def video():
global flag, regArr, handle
regNum = 0
res, handle = ArducamSDK.Py_ArduCam_autoopen(cfg)
if res == 0:
openFlag = True
print "device open success!"
while (regArr[regNum][0] != 0xFFFF):
ArducamSDK.Py_ArduCam_writeSensorReg(handle, regArr[regNum][0],
regArr[regNum][1])
regNum = regNum + 1
res = ArducamSDK.Py_ArduCam_beginCapture(handle)
if res == 0:
print "transfer task create success!"
while flag:
res = ArducamSDK.Py_ArduCam_capture(handle)
if res != 0:
print "capture fail!"
break
time.sleep(0.03)
if flag == False:
break
else:
print "transfer task create fail!"
res = ArducamSDK.Py_ArduCam_close(handle)
if res == 0:
openFlag = False
print "device close success!"
else:
print "device close fail!"
else:
print "device open fail!"
def show2():
global flag, regArr, handle
global W_zoom, H_zoom, V_value, H_value, lx, ly, downFlag, saveFlag, saveNum
regNum = 0
res, handle = ArducamSDK.Py_ArduCam_autoopen(cfg)
if res == 0:
openFlag = True
print "device open success!"
while (regArr[regNum][0] != 0xFFFF):
ArducamSDK.Py_ArduCam_writeSensorReg(handle, regArr[regNum][0],
regArr[regNum][1])
regNum = regNum + 1
res = ArducamSDK.Py_ArduCam_beginCapture(handle)
if res == 0 and flag:
print "transfer task create success!"
res = ArducamSDK.Py_ArduCam_capture(handle)
if ArducamSDK.Py_ArduCam_available(handle) > 0:
print "estou available"
res, data = ArducamSDK.Py_ArduCam_read(handle, Width * Height)
image = Image.frombuffer("L", (Width, Height), data)
img = np.array(image)
height, width = img.shape[:2]
img2 = cv2.cvtColor(img, COLOR_BYTE2RGB)
if args.name and capture:
cv2.imwrite(args.name + "." + args.type, img2)
if not args.show:
return
if saveFlag:
saveFlag = False
saveNum += 1
name = ""
if "bmp" == args.type:
name = str(saveNum) + ".bmp"
if "png" == args.type:
name = str(saveNum) + ".png"
if "jpg" == args.type:
name = str(saveNum) + ".jpg"
cv2.imwrite(name, img2)
if res != 0:
print "capture fail!"
return
if flag == False:
return
else:
print "transfer task create fail!"
res = ArducamSDK.Py_ArduCam_close(handle)
if res == 0:
openFlag = False
print "device close success!"
else:
print "device close fail!"
else:
print "device open fail!"
def readThread():
global timestamps, images
handle = {}
data = {}
regNum = 0
res, handle = ArducamSDK.Py_ArduCam_autoopen(cfg)
#print(handle)
#print(3)
if res == 0:
print("device open success!")
while (regArr[regNum][0] != 0xFFFF):
ArducamSDK.Py_ArduCam_writeSensorReg(handle, regArr[regNum][0], regArr[regNum][1])
regNum = regNum + 1
#print(32143)
res = ArducamSDK.Py_ArduCam_beginCapture(handle)
if res == 0:
print("transfer task create success!")
while not rospy.is_shutdown():
#print(2134124)
res = ArducamSDK.Py_ArduCam_capture(handle)
#print(res)
if res == 0:
timestamp = rospy.Time.now()
#print(7324627864)
res, data = ArducamSDK.Py_ArduCam_read(handle, Width * Height)
#print(34242)
if res == 0:
#print(3746827346782)
ArducamSDK.Py_ArduCam_del(handle)
#print(374623846278)
timestamps.put(timestamp)
#print(3742846237846)
images.put(data)
#print(382746278346782)
time.sleep(0.03)
else:
print("read data fail!")
if res != 0:
print("capture fail!")
break
else:
print("transfer task create fail!")
res = ArducamSDK.Py_ArduCam_close(handle)
if res == 0:
print("device close success!")
else:
print("device close fail!")
else:
print("device open fail!")
def connect_cam(self):
code = -1
self.logger.info("Connecting to arducam")
for i in range(self.init_retry):
self.logger.info("Attempt: {}".format(i))
code, self.handle, rtn_cfg = ArducamSDK.Py_ArduCam_autoopen(
self.cam_config)
if code == 0:
self.usb_version = rtn_cfg['usbType']
self.logger.info("Camera connected!")
