def main():
# get arguments
args = arg_options()
# set path to panorama.cfg
path_cfg = args.config
if(not path_cfg):
path_cfg = 'panorama.cfg'
# get values from 'path_cfg'
config = configparser.ConfigParser()
try:
config.read(path_cfg)
test = config['camera']['vertical_angle']
except:
stderr.write("\n ERROR: Can´t open file: %s !\n exit \n" % path_cfg)
exit()
# set new values
if(args.angle):
config['camera']['vertical_angle'] = str(args.angle[0])
config['camera']['horizontal_angle'] = str(args.angle[1])
if(args.directory):
config['output']['directory'] = args.directory
# save new values in 'panorama.cfg' if not permitted
if(not args.tmp):
try:
with open(path_cfg, "w") as configfile:
config.write(configfile)
except:
stderr.write("\n ERROR: Can´t open file %s !\n exit \n" % path_cfg)
exit()
angle_h = float(config['camera']['horizontal_angle'])
angle_v = float(config['camera']['vertical_angle'])
dir_output = config['output']['directory']
# Get Interfaces / Ports to VariSphear
port_top = config['varisphear']['serialport_top']
port_base = config['varisphear']['serialport_base']
calc = PanoramaCalculator()
variSphear = VariSphear(port_top, port_base)
if(args.info):
calc.show_info()
calc.show_statistic(angle_v, angle_h, dir_output)
# Mapping of angles to Motorpositions
li_motorTop = variSphear.map_motor_top(angle_v)
li_motorBase = variSphear.map_motor_base(angle_h)
# Taking the Pictures
if(not args.noPicture):
variSphear.taking_pictures(
li_motorTop, li_motorBase, dir_output, path_cfg)
def main():
# get arguments
args = arg_options()
# set path to panorama.cfg
path_cfg = args.config
if (not path_cfg):
path_cfg = 'panorama.cfg'
# get values from 'path_cfg'
config = configparser.ConfigParser()
try:
config.read(path_cfg)
test = config['camera']['vertical_angle']
except:
stderr.write("\n ERROR: Can´t open file: %s !\n exit \n" % path_cfg)
exit()
# set new values
if (args.angle):
config['camera']['vertical_angle'] = str(args.angle[0])
config['camera']['horizontal_angle'] = str(args.angle[1])
if (args.directory):
config['output']['directory'] = args.directory
# save new values in 'panorama.cfg' if not permitted
if (not args.tmp):
try:
with open(path_cfg, "w") as configfile:
config.write(configfile)
except:
stderr.write("\n ERROR: Can´t open file %s !\n exit \n" % path_cfg)
exit()
angle_h = float(config['camera']['horizontal_angle'])
angle_v = float(config['camera']['vertical_angle'])
dir_output = config['output']['directory']
# Get Interfaces / Ports to VariSphear
port_top = config['varisphear']['serialport_top']
port_base = config['varisphear']['serialport_base']
calc = PanoramaCalculator()
variSphear = VariSphear(port_top, port_base)
if (args.info):
calc.show_info()
calc.show_statistic(angle_v, angle_h, dir_output)
# Mapping of angles to Motorpositions
li_motorTop = variSphear.map_motor_top(angle_v)
li_motorBase = variSphear.map_motor_base(angle_h)
# Taking the Pictures
if (not args.noPicture):
variSphear.taking_pictures(li_motorTop, li_motorBase, dir_output,
path_cfg)
def __init__(self, port_top, port_base):
self.calc = PanoramaCalculator()
self.port_top = port_top
self.port_base = port_base
class VariSphear:
''' Offers functions for taking picture
with the VariSphear '''
def __init__(self, port_top, port_base):
self.calc = PanoramaCalculator()
self.port_top = port_top
self.port_base = port_base
def map_motor_top(self, angle_v):
'''Creates a List containing the motorposition
for each vertical stage.'''
# Number of vertical Stages
NumStages = int(self.calc.calc_num_stages(angle_v))
# create List for vertical motorpositions
li_motorTop = []
'''# "NumStages*motor_step" should be 180°.
