def grabanimage():
camera_port = 0
ramp_frames = 40
camera = cv2.VideoCapture(camera_port)
################## original (access camera thru cv2) ##########################
# def get_image():
# retval, im = camera.read()
# return im
#
# for i in xrange(ramp_frames):
# temp = get_image()
# print("Taking image...")
## Take the actual image we want to keep
# camera_capture = get_image()
# file = "USBtemp.png"
## A nice feature of the imwrite method is that it will automatically choose the
## correct format based on the file extension you provide. Convenient!
# cv2.imwrite(file, camera_capture)
############# reading from IDS camera (added 6/1/19 by Abner) #################
def get_image(w, h):
im = ueye.get_data(mem_ptr, w, h, bitspixel, lineinc, copy=True)
return im
# init camera
hcam = ueye.HIDS(0)
initTrigger = ueye.is_InitCamera(hcam, None)
# load camera parameters
memory = ueye.int(128)
# cameraSettingFile = ueye.wchar_p('/media/pi/USB30FD/Frostad Research Group/Biofilm Project/Code/FINAL_Biofilm Project.ini')
ret = ueye.is_ParameterSet(hcam, ueye.IS_PARAMETERSET_CMD_LOAD_FILE,
cameraSettingFile, memory)
# set color mode
ret = ueye.is_SetColorMode(hcam, ueye.IS_CM_BGR8_PACKED)
# set width and height -- FIND FUNCTION TO OUTPUT IMAGE RESOLUTION
width = 2560
height = 1920
# allocate memory
mem_ptr = ueye.c_mem_p()
mem_id = ueye.int()
bitspixel = 24 # for colormode = IS_CM_BGR8_PACKED
ret = ueye.is_AllocImageMem(hcam, width, height, bitspixel, mem_ptr,
mem_id)
# set active memory region
ret = ueye.is_SetImageMem(hcam, mem_ptr, mem_id)
# continuous capture to memory
ret = ueye.is_CaptureVideo(hcam, ueye.IS_DONT_WAIT)
# get data from camera and display
lineinc = width * int((bitspixel + 7) / 8)
for i in xrange(ramp_frames):
temp = get_image(width, height)
print("Taking image...")
# Take the actual image we want to keep
camera_capture = get_image(width, height)
file = "USBtemp.png"
def param_from_json(cam):
"""
Set parameters from config.json file
Parameter
=========
cam: Cam
IDS camera
"""
with open(
'/home/pi/swim4all/Tirocinio/Tirocinio/config.json') as json_file:
data = json.load(json_file)
for j in data['config']:
cam.rectAOI.s32Width = ueye.int(j['width'])
cam.rectAOI.s32Height = ueye.int(j['height'])
cam.rectAOI.s32X = ueye.int(j['x'])
cam.rectAOI.s32Y = ueye.int(j['y'])
cam.exposure = j['exp']
cam.pixelclock = j['pixclock']
cam.current_fps = j['fps']
cam.gain = j['gain']
cam.rGain = j['rGain']
cam.bGain = j['bGain']
cam.gGain = j['gGain']
cam.mode_filename = j['directory_structure']
cam.m_nColorMode = j['color_mode']
def init_cam(hcam):
# get fps
# hcam_fps = is_GetFramesPerSecond(hcam, None)
# set color mode
ueye.is_SetColorMode(hcam, ueye.IS_CM_BGR8_PACKED)
# set region of interest
rect_aoi = ueye.IS_RECT()
rect_aoi.s32X = ueye.int(0)
rect_aoi.s32Y = ueye.int(0)
rect_aoi.s32Width = ueye.int(width)
rect_aoi.s32Height = ueye.int(height)
ueye.is_AOI(hcam, ueye.IS_AOI_IMAGE_SET_AOI, rect_aoi,
ueye.sizeof(rect_aoi))
# allocate memory
mem_ptr = ueye.c_mem_p()
mem_id = ueye.int()
ueye.is_AllocImageMem(hcam, width, height, bitspixel, mem_ptr, mem_id)
ueye.is_SetImageMem(hcam, mem_ptr, mem_id)
# continuous capture to memory
ueye.is_CaptureVideo(hcam, ueye.IS_DONT_WAIT)
return mem_ptr
def set_aoi(self, x, y, width, height):
