def get_base_time():
'''we need to get a baseline time from the camera. To do that we trigger
in single shot mode until we get a good image, and use the time we
triggered as the base time'''
state = mpstate.camera_state
frame_time = None
error_count = 0
print('Opening camera')
h = chameleon.open(state.colour, state.depth, state.capture_brightness)
print('Getting camare base_time')
while frame_time is None:
try:
im = numpy.zeros((600,800),dtype='uint8' if state.depth==8 else 'uint16')
base_time = time.time()
chameleon.trigger(h, False)
frame_time, frame_counter, shutter = chameleon.capture(h, 1000, im)
base_time -= frame_time
except chameleon.error:
print('failed to capture')
error_count += 1
if error_count > 3:
error_count = 0
print('re-opening camera')
chameleon.close(h)
h = chameleon.open(state.colour, state.depth, state.capture_brightness)
print('base_time=%f' % base_time)
return h, base_time, frame_time
def capture_thread():
'''camera capture thread'''
state = mpstate.camera_state
t1 = time.time()
last_frame_counter = 0
h = None
last_gamma = 0
raw_dir = os.path.join(state.camera_dir, "raw")
cuav_util.mkdir_p(raw_dir)
if mpstate.continue_mode:
mode = 'a'
else:
mode = 'w'
gammalog = open(os.path.join(state.camera_dir, "gamma.log"), mode=mode)
while not mpstate.camera_state.unload.wait(0.02):
if not state.running:
if h is not None:
chameleon.close(h)
h = None
continue
try:
if h is None:
h, base_time, last_frame_time = get_base_time()
# put into continuous mode
chameleon.trigger(h, True)
capture_time = time.time()
if state.depth == 16:
im = numpy.zeros((600,800,3),dtype='uint16')
else:
im = numpy.zeros((600,800,3),dtype='uint8')
#im = numpy.zeros((600,800),dtype='uint16')
if last_gamma != state.gamma:
chameleon.set_gamma(h, state.gamma)
last_gamma = state.gamma
frame_time, frame_counter, shutter = chameleon.capture(h, 1000, im)
#cv.SaveImage("/home/root/opencv/blob/captures/downsampled.jpg",cv.fromarray(im))
#cv.cvSaveImage("/tmp/test.jpg",im)
if frame_time < last_frame_time:
base_time += 128
if last_frame_counter != 0:
state.frame_loss += frame_counter - (last_frame_counter+1)
gammalog.write('%f %f %f %s %u %u\n' % (frame_time,
frame_time+base_time,
capture_time,
cuav_util.frame_time(frame_time+base_time),
frame_counter,
state.gamma))
gammalog.flush()
state.save_queue.put((base_time+frame_time,im))
state.scan_queue.put((base_time+frame_time,im))
state.capture_count += 1
state.fps = 1.0/(frame_time - last_frame_time)
last_frame_time = frame_time
last_frame_counter = frame_counter
#except chameleon.error, msg:
except Exception, msg:
state.error_count += 1
state.error_msg = msg