class PiRecorder:
"""
Sets up the rpi with a pirecorder folder with configuration and log files,
and initiates a recorder instance for controlled image and video recording
Parameters
----------
configfile : str, default = "pirecorder.conf"
The name of the configuration file to be used for recordings. If the
file does not exist yet, automatically a new file with default
configuration values will be created.
Returns
-------
self : class
PiRecorder class instance that can be used to set the configuration,
start a video stream to calibrate and configure the camera, to set the
shutterspeed and white balance automatically, to start recordings, and
to schedule future recordings.
"""
def __init__(self, configfile="pirecorder.conf", logging=True):
if not isrpi():
lineprint("PiRecorder only works on a raspberry pi. Exiting..")
return
self.system = "auto"
self.host = gethostname()
self.home = homedir()
self.setupdir = self.home + "pirecorder"
self.logfolder = self.setupdir + "/logs/"
if not os.path.exists(self.logfolder):
os.makedirs(self.setupdir)
os.makedirs(self.logfolder)
lineprint("Setup folder created (" + self.setupdir + ")..")
if not os.path.exists(self.logfolder):
lineprint("Setup folder exists but was not set up properly..")
if logging:
self.log = Logger(self.logfolder + "/pirecorder.log")
self.log.start()
print("")
lineprint("pirecorder " + __version__ + " started!", date=True)
lineprint("=" * 47, False)
self.brightfile = self.setupdir + "/cusbright.yml"
self.configfilerel = configfile
self.configfile = self.setupdir + "/" + configfile
self.config = LocalConfig(self.configfile, compact_form=True)
if not os.path.isfile(self.configfile):
lineprint("Config file " + configfile +
" not found, new file created..")
for section in ["rec", "cam", "cus", "img", "vid"]:
if section not in list(self.config):
self.config.add_section(section)
self.settings(recdir="pirecorder/recordings",
subdirs=False,
label="test",
rectype="img",
rotation=0,
brighttune=0,
roi=None,
gains=(1.0, 2.5),
brightness=45,
contrast=10,
saturation=0,
iso=200,
sharpness=0,
compensation=0,
shutterspeed=8000,
imgdims=(2592, 1944),
maxres=None,
viddims=(1640, 1232),
imgfps=1,
vidfps=24,
imgwait=5.0,
imgnr=12,
imgtime=60,
imgquality=50,
vidduration=10,
viddelay=10,
vidquality=11,
automode=True,
internal="",
maxviddur=3600,
maxvidsize=0)
lineprint("Config settings stored..")
else:
lineprint("Config file " + configfile + " loaded..")
lineprint("Recording " + self.config.rec.rectype + " in " +\
self.home + self.config.rec.recdir)
self._imgparams()
self._shuttertofps()
if self.config.rec.rectype == "imgseq":
if self.config.cam.shutterspeed / 1000000. >= (
self.config.img.imgwait / 5):
lineprint("imgwait is not enough for provided shutterspeed" + \
", will be overwritten..")
if self.config.rec.recdir == "NAS":
if not os.path.ismount(self.config.rec.recdir):
self.recdir = self.home
lineprint("Recdir not mounted, storing in home directory..")
self.recdir = self.home + self.config.rec.recdir
if not os.path.exists(self.recdir):
os.makedirs(self.recdir)
os.chdir(self.recdir)
def _setup_cam(self, auto=False, fps=None):
"""Sets up the raspberry pi camera based on the configuration"""
import picamera
import picamera.array
self.cam = picamera.PiCamera()
self.cam.rotation = self.config.cus.rotation
self.cam.exposure_compensation = self.config.cam.compensation
if self.config.rec.rectype in ["img", "imgseq"]:
self.cam.resolution = literal_eval(self.config.img.imgdims)
self.cam.framerate = self.config.img.imgfps
if self.config.rec.rectype in ["vid", "vidseq"]:
self.cam.resolution = picamconv(
literal_eval(self.config.vid.viddims))
self.cam.framerate = self.config.vid.vidfps
if fps != None:
self.cam.framerate = fps
if self.config.cus.roi is None:
self.cam.zoom = (0, 0, 1, 1)
self.resize = self.cam.resolution
else:
self.cam.zoom = literal_eval(self.config.cus.roi)
w = int(self.cam.resolution[0] * self.cam.zoom[2])
h = int(self.cam.resolution[1] * self.cam.zoom[3])
if self.config.rec.rectype in ["vid", "vidseq"]:
self.resize = picamconv((w, h))
else:
self.resize = (w, h)
self.longexpo = False if self.cam.framerate >= 6 else True
self.cam.exposure_mode = "auto"
self.cam.awb_mode = "auto"
lineprint("Camera warming up..")
if auto or self.config.cam.automode:
self.cam.shutter_speed = 0
sleep(2)
elif self.cam.framerate >= 6:
sleep(6) if self.cam.framerate > 1.6 else sleep(10)
else:
sleep(2)
if not auto and self.config.cam.automode == False:
self.cam.shutter_speed = self.config.cam.shutterspeed
self.cam.exposure_mode = "off"
self.cam.awb_mode = "off"
self.cam.awb_gains = eval(self.config.cus.gains)
sleep(0.1)
brightness = self.config.cam.brightness + self.config.cus.brighttune
self.cam.brightness = brightness
self.cam.contrast = self.config.cam.contrast
self.cam.saturation = self.config.cam.saturation
self.cam.iso = self.config.cam.iso
self.cam.sharpness = self.config.cam.sharpness
self.rawCapture = picamera.array.PiRGBArray(self.cam,
size=self.cam.resolution)
self.maxvidsize = self.config.vid.maxvidsize if self.config.vid.maxvidsize > 0 else 999
def _imgparams(self, mintime=0.45):
"""
Calculates minimum possible imgwait and imgnr based on imgtime. The
minimum time between subsequent images is by default set to 0.45s, the
time it takes to take an image with max resolution.