rect_aoi = ueye.IS_RECT()
rect_aoi.s32X = ueye.int(x)
rect_aoi.s32Y = ueye.int(y)
rect_aoi.s32Width = ueye.int(width)
rect_aoi.s32Height = ueye.int(height)
return ueye.is_AOI(self.h_cam, ueye.IS_AOI_IMAGE_SET_AOI, rect_aoi, ueye.sizeof(rect_aoi))
def set_aoi(self, x, y, width, height):
rect_aoi = ueye.IS_RECT()
rect_aoi.s32X = ueye.int(x)
rect_aoi.s32Y = ueye.int(y)
rect_aoi.s32Width = ueye.int(width)
rect_aoi.s32Height = ueye.int(height)
# --- --- #
hasWorked = ueye.is_AOI(
self.cam, ueye.IS_AOI_IMAGE_SET_AOI, rect_aoi,
ueye.sizeof(rect_aoi)) # set and return the success of AOI change
#print('SET AOI: ', hasWorked )
return hasWorked
def Camera_Initialization(self):
self.hcam = ueye.HIDS(0)
self.ret = ueye.is_InitCamera(self.hcam, None)
self.ret = ueye.is_SetColorMode(self.hcam, ueye.IS_CM_MONO12)
self.IDS_FPS = float(50)
self.newrate = ueye.DOUBLE(self.IDS_FPS)
self.rate = ueye.DOUBLE(self.IDS_FPS)
self.IDS_exposure = float(20)
self.width = 2056
self.height = 1542
self.rect_aoi = ueye.IS_RECT()
self.rect_aoi.s32X = ueye.int(0)
self.rect_aoi.s32Y = ueye.int(0)
self.rect_aoi.s32Width = ueye.int(self.width)
self.rect_aoi.s32Height = ueye.int(self.height)
ueye.is_AOI(self.hcam, ueye.IS_AOI_IMAGE_SET_AOI, self.rect_aoi,
ueye.sizeof(self.rect_aoi))
self.mem_ptr = ueye.c_mem_p()
self.mem_id = ueye.int()
self.bitspixel = 16
self.ret = ueye.is_AllocImageMem(self.hcam, self.width, self.height,
self.bitspixel, self.mem_ptr,
self.mem_id)
self.ret = ueye.is_SetImageMem(self.hcam, self.mem_ptr, self.mem_id)
self.ret = ueye.is_CaptureVideo(self.hcam, ueye.IS_DONT_WAIT)
#self.lineinc = self.width * int((self.bitspixel + 7) / 8)
self.lineinc = self.width * int(self.bitspixel / 8)
self.nRet = ueye.is_SetFrameRate(self.hcam, self.rate, self.newrate)
self.expms = ueye.DOUBLE(self.IDS_exposure)
self.nRet = ueye.is_Exposure(self.hcam,
ueye.IS_EXPOSURE_CMD_SET_EXPOSURE,
self.expms, ueye.sizeof(self.expms))
self.pixelclock = ueye.c_uint(197)
self.nRet = ueye.is_PixelClock(self.hcam, ueye.IS_PIXELCLOCK_CMD_SET,
self.pixelclock, 4)
#pixelclock = ueye.c_uint()
#ueye.is_PixelClock(hcam, ueye.IS_PIXELCLOCK_CMD_GET, pixelclock, 4)
self.nRet = ueye.is_SetHardwareGain(self.hcam, 100,
ueye.IS_IGNORE_PARAMETER,
ueye.IS_IGNORE_PARAMETER,
ueye.IS_IGNORE_PARAMETER)
#gg = ueye.c_uint()
#ueye.is_SetHWGainFactor(hcam, ueye.IS_GET_MASTER_GAIN_FACTOR, gg)
self.nRet = ueye.is_SetHardwareGamma(self.hcam,
ueye.IS_SET_HW_GAMMA_ON)
def init_cam(hcam):
# get fps
# hcam_fps = is_GetFramesPerSecond(hcam, None)
# set color mode
ueye.is_SetColorMode(hcam, ueye.IS_CM_BGR8_PACKED)
# set region of interest
rect_aoi = ueye.IS_RECT()
rect_aoi.s32X = ueye.int(0)
rect_aoi.s32Y = ueye.int(0)
rect_aoi.s32Width = ueye.int(width)
rect_aoi.s32Height = ueye.int(height)
ueye.is_AOI(hcam, ueye.IS_AOI_IMAGE_SET_AOI, rect_aoi, ueye.sizeof(rect_aoi))
