def capture_image(cam, gripper_height):
camera_height = gripper_height + 70 # Camera is placed 70mm above gripper
# TODO: Find a curve that correlates distance from subject and focus value
if camera_height > 300:
nRet = ueye.is_Focus(cam.handle(), ueye.FOC_CMD_SET_MANUAL_FOCUS,
config.focus_overview,
ueye.sizeof(config.focus_overview))
else:
nRet = ueye.is_Focus(cam.handle(), ueye.FOC_CMD_SET_MANUAL_FOCUS,
config.focus_closeup,
ueye.sizeof(config.focus_closeup))
#nRet = ueye.is_Focus(cam.handle(), ueye.FOC_CMD_SET_ENABLE_AUTOFOCUS_ONCE, None, 0)
# autofocus_status = ueye.INT(0)
# ueye.is_Focus(cam.handle(), ueye.FOC_CMD_GET_AUTOFOCUS_STATUS, autofocus_status, ueye.sizeof(autofocus_status))
img_buffer = ImageBuffer() # Create image buffer
#ueye.is_Focus(cam.handle(), ueye.FOC_CMD_SET_ENABLE_AUTOFOCUS_ONCE, None, 0)
time.sleep(0.5)
# cam.freeze_video(True) # Freeze video captures a single image
nRet = ueye.is_WaitForNextImage(cam.handle(), 1000, img_buffer.mem_ptr,
img_buffer.mem_id)
img_data = ImageData(cam.handle(), img_buffer)
array = img_data.as_1d_image()
img_data.unlock()
return array
def run(self):
while self.running:
img_buffer = ImageBuffer()
ret = ueye.is_WaitForNextImage(self.cam.handle(), self.timeout,
img_buffer.mem_ptr,
img_buffer.mem_id)
if ret == ueye.IS_SUCCESS:
self.notify(ImageData(self.cam.handle(), img_buffer))
cv2.waitKey(100)
time.sleep(0.01)
def showVideo(cam):
nRet = ueye.is_CaptureVideo(cam.handle(), ueye.IS_DONT_WAIT)
img_buffer = ImageBuffer()
img_data = ImageData(cam.handle(), img_buffer)
while True:
nRet = ueye.is_WaitForNextImage(cam.handle(), 1000, img_buffer.mem_ptr,
img_buffer.mem_id)
array = img_data.as_1d_image()
#scanned_img = QR_Scanner_visualized(array)
cv2.imshow("hei", array)
img_data.unlock()
if cv2.waitKey(10) & 0xFF == ord('q'):
break
def __init__(self,
camhand=1,
AOIwidth=1280,
AOIheight=1024,
buffer_count=100):
self.camhandle = camhand
self.cam = Camera(self.camhandle)
self.cam.init()
self.cam.set_colormode(ueye.IS_CM_BGR8_PACKED)
# ret = self.cam.set_exposure(30.0)
#ret = cam.set_LUT()
# ret = self.cam.set_aoi(0, 0, AOIwidth, AOIheight)
self.cam.alloc(buffer_count)
ret = self.cam.capture_video(True) # start to capture;
self.img_buffer = ImageBuffer()
self.DATA = ImageData(self.camhandle, self.img_buffer)
def alloc(self, buffer_count=3):
rect = self.get_aoi()
bpp = get_bits_per_pixel(self.get_colormode())
for buff in self.img_buffers:
check(ueye.is_FreeImageMem(self.h_cam, buff.mem_ptr, buff.mem_id))
for i in range(buffer_count):
buff = ImageBuffer()
ueye.is_AllocImageMem(self.h_cam, rect.width, rect.height, bpp,
buff.mem_ptr, buff.mem_id)
check(ueye.is_AddToSequence(self.h_cam, buff.mem_ptr, buff.mem_id))
self.img_buffers.append(buff)
ueye.is_InitImageQueue(self.h_cam, 0)
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(1)
cam.init()
cam.set_colormode(ueye.IS_CM_BGR8_PACKED)
#ret = cam.set_exposure(30.0)
#ret = cam.set_LUT()
#
width, height = cam.get_size()
x = 0
y = 0
ret = cam.set_aoi(x, y, width, height)
cam.alloc(buffer_count=100)
ret = cam.capture_video(True) # start to capture;
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter('_output.avi', fourcc, 20.0, (width, height))
# a thread that waits for new images and processes all connected views
#thread = FrameThread(cam)
#thread.start()
running = True
img_buffer = ImageBuffer()
DATA = ImageData(cam.handle(), img_buffer)
while (ret == 0) and running:
#img_buffer = ImageBuffer()
ret = ueye.is_WaitForNextImage(cam.handle(), 1000, img_buffer.mem_ptr,
img_buffer.mem_id)
#print(img_buffer.mem_id)
if ret == ueye.IS_SUCCESS:
#DATA = ImageData(cam.handle(), img_buffer)
DATA.getdata(img_buffer)
#print(DATA.array.shape)
image = DATA.as_1d_image()
DATA.unlock()
# make a gray image
#imag = cv2.cvtColor(image, cv2.COLOR_BGR)
cv2.imshow("Simple_black", image)
out.write(image)
if cv2.waitKey(1) == 27:
break
#cv2.Mat(ImageData.array)
# cleanup
#app.exit_connect(thread.stop)
#app.exec_()
#thread.stop()
#thread.join()
cam.stop_video()
cam.exit()
cv2.destroyAllWindows()
out.release()