return
time.sleep(self.init_delay)
raise ArducamException("Failed to connect to camera", code=code)
def camera_initFromFile(fialeName):
global cfg,handle,Width,Height,color_mode
#load config file
config = json.load(open(fialeName,"r"))
camera_parameter = config["camera_parameter"]
Width = int(camera_parameter["SIZE"][0])
Height = int(camera_parameter["SIZE"][1])
BitWidth = camera_parameter["BIT_WIDTH"]
ByteLength = 1
if BitWidth > 8 and BitWidth <= 16:
ByteLength = 2
FmtMode = int(camera_parameter["FORMAT"][0])
color_mode = (int)(camera_parameter["FORMAT"][1])
rospy.loginfo("color mode %d",color_mode)
I2CMode = camera_parameter["I2C_MODE"]
I2cAddr = int(camera_parameter["I2C_ADDR"],16)
TransLvl = int(camera_parameter["TRANS_LVL"])
cfg = {"u32CameraType":0x4D091031,
"u32Width":Width,"u32Height":Height,
"usbType":0,
"u8PixelBytes":ByteLength,
"u16Vid":0,
"u32Size":0,
"u8PixelBits":BitWidth,
"u32I2cAddr":I2cAddr,
"emI2cMode":I2CMode,
"emImageFmtMode":FmtMode,
"u32TransLvl":TransLvl }
ret,handle,rtn_cfg = ArducamSDK.Py_ArduCam_autoopen(cfg)
if ret == 0:
usb_version = rtn_cfg['usbType']
rospy.loginfo("USB VERSION:%d",usb_version)
#config board param
configBoard(config["board_parameter_dev2"])
writeSensorRegs(config["register_parameter"])
rtn_val,datas = ArducamSDK.Py_ArduCam_readUserData(handle,0x400-16, 16)
rospy.loginfo("Serial: %c%c%c%c-%c%c%c%c-%c%c%c%c",datas[0],datas[1],datas[2],datas[3],
datas[4],datas[5],datas[6],datas[7],
datas[8],datas[9],datas[10],datas[11])
return True
else:
rospy.logfatal("Device open fail (rtn_val = %d)",ret)
return False
def init_and_read_arducam():
global flag, regArr, handle, openFlag
regNum = 0
res, handle = ArducamSDK.Py_ArduCam_autoopen(cfg)
if res == 0:
openFlag = True
print("device open success!")
while (regArr[regNum][0] != 0xFFFF):
ArducamSDK.Py_ArduCam_writeSensorReg(handle, regArr[regNum][0],
regArr[regNum][1])
regNum = regNum + 1
res = ArducamSDK.Py_ArduCam_beginCapture(handle)
if res == 0:
print("transfer task create success!")
while flag:
res = ArducamSDK.Py_ArduCam_capture(handle)
if res != 0:
print("capture failed!")
flag = False
break
time.sleep(0.1)
if flag == False:
break
else:
print("transfer task create fail!")
time.sleep(2)
res = ArducamSDK.Py_ArduCam_close(handle)
if res == 0:
openFlag = False
print("device close success!")
else:
print("device close fail!")
else:
print("device open fail!")
def camera_initFromFile(fialeName):
global cfg, handle, Width, Height, color_mode, save_raw
#load config file
config = json.load(open(fialeName, "r"))
camera_parameter = config["camera_parameter"]
Width = int(camera_parameter["SIZE"][0])
Height = int(camera_parameter["SIZE"][1])
BitWidth = camera_parameter["BIT_WIDTH"]
ByteLength = 1
if BitWidth > 8 and BitWidth <= 16:
ByteLength = 2
save_raw = True
FmtMode = int(camera_parameter["FORMAT"][0])
color_mode = (int)(camera_parameter["FORMAT"][1])
print("color mode", color_mode)
I2CMode = camera_parameter["I2C_MODE"]
I2cAddr = int(camera_parameter["I2C_ADDR"], 16)
TransLvl = int(camera_parameter["TRANS_LVL"])