#
# # set parameters, see ids doc for parameter setting flow chart
# ueye.is_PixelClock(hcam, ueye.IS_PIXELCLOCK_CMD_GET, exp, ueye.sizeof(pclock))
# pclock = ueye.int(220)
# ueye.is_PixelClock(hcam, ueye.IS_PIXELCLOCK_CMD_GET, pclock, ueye.sizeof(pclock))
#
# expo_rng = ueye.is_Exposure(hcam, IS_EXPOSURE_CMD_GET_CAPS, ncap, size(ncap))
# ftime_rng = ueye.is_GetFrameTimeRange()
# expo_rng = (expo_rng[0], max(expo_rng[1], ftime_rng[1]))
#
# fps_actual = ueye.cdouble()
# ueye.is_SetFrameRate(hcam, ueye.cdouble(fps_set), byref(fps_actual))
#
# exp_cap = ueye.uint32()
# ueye.is_Exposure(hcam, ueye.IS_EXPOSURE_GET_EXPOSURE_RANGE, ueye.byref(exp_cap), ueye.sizeof(exp_cap))
# exp_cur = ueye.cdouble() # in s
# ueye.is_Exposure(hcam, ueye.IS_EXPOSURE_SET_EXPOSURE, ueye.byref(exp_cur), ueye.sizeof(exp_cur))
# ueye.is_SetGainBoost()
# ueye.is_Gamma()
# ueye.is_SetHWGainFactor()
#
# allocate memory
mem_ptr = ueye.c_mem_p()
mem_id = ueye.int()
ueye.is_AllocImageMem(hcam, width, height, bitspixel, mem_ptr, mem_id)
ueye.is_SetImageMem(hcam, mem_ptr, mem_id)
# continuous capture to memory
ueye.is_CaptureVideo(hcam, ueye.IS_DONT_WAIT)
return mem_ptr
def __init__(self, h_cam, img_buff):
self.x = ueye.int()
self.y = ueye.int()
self.bits = ueye.int()
self.pitch = ueye.int()
self.img_buff = img_buff
rect_aoi = ueye.IS_RECT()
check(ueye.is_AOI(h_cam,
ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi, ueye.sizeof(rect_aoi)))
self.width = rect_aoi.s32Width.value
self.height = rect_aoi.s32Height.value
check(ueye.is_InquireImageMem(h_cam,
self.img_buff.mem_ptr,
self.img_buff.mem_id, self.x, self.y, self.bits, self.pitch))
def Set_Values(cam, exposure, gain, blacklevel, automode):
"""sets the exposure time and gain of the camera"""
exposure = ueye.double(exposure)
expo = ueye.double()
gain = ueye.int(gain)
# sets the exposure time and gain with the values
# or sets them automatically
if automode is False:
ueye.is_SetHardwareGain(cam, gain, ueye.IS_IGNORE_PARAMETER,
ueye.IS_IGNORE_PARAMETER,
ueye.IS_IGNORE_PARAMETER)
ueye.is_Exposure(cam, ueye.IS_EXPOSURE_CMD_SET_EXPOSURE, exposure,
ueye.ueye.sizeof(exposure))
expo = exposure
ueye.is_Blacklevel(cam, ueye.IS_BLACKLEVEL_CMD_SET_OFFSET, blacklevel)
elif automode is True:
pval1 = ueye.double(1)
pval2 = ueye.double(0)
ueye.is_SetAutoParameter(cam, ueye.IS_SET_ENABLE_AUTO_GAIN, pval1,
pval2)
pval1 = ueye.double(1)
pval2 = ueye.double(0)
ueye.is_SetAutoParameter(cam, ueye.IS_SET_ENABLE_AUTO_SHUTTER, pval1,
pval2)
return Get_Values(cam.value, expo.value)
def __init__(self, camID, buffer_count=3):
# Variables
self.cam = ueye.HIDS(camID)
self.sInfo = ueye.SENSORINFO()
self.cInfo = ueye.CAMINFO()
self.pcImageMemory = ueye.c_mem_p()
self.MemID = ueye.int()
self.rectAOI = ueye.IS_RECT()
self.pitch = ueye.INT()
self.nBitsPerPixel = ueye.INT(8)
self.channels = 3
self.m_nColorMode = ueye.IS_CM_SENSOR_RAW8
self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
self.buffer_count = buffer_count
self.img_buffer = []
self.mode_filename = 0
self.pixelclock = 0
self.exposure = 0
self.width = 0
self.height = 0
self.nRet = 0
self.camID = camID
self.current_fps = 0
self.FPS = 0
self.gain = 0
self.rGain = 0
self.bGain = 0
self.gGain = 0
def __init__(self):
# Variabeln für Kameraverarbeitung
self.h_cam = ueye.HIDS(0)
self.pitch = ueye.INT()
self.ColorMode = ueye.IS_CM_BGRA8_PACKED
self.nBitsPerPixel = ueye.INT(32)
self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
self.pitch = ueye.INT()
self.pcImageMemory = ueye.c_mem_p()
self.rectAOI = ueye.IS_RECT()
self.MemID = ueye.int()
self.width = None
self.height = None
self.size_of_square = 3.6 # Zentimeter
self.nx = 8
self.ny = 6
self.n_im = 0
self.gray = None