"""
self.config.img.imgwait = max(mintime, self.config.img.imgwait)
totimg = int(self.config.img.imgtime / self.config.img.imgwait)
self.config.img.imgnr = min(self.config.img.imgnr, totimg)
def _shuttertofps(self, minfps=1, maxfps=40):
"""Computes image fps based on shutterspeed within provided range"""
fps = round(1. / (self.config.cam.shutterspeed / 1000000.), 2)
self.config.img.imgfps = min(max(fps, minfps), maxfps)
def _namefile(self):
"""
Provides a filename for the media recorded. Filenames include label,
date, rpi name, and time. Images part of image sequence additionally
contain a sequence number. e.g. test_180708_pi12_S01_100410
"""
imgtypes = ["img", "imgseq"]
self.filetype = ".jpg" if self.config.rec.rectype in imgtypes else ".h264"
if self.config.rec.rectype == "imgseq":
date = strftime("%y%m%d")
counter = "im{counter:05d}" if self.config.img.imgnr > 999 else "im{counter:03d}"
time = "{timestamp:%H%M%S}"
self.filename = "_".join(
[self.config.rec.label, date, self.host, counter, time])
self.filename = self.filename + self.filetype
else:
date = strftime("%y%m%d")
self.filename = "_".join([self.config.rec.label, date, self.host
]) + "_"
if self.config.rec.subdirs:
subdir = name("_".join([self.config.rec.label, date, self.host]))
os.makedirs(subdir, exist_ok=True)
self.filename = subdir + "/" + self.filename
def autoconfig(self):
"""
Sets the shutterspeed and white balance automatically using the
framerate provided in the configuration file
"""
self._setup_cam(auto=True)
with self.rawCapture as stream:
for a in range(5):
self.cam.capture(stream, format="bgr", use_video_port=True)
image = stream.array
stream.seek(0)
stream.truncate()
self.config.cam.shutterspeed = self.cam.exposure_speed
self.config.cus.gains = tuple(
[round(float(i), 2) for i in self.cam.awb_gains])
self.config.save()
lineprint("Shutterspeed set to " + str(self.cam.exposure_speed))
lineprint("White balance gains set to " +
str(self.config.cus.gains))
stream.close()
self.rawCapture.close()
self.cam.close()
def settings(self, **kwargs):
"""
Configure the camera and recording settings
Parameters
---------------
recdir : str, default = "pirecorder/recordings"
The directory where media will be stored. Default is "recordings".
If different, a folder with name corresponding to location will be
created inside the home directory. If no name is provided (""), the
files are stored in the home directory. If "NAS" is provided it will
additionally check if the folder links to a mounted drive.
subdirs : bool, default = False
If files of individual recordings should be stored in subdirectories
or not, to keep all files of a single recording session together.
label : str, default = "test"
Label that will be associated with the specific recording and stored
in the filenames.
rectype : ["img", "imgseq", "vid", "vidseq"], default = "img"
Recording type, either a single image or video or a sequence of
images or videos.
automode : bool, default = True
If the shutterspeed and white balance should be set automatically
and dynamically for each recording.
maxres : str or tuple, default = "v2"
The maximum potential resolution of the camera used. Either provide
a tuple of the max resolution, or use "v1.5", "v2" (default), or
"hq" to get the maximum resolution associated with the official
cameras directly.
rotation : int, default = 0
Custom rotation specific to the Raspberry Pi, should be either 0 or
180.
brighttune : int, default = 0
A rpi-specific brightness compensation factor to standardize light
levels across multiple rpi"s, an integer between -10 and 10.
roi : tuple, default = None
Region of interest to be used for recording. Consists of coordinates
of top left and bottom right coordinate of a rectangular area
encompassing the region of interest. Can be set with the set_roi()
method.
gains : tuple, default = (1.0, 2.5)
Sets the blue and red gains to acquire the desired white balance.
Expects a tuple of floating values (e.g. "(1.5, 1.85)"). Can be
automatically set with the autoconfig() function and interactively
with the camconfig() function using a live video stream.
brightness : int, default = 45
Sets the brightness level of the camera. Expects an integer value
between 0 and 100. Higher values result in brighter images.
contrast : int, default = 20
Sets the contrast for the recording. Expects an integer value
between 0 and 100. Higher values result in images with higher
contrast.
saturation : int, default 0
Sets the saturation level for the recording. Expects an integer
value between -100 and 100.
iso : int, default = 200
Sets the camera ISO value. Should be one of the following values:
[100, 200, 320, 400, 500, 640, 800]. Higher values result in
brighter images but with higher gain.
sharpness : int, default = 50
Sets the sharpness of the camera. Expects an integer value between
-100 and 100. Higher values result in sharper images.
compensation : int, default = 0
Adjusts the camera’s exposure compensation level before recording.
