def initCamera(self):
"""
Detecta e inicializa la cámara
"""
print('init Camera...')
self.cam = Camera()
self.cam.init()
self.configCamera()
class Recorder:
def __init__(self, resize_width=300, resize_height=300):
self.cam = Camera()
with Camera() as cam: # Azért kell, hogy a színt be lehessen állítani
if 'Bayer' in cam.PixelFormat:
cam.PixelFormat = "RGB8"
cam.start()
self.cam.init()
self.cam.start()
self.frame = cv2.cvtColor(cv2.flip(self.cam.get_array(), 0), cv2.COLOR_BGR2RGB)
self.frame_resized = []
self.started = False
self.read_lock = threading.Lock()
self.resize_width = resize_width
self.resize_height = resize_height
def start(self):
if self.started:
print('[!] Asynchronous video capturing has already been started.')
return None
self.started = True
self.thread = threading.Thread(target=self.update, args=())
self.thread.start()
return self
def update(self):
while self.started:
frame = cv2.cvtColor(cv2.flip(self.cam.get_array(), 0), cv2.COLOR_BGR2RGB)
frame_cropped = frame[:, 160:160+960]
with self.read_lock:
self.frame = frame
image = cv2.resize(frame_cropped, (self.resize_width, self.resize_height))
image = image / 127.5
image = image - 1.
image = numpy.expand_dims(image, axis=0)
self.frame_resized = image
def read(self):
with self.read_lock:
#frame = self.frame.copy()
frame_resized = self.frame_resized.copy()
return frame_resized
def stop(self):
self.started = False
self.thread.join()
def __exit__(self, exec_type, exc_value, traceback):
self.cam.stop()
self.cam.close()
def __init__(self, resize_width=300, resize_height=300):
self.cam = Camera()
with Camera() as cam: # Azért kell, hogy a színt be lehessen állítani
if 'Bayer' in cam.PixelFormat:
cam.PixelFormat = "RGB8"
cam.start()
self.cam.init()
self.cam.start()
self.frame = cv2.cvtColor(cv2.flip(self.cam.get_array(), 0), cv2.COLOR_BGR2RGB)
self.frame_resized = []
self.started = False
self.read_lock = threading.Lock()
self.resize_width = resize_width
self.resize_height = resize_height
def _instrument_setup(self) -> None:
# TODO: gain settings? AOI settings? neither are used in labview version
self.interface = Spinnaker()
self.interface.init()
self.interface.PixelFormat = 'RGB8'
self.interface.ExposureAuto = 'Off'
self.interface.ExposureMode = 'Timed'
self.interface.ExposureTime = self.EXPOSURE_TIME_US
class FrescoCamera:
def __init__(self):
self.cam = Camera()
self.cam.init()
self.cam.start()
self.cam.cam.AcquisitionFrameRateAuto = 'Off'
self.cam.cam.AcquisitionFrameRateEnabled = True
def __delete__(self, instance):
self.cam.stop()
self.cam.close()
def get_current_image(self):
images = [self.cam.get_array() for n in range(20)]
return images[19]
def __init__(self, debug=False, dummy=False):
self.debug = debug
self.dummy = dummy
if not self.dummy:
self.cam = Camera()
self.cam.init()
self.cam.ExposureAuto = 'Off'
self.cam.ExposureMode = 'Timed'
self.cam.GainAuto = 'Off'
self.cam.AcquisitionFrameRateEnabled = True
self.cam.AcquisitionFrameRateAuto = 'Off'
self.cam.AutoFunctionAOIsControl = 'Off'
self.cam.AcquisitionMode = 'Continuous'
self.cam.ChunkEnable = False
self.cam.EventNotification = 'Off'
self.cam.GammaEnabled = False
self.cam.PixelFormat = 'Mono16' # specify here the bit depth
self.cam.BlackLevel = 1.0 #
self.cam.TriggerMode = 'Off'
self.cam.OnBoardColorProcessEnabled = False
class Camera(Instrument):
# ? https://pypi.org/project/simple-pyspin/
_config = configuration.from_yml(
r'W:\Test Data Backup\instruments\config\camera.yml')
display_name = _config.field(str)
EXPOSURE_TIME_US = _config.field(float)
TX_WAIT_S = 0.