self.objectpoints = None
self.imagepoints = None
self.camera_matrix = None
self.dist_coeff = None
self.mean_error = 0
# Pfad zum Speichern der Bilder angeben
self.path = os.path.dirname(os.path.abspath(sys.argv[0])) + "/images/"
def __init__(self):
self.hCam = ueye.HIDS(
1
) # 0: first available camera; 1-254: The camera with the specified camera ID
self.sInfo = ueye.SENSORINFO()
self.cInfo = ueye.CAMINFO()
self.pcImageMemory = ueye.c_mem_p()
self.MemID = ueye.int()
self.rectAOI = ueye.IS_RECT()
self.pitch = ueye.INT()
self.nBitsPerPixel = ueye.INT(
24
) # 24: bits per pixel for color mode; take 8 bits per pixel for monochrome
self.channels = 3 # 3: channels for color mode(RGB); take 1 channel for monochrome
self.m_nColorMode = ueye.INT() # Y8/RGB16/RGB24/REG32
self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
self.f_length = (652.7396, 653.3803) # FocalLength
self.p_center = (321.8104, 259.7124) # PrincipalPoint
self.intrinsic = np.array(
[[self.f_length[0], 0, self.p_center[0]],
[0, self.f_length[1], self.p_center[1]], [0, 0, 1]],
dtype=np.float)
self.offset = [0, 0, 50] #milimeter
# ---------------------------------------------------------------------------------------------------------------------------------------
print("In hand camera initilized")
def __init__(self):
self.cam = ueye.HIDS(0)
self.cam_info = ueye.CAMINFO()
self.sensor_info = ueye.SENSORINFO()
self.image_memory = ueye.c_mem_p()
self.memory_id = ueye.int()
self.rect_aoi = ueye.IS_RECT()
self.bits_per_pixel = ueye.INT(24)
self.bytes_per_pixel = int(self.bits_per_pixel / 8)
self.pitch = ueye.INT()
self.color_mode = ueye.INT()
self.width = 0
self.height = 0
self.status = 'IDLE'
self.data = []
self.lock = Lock()
self.pipe = 0
self.offset_x = 2
self.offset_y = 2
self.__init_camera()
self.__get_camera_info()
self.__get_sensor_info()
#self.__default()
self.__display_mode()
self.__get_color_mode()
self.__get_dimensions()
self.__memory_allocation()
self.__set_color_mode()
self.__set_events()
self.__mandatory_shit()
print("Color mode {}".format(self.color_mode))
print("Bits per pixel {}".format(self.bits_per_pixel))
print("Bytes per pixel {}".format(self.bytes_per_pixel))
def __init__(self, parent=None):
self.converted_memory_pointer = ueye.c_mem_p()
self.converted_memory_id = ueye.int()
self.img_data = ImageData()
self.capturing = False
self.hCam = 0
self.init()
ueye.is_SetColorMode(self.hCam, ueye.IS_CM_RGB8_PACKED)
self.alloc(self.hCam)
self.qt_image = None
ueye.is_CaptureVideo(self.hCam, Wait=True)
QWidget.__init__(self, parent, flags=Qt.Widget)
self.graphics_scene = QGraphicsScene()
self.graphics_view = QGraphicsView(self.graphics_scene)
self.graphics_view.setViewportUpdateMode(
QGraphicsView.FullViewportUpdate)
self.start_stop_button = QPushButton("start/stop")
self.event = ueye.HANDLE(int())
self.frame_event_id = ueye.IS_SET_EVENT_FRAME
self.image_data_copy = None
self.pil_image = None
self.pix_map = None
self.width = 0
self.height = 0
self.threads = []
layout = QVBoxLayout()
layout.addWidget(self.start_stop_button, alignment=Qt.AlignTop)
layout.addWidget(self.graphics_view)
self.setLayout(layout)
self.start_stop_button.clicked.connect(self.switch_capturing)
def set_aoi(self, x, y, width, height):
"""
Set the area of interest.