Expects a value between -25 and 25, with each increment representing
1/6th of a stop and thereby a brighter image.
shutterspeed : int, detault = 10000
Sets the shutter speed of the camera in microseconds, i.e. a value
of 10000 would indicate a shutterspeed of 1/100th of a second. A
longer shutterspeed will result in a brighter image but more motion
blur. Important to consider is that the framerate of the camera will
be adjusted based on the shutterspeed. At low shutterspeeds (i.e.
above ~ 0.2s) the required waiting time between images increases
considerably due to the raspberry pi hardware. To control for this,
automatically a standard `imgwait` time should be chosen that is at
least 6x the shutterspeed. For example, for a shutterspeed of 300000
imgwait should be > 1.8s.
imgdims : tuple, default = (2592, 1944)
The resolution of the images to be taken in pixels. The default is
the max resolution for the v1.5 model, the v2 model has a max
resolution of 3280 x 2464 pixels, and the hq camera 4056 x 3040
pixels.
viddims : tuple, default = (1640, 1232)
The resolution of the videos to be taken in pixels. The default is
the max resolution that does not return an error for this mode.
imgfps : int, default = 1
The framerate for recording images. Will be set automatically based
on the imgwait setting so should not be set by user.
vidfps : int, default = 24
The framerate for recording video.
imgwait : float, default = 5.0
The delay between subsequent images in seconds. When a delay is
provided that is less than ~x5 the shutterspeed, the camera
processing time will take more time than the provided imgwait
parameter and so images are taken immideately one after the other.
To take a sequence of images at the exact right delay interval the
imgwait parameter should be at least 5x the shutterspeed (e.g.
shutterspeed of 400ms needs imgwait of 2s).
imgnr : int, default = 12
The number of images that should be taken. When this number is
reached, the recorder will automatically terminate.
imgtime : integer, default = 60
The time in seconds during which images should be taken. The minimum
of a) imgnr and b) nr of images based on imgwait and imgtime will be
used.
imgquality : int, default = 50
Specifies the quality that the jpeg encoder should attempt to
maintain. Use values between 1 and 100, where higher values are
higher quality.
vidduration : int, default = 10
Duration of video recording in seconds.
viddelay : int, default = 0
Extra recording time in seconds that will be added to vidduration.
Its use is to add a standard amount of time to the video that can be
easily cropped or skipped, such as for tracking, but still provides
useful information, such as behaviour during acclimation.
vidquality : int, default = 11
Specifies the quality that the h264 encoder should attempt to
maintain. Use values between 10 and 40, where 10 is extremely high
quality, and 40 is extremely low.
maxviddur : int, default = 3600
The maximum duration in seconds for single videos, beyond which
videos will be automatically split. A value of 0 indicates there is
no maximum file duration.
maxvidsize : int, default = 0
The maximum file size in Megabytes for single videos, beyond which
videos will be automatically split. A value of 0 indicates there is
no maximum file size.
"""
if "recdir" in kwargs:
self.config.rec.recdir = kwargs["recdir"]
if "subdirs" in kwargs:
self.config.rec.subdirs = kwargs["subdirs"]
if "label" in kwargs:
self.config.rec.label = kwargs["label"]
if "rectype" in kwargs:
self.config.rec.rectype = kwargs["rectype"]
if "maxres" in kwargs:
self.config.rec.maxres = kwargs["maxres"]
if isinstance(self.config.rec.maxres, tuple):
self.config.img.imgdims = self.config.rec.maxres
elif self.config.rec.maxres == "v2":
self.config.img.imgdims = (3264, 2464)
elif self.config.rec.maxres == "hq":
self.config.img.imgdims = (4056, 3040)
if "rotation" in kwargs:
self.config.cus.rotation = kwargs["rotation"]
if "brighttune" in kwargs:
self.config.cus.brighttune = kwargs["brighttune"]
if "roi" in kwargs:
self.config.cus.roi = kwargs["roi"]
if "gains" in kwargs:
self.config.cus.gains = kwargs["gains"]
if "automode" in kwargs:
self.config.cam.automode = kwargs["automode"]
if "brightness" in kwargs:
self.config.cam.brightness = kwargs["brightness"]
if "contrast" in kwargs:
self.config.cam.contrast = kwargs["contrast"]
if "saturation" in kwargs:
self.config.cam.saturation = kwargs["saturation"]
if "iso" in kwargs:
self.config.cam.iso = kwargs["iso"]
if "sharpness" in kwargs:
self.config.cam.sharpness = kwargs["sharpness"]
if "compensation" in kwargs:
self.config.cam.compensation = kwargs["compensation"]
if "shutterspeed" in kwargs:
self.config.cam.shutterspeed = kwargs["shutterspeed"]
if "imgdims" in kwargs:
self.config.img.imgdims = kwargs["imgdims"]
if "viddims" in kwargs:
self.config.vid.viddims = kwargs["viddims"]
if "imgfps" in kwargs:
self.config.img.imgfps = kwargs["imgfps"]
if "vidfps" in kwargs:
self.config.vid.vidfps = kwargs["vidfps"]
if "imgwait" in kwargs:
self.config.img.imgwait = kwargs["imgwait"]
if "imgnr" in kwargs:
self.config.img.imgnr = kwargs["imgnr"]
if "imgtime" in kwargs:
self.config.img.imgtime = kwargs["imgtime"]
if "imgquality" in kwargs:
self.config.img.imgquality = kwargs["imgquality"]
if "vidduration" in kwargs:
self.config.vid.vidduration = kwargs["vidduration"]
if "viddelay" in kwargs:
self.config.vid.viddelay = kwargs["viddelay"]
if "maxviddur" in kwargs:
self.config.vid.maxviddur = kwargs["maxviddur"]
if "maxvidsize" in kwargs:
self.config.vid.maxvidsize = kwargs["maxvidsize"]
brightchange = False
if os.path.exists(self.brightfile):
with open(self.brightfile) as f:
brighttune = yaml.load(f, Loader=yaml.FullLoader)
if brighttune != self.config.cus.brighttune:
if "internal" not in kwargs:
lineprint("cusbright.yml file found and loaded..")
