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