Parameters
==========
x, y, width, height: integers
Position and size of the area of interest.
"""
rect_aoi = ueye.IS_RECT()
rect_aoi.s32X = ueye.int(x)
rect_aoi.s32Y = ueye.int(y)
rect_aoi.s32Width = ueye.int(width)
rect_aoi.s32Height = ueye.int(height)
return ueye.is_AOI(self.h_cam, ueye.IS_AOI_IMAGE_SET_AOI, rect_aoi,
ueye.sizeof(rect_aoi))
def Init_Cam(width=640, heigth=480, gain_boost=1):
"""inits the uEye camera"""
# inits next available cam
cam = ueye.HIDS(0)
ueye.is_InitCamera(cam, None)
ueye.is_EnableAutoExit(cam, ueye.IS_ENABLE_AUTO_EXIT)
# sets the Colourmode of the camera
ueye.is_SetColorMode(cam, ueye.IS_CM_SENSOR_RAW8)
# sets the trigger
ret = ueye.is_SetExternalTrigger(cam, ueye.IS_SET_TRIGGER_SOFTWARE)
mode = ueye.int(0)
# sets the blacklevel
ueye.is_Blacklevel(cam, ueye.IS_BLACKLEVEL_CMD_SET_MODE, mode,
ueye.sizeof(mode))
# sets the size of the image
rectAOI = ueye.IS_RECT()
rectAOI.s32X = 44
rectAOI.s32Y = 0
rectAOI.s32Width = 480
rectAOI.s32Height = 480
ueye.is_AOI(cam, ueye.IS_AOI_IMAGE_SET_AOI, rectAOI, ueye.sizeof(rectAOI))
# allocates memory with given size
width = ueye.int(width)
heigth = ueye.int(heigth)
bitspixel = ueye.int(8)
pcImgMem = ueye.c_mem_p()
pid = ueye.int()
ueye.is_AllocImageMem(cam, 480, heigth, bitspixel, pcImgMem, pid)
# sets the image memory as active
ueye.is_SetImageMem(cam, pcImgMem, pid)
# activates video mode
ueye.is_CaptureVideo(cam, ueye.IS_DONT_WAIT)
# sets gain boost mode
if gain_boost == 1:
ueye.is_SetGainBoost(cam, ueye.IS_SET_GAINBOOST_ON)
else:
ueye.is_SetGainBoost(cam, ueye.IS_SET_GAINBOOST_OFF)
return cam, ret, pcImgMem, pid
def __init__(self):
# Variabeln für Kameraverarbeitung
self.h_cam = ueye.HIDS(0)
self.pitch = ueye.INT()
self.ColorMode = ueye.IS_CM_BGRA8_PACKED
self.nBitsPerPixel = ueye.INT(32)
self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
self.pitch = ueye.INT()
self.pcImageMemory = ueye.c_mem_p()
self.rectAOI = ueye.IS_RECT()
self.MemID = ueye.int()
self.width = None
self.height = None
self.dst = None
self.path_images = os.path.dirname(os.path.abspath(
sys.argv[0])) + "/images/"
# laden der intrinsischen Kalibriermatrix
self.load_calibration_config()
# Variabeln zur Farberkennung
self.found_container = False
self.contours_rectangle = []
blue_lower = [50, 0, 0]
blue_upper = [255, 75, 75]
self.boundaries = [(blue_lower, blue_upper)]
self.cX = None
self.cY = None
self.cX_container = None
self.cY_container = None
# Variablen zur Positionsbestimmung
self.container_world_position = []
self.ball_position = []
self.container_position = []
self.qr_centres = []
self.world_points = []
self.qr_codes = None
self.image_points_of_qr_codes = None
self.localization_qr_codes = []
self.world_localization_qr_codes = []
self.increment = 0.25
self.results = 0
# Wahl des Ansatzes
self.method = 0
while self.method <= 0 or self.method >= 4:
try:
self.method = eval(
input(
"Mit welchem Ansatz sollen die Positionen ermittelt werden?\n (1) GPS-Ansatz\n "
"(2) Vergleichsansattz\n (3) Berechnen der Weltkoordinaten\n"
))
except NameError:
self.method = 0
except SyntaxError:
self.method = 0
except TypeError:
self.method = 0
def _throw_if_err(hcam, err):
if err != ueye.IS_SUCCESS:
ueye_err = ueye.int(err)
txt = ueye.c_char_p()
ret = ueye.is_GetError(hcam, ueye_err, txt)
msg = str(
txt.value) if ret == ueye.IS_SUCCESS else 'camera not availible'
raise _IdsException(msg)
def __init__(self):
self.hcam = ueye.HIDS(0)
self.membuf = ueye.c_mem_p()
self.memid = ueye.int()
self.pitch = -1
self.framerate = -1
self.imgwidth = None
self.imgheight = None
def getImageData(self):
# --- set AOI --- #
rect_aoi = ueye.IS_RECT()
hasWorked = ueye.is_AOI(self.cam, ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi,