self.config.cus.brighttune = brighttune
brightchange = True
if len(kwargs) > 0 or brightchange:
self._imgparams()
self._shuttertofps()
if self.config.rec.rectype == "imgseq":
if self.config.cam.shutterspeed / 1000000. >= (
self.config.img.imgwait / 5):
lineprint("imgwait is not enough for provided shutterspeed" + \
", will be overwritten..")
self.config.save()
if "internal" not in kwargs:
lineprint("Config settings stored and loaded..")
def stream(self, fps=None):
"""Shows an interactive video stream"""
lineprint("Opening stream for cam positioning and roi extraction..")
vidstream = Stream(internal=True,
rotation=self.config.cus.rotation,
maxres=self.config.rec.maxres)
if vidstream.roi:
self.settings(roi=vidstream.roi, internal="")
lineprint("Roi stored..")
else:
lineprint("No roi selected..")
def camconfig(self, fps=None, vidsize=0.4):
lineprint("Opening stream for interactive configuration..")
fps = max(self.config.vid.vidfps, 1) if fps == None else int(fps)
self._setup_cam(fps=fps)
configout = Camconfig(self.cam,
auto=self.config.cam.automode,
vidsize=vidsize)
if len(configout) > 0:
self.settings(**configout)
def schedule(self,
jobname=None,
timeplan=None,
enable=True,
showjobs=False,
delete=None,
test=False):
"""
Schedule future recordings
Parameters
----------
jobname : str, default = None
Name for the scheduled recorder task to create, modify or remove.
timeplan : string, default = None
Code string representing the time planning for the recorder to run
with current configuration set. Build on CRON, the time plan should
consist of the following parts:
* * * * *
- - - - -
| | | | |
| | | | +----- day of week (0 - 7) (sunday = 0 or 7)
| | | +---------- month (1 - 12)
| | +--------------- day of month (1 - 31)
| +-------------------- hour (0 - 23)
+------------------------- min (0 - 59)
Each of the parts supports wildcards (*), ranges (2-5), and lists
(2,5,6,11). For example, if you want to schedule a recording at
22:00, every workday of the week, enter the code '0 22 * * 1-5' If
uncertain, crontab.guru is a great website for checking your CRON
code. Note that the minimum time between subsequent scheduled
recordings is 1 minute. Smaller intervals between recordings is
possible for images with the imgseq command with the Record method.
enable : bool, default = None
If the scheduled job should be enabled or not.
showjobs : bool, default = False
If the differently timed tasks should be shown or not.
delete : [None, "job", "all"], default = None
If a specific job ('job'), all jobs ('all') or no jobs (None)
should be cleared from the scheduler.
test : bool; default = False
Determine if the timeplan is valid and how often it will run the
record command.
configfile : str, default = "pirecorder.conf"
The name of the configuration file to be used for the scheduled
recordings. Make sure the file exists, otherwise the default
configuration settings will be used.
Note: Make sure Recorder configuration timing settings are within the
timespan between subsequent scheduled recordings based on the provided
timeplan. For example, a video duration of 20 min and a scheduled
recording every 15 min between 13:00-16:00 (*/15 13-16 * * *) will fail.
This will be checked automatically.
"""
S = Schedule(jobname,
timeplan,
enable,
showjobs,
delete,
test,
logfolder=self.logfolder,
internal=True,
configfile=self.configfilerel)
def record(self):
"""
Starts a recording as configured and returns either one or multiple
.h264 or .jpg files that are named automatically according to the label,
the host name, date, time and potentially session number or count nr.
Example output files:
rectype = "img" : test_180312_pi13_101300.jpg
rectype = "vid" : test_180312_pi13_102352.h264
rectype = "imgseq" : test_180312_pi13_img00231_101750.jpg
rectype = "vidseq" : test_180312_pi13_101810_S01.h264
"""
self._setup_cam()
self._namefile()
if self.config.rec.rectype == "img":
self.filename = self.filename + strftime("%H%M%S") + self.filetype
self.cam.capture(self.filename,
format="jpeg",
resize=self.resize,
quality=self.config.img.imgquality)
lineprint("Captured " + self.filename)
elif self.config.rec.rectype == "imgseq":
starttime = datetime.now()
timepoint = starttime
for i, img in enumerate(
self.cam.capture_continuous(
self.filename,
format="jpeg",
resize=self.resize,
quality=self.config.img.imgquality)):
tottimepassed = (datetime.now() - starttime).total_seconds()
if i < self.config.img.imgnr - 1 and tottimepassed < self.config.img.imgtime:
timepassed = (datetime.now() - timepoint).total_seconds()
delay = max(0, self.config.img.imgwait - timepassed)
lineprint("Captured " + img + ", sleeping " +
str(round(delay, 2)) + "s..")
