def captureImage_thread(self):
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(self.handle)
if rtn_val != 0:
print("Error beginning capture, rtn_val = ", rtn_val)
self.running = False
return
else:
print("Capture began, rtn_val = ", rtn_val)
while self.running:
if self.loading:
rtn_val = ArducamSDK.Py_ArduCam_captureImage(self.handle)
if rtn_val > 255:
# print("Error capture image, rtn_val = ",rtn_val)
if rtn_val == ArducamSDK.USB_CAMERA_USB_TASK_ERROR:
break
else:
print("restarting camera...")
# time.sleep(1)
ArducamSDK.Py_ArduCam_endCaptureImage(self.handle)
self.camera_initFromFile(self.fileName, self.expconf)
ArducamSDK.Py_ArduCam_beginCaptureImage(self.handle)
self.loading = True
self.running = False
ArducamSDK.Py_ArduCam_endCaptureImage(self.handle)
def captureImage_thread():
global handle, running, ct_lock, count1
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print "Error beginning capture, rtn_val = ", rtn_val
running = False
return
else:
print "Capture began, rtn_val = ", rtn_val
while (running and (not rospy.is_shutdown())):
#print "capture"
if count1 == 0:
if ct_lock.acquire(False):
print "capture image", count1
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
count1 = count1 + 1
if rtn_val != 0:
print "Error capture image, rtn_val = ", rtn_val
break
else:
time.sleep(0.005)
ct_lock.release()
else:
time.sleep(0.005)
else:
time.sleep(0.005)
running = False
ArducamSDK.Py_ArduCam_endCaptureImage(handle)
def rosShutdown():
global handle
ArducamSDK.Py_ArduCam_endCaptureImage(handle)
rtn_val = ArducamSDK.Py_ArduCam_close(handle)
if rtn_val == 0:
print "device close success!"
else:
print "device close fail!"
def stop(self):
self.logger.info("Stopping arducam")
self.running = False
ArducamSDK.Py_ArduCam_del(self.handle)
ArducamSDK.Py_ArduCam_flush(self.handle)
ArducamSDK.Py_ArduCam_endCaptureImage(self.handle)
ArducamSDK.Py_ArduCam_close(self.handle)
self.images.clear()
self.logger.info("Arducam stopped")
def captureImage_thread():
global handle,running
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print "Error beginning capture, rtn_val = ",rtn_val
running = False
return
else:
print "Capture began, rtn_val = ",rtn_val
while running:
#print "capture"
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
if rtn_val != 0:
print "Error capture image, rtn_val = ",rtn_val
break
time.sleep(0.005)
running = False
ArducamSDK.Py_ArduCam_endCaptureImage(handle)
def captureImage_thread():
global handle, running
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print("Error beginning capture, rtn_val = ", rtn_val)
running = False
return
else:
print("Capture began, rtn_val = ", rtn_val)
while running:
#print "capture"
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
if rtn_val > 255:
print("Error capture image, rtn_val = ", rtn_val)
if rtn_val == ArducamSDK.USB_CAMERA_USB_TASK_ERROR:
break
time.sleep(0.005)
running = False
ArducamSDK.Py_ArduCam_endCaptureImage(handle)
def captureImage_thread():
global handle, running
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print("Failed to begin capture, return value: %s." % (rtn_val))
running = False
return
else:
print("Capture began: %s." % (rtn_val))
while running:
# print "capture"
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
if rtn_val > 255:
print("Error while capturing image: %s." % (rtn_val))
if rtn_val == ArducamSDK.USB_CAMERA_USB_TASK_ERROR:
break
time.sleep(0.005)
running = False
ArducamSDK.Py_ArduCam_endCaptureImage(handle)
def captureImage_thread():
global handle, running
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print "Error beginning capture, rtn_val = ", rtn_val
running = False
return
else:
print "Capture began, rtn_val = ", rtn_val
while (running and (not rospy.is_shutdown())):
#print "capture"
time0 = time.time()
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
time1 = time.time()
print str(time1 - time0)
if rtn_val != 0:
print "Error capture image, rtn_val = ", rtn_val
break
time.sleep(0.005)
running = False
ArducamSDK.Py_ArduCam_endCaptureImage(handle)