ueye.sizeof(rect_aoi))
self.check(hasWorked, 'getImageData')
# --- --- #
x = ueye.int()
y = ueye.int()
bits = ueye.int()
pitch = ueye.int()
self.frame_width = rect_aoi.s32Width.value
self.frame_height = rect_aoi.s32Height.value
hasWorked = ueye.is_InquireImageMem(self.cam, self.img_buffer.mem_ptr,
self.img_buffer.mem_id, x, y, bits,
pitch)
self.check(hasWorked, 'getImageData')
self.imgdata = ueye.get_data(self.img_buffer.mem_ptr, self.frame_width,
self.frame_height, bits, pitch, True)
def __init__(self):
super(CamDialog, self).__init__()
loadUi('cam.ui', self)
self.image=None
self.roi_color=None
self.startButton.clicked.connect(self.start_webcam)
self.stopButton.clicked.connect(self.stop_webcam)
# self.detectButton.setCheckable(True)
# self.detectButton.toggled.connect(self.detect_webcam_face)
self.face_Enabled=False
self.faceCascade=cv2.CascadeClassifier('haarcascade_frontalface_default.xml')
self.hCam = ueye.HIDS(0) # 0: first available camera; 1-254: The camera with the specified camera ID
self.sInfo = ueye.SENSORINFO()
self.cInfo = ueye.CAMINFO()
self.pcImageMemory = ueye.c_mem_p()
self.MemID = ueye.int()
self.rectAOI = ueye.IS_RECT()
self.pitch = ueye.INT()
self.nBitsPerPixel = ueye.INT(24) # 24: bits per pixel for color mode; take 8 bits per pixel for monochrome
self.channels = 3 # 3: channels for color mode(RGB); take 1 channel for monochrome
self.m_nColorMode = ueye.INT() # Y8/RGB16/RGB24/REG32
self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
self.nRet = ueye.is_InitCamera(self.hCam, None)
self.nRet = ueye.is_GetCameraInfo(self.hCam, self.cInfo)
self.nRet = ueye.is_GetSensorInfo(self.hCam, self.sInfo)
self.nRet = ueye.is_ResetToDefault(self.hCam)
self.nRet = ueye.is_SetDisplayMode(self.hCam, ueye.IS_SET_DM_DIB)
ueye.is_GetColorDepth(self.hCam, self.nBitsPerPixel, self.m_nColorMode)
self.nRet = ueye.is_AOI(self.hCam, ueye.IS_AOI_IMAGE_GET_AOI, self.rectAOI, ueye.sizeof(self.rectAOI))
self.width = self.rectAOI.s32Width
self.height = self.rectAOI.s32Height
self.nRet = ueye.is_AllocImageMem(self.hCam, self.width, self.height, self.nBitsPerPixel, self.pcImageMemory, self.MemID)
self.nRet = ueye.is_SetImageMem(self.hCam, self.pcImageMemory, self.MemID)
self.nRet = ueye.is_SetColorMode(self.hCam, self.m_nColorMode)
self.nRet = ueye.is_CaptureVideo(self.hCam, ueye.IS_DONT_WAIT)
self.nRet = ueye.is_InquireImageMem(self.hCam, self.pcImageMemory, self.MemID, self.width, self.height, self.nBitsPerPixel, self.pitch)
self.xp=[]
self.yp=[]
self.lxp=[]
self.lyp = []
self.rxp = []
self.ryp = []
self.sx = 200
self.sy = 150
self.endx = 600
self.endy = 450
# self.avgx = 0
# self.avgy = 0
self.holeflag = 0
self.lflag = 0
self.rflag = 0
def Get_Values(cam, exposure):
"""gets the current exposure time and gain of the camera"""
exposure = ueye.double(exposure)
gain = ueye.int()
ueye.is_Exposure(cam, ueye.IS_EXPOSURE_CMD_GET_EXPOSURE, exposure,
ueye.sizeof(exposure))
gain = ueye.is_SetHardwareGain(cam, ueye.IS_GET_MASTER_GAIN,
ueye.IS_IGNORE_PARAMETER,
ueye.IS_IGNORE_PARAMETER,
ueye.IS_IGNORE_PARAMETER)
return exposure.value, gain
def __init__(self, cam, img_buffer):
self.x = ueye.int()
self.y = ueye.int()
self.bits = ueye.int()
self.pitch = ueye.int()
self.img_buff = img_buffer
rect_aoi = ueye.IS_RECT()
nRet = ueye.is_AOI(cam, ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi,
ueye.sizeof(rect_aoi))
if nRet != ueye.IS_SUCCESS:
error_log(nRet, "is_Aoi")
self.width = rect_aoi.s32Width.value
self.height = rect_aoi.s32Height.value
nRet = ueye.is_InquireImageMem(cam, self.img_buff.mem_ptr,
self.img_buff.mem_id, self.x, self.y,
self.bits, self.pitch)
if nRet != ueye.IS_SUCCESS:
error_log(nRet, "is_InquireImageMem")
class cam:
camID = 0
vc = None
