def main():
# we need a QApplication, that runs our QT Gui Framework
app = PyuEyeQtApp()
# a basic qt window
view = PyuEyeQtView()
view.show()
view.user_callback = process_image
# camera class to simplify uEye API access
cam = Camera()
cam.init()
cam.set_colormode(ueye.IS_CM_MONO8)
print('Color Mode:', cam.get_colormode())
# print(ueye.IS_CM_BGR8_PACKED)
cam.set_aoi(0, 0, 1280, 4)
aoi = cam.get_aoi()
print('AOI:', aoi.x, aoi.y, aoi.width, aoi.height)
print('Framerate Range:', cam.get_FrameTimeRange()[0], cam.get_FrameTimeRange()[1],cam.get_FrameTimeRange()[2])
# cam.set_fps(10)
cam.set_fps(1/cam.get_FrameTimeRange()[0])
cam.set_exposure(0.1)
print('Exposure Time:', cam.get_exposure())
# print(cam.get_colordepth()[0], cam.get_colordepth()[1])
cam.alloc()
cam.capture_video()
#a thread that waits for new images and processes all connected views
thread = FrameThread(cam, view)
# thread.setDaemon(True)
thread.start()
# cleanup
app.exit_connect(thread.stop)
app.exec_()
print('Frame Rate:', cam.get_fps())
thread.stop()
thread.join()
cam.stop_video()
cam.exit()
class uEyePprzlink:
def __init__(self, verbose=False, output_dir='images'):
self.new_msg = False
self.idx = 0
self.last_msg = None
self.verbose = verbose
self.calib = None
self.output_dir_orig = path.join(output_dir, 'orig')
self.output_dir_undist = path.join(output_dir, 'undist')
if not path.exists(self.output_dir_orig):
makedirs(self.output_dir_orig)
if not path.exists(self.output_dir_undist):
makedirs(self.output_dir_undist)
# camera class to simplify uEye API access
self.verbose_print("Start uEye interface")
self.cam = Camera()
try:
self.cam.init()
except uEyeException:
self.verbose_print("Camera init failed")
self.cam = None
return
check(
ueye.is_SetExternalTrigger(self.cam.handle(),
ueye.IS_SET_TRIGGER_SOFTWARE))
self.cam.set_colormode(ueye.IS_CM_BGR8_PACKED)
self.cam.set_aoi(0, 0, 2048, 2048)
# pixel clock
self.verbose_print("Pixel clock")
self.cam.get_pixel_clock_range(self.verbose)
self.cam.set_pixel_clock(20)
self.cam.get_pixel_clock(self.verbose)
# set expo
self.verbose_print("Expo")
self.cam.get_exposure_range(self.verbose)
self.cam.set_exposure(1.)
self.cam.get_exposure(self.verbose)
self.verbose_print("Init done")
self.buff = self.cam.alloc_single()
check(ueye.is_SetDisplayMode(self.cam.handle(), ueye.IS_SET_DM_DIB))
self.verbose_print("Alloc done")
def stop(self):
if self.cam is not None:
self.cam.free_single(self.buff)
self.verbose_print("Free mem done")
self.cam.exit()
self.verbose_print("leaving")
def set_calib(self, conf_file):
with open(conf_file, 'r') as f:
conf = json.load(f)
self.verbose_print(json.dumps(conf))
K = np.array(conf['K'])
D = np.array(conf['D'])
dim = tuple(conf['dim'])
map1, map2 = cv2.fisheye.initUndistortRectifyMap(
K, D, np.eye(3), K, dim, cv2.CV_16SC2)
self.calib = (map1, map2)
self.verbose_print("Calib set")
def verbose_print(self, text):
if self.verbose:
print(text)
def process_msg(self, ac_id, msg):
self.new_msg = True
self.idx = int(msg['photo_nr'])
self.last_msg = msg
def set_gps_exif(self, file_name, lat, lon, alt):
"""Adds GPS position as EXIF metadata
file_name -- image file
lat -- latitude (1e7 deg, as int)
lon -- longitude (1e7 deg, as int)
alt -- altitude MSL (in mm, as int)
"""
def get_loc(value, loc):
if value < 0:
return loc[0]
elif value > 0:
return loc[1]
else:
return ""
try:
exiv_lat = (make_fraction(abs(lat), 10000000), make_fraction(0, 1),
make_fraction(0, 1))
exiv_lng = (make_fraction(abs(lon), 10000000), make_fraction(0, 1),
make_fraction(0, 1))
if alt > 0.:
exiv_alt = make_fraction(alt, 1000)
else:
exiv_alt = make_fraction(0, 1)
exiv_image = pyexiv2.ImageMetadata(file_name)
exiv_image.read()
exiv_image["Exif.GPSInfo.GPSLatitude"] = exiv_lat
exiv_image["Exif.GPSInfo.GPSLatitudeRef"] = get_loc(
lat, ["S", "N"])
exiv_image["Exif.GPSInfo.GPSLongitude"] = exiv_lng
exiv_image["Exif.GPSInfo.GPSLongitudeRef"] = get_loc(
lon, ["W", "E"])
exiv_image["Exif.GPSInfo.GPSAltitude"] = exiv_alt
exiv_image["Exif.GPSInfo.GPSAltitudeRef"] = '0'
exiv_image["Exif.Image.GPSTag"] = 654
exiv_image["Exif.GPSInfo.GPSMapDatum"] = "WGS-84"
exiv_image["Exif.GPSInfo.GPSVersionID"] = '2 0 0 0'
exiv_image.write()
self.verbose_print("writing exif done")
except:
self.verbose_print("writing exif failed")
pass
def process_image(self, image_data, file_type='jpg'):
# reshape the image data as 1dimensional array
image = image_data.as_1d_image()
lat = int(self.last_msg['lat'])
lon = int(self.last_msg['lon'])
alt = int(self.last_msg['hmsl'])
phi = int(self.last_msg['phi'])
theta = int(self.last_msg['theta'])
psi = int(self.last_msg['psi'])
time = int(self.last_msg['itow'])
image_name = "img_{:04d}_{:d}_{:d}_{:d}_{:d}_{:d}_{:d}_{:d}.jpg".format(
self.idx, lat, lon, alt, phi, theta, psi, time)
image_name_full = path.join(self.output_dir_orig, image_name)
cv2.imwrite(image_name_full, image)
# also set GPS pos in exif metadata
self.set_gps_exif(image_name_full, lat, lon, alt)
self.verbose_print("save image: {}".format(image_name_full))
if self.calib is not None:
map1, map2 = self.calib
undist_img = cv2.remap(image,
map1,
map2,
interpolation=cv2.INTER_LINEAR,
borderMode=cv2.BORDER_CONSTANT)
undist_name_full = path.join(self.output_dir_undist,
"undist_{}".format(image_name))
cv2.imwrite(undist_name_full, undist_img)
self.set_gps_exif(undist_name_full, lat, lon, alt)
self.verbose_print("save undist: {}".format(undist_name_full))