def _instrument_cleanup(self) -> None:
self.interface.close()
def _instrument_setup(self) -> None:
# TODO: gain settings? AOI settings? neither are used in labview version
self.interface = Spinnaker()
self.interface.init()
self.interface.PixelFormat = 'RGB8'
self.interface.ExposureAuto = 'Off'
self.interface.ExposureMode = 'Timed'
self.interface.ExposureTime = self.EXPOSURE_TIME_US
@proxy.exposed
def capture(self):
"""
takes 212ms including start and stop
this camera model is specced as 7.5FPS
"""
self.interface.start()
img = self.interface.get_array()
self.interface.stop()
return img
def _instrument_check(self) -> None:
_ = self.interface.initialized
def _instrument_debug(self) -> None:
from cv2 import cv2
cv2.imshow('debug image', self.capture())
cv2.waitKey(0)
# Select which cameras to show here.
SHOW_CAMERAS = [
'webcam',
# 'plume',
# 'fringe',
# 'cbs',
]
# Size of region around plume to show
plume_size = 200
print('Initializing cameras...')
if 'plume' in SHOW_CAMERAS:
plume_camera = Camera(0)
plume_camera.init()
plume_camera.start()
if 'cbs' in SHOW_CAMERAS:
plt.ion()
fig = plt.figure()
## connect
print('Connecting to publisher...')
fringe_socket = connect_to('camera')
cbs_socket = connect_to('cbs-camera')
webcam_socket = connect_to('webcam')
def from_png(buff, color=False):
from simple_pyspin import Camera, list_cameras
import os
import time
import gc
output_dir = os.path.join('docs', 'cameras')
if not os.path.exists(output_dir):
os.makedirs(output_dir)
with Camera() as cam:
print('Resetting camera...')
cam.DeviceReset()
print('Waiting 5 seconds for it to wake up...')
time.sleep(5)
for n in range(10):
cl = list_cameras()
n_cam = cl.GetSize()
cl.Clear()
if n_cam:
break
time.sleep(1)
print('Reconnecting camera...')
with Camera() as cam:
cam_name = cam.DeviceVendorName.strip() + ' ' + cam.DeviceModelName.strip()
ofn = os.path.join(output_dir, cam_name.replace(' ', '_') + '.md')
print('Generating documentation in file: %s' % ofn)
with open(ofn, 'wt') as f:
from simple_pyspin import Camera
from PIL import Image
import os
with Camera() as cam: # Initialize Camera
# Set the area of interest (AOI) to the middle half
cam.Width = cam.SensorWidth // 2
cam.Height = cam.SensorHeight // 2
cam.OffsetX = cam.SensorWidth // 4
cam.OffsetY = cam.SensorHeight // 4
# If this is a color camera, get the image in RGB format.
if 'Bayer' in cam.PixelFormat:
cam.PixelFormat = "RGB8"
# To change the frame rate, we need to enable manual control
cam.AcquisitionFrameRateAuto = 'Off'
cam.AcquisitionFrameRateEnabled = True
cam.AcquisitionFrameRate = 20
# To control the exposure settings, we need to turn off auto
cam.GainAuto = 'Off'
# Set the gain to 20 dB or the maximum of the camera.
gain = min(20, cam.get_info('Gain')['max'])
print("Setting gain to %.1f dB" % gain)
cam.Gain = gain
cam.ExposureAuto = 'Off'
cam.ExposureTime = 10000 # microseconds
# If we want an easily viewable image, turn on gamma correction.
# NOTE: for scientific image processing, you probably want to
class FlirDevice(object):
'''
Scopefoundry compatible class to run a FLIR camera with spinnaker software
For Pointgrey grasshopper, the bit depth is 16bit or 8bit, specified in the PixelFormat attribute,
simple_pyspin is not compatible with 12bit readout.