mem_ptr = ueye.c_mem_p()
mem_id = ueye.int()
mem_size = (0,0)
def __init__(self, _camID):
self.camID=_camID
self.vc = ueye.HIDS(_camID)
if not (ueye.is_InitCamera(self.vc, None)==0):
raise ValueError('Failed to open camera')
#reserve memory
self.mem_size = self.getMaxSize()
ueye.is_AllocImageMem(self.vc, self.mem_size[0], self.mem_size[1],24,self.mem_ptr, self.mem_id)
#set active memory region
ueye.is_SetImageMem(self.vc, self.mem_ptr, self.mem_id)
#continuous capture to memory
ueye.is_CaptureVideo(self.vc, ueye.IS_DONT_WAIT)
def setSize(self,_size):
#TODO
#test size:
if self.getSize() != _size:
raise ValueError('Failed to set camera size')
def getSize(self):
_h,_w = self.getFrame().shape[0:2]
return (_w,_h)
def getMaxSize(self):
sensorinfo = ueye.SENSORINFO()
ueye.is_GetSensorInfo(self.vc, sensorinfo)
return (sensorinfo.nMaxWidth.value,sensorinfo.nMaxHeight.value)
def getID(self):
return self.camID
def getFrame(self):
lineinc = self.mem_size[0] * int((24 + 7) / 8)
frame = ueye.get_data(self.mem_ptr, self.mem_size[0], self.mem_size[1], 24, lineinc, copy=True)
frame = np.reshape(frame, (self.mem_size[1],self.mem_size[0], 3))
return frame
def close(self):
ueye.is_StopLiveVideo(self.vc, ueye.IS_FORCE_VIDEO_STOP)
ueye.is_ExitCamera(self.vc)
def __init__(self, cam_ID = 0):
# Several parameters are unused, but may be needed in the future
self.hCam = ueye.HIDS(cam_ID)
self.sInfo = ueye.SENSORINFO()
self.cInfo = ueye.CAMINFO()
self.pcImageMemory = ueye.c_mem_p()
self.MemID = ueye.int()
self.rectAOI = ueye.IS_RECT()
self.pitch = ueye.INT()
self.nBitsPerPixel = ueye.INT(32) # 32 bits for color camera
self.channels = 3 # 3: channels for color mode(RGB); take 1 channel for monochrome
self.m_nColorMode = ueye.IS_CM_BGRA8_PACKED # RGB32
self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
def __init__(self):
# Variabeln für Kameraverarbeitung
self.h_cam = ueye.HIDS(0)
self.pitch = ueye.INT()
self.ColorMode = ueye.IS_CM_BGRA8_PACKED
self.nBitsPerPixel = ueye.INT(32)
self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
self.pitch = ueye.INT()
self.pcImageMemory = ueye.c_mem_p()
self.rectAOI = ueye.IS_RECT()
self.MemID = ueye.int()
self.width = None
self.height = None
self.dst = None
self.path_images = os.path.dirname(os.path.abspath(
sys.argv[0])) + "/images/"
# laden der intrinsischen Kalibriermatrix
self.load_calibration_config()
# Variabeln zur Farberkennung
blue_lower = [50, 0, 0]
blue_upper = [255, 75, 75]
red_lower = [0, 0, 100]
red_upper = [50, 50, 255]
green_lower = [0, 75, 50]
green_upper = [50, 255, 150]
self.blue_boundaries = [(blue_lower, blue_upper)]
self.red_boundaries = [(red_lower, red_upper)]
self.green_boundaries = [(green_lower, green_upper)]
# Variablen zur Positionsbestimmung
self.found_blue_container = False
self.found_red_container = False
self.found_green_container = False
self.qr_centres = []
self.world_points = []
self.localization_qr_codes = []
self.world_localization_qr_codes = []
self.results = 0
# Farbbereiche
self.blue = Color(self.blue_boundaries, "blue")
self.red = Color(
self.red_boundaries,
"red",
)
self.green = Color(self.green_boundaries, "green")
def __init__(self, camID):
super().__init__()
# Define the variables that will be used to retrieve the properties
# of the camera (generic dictionnaries from ueye)
# -----------------------------------------------
self.hcam = ueye.HIDS(
camID
) # 0 for the first available camera - 1-254 when we already have a specified ID
self.sensor_info = ueye.SENSORINFO()
self.cam_info = ueye.CAMINFO()
self.rectAOI = ueye.IS_RECT()
self.pcImageMemory = ueye.c_mem_p()
self.MemID = ueye.int()
self.pitch = ueye.INT()
def __init__(self, graphic=None, mainf=None):
"""
Constructor.