In the Specialcase that 180%angle_v==0 ,
motor_step and angle_v are equal.
Otherwise we have rounded up in Fkt "calcNumStages(..)"
and there will be a overlap between adjacent pictures.'''
motor_step = round(180.0 / NumStages, 2)
# Start with the top stage and consider symmetry of aperture angle
max_Vposition = 90
start = max_Vposition - motor_step * 0.5
for stage in range(NumStages):
# Positions between 90° and -90°
position = float(start) - float(motor_step) * float(stage)
li_motorTop.append(round(position, 2))
'''# We want to shift the overlap towards MotorPosition 0°
because this will increase the benefit of the overlap.
1/2 Overlap per Picture ( symmetric ):'''
HalfOverlapPicture = 0.5 * (angle_v - (180 / NumStages))
for index, position in enumerate(li_motorTop):
if (position > 0):
li_motorTop[index] = position - HalfOverlapPicture
elif (position < 0):
li_motorTop[index] = position + HalfOverlapPicture
#print("\n Motor Positions Vertikal" + str(li_motorTop))
return li_motorTop
def map_motor_base(self, angle_h):
''' Creates a List containing the motorposition
for each horizontal step/picture .'''
# start Position is at 0°
start = 0
# Number of Steps per Rotation
RotationSteps = int(self.calc.calc_steps_rotation(angle_h))
'''# "RotationSteps*motor_step" should be 360° (just one Rotation).
In the Specialcase that 360%angle_h==0 ,
motor_step and angle_h are equal.
Otherwise we have rounded up in Fkt "calcStepsRotation(..)"
and there will be a overlap between adjacent pictures.'''
motor_step = round(360.0 / RotationSteps, 2)
# create List for horizontal motorpositions
li_motorBase = []
for step in range(RotationSteps):
# Positions between 0° and 360°
position = start + motor_step * float(step)
li_motorBase.append(round(position, 2))
#print("\n Motor Positions Horizontal" + str(li_motorBase))
return li_motorBase
def taking_pictures(self, li_motorTop, li_motorBase, dir_output, path_cfg):
# Drive to all motorposition in li_motorTop and li_motorBase.
# Init motor
try:
# "top" indicate the motor,
# which is responsible for the vertical rotation
top = schunk.Module(
schunk.SerialConnection(0x0B,
serial.Serial,
port=self.port_top,
baudrate=9600,
timeout=None))
if (not top.toggle_impulse_message()):
top.toggle_impulse_message()
except:
stderr.write('''\nERROR @takingPicture by
connecting to top schunkModul''')
exit()
try:
# "base" indicate the motor,
# which is responsible for the horizontal rotation
base = schunk.Module(
schunk.SerialConnection(0x0B,
serial.Serial,
port=self.port_base,
baudrate=9600,
timeout=None))
if (not base.toggle_impulse_message()):
base.toggle_impulse_message()
except:
stderr.write('''\nERROR @takingPicture
by connecting to base schunkModul''')
exit()
li_prefix = list(map(chr, range(97, 123)))
for index_h, pos_h in enumerate(li_motorBase):
base.move_pos_blocking(pos_h)
for index_v, pos_v in enumerate(li_motorTop):
top.move_pos_blocking(pos_v)
prefix = li_prefix[index_v]
filename = dir_output + '/' + \
prefix + "_" + str(index_h) + ".jpg"
# take a picture on each step
self.trigger_cam(filename, 5)
print("\n" + filename)
def trigger_cam(self, filename, wait):
# Triggers the Cam using the cmd-tool of gphoto2 and download+save the
# picture in 'filename'
print("\n click")
cmd = "gphoto2 --capture-image-and-download --keep --force-overwrite --filename " + \
filename + " "
# subprocess call
# subprocess Popen
print(cmd)
try:
subprocess.check_call([
"gphoto2", "--capture-image-and-download", "--keep",
"--force-overwrite", "--filename", filename
])
except SystemError as error:
raise RuntimeError(
''' Orignal Error : ''' + str(error) +
'''\n \nMake sure that gphoto2 is correct installed.''')