'''
def __init__(self, debug=False, dummy=False):
self.debug = debug
self.dummy = dummy
if not self.dummy:
self.cam = Camera()
self.cam.init()
self.cam.ExposureAuto = 'Off'
self.cam.ExposureMode = 'Timed'
self.cam.GainAuto = 'Off'
self.cam.AcquisitionFrameRateEnabled = True
self.cam.AcquisitionFrameRateAuto = 'Off'
self.cam.AutoFunctionAOIsControl = 'Off'
self.cam.AcquisitionMode = 'Continuous'
self.cam.ChunkEnable = False
self.cam.EventNotification = 'Off'
self.cam.GammaEnabled = False
self.cam.PixelFormat = 'Mono16' # specify here the bit depth
self.cam.BlackLevel = 1.0 #
self.cam.TriggerMode = 'Off'
self.cam.OnBoardColorProcessEnabled = False
def set_acquisitionmode(self, mode):
self.cam.AcquisitionMode = mode
def get_acquisitionmode(self):
mode = self.cam.AcquisitionMode
return (mode)
def close(self):
self.cam.close()
def set_framenum(self, Nframes):
if self.cam.AcquisitionMode == 'MultiFrame':
self.cam.AcquisitionFrameCount = Nframes
def read_temperature(self):
resp = self.cam.DeviceTemperature
return resp
def get_width(self):
w = self.cam.Width
return w
def get_height(self):
h = self.cam.Height
return h
def acq_start(self):
self.cam.start()
def get_nparray(self):
return self.cam.get_array()
def acq_stop(self):
self.cam.stop()
def get_exposure(self):
"get the exposure time in ms"
return self.cam.ExposureTime / 1000
def set_exposure(self, desired_time):
"set the exposure time in ms"
maxexp = self.cam.get_info('ExposureTime')['max']
minexp = self.cam.get_info('ExposureTime')['min']
exptime = min(maxexp, max(desired_time * 1000, minexp))
self.cam.ExposureTime = exptime
def get_rate(self):
return self.cam.AcquisitionFrameRate
def set_rate(self, desired_framerate):
""" Set the framerate in Hz
FLIR Grasshopper runs at:
163.57 fps at 8bit, full frame
87.08 fps at 12 bit, not supported by simple_pyspin
82.47 fps at 16bit is used here
"""
maxfr = self.cam.get_info('AcquisitionFrameRate')['max']
minfr = self.cam.get_info('AcquisitionFrameRate')['min']
framerate = max(minfr, min(desired_framerate, maxfr))
self.cam.AcquisitionFrameRate = framerate
def get_gain(self):
return self.cam.Gain
def set_gain(self, desired_gain):
"set the gain in dB"
maxgain = self.cam.get_info('Gain')['max']
self.cam.Gain = min(desired_gain, maxgain)
def get_idname(self):
cam_name = self.cam.DeviceVendorName.strip(
) + ' ' + self.cam.DeviceModelName.strip()
return cam_name
def __init__(self):
self.cam = Camera()
self.cam.init()
self.cam.start()
self.cam.cam.AcquisitionFrameRateAuto = 'Off'
self.cam.cam.AcquisitionFrameRateEnabled = True
cropped = param[:, 160:160 + 960]
input = cv2.resize(cropped, (300, 300))
input = numpy.expand_dims(input, axis=0)
input = imagenet_utils.preprocess_input(input, mode='tf')
output = model.predict(input)
# rescale prediction
return (int(output[0, 0] * 960 + 160), int(output[0, 1] * 960))
## PROCESSING VIDEO STREAM ########
if __name__ == '__main__':
model = keras.models.load_model('best.hdf5')
camera = Camera()
camera.init()
if 'Bayer' in camera.PixelFormat:
camera.PixelFormat = "RGB8"
camera.start()
while (True):
frame = camera.get_array()
frame = cv2.cvtColor(cv2.flip(frame, -1), cv2.COLOR_BGR2RGB)
predicted = predict(frame, model)
cv2.circle(frame, predicted, 5, (0, 0, 255), -1)
cv2.imshow('prediction', frame)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
camera.stop()
class Acquisition():
"""
Clase para la adquisición de imágenes de la cámara
"""
def __init__(self):
pass
def initCamera(self):
"""
Detecta e inicializa la cámara
"""
print('init Camera...')
self.cam = Camera()
self.cam.init()
self.configCamera()
def configCamera(self):
"""
Configura algunos parametros de la cámara
"""
print('config camera...')
self.cam.Width = self.cam.SensorWidth # 1440
self.cam.Height = self.cam.SensorHeight # 900
self.cam.PixelFormat = "RGB8"
print(self.cam.PixelFormat)
def getRgbImage(self):
"""
Obtiene la imagen rgb de la cámara
return:
rgbImage: imagen de cv2
"""
self.cam.start()
frame = self.cam.get_array()
self.cam.stop()
self.rgbImage = cv2.cvtColor(frame, cv2.COLOR_BGRA2RGB)
#self.rgbImage = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
return self.rgbImage
def captureRgbImage(self):
"""
captura la imagen rgb
return:
rgbImageCaptured: imagen de cv2
"""
self.rgbImageCaptured = self.rgbImage
return self.rgbImageCaptured
def saveRgbImage(self, pathImage):
"""
Guarda la imagen capturada
paramter:
pathImage: ruta en la que se guarda la imagen
"""
cv2.imwrite(pathImage, self.rgbImageCaptured)
async def run_publisher():
print('Initializing devices...')