sleep(delay)
timepoint = datetime.now()
else:
lineprint("Captured " + img)
break
elif self.config.rec.rectype in ["vid", "vidseq"]:
# Temporary fix for flicker at start of (first) video
self.cam.start_recording(BytesIO(),
format="h264",
resize=self.resize,
level="4.2")
self.cam.wait_recording(2)
self.cam.stop_recording()
for session in ["_S%02d" % i for i in range(1, 999)]:
session = "" if self.config.rec.rectype == "vid" else session
filename = self.filename + strftime("%H%M%S") + session
timeremaining = self.config.vid.vidduration + self.config.vid.viddelay
counter = 0
while timeremaining > 0:
counter += 1
waittime = timeremaining
if self.config.vid.maxviddur > 0:
waittime = min(timeremaining,
self.config.vid.maxviddur)
if waittime == timeremaining and self.config.vid.maxvidsize == 0:
nr = ""
else:
nr = "_v" + str(counter).zfill(2)
finalname = filename + nr + self.filetype
video = VidOutput(finalname)
self.cam.start_recording(
video,
resize=self.resize,
quality=self.config.vid.vidquality,
level="4.2",
format=self.filetype[1:])
lineprint("Start recording " + filename)
rectime = 0
while video.size < self.maxvidsize * 1000000 and rectime < waittime:
rectime += 0.1
self.cam.wait_recording(0.1)
timeremaining -= rectime
self.cam.stop_recording()
vidinfo = " (" + str(round(rectime)) + "s; " + str(
round(video.size / 1000000, 2)) + "MB)"
lineprint("Finished recording " + finalname + vidinfo)
if self.config.rec.rectype == "vid":
break
else:
msg = "\nPress Enter for new session, or e and Enter to exit: "
if input(msg) == "e":
break
self.cam.close()
def __init__(self, configfile="pirecorder.conf", logging=True):
if not isrpi():
lineprint("PiRecorder only works on a raspberry pi. Exiting..")
return
self.system = "auto"
self.host = gethostname()
self.home = homedir()
self.setupdir = self.home + "pirecorder"
self.logfolder = self.setupdir + "/logs/"
if not os.path.exists(self.logfolder):
os.makedirs(self.setupdir)
os.makedirs(self.logfolder)
lineprint("Setup folder created (" + self.setupdir + ")..")
if not os.path.exists(self.logfolder):
lineprint("Setup folder exists but was not set up properly..")
if logging:
self.log = Logger(self.logfolder + "/pirecorder.log")
self.log.start()
print("")
lineprint("pirecorder " + __version__ + " started!", date=True)
lineprint("=" * 47, False)
self.brightfile = self.setupdir + "/cusbright.yml"
self.configfilerel = configfile
self.configfile = self.setupdir + "/" + configfile
self.config = LocalConfig(self.configfile, compact_form=True)
if not os.path.isfile(self.configfile):
lineprint("Config file " + configfile +
" not found, new file created..")
for section in ["rec", "cam", "cus", "img", "vid"]:
if section not in list(self.config):
self.config.add_section(section)
self.settings(recdir="pirecorder/recordings",
subdirs=False,
label="test",
rectype="img",
rotation=0,
brighttune=0,
roi=None,
gains=(1.0, 2.5),
brightness=45,
contrast=10,
saturation=0,
iso=200,
sharpness=0,
compensation=0,
shutterspeed=8000,
imgdims=(2592, 1944),
maxres=None,
viddims=(1640, 1232),
imgfps=1,
vidfps=24,
imgwait=5.0,
imgnr=12,
imgtime=60,
imgquality=50,
vidduration=10,
viddelay=10,
vidquality=11,
automode=True,
internal="",
maxviddur=3600,
maxvidsize=0)
lineprint("Config settings stored..")
else:
lineprint("Config file " + configfile + " loaded..")
lineprint("Recording " + self.config.rec.rectype + " in " +\
self.home + self.config.rec.recdir)
self._imgparams()
self._shuttertofps()
if self.config.rec.rectype == "imgseq":
if self.config.cam.shutterspeed / 1000000. >= (
self.config.img.imgwait / 5):
lineprint("imgwait is not enough for provided shutterspeed" + \
", will be overwritten..")
if self.config.rec.recdir == "NAS":
if not os.path.ismount(self.config.rec.recdir):
self.recdir = self.home
lineprint("Recdir not mounted, storing in home directory..")
self.recdir = self.home + self.config.rec.recdir
if not os.path.exists(self.recdir):
os.makedirs(self.recdir)
os.chdir(self.recdir)
class PiRecorder:
"""
Recorder class for setting up the rpi for controlled image & video recording
Parameters
----------
recdir : str, default = "pirecorder/recordings"
The directory where media will be stored. Default is "recordings". If
different, a folder with name corresponding to location will be created
inside the home directory. If no name is provided (""), the files are
stored in the home directory. If "NAS" is provided it will additionally
check if the folder links to a mounted drive.
label : str, default = "test"
Label for associating with the recording and stored in the filenames.
rectype : ["img", "imgseq", "vid", "vidseq"], default = "img"
Recording type, either a single image or video or a sequence of images
or videos.