cfg = {
"u32CameraType": 0x4D091031,
"u32Width": Width,
"u32Height": Height,
"usbType": 0,
"u8PixelBytes": ByteLength,
"u16Vid": 0,
"u32Size": 0,
"u8PixelBits": BitWidth,
"u32I2cAddr": I2cAddr,
"emI2cMode": I2CMode,
"emImageFmtMode": FmtMode,
"u32TransLvl": TransLvl
}
# ArducamSDK.
#ret,handle,rtn_cfg = ArducamSDK.Py_ArduCam_open(cfg,0)
ret, handle, rtn_cfg = ArducamSDK.Py_ArduCam_autoopen(cfg)
if ret == 0:
#ArducamSDK.Py_ArduCam_writeReg_8_8(handle,0x46,3,0x00)
usb_version = rtn_cfg['usbType']
#print("USB VERSION:",usb_version)
#config board param
configBoard(config["board_parameter"])
if usb_version == ArducamSDK.USB_1 or usb_version == ArducamSDK.USB_2:
configBoard(config["board_parameter_dev2"])
if usb_version == ArducamSDK.USB_3:
configBoard(config["board_parameter_dev3_inf3"])
if usb_version == ArducamSDK.USB_3_2:
configBoard(config["board_parameter_dev3_inf2"])
writeSensorRegs(config["register_parameter"])
if usb_version == ArducamSDK.USB_3:
writeSensorRegs(config["register_parameter_dev3_inf3"])
if usb_version == ArducamSDK.USB_3_2:
writeSensorRegs(config["register_parameter_dev3_inf2"])
rtn_val, datas = ArducamSDK.Py_ArduCam_readUserData(
handle, 0x400 - 16, 16)
print("Serial: %c%c%c%c-%c%c%c%c-%c%c%c%c" %
(datas[0], datas[1], datas[2], datas[3], datas[4], datas[5],
datas[6], datas[7], datas[8], datas[9], datas[10], datas[11]))
return True
else:
print("open fail,rtn_val = ", ret)
return False
def camera_initFromFile(fialeName):
global cfg,handle,Width,Height,color_mode
#load config file
config = json.load(open(fialeName,"r"))
camera_parameter = config["camera_parameter"]
Width = int(camera_parameter["SIZE"][0])
Height = int(camera_parameter["SIZE"][1])
BitWidth = camera_parameter["BIT_WIDTH"]
ByteLength = 1
if BitWidth > 8 and BitWidth <= 16:
ByteLength = 2
FmtMode = int(camera_parameter["FORMAT"][0])
color_mode = (int)(camera_parameter["FORMAT"][1])
print "color mode",color_mode
I2CMode = camera_parameter["I2C_MODE"]
I2cAddr = int(camera_parameter["I2C_ADDR"],16)
TransLvl = int(camera_parameter["TRANS_LVL"])
cfg = {"u32CameraType":0x4D091031,
"u32Width":Width,"u32Height":Height,
"usbType":0,
"u8PixelBytes":ByteLength,
"u16Vid":0,
"u32Size":0,
"u8PixelBits":BitWidth,
"u32I2cAddr":I2cAddr,
"emI2cMode":I2CMode,
"emImageFmtMode":FmtMode,
"u32TransLvl":TransLvl }
# ArducamSDK.
if serial_selection == None:
ret,handle,rtn_cfg = ArducamSDK.Py_ArduCam_autoopen(cfg)
else:
index = None
num_cam, cam_list, cam_serial = ArducamSDK.Py_ArduCam_scan()
for i in range(num_cam):
datas = cam_serial[i]
camera_serial = "%c%c%c%c-%c%c%c%c-%c%c%c%c"%(datas[0],datas[1],datas[2],datas[3],
datas[4],datas[5],datas[6],datas[7],
datas[8],datas[9],datas[10],datas[11])
if camera_serial == str(serial_selection):
print("Arducam " + str(serial_selection) + " found")
index = i
break
if index == None:
print("Arducam " + str(serial_selection) + " not found")
exit()
time.sleep(3)
ret,handle,rtn_cfg = ArducamSDK.Py_ArduCam_open(cfg,i)
if ret == 0:
usb_version = rtn_cfg['usbType']
print "USB VERSION:",usb_version
#config board param
configBoard(config["board_parameter"])
if usb_version == ArducamSDK.USB_1 or usb_version == ArducamSDK.USB_2:
configBoard(config["board_parameter_dev2"])
if usb_version == ArducamSDK.USB_3:
configBoard(config["board_parameter_dev3_inf3"])
if usb_version == ArducamSDK.USB_3_2:
configBoard(config["board_parameter_dev3_inf2"])
writeSensorRegs(config["register_parameter"])
if usb_version == ArducamSDK.USB_3:
writeSensorRegs(config["register_parameter_dev3_inf3"])
if usb_version == ArducamSDK.USB_3_2:
writeSensorRegs(config["register_parameter_dev3_inf2"])
rtn_val,datas = ArducamSDK.Py_ArduCam_readUserData(handle,0x400-16, 16)
print "Serial: %c%c%c%c-%c%c%c%c-%c%c%c%c"%(datas[0],datas[1],datas[2],datas[3],
datas[4],datas[5],datas[6],datas[7],
datas[8],datas[9],datas[10],datas[11])
return True
else:
print "open fail,rtn_val = ",ret
return False
def camera_initFromFile(self, mainconf, expconf):
self.expconf = expconf
self.fileName = mainconf
config = arducam_config_parser.LoadConfigFile(self.fileName)
camera_parameter = config.camera_param.getdict()
self.Width = camera_parameter["WIDTH"]
self.Height = camera_parameter["HEIGHT"]
self.BitWidth = camera_parameter["BIT_WIDTH"]
self.ByteLength = 1
if self.BitWidth > 8 and self.BitWidth <= 16:
self.ByteLength = 2
self.FmtMode = camera_parameter["FORMAT"][0]
self.color_mode = camera_parameter["FORMAT"][1]
# print("color mode",self.color_mode)
self.I2CMode = camera_parameter["I2C_MODE"]
self.I2cAddr = camera_parameter["I2C_ADDR"]
self.TransLvl = camera_parameter["TRANS_LVL"]
self.cfg = {
"u32CameraType": 0x00,
"u32Width": self.Width,
"u32Height": self.Height,
"usbType": 0,
"u8PixelBytes": self.ByteLength,
"u16Vid": 0,
"u32Size": 0,
"u8PixelBits": self.BitWidth,
"u32I2cAddr": self.I2cAddr,
"emI2cMode": self.I2CMode,
"emImageFmtMode": self.FmtMode,
"u32TransLvl": self.TransLvl
}
ret, self.handle, self.rtn_cfg = ArducamSDK.Py_ArduCam_autoopen(
self.cfg)
if ret == 0:
usb_version = self.rtn_cfg['usbType']
configs = config.configs
configs_length = config.configs_length
for i in range(configs_length):
# print(configs[i].params[0])
type = configs[i].type
if ((type >> 16) & 0xFF) != 0 and (
(type >> 16) & 0xFF) != usb_version:
continue
if type & 0xFFFF == arducam_config_parser.CONFIG_TYPE_REG:
if configs[i].params[0] == 12306:
configs[i].params[1] = self.config_exposure(
self.expconf)
ArducamSDK.Py_ArduCam_writeSensorReg(
self.handle, configs[i].params[0],
configs[i].params[1])
elif type & 0xFFFF == arducam_config_parser.CONFIG_TYPE_DELAY:
time.sleep(float(configs[i].params[0]) / 1000)
elif type & 0xFFFF == arducam_config_parser.CONFIG_TYPE_VRCMD:
self.configBoard(configs[i])
rtn_val, datas = ArducamSDK.Py_ArduCam_readUserData(
self.handle, 0x400 - 16, 16)
print(
"Serial: %c%c%c%c-%c%c%c%c-%c%c%c%c" %
(datas[0], datas[1], datas[2], datas[3], datas[4], datas[5],
datas[6], datas[7], datas[8], datas[9], datas[10], datas[11]))
return True
else:
print("open fail,rtn_val = ", ret)
return False
def camera_initFromFile(fileName):
global cfg, handle, Width, Height, color_mode
#load config file
config = arducam_config_parser.LoadConfigFile(fileName)
camera_parameter = config.camera_param.getdict()
Width = camera_parameter["WIDTH"]
Height = camera_parameter["HEIGHT"]
BitWidth = camera_parameter["BIT_WIDTH"]
ByteLength = 1
if BitWidth > 8 and BitWidth <= 16:
ByteLength = 2
FmtMode = camera_parameter["FORMAT"][0]
color_mode = camera_parameter["FORMAT"][1]
print "color mode", color_mode
I2CMode = camera_parameter["I2C_MODE"]
I2cAddr = camera_parameter["I2C_ADDR"]
TransLvl = camera_parameter["TRANS_LVL"]
