = contours[0]
contours, hierarchy = cv2.findContours(thresh2, 2, 1)
cnt2 = contours[0]
#print "cnt1 " + str(cnt1)
#print "cnt2 " + str(cnt2)
ret = cv2.matchShapes(cnt1, cnt2, 1, 0.0)
print ret
from time import sleep, strftime, time # for the picamera and to name the files
from datetime import datetime, timedelta # possbily not needed but used to get the sunrise for today
from config import * # my dropbox API key and Push bullet API key
from picamera import PiCamera # raspberry pi camera
import sys
from PIL import Image #python3 -m pip install Pillow, also need: sudo apt-get install libopenjp2-7, sudo apt install libtiff5
from pushbullet import Pushbullet # notification software to monitor the programme remotely `pip3 install pushbullet.py`
pb = Pushbullet(PUSHBULLET)
# the Picamera
camera = PiCamera()
camera.resolution = (3280, 2464)
def lapse_details(duration_in_minutes, fps):
print(f"User lapse duration request: {duration_in_minutes} minutes.")
real_time = duration_in_minutes * 60 # minutes * 60 seconds
film_length = 30
frame_rate = fps
total_frames = film_length * frame_rate
delay = real_time / total_frames
return total_frames, delay
def the_camera(no_of_frames, delay):
start_time = strftime("%H:%M:%S")
print(f"The camera BEGAN taking images at {start_time}")
camera.start_preview()
sleep(2) # Camera warm-up time
# Watch a 10 second stream from camera from picamera import PiCamera from time import sleep camera = PiCamera() camera.start_preview(alpha=200) # Set the transparency of the camera alpha, can be any value between 0 and 255 sleep(10) camera.stop_preview()
from picamera.array import PiRGBArray
from picamera import PiCamera
import numpy as np
import time
import cv2
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 30
rawCapture = PiRGBArray(camera, size=camera.resolution)
opciones = 2
DP = 2
MIN_DIST = 1080
PARAM1 = 120
PARAM2 = 50
MIN_RADIO = 10
MAX_RADIO = 0
TAM_KERNEL = 6
KERNEL = np.ones((TAM_KERNEL, TAM_KERNEL), np.uint8)
ITER_ERODE = 2
ITER_DILATE = 10
if opciones == 1: # Cuarto viendo hacia el closet
minYellowHsv = [22, 40, 45]
maxYellowHsv = [47, 140, 255]
if opciones == 2: # Mesitaimport cv2 viendo hacia la pared con lucesw prendidas
minYellowHsv = [30, 65, 90]
# goleft : 左折
# goright : 右折
# back : まっすぐ後進
# backleft : 左へ後進
# backright : 右へ後進
# break : ブレーキ
order = param[1]
# GPIO端子の設定
motor1_pin = 23
motor2_pin = 24
wiringpi.wiringPiSetupGpio()
wiringpi.pinMode(motor1_pin, 1)
wiringpi.pinMode(motor2_pin, 1)
# カメラの初期化(必ず関数の外側で！！！)
my_camera = PiCamera()
my_camera.resolution = (320, 240)
my_camera.framerate = 32
rawCapture = PiRGBArray(my_camera, size=(320, 240))
# ラップトップがあるかどうかのフラグ
not_exist = True
stop_item = 'notebook'
th1 = threading.Thread(target=camera, name="th", args=())
# th2 = threading.Thread(target=motor, name="th", args=())
th1.start()
# th2.start()
def catchStone(workState):
workState.put(0)
workState.task_done()
#set camera
camera = PiCamera(resolution=(1920, 1080))
camera.shutter_speed = int(config['camera']['shutter_speed'])
sleep(1)
camera.capture(original_img)
workState.put(1)
workState.task_done()
camera.close()
# Read image
img = cv2.imread(original_img)
#crop image
x = 284
y = 23
w = 1322
h = 839
crop_img = img[y:y + h, x:x + w]
crop_img = image_resize(crop_img, height=1440)
cv2.imwrite('/home/pi/stoneScanner/data/pic/captrue/dbug/crop_img.png',
crop_img)
# img to darknnes
# a = np.double(crop_img)
# b = a - 60
# dark_img = np.uint8(b)
# get a blank canvas for drawing contour on and convert img to grayscale
canvas = np.zeros(crop_img.shape, dtype="uint8")
img2gray = cv2.cvtColor(crop_img, cv2.COLOR_BGR2GRAY)
# filter out small lines between counties
kernel_4_2d = np.ones((5, 5), np.float32) / 25