Config settings
---------------
rotation : int, default = 0
Custom rotation specific to the Raspberry Pi, should be either 0 or 180.
brighttune : int, default = 0
A rpi-specific brightness compensation factor to standardize light levels
across multiple rpi's, an integer between -10 and 10.
roi : tuple, default = None
Region of interest to be used for recording. Consists of coordinates of
topleft and bottom right coordinate of a rectangular area encompassing
the region of interest. Can be set with the set_roi() method.
gains : tuple, default = (1.0, 2.5)
Custom gains specific to the Raspberry PI to set the colorspace. The
gains for an ideal white balance can be automatically set with the
get_gains() method.
brightness : int, default = 45
The brightness level of the camera, an integer value between 0 and 100.
contrast : int, default = 20
The image contrast, an integer value between 0 and 100.
saturation : int, default -100
The color saturation level of the image, an integer value between -100
and 100.
iso : int, default = 200
The camera ISO value, an integer value in sequence [200,400,800,1600].
Higher values are more light sensitive but have higher gain.
sharpness : int, default = 50
The sharpness of the camera, an integer value between -100 and 100.
compensation : int, default = 0
Camera lighting compensation. Ranges between 0 and 20. Compensation
artificially adds extra light to the image.
shutterspeed : int, detault = 10000
Shutter speed of the camera in microseconds, i.e. the default of 10000
is equivalent to 1/100th of a second. A longer shutterspeed will result
in a brighter image but more motion blur. Important: the framerate of
the camera will be adjusted based on the shutterspeed. At shutter-
speeds above ~ 0.2s this results in increasingly longer waiting times
between images so a standard imgwait time should be chosen that is 6+
times more than the shutterspeed. For example, for a shutterspeed of
300000 imgwait should be > 1.8s.
imgdims : tuple, default = (2592, 1944)
The resolution of the images to be taken in pixels. The default is the
max resolution that does not return an error for this mode for the v1.5
rpi camera. Note that rpi camera v2 has a much higher maximum resolution
of 3280 x 2464.
viddims : tuple, default = (1640,1232)
The resolution of the videos to be taken in pixels. The default is the
max resolution that does not return an error for this mode.
imgfps : int, default = 1
The framerate for recording images. Will be set automatically based on
the imgwait setting so should not be set by user.
vidfps : int, default = 24
The framerate for recording video.
imgwait : float, default = 5.0
The delay between subsequent images in seconds. When a delay is provided
that is less than ~x5 the shutterspeed, the camera processing time will
take more time than the provided imgwait parameter and so images are
taken immideately one after the other. To take a sequence of images at
the exact right delay interval the imgwait parameter should be at least
5x the shutterspeed (e.g. shutterspeed of 400ms needs imgwait of 2s).
imgnr : int, default = 12
The number of images that should be taken. When this number is reached,
the recorder will automatically terminate.
imgtime : integer, default = 60
The time in seconds during which images should be taken. The minimum of
a) imgnr and b) nr of images based on imgwait and imgtime will be
selected.
imgquality : int, default = 50
Specifies the quality that the jpeg encoder should attempt to maintain.
Use values between 1 and 100, where higher values are higher quality.
vidduration : int, default = 10
Duration of video recording in seconds.
viddelay : int, default = 0
Extra recording time in seconds that will be added to vidduration. Its
use is for filming acclimatisation time that can then easily be cropped
for tracking.
vidquality : int, default = 11
Specifies the quality that the h264 encoder should attempt to maintain.
Use values between 10 and 40, where 10 is extremely high quality, and
40 is extremely low.
Output
-------
Either one or multiple .h264 or .jpg files. All files are automatically
named according to the label, the host name, date, time and potentially
session number or count nr, e.g.
- single image: 'pilot_180312_PI13_101300.jpg
- multiple images: 'pilot_180312_PI13_img00231_101300.jpg
- video: 'pilot_180312_PI13_S01_101300.h264
Returns
-------
self : class
Recorder class instance
"""
def __init__(self, configfile="pirecorder.conf", logging=True):
lineprint("pirecorder " + __version__ + " started!")
lineprint("=" * 47, False)
self.system = "auto"
self.host = gethostname()
self.home = homedir()
self.setupdir = self.home + "pirecorder"
self.logfolder = self.setupdir + "/logs"
if not os.path.exists(self.logfolder):
os.makedirs(self.setupdir)
os.makedirs(self.logfolder)
lineprint("Setup folder created (" + self.setupdir + ")..")
if not os.path.exists(self.logfolder):
lineprint(
"Setup folder already exists but was not set up properly..")
if logging:
self.log = Logger(self.logfolder + "/pirecorder.log")
self.log.start()
self.brightfile = self.setupdir + "/cusbright.yml"
self.configfile = self.setupdir + "/" + configfile
self.config = LocalConfig(self.configfile, compact_form=True)
if not os.path.isfile(self.configfile):
lineprint("Config file not found, new file created..")
for section in ["rec", "cam", "cus", "img", "vid"]:
if section not in list(self.config):
self.config.add_section(section)
self.set_config(recdir="pirecorder/recordings",
subdirs=False,
label="test",
rectype="vid",
rotation=0,
brighttune=0,
roi=None,
gains=(1.0, 2.5),
brightness=45,
contrast=10,
saturation=-100,
iso=200,
sharpness=0,
compensation=0,
shutterspeed=8000,
imgdims=(2592, 1944),
viddims=(1640, 1232),
imgfps=1,
vidfps=24,
imgwait=5.0,
imgnr=12,
imgtime=60,
imgquality=50,
vidduration=10,
viddelay=10,
vidquality=11,
internal="")
lineprint("Config settings stored..")