cfg = {
"u32CameraType": 0x00,
"u32Width": Width,
"u32Height": Height,
"usbType": 0,
"u8PixelBytes": ByteLength,
"u16Vid": 0,
"u32Size": 0,
"u8PixelBits": BitWidth,
"u32I2cAddr": I2cAddr,
"emI2cMode": I2CMode,
"emImageFmtMode": FmtMode,
"u32TransLvl": TransLvl
}
# ArducamSDK.
if serial_selection == None:
ret, handle, rtn_cfg = ArducamSDK.Py_ArduCam_autoopen(cfg)
else:
index = None
num_cam, cam_list, cam_serial = ArducamSDK.Py_ArduCam_scan()
for i in range(num_cam):
datas = cam_serial[i]
camera_serial = "%c%c%c%c-%c%c%c%c-%c%c%c%c" % (
datas[0], datas[1], datas[2], datas[3], datas[4], datas[5],
datas[6], datas[7], datas[8], datas[9], datas[10], datas[11])
if camera_serial == str(serial_selection):
print("Arducam " + str(serial_selection) + " found")
index = i
break
if index == None:
print("Arducam " + str(serial_selection) + " not found")
exit()
time.sleep(3)
ret, handle, rtn_cfg = ArducamSDK.Py_ArduCam_open(cfg, i)
if ret == 0:
usb_version = rtn_cfg['usbType']
print "USB VERSION:", usb_version
configs = config.configs
configs_length = config.configs_length
for i in range(configs_length):
type = configs[i].type
if ((type >> 16) & 0xFF) != 0 and (
(type >> 16) & 0xFF) != usb_version:
continue
if type & 0xFFFF == arducam_config_parser.CONFIG_TYPE_REG:
ArducamSDK.Py_ArduCam_writeSensorReg(handle,
configs[i].params[0],
configs[i].params[1])
elif type & 0xFFFF == arducam_config_parser.CONFIG_TYPE_DELAY:
time.sleep(float(configs[i].params[0]) / 1000)
elif type & 0xFFFF == arducam_config_parser.CONFIG_TYPE_VRCMD:
configBoard(configs[i])
rtn_val, datas = ArducamSDK.Py_ArduCam_readUserData(
handle, 0x400 - 16, 16)
print "Serial: %c%c%c%c-%c%c%c%c-%c%c%c%c" % (
datas[0], datas[1], datas[2], datas[3], datas[4], datas[5],
datas[6], datas[7], datas[8], datas[9], datas[10], datas[11])
return True
else:
print "open fail,rtn_val = ", ret
return False
def camera_initFromFile(fileName):
global cfg, handle, Width, Height, color_mode, save_raw
#load config file
# config = json.load(open(fialeName,"r"))
config = arducam_config_parser.LoadConfigFile(fileName)
camera_parameter = config.camera_param.getdict()
Width = camera_parameter["WIDTH"]
Height = camera_parameter["HEIGHT"]
BitWidth = camera_parameter["BIT_WIDTH"]
ByteLength = 1
if BitWidth > 8 and BitWidth <= 16:
ByteLength = 2
save_raw = True
FmtMode = camera_parameter["FORMAT"][0]
color_mode = camera_parameter["FORMAT"][1]
print("color mode", color_mode)
I2CMode = camera_parameter["I2C_MODE"]
I2cAddr = camera_parameter["I2C_ADDR"]
TransLvl = camera_parameter["TRANS_LVL"]
cfg = {
"u32CameraType": 0x00,
"u32Width": Width,
"u32Height": Height,
"usbType": 0,
"u8PixelBytes": ByteLength,
"u16Vid": 0,
"u32Size": 0,
"u8PixelBits": BitWidth,
"u32I2cAddr": I2cAddr,
"emI2cMode": I2CMode,
"emImageFmtMode": FmtMode,
"u32TransLvl": TransLvl
}
#ret,handle,rtn_cfg = ArducamSDK.Py_ArduCam_open(cfg,0)
ret, handle, rtn_cfg = ArducamSDK.Py_ArduCam_autoopen(cfg)
if ret == 0:
#ArducamSDK.Py_ArduCam_writeReg_8_8(handle,0x46,3,0x00)
usb_version = rtn_cfg['usbType']
configs = config.configs
configs_length = config.configs_length
for i in range(configs_length):
type = configs[i].type
if ((type >> 16) & 0xFF) != 0 and (
(type >> 16) & 0xFF) != usb_version:
continue
if type & 0xFFFF == arducam_config_parser.CONFIG_TYPE_REG:
ArducamSDK.Py_ArduCam_writeSensorReg(handle,
configs[i].params[0],
configs[i].params[1])
elif type & 0xFFFF == arducam_config_parser.CONFIG_TYPE_DELAY:
time.sleep(float(configs[i].params[0]) / 1000)
elif type & 0xFFFF == arducam_config_parser.CONFIG_TYPE_VRCMD:
configBoard(configs[i])
rtn_val, datas = ArducamSDK.Py_ArduCam_readUserData(
handle, 0x400 - 16, 16)
print("Serial: %c%c%c%c-%c%c%c%c-%c%c%c%c" %
(datas[0], datas[1], datas[2], datas[3], datas[4], datas[5],
datas[6], datas[7], datas[8], datas[9], datas[10], datas[11]))
return True
else:
print("open fail,rtn_val = ", ret)
return False