img2gray = cv2.filter2D(img2gray, -1, kernel_4_2d)
# threshold the image and extract contours
# can change cv2.threshold function thresh and max value
ret, thresh = cv2.threshold(img2gray, 218, 255, cv2.THRESH_BINARY_INV)
im2, contours, hierarchy = cv2.findContours(thresh, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_NONE)
cv2.imwrite('/home/pi/stoneScanner/data/pic/captrue/dbug/thresh.png',
thresh)
# another get Contours option
# blurred = cv2.GaussianBlur(img2gray, (11, 11), 0)
# edged = cv2.Canny(blurred, 20, 180)
# (_, contours, _) = cv2.findContours(edged.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
# find the stone (biggest area)
cnt = contours[0]
max_area = cv2.contourArea(cnt)
for cont in contours:
if cv2.contourArea(cont) > max_area:
cnt = cont
max_area = cv2.contourArea(cont)
# define stone contour approx
perimeter = cv2.arcLength(cnt, True)
epsilon = 0.00001 * cv2.arcLength(cnt, True)
approx = cv2.approxPolyDP(cnt, epsilon, True)
cv2.drawContours(canvas, cnt, -1, (255, 255, 255), -1)
cv2.drawContours(canvas, [approx], -1, (255, 255, 255), -1)
# make mask
mask_Init = np.zeros(img2gray.shape[:2], dtype=np.uint8)
cv2.drawContours(mask_Init, [approx], -1, (255, 255, 255), -1)
# erode mask
kernel2Erode = np.ones((10, 10), np.uint8)
mask_Erode = cv2.erode(mask_Init, kernel2Erode, iterations=3)
# cut the stone
(x, y, w, h) = cv2.boundingRect(cnt)
stone = crop_img[y:y + h, x:x + w]
mask_Erode = mask_Erode[y:y + h, x:x + w]
cv2.imwrite('/home/pi/stoneScanner/data/pic/captrue/dbug/mask.png',
mask_Erode)
stone = cv2.bitwise_and(stone, stone, mask=mask_Erode)
image = image_resize(stone, height=1024)
#transparent background
tmp = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
_, alpha = cv2.threshold(tmp, 0, 255, cv2.THRESH_BINARY)
b, g, r = cv2.split(image)
rgba = [b, g, r, alpha]
result = cv2.merge(rgba, 4)
cv2.imwrite(result_img + str(stoneNum).zfill(4) + '.png', result)
cv2.waitKey(0)
cv2.destroyAllWindows()
workState.put(2)
workState.task_done()
import RPi.GPIO as GPIO
from picamera import PiCamera
from time import sleep
from signal import pause
#create objects that refer to a button,
#a motion sensor and the PiCamera
button = Button(2)
pir = MotionSensor(4)
camera = PiCamera()
#start the camera
camera.rotation = 180
camera.start_preview()
#image image names
i = 0
#stop the camera when the pushbutton is pressed
def stop_camera():
camera.stop_preview()
#exit the program
exit()
#take photo when motion is detected
def take_photo():
global i
i = i + 1
camera.capture('/home/pi/Desktop/image_%s.jpg' % i)
print('A photo has been taken')
sleep(10)
import pygame
import os,sys
import requests,json
import serial
from picamera import PiCamera
import postcardkey as pc
import ctypes
import threading
import RPi.GPIO as gpio
green=16
red=20
time.sleep(5)
camera=None
try:
camera=PiCamera()#camera 사용중일경우 재부팅
except:
print('camera connect error')
ser=None
#lock=threading.Lock()
user_id="0"
site_uuid='0c9808e2-f681-4085-99f9-72c46fc312ac'
session_key='0c9808e2-f681-4085-99f9-72c46fc312ac'
card_key=''
url_='http://ec2-3-36-107-134.ap-northeast-2.compute.amazonaws.com/api/truck/check_out'
url2_='http://ec2-3-36-107-134.ap-northeast-2.compute.amazonaws.com/api/truck/check_out_postprocess'
count=0
flag=0
strings=''
def main():
print("Starting Program")
# Init camera
camera = PiCamera()
camera.resolution = (640,480)
camera.framerate = 24
rawCapture = PiRGBArray(camera, size=(640,480))
# allow camera to warmup
time.sleep(0.1)
# capture frames from camera
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
image = frame.array
cv2.imshow("Frame", image)
key = cv2.waitKey(1) & 0xFF
rawCapture.truncate(0)
if key == ord("q"):
break
print("Completed!")
return 0