else:
lineprint("Config file " + configfile + " loaded..")
lineprint("Recording " + self.config.rec.rectype + " in " +\
self.home + self.config.rec.recdir)
self._imgparams()
self._shuttertofps()
if self.config.rec.rectype == "imgseq":
if self.config.cam.shutterspeed / 1000000. <= (
self.config.img.imgwait / 5):
lineprint("imgwait is not enough for provided shutterspeed" + \
", will be overwritten..")
if self.config.rec.recdir == "NAS":
if not os.path.ismount(self.config.rec.recdir):
self.recdir = self.home
lineprint("Recdir not mounted, storing in home directory..")
self.recdir = self.home + self.config.rec.recdir
if not os.path.exists(self.recdir):
os.makedirs(self.recdir)
os.chdir(self.recdir)
def _setup_cam(self):
"""Sets up the raspberry pi camera based on configuration"""
#load picamera module in-function so pirecorder is installable on all OS
import picamera
import picamera.array
self.cam = picamera.PiCamera()
self.cam.rotation = self.config.cus.rotation
self.cam.exposure_compensation = self.config.cam.compensation
if self.config.rec.rectype in ["img", "imgseq"]:
self.cam.resolution = literal_eval(self.config.img.imgdims)
self.cam.framerate = self.config.img.imgfps
if self.config.rec.rectype in ["vid", "vidseq"]:
self.cam.resolution = literal_eval(self.config.vid.viddims)
self.cam.framerate = self.config.vid.vidfps
self.rawCapture = picamera.array.PiRGBArray(self.cam,
size=self.cam.resolution)
if self.config.cus.roi is None:
self.cam.zoom = (0, 0, 1, 1)
self.resize = self.cam.resolution
else:
self.cam.zoom = literal_eval(self.config.cus.roi)
w = int(self.cam.resolution[0] * self.cam.zoom[2])
h = int(self.cam.resolution[1] * self.cam.zoom[3])
self.resize = picamconv((w, h))
self.longexpo = False if self.cam.framerate >= 6 else True
if self.longexpo:
lineprint("Long exposure, warming up camera..")
sleep(6) if self.cam.framerate > 1.6 else sleep(10)
else:
lineprint("Camera warming up..")
sleep(2)
self.cam.shutter_speed = self.config.cam.shutterspeed
self.cam.exposure_mode = "off"
self.cam.awb_mode = "off"
self.cam.awb_gains = checkfrac(self.config.cus.gains)
brightness = self.config.cam.brightness + self.config.cus.brighttune
self.cam.brightness = brightness
self.cam.contrast = self.config.cam.contrast
self.cam.saturation = self.config.cam.saturation
self.cam.iso = self.config.cam.iso
self.cam.sharpness = self.config.cam.sharpness
def _imgparams(self, mintime=0.45):
"""
Calculates minimum possible imgwait and imgnr based on imgtime. The
minimum time between subsequent images is by default set to 0.45s, the
time it takes to take an image with max resolution.
"""
self.config.img.imgwait = max(mintime, self.config.img.imgwait)
totimg = int(self.config.img.imgtime / self.config.img.imgwait)
self.config.img.imgnr = min(self.config.img.imgnr, totimg)
def _shuttertofps(self, minfps=1, maxfps=40):
"""Computes image fps based on shutterspeed within provided range"""
fps = 1. / (self.config.cam.shutterspeed / 1000000.)
fps = max(fps, minfps)
self.config.img.imgfps = min(fps, maxfps)
def _namefile(self):
"""
Provides a filename for the media recorded. Filenames include label,
date, rpi name, and time. Images part of image sequence additionally
contain a sequence number. e.g. test_180708_pi12_S01_100410
"""
imgtypes = ["img", "imgseq"]
self.filetype = ".jpg" if self.config.rec.rectype in imgtypes else ".h264"
if self.config.rec.rectype == "imgseq":
date = strftime("%y%m%d")
counter = "im{counter:05d}" if self.config.img.imgnr > 999 else "im{counter:03d}"
time = "{timestamp:%H%M%S}"
self.filename = "_".join(
[self.config.rec.label, date, self.host, counter, time])
self.filename = self.filename + self.filetype
else:
date = strftime("%y%m%d")
self.filename = "_".join([self.config.rec.label, date, self.host
]) + "_"
if self.config.rec.subdirs:
subdir = name("_".join([self.config.rec.label, date, self.host]))
os.makedirs(subdir, exist_ok=True)
self.filename = subdir + "/" + self.filename
def set_config(self, **kwargs):
""" Dynamically sets the configuration file """
if "recdir" in kwargs:
self.config.rec.recdir = kwargs["recdir"]
if "subdirs" in kwargs:
self.config.rec.subdirs = kwargs["subdirs"]
if "label" in kwargs:
self.config.rec.label = kwargs["label"]
if "rectype" in kwargs:
self.config.rec.rectype = kwargs["rectype"]
if "rotation" in kwargs:
self.config.cus.rotation = kwargs["rotation"]
if "brighttune" in kwargs:
self.config.cus.brighttune = kwargs["brighttune"]
if "roi" in kwargs:
self.config.cus.roi = kwargs["roi"]
if "gains" in kwargs:
self.config.cus.gains = kwargs["gains"]
if "brightness" in kwargs:
self.config.cam.brightness = kwargs["brightness"]
if "contrast" in kwargs:
self.config.cam.contrast = kwargs["contrast"]
if "saturation" in kwargs:
self.config.cam.saturation = kwargs["saturation"]
if "iso" in kwargs:
self.config.cam.iso = kwargs["iso"]
if "sharpness" in kwargs:
self.config.cam.sharpness = kwargs["sharpness"]
if "compensation" in kwargs:
self.config.cam.compensation = kwargs["compensation"]
if "shutterspeed" in kwargs:
self.config.cam.shutterspeed = kwargs["shutterspeed"]
if "imgdims" in kwargs:
self.config.img.imgdims = kwargs["imgdims"]
if "viddims" in kwargs:
self.config.vid.viddims = kwargs["viddims"]
if "imgfps" in kwargs:
self.config.img.imgfps = kwargs["imgfps"]
if "vidfps" in kwargs:
self.config.vid.vidfps = kwargs["vidfps"]
if "imgwait" in kwargs:
self.config.img.imgwait = kwargs["imgwait"]
if "imgnr" in kwargs:
self.config.img.imgnr = kwargs["imgnr"]
if "imgtime" in kwargs:
self.config.img.imgtime = kwargs["imgtime"]
if "imgquality" in kwargs:
self.config.img.imgquality = kwargs["imgquality"]
if "vidduration" in kwargs:
self.config.vid.vidduration = kwargs["vidduration"]
if "viddelay" in kwargs:
self.config.vid.viddelay = kwargs["viddelay"]
if "vidquality" in kwargs:
self.config.vid.vidquality = kwargs["vidquality"]
brightchange = False
if os.path.exists(self.brightfile):
with open(self.brightfile) as f:
brighttune = yaml.load(f, Loader=yaml.FullLoader)
if brighttune != self.config.cus.brighttune:
self.config.cus.brighttune = brighttune
brightchange = True
if len(kwargs) > 0 or brightchange:
self._imgparams()
self._shuttertofps()
self.config.save()
if "internal" not in kwargs:
lineprint("Config settings stored and loaded..")
def set_roi(self):
"""
Dynamically draw a region of interest
Explanation
===========
This function will open a video stream of the raspberry pi camera. Enter
'd' to start drawing the region of interest on an image taken from the
video stream. When happy with the region selected, press 's' to store
the coordinates, or 'esc' key to exit drawing on the image. To exist the
video stream enter 'esc' key again.
"""
C = Calibrate(internal=True, rotation=self.config.cus.rotation)
if C.roi:
self.set_config(roi=C.roi, internal="")
lineprint("Roi stored..")
else:
lineprint("No roi selected..")
def set_gains(self, auto=True):
"""Find the best gains for the raspberry pi camera"""
if self.config.cus.roi == None:
zoom = (0, 0, 1, 1)
else:
zoom = literal_eval(self.config.cus.roi)
(rg, bg) = setgains(startgains=checkfrac(self.config.cus.gains),
zoom=zoom,
auto=auto)
self.set_config(gains="(%5.2f, %5.2f)" % (rg, bg), internal="")
lineprint("Gains: " + "(R:%5.2f, B:%5.2f)" % (rg, bg) + " stored..")
def schedule(self,
jobname=None,
timeplan=None,
enable=True,
showjobs=False,
clear=None,
test=False):
S = Schedule(jobname,
timeplan,
enable,
showjobs,
clear,
test,
logfolder=self.logfolder,
internal=True)
def record(self):
"""Runs the Recorder instance"""
self._setup_cam()
self._namefile()
if self.config.rec.rectype == "img":
self.filename = self.filename + strftime("%H%M%S") + self.filetype
self.cam.capture(self.filename,
format="jpeg",
resize=self.resize,
quality=self.config.img.imgquality)
lineprint("Captured " + self.filename)
elif self.config.rec.rectype == "imgseq":
timepoint = datetime.now()
for i, img in enumerate(
self.cam.capture_continuous(
self.filename,
format="jpeg",
resize=self.resize,
quality=self.config.img.imgquality)):
if i < self.config.img.imgnr - 1:
timepassed = (datetime.now() - timepoint).total_seconds()
delay = max(0, self.config.img.imgwait - timepassed)
lineprint("Captured " + img + ", sleeping " +
str(round(delay, 2)) + "s..")
sleep(delay)
timepoint = datetime.now()
else:
lineprint("Captured " + img)
break
elif self.config.rec.rectype in ["vid", "vidseq"]:
# Temporary fix for flicker at start of (first) video..
self.cam.start_recording(BytesIO(),
format="h264",
resize=self.resize)
self.cam.wait_recording(2)
self.cam.stop_recording()
for session in ["_S%02d" % i for i in range(1, 999)]:
session = "" if self.config.rec.rectype == "vid" else session
filename = self.filename + strftime(
"%H%M%S") + session + self.filetype
self.cam.start_recording(filename,
resize=self.resize,
quality=self.config.vid.vidquality)
lineprint("Start recording " + filename)
self.cam.wait_recording(self.config.vid.vidduration +
self.config.vid.viddelay)
self.cam.stop_recording()
lineprint("Finished recording " + filename)
if self.config.rec.rectype == "vid":
break
else:
if input("\nAny key for new session, e to exit: ") == "e":
break
self.cam.close()