pressure_gauge = FRG730()
thermometers = [(CTC100(31415), ['saph', 'coll', 'bott hs',
'cell'], ['heat saph', 'heat coll']),
(CTC100(31416),
['srb4k', 'srb45k', '45k plate',
'4k plate'], ['srb45k out', 'srb4k out'])]
labjack = Labjack('470022275')
mfc = MFC(31417)
wm = WM(
publish=False
) #wavemeter class used for reading frequencies from high finesse wavemeter
pt = PulseTube()
camera = Camera(1)
camera.init()
try:
camera.start()
except:
pass
camera.GainAuto = 'Off'
camera.Gain = 10
camera.ExposureAuto = 'Off'
camera_publisher = create_server('camera')
turbo = TurboPump()
pt_last_off = time.monotonic()
heaters_last_safe = time.monotonic()
try:
cbs_cam = Ximea(exposure=1e6)
cbs_cam.set_roi(500, 500, 700, 700)
except:
cbs_cam = None
print(f'{Fore.RED}ERROR: Ximea camera is unplugged!{Style.RESET_ALL}')
cbs_publisher = create_server('cbs-camera')
spectrometer_monitor = connect_to('spectrometer')
print('Starting publisher')
publisher_start = time.monotonic()
loop = asyncio.get_running_loop()
run_async = lambda f: loop.run_in_executor(None, f)
try:
with create_server('edm-monitor') as publisher:
rough = {}
trans = {}
for loop_iteration in itertools.count(1):
loop_start = time.monotonic()
async_getters = []
times = {}
##### Read pressure gauge (Async) #####
chamber_pressure = None
def pressure_getter():
nonlocal chamber_pressure, times
with Timer('pressure', times):
chamber_pressure = pressure_gauge.pressure
async_getters.append(run_async(pressure_getter))
##### Read CTC100 Temperatures + Heaters (Async) #####
temperatures = {}
heaters = {}
async def CTC_getter(thermometer):
"""Record data from the given thermometer."""
obj, temp_channels, heater_channels = thermometer
with Timer(f'CTC{obj._address[1]}', times):
for channel in temp_channels:
temperatures[channel] = await obj.async_read(
channel)
for channel in heater_channels:
heaters[channel] = await obj.async_read(channel)
async_getters.extend(
[CTC_getter(thermometer) for thermometer in thermometers])
##### Read MFC Flows (Async) #####
flows = {}
async def flow_getter():
"""Record the flow rates from the MFC."""
with Timer('MFC', times):
flows['cell'] = deconstruct(
await mfc.async_get_flow_rate_cell())
flows['neon'] = deconstruct(
await mfc.async_get_flow_rate_neon_line())
async_getters.append(flow_getter())
##### Read wavemeter frequencies (Async) #####
frequencies = {}
async def frequency_getter():
"""Record the frequencies from the wavemeter."""
with Timer('wavemeter', times):
frequencies['baf'] = await with_uncertainty(
lambda: wm.read_frequency(8))
frequencies['calcium'] = await with_uncertainty(
lambda: wm.read_frequency(6))
async_getters.append(frequency_getter())
##### Read Camera (Async) #####
center = {}
refl = {}
png = {}
def camera_getter():
camera_samples = []
with Timer('camera', times):
exposure = camera.ExposureTime
image = None
while True:
capture_start = time.monotonic()
sample = camera.get_array()
capture_time = time.monotonic() - capture_start
camera_samples.append(fit_image(sample))
if image is None: image = sample
# Clear buffer (force new acquisition)
if capture_time > 20e-3: break
# Track fringes
fringe_model.update(image, exposure)
center_x, center_y, cam_refl, saturation = [
unweighted_mean(arr)
for arr in np.array(camera_samples).T
]
cam_refl *= 1500 / exposure
# Downsample if 16-bit
if isinstance(image[0][0], np.uint16):
image = (image / 256 + 0.5).astype(np.uint8)
# Save images
png['raw'] = cv2.imencode('.png', image)[1].tobytes()
png['fringe'] = cv2.imencode(
'.png', fringe_model.scaled_pattern)[1].tobytes()
png['fringe-annotated'] = cv2.imencode(
'.png',
fringe_model.annotated_pattern)[1].tobytes()
# Store data
center['x'] = deconstruct(center_x)
center['y'] = deconstruct(center_y)
center['saturation'] = deconstruct(saturation)
center['exposure'] = exposure
refl['cam'] = deconstruct(2 * cam_refl)
refl['ai'] = deconstruct(fringe_model.reflection)
if saturation.n > 99: camera.ExposureTime = exposure // 2
if saturation.n < 30: camera.ExposureTime = exposure * 2
async_getters.append(run_async(camera_getter))
##### Read turbo status (Async) #####
pt_on = pt.is_on()
running = {'pt': pt_on}
async def turbo_getter():
"""Record the operational status of the turbo pump."""