"""
self.camera = False
self.graphic = graphic
self.mainf = mainf
self.detected_devices = {}
self.hid = ueye.HIDS()
self.sinfo = ueye.SENSORINFO()
self.hwnd = ueye.HWND()
self.width = None
self.height = None
self.psize = None
self.bitspixel = ueye.INT(24)
self.bytesppixel = int(self.bitspixel/8)
self.ppcImgMem = ueye.c_mem_p()
self.MemID = ueye.int()
self.colorm = ueye.INT()
self.pitch = ueye.INT()
self.rect = ueye.IS_RECT()
self.maxExp = ueye.double()
self.minExp = ueye.double()
self.Exp = ueye.double()
self.nRet = None
try:
self.hid = ueye.HIDS()
self.sinfo = ueye.SENSORINFO()
self.hwnd = ueye.HWND()
self.width = ueye.INT()
self.height = ueye.INT()
self.psize = None
self.bitspixel = ueye.INT(24)
self.ppcImgMem = ueye.c_mem_p()
self.pid = ueye.INT()
self.MemID = ueye.INT()
self.colorm = ueye.INT()
self.pitch = ueye.INT()
self.rect = ueye.IS_RECT()
except:
return
def alloc(self, h_cam):
rect_aoi = ueye.IS_RECT()
memory_id = ueye.int()
memory_pointer = ueye.c_mem_p()
bits_per_pixel = 8
ueye.is_AOI(h_cam, ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi,
ueye.sizeof(rect_aoi))
ueye.is_AllocImageMem(h_cam, rect_aoi.s32Width, rect_aoi.s32Height,
bits_per_pixel, memory_pointer, memory_id)
ueye.is_SetImageMem(h_cam, memory_pointer, memory_id)
self.img_data.memory_pointer = memory_pointer
self.img_data.memory_id = memory_id
self.img_data.width = rect_aoi.s32Width
self.img_data.height = rect_aoi.s32Height
self.img_data.bits_per_pixel = bits_per_pixel
ueye.is_AllocImageMem(h_cam, rect_aoi.s32Width, rect_aoi.s32Height, 24,
self.converted_memory_pointer,
self.converted_memory_id)
def __init__(self):
rospy.init_node("coordinates_publisher")
self.coordinates_pub = rospy.Publisher("/coordinates",
Coordinates,
queue_size=1)
self.coordinates_msg = Coordinates()
self.h_cam = ueye.HIDS(0)
self.pitch = ueye.INT()
self.ColorMode = ueye.IS_CM_BGRA8_PACKED
self.nBitsPerPixel = ueye.INT(32)
self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
self.pitch = ueye.INT()
self.pcImageMemory = ueye.c_mem_p()
self.rectAOI = ueye.IS_RECT()
self.MemID = ueye.int()
self.width = None
self.height = None
self.dst = None
self.load_calibration_config()
self.found_container = False
self.contours_rectangle = []
blue_lower = [51, 0, 0]
blue_upper = [255, 62, 62]
self.boundaries = [(blue_lower, blue_upper)]
self.cX = None
self.cY = None
self.cX_container = None
self.cY_container = None
self.container_world_position = []
self.ball_position = []
self.container_position = []
self.qr_centres = []
self.world_points = []
self.qr_codes = None
self.image_points_of_qr_codes = None
self.localization_qr_codes = []
self.world_localization_qr_codes = []
self.increment = 0.25
