class pyv4l2_reader:
""" This class was created to look as similar to the openCV features used in Howdy as possible for overall code cleanliness. """
# Init
def __init__(self, device_name, device_format):
self.device_name = device_name
self.device_format = device_format
self.height = 0
self.width = 0
self.probe()
self.frame = ""
def set(self, prop, setting):
""" Setter method for height and width """
if prop == CAP_PROP_FRAME_WIDTH:
self.width = setting
elif prop == CAP_PROP_FRAME_HEIGHT:
self.height = setting
def get(self, prop):
""" Getter method for height and width """
if prop == CAP_PROP_FRAME_WIDTH:
return self.width
elif prop == CAP_PROP_FRAME_HEIGHT:
return self.height
def probe(self):
""" Probe the video device to get height and width info """
vd = open(self.device_name, 'r')
fmt = v4l2.v4l2_format()
fmt.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
ret = fcntl.ioctl(vd, v4l2.VIDIOC_G_FMT, fmt)
vd.close()
if ret == 0:
height = fmt.fmt.pix.height
width = fmt.fmt.pix.width
else:
# Could not determine the resolution from ioctl call. Reverting to slower ffmpeg.probe() method
import ffmpeg
probe = ffmpeg.probe(self.device_name)
height = int(probe['streams'][0]['height'])
width = int(probe['streams'][0]['width'])
if self.get(CAP_PROP_FRAME_HEIGHT) == 0:
self.set(CAP_PROP_FRAME_HEIGHT, int(height))
if self.get(CAP_PROP_FRAME_WIDTH) == 0:
self.set(CAP_PROP_FRAME_WIDTH, int(width))
def record(self):
""" Start recording """
self.frame = Frame(self.device_name)
def grab(self):
""" Read a sigle frame from the IR camera. """
self.read()
def read(self):
""" Read a sigle frame from the IR camera. """
if not self.frame:
self.record()
# Grab a raw frame from the camera
frame_data = self.frame.get_frame()
# Convert the raw frame_date to a numpy array
img = (numpy.frombuffer(frame_data, numpy.uint8))
# Convert the numpy array to a proper grayscale image array
img_bgr = cvtColor(img, COLOR_GRAY2BGR)
# Convert the grayscale image array into a proper RGB style numpy array
img2 = (numpy.frombuffer(img_bgr, numpy.uint8).reshape([352, 352, 3]))
# Return a single frame of video
return 0, img2
def release(self):
""" Empty our array. If we had a hold on the camera, we would give it back here. """
self.video = ()
self.num_frames_read = 0
if self.frame:
self.frame.close()
print("Sum {:.2f} > thresh of {:.2f}".format(\
pimgsum, thresh*tmult))
#pltimg.set_data(pimg)
pimg = (255*(pimg/pimg.max())).astype(np.uint8)
pltimg.set_data(pimg)
plt.draw()
pauser()
#pltimg.set_data(imgsbuf.avg())
#pltimg.norm.vmin = 0
#pltimg.norm.vmax = 255
#plt.draw()
#pauser()
#if framecount > 20: pdb.set_trace()
#ch = kbnb.waitch("Any key to continue. q to quit: ")
ch = kbnb.getch()
#print("Ch: ", ch)
if ch == b'q':
break
elif ch == b'h':
tmult -= .01; print("Thresh now:", tmult)
elif ch == b'l':
tmult += .01; print("Thresh now:", tmult)
frame.close()
kbnb.reset_flags()
#pdb.set_trace()
#control = Control("/dev/video0")
#control.get_controls()
# control.get_control_value(9963776)
# control.set_control_value(9963776, 8)