with Timer('turbo', times):
status = await turbo.async_operation_status()
running['turbo'] = (status == 'normal')
async_getters.append(turbo_getter())
##### Read labjack (Async) #####
intensities = {}
def labjack_getter():
with Timer('labjack', times):
intensities['broadband'] = deconstruct(
labjack.read('AIN0'))
# intensities['hene'] = deconstruct(labjack.read('AIN1'))
intensities['LED'] = deconstruct(labjack.read('AIN2'))
async_getters.append(run_async(labjack_getter))
# Await all async data getters.
# Tasks will run simultaneously.
gather_task = asyncio.gather(*async_getters)
try:
await asyncio.wait_for(gather_task, timeout=15)
except:
raise ValueError(gather_task.exception())
##### Read CBS camera (Sync) #####
cbs_png = None
cbs_info = {'data': None, 'fit': None}
with Timer('CBS Camera', times):
if cbs_cam is not None and cbs_cam.capture():
cbs_png = cv2.imencode('.png',
cbs_cam.image)[1].tobytes()
try:
r, I, (peak, width,
background), chisq = fit_cbs(cbs_cam.image)
cbs_info['data'] = {
'radius': list(r),
'intensity': {
'nom': list(nom(I)),
'std': list(std(I)),
}
}
if max(width.s, peak.s) > 100 or min(width.n,
peak.n) < 0:
raise ValueError
cbs_info['fit'] = {
'peak': deconstruct(peak),
'width': deconstruct(width),
'background': deconstruct(background),
'chisq': chisq,
}
except:
pass
# Read spectrometer thread.
_, spec_data = spectrometer_monitor.grab_json_data()
if spec_data is not None:
rough = spec_data['rough']
trans = spec_data['trans']
rough['hdr-chisq'] = spec_data['fit']['chisq']
### Update models ###
saph_temp = temperatures['saph']
growth_model.update(ufloat(*flows['neon']),
ufloat(*flows['cell']), saph_temp)
fringe_counter.update(refl['ai'][0],
grow=(growth_model._growth_rate.n > 0))
if saph_temp > 13: fringe_counter.reset()
# Construct final data packet
times['loop'] = round(1e3 * (time.monotonic() - loop_start))
uptime = (time.monotonic() - publisher_start) / 3600
data_dict = {
'pressure': deconstruct(chamber_pressure),
'flows': flows,
'temperatures': temperatures,
'heaters': heaters,
'center': center,
'cbs': cbs_info['fit'],
'rough': rough,
'trans': trans,
'refl': refl,
'fringe': {
'count': fringe_counter.fringe_count,
'ampl': fringe_counter.amplitude,
},
'model': {
'height': deconstruct(growth_model.height),
},
'freq': frequencies,
'intensities': intensities,
'running': running,
'debug': {
'times': times,
'uptime': uptime if loop_iteration > 1 else None,
'memory': memory_usage(),
'system-memory':
round(psutil.virtual_memory().used / 1024),
'cpu': psutil.cpu_percent(),
}
}
print_tree(data_dict)
### Limit publishing speed ###
target_end = PUBLISH_INTERVAL * loop_iteration + publisher_start
time.sleep(max(target_end - time.monotonic(), 0))
publisher.send(data_dict)
camera_publisher.send(png)
if cbs_png is not None:
cbs_publisher.send({
'image': cbs_png,
**cbs_info,
})
print()
print()
# Restart if pressure gauge cuts out
if data_dict['pressure'] is None:
pressure_gauge.close()
pressure_gauge = FRG730()
finally:
print(
f'{Fore.RED}{Style.BRIGHT}Crashed, cleaning up...{Style.RESET_ALL}'
)
tb = traceback.format_exc()
print(tb)
print('Stopping fringe camera...')
camera.stop()
camera.close()
camera_publisher.close()
print('Stopping CBS camera...')
cbs_cam.close()
cbs_publisher.close()
print('Stopping miscellaneous equipment...')
pressure_gauge.close()
mfc.close()
turbo.close()
print('Done.')