def captureImage_thread(self):
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(self.handle)
if rtn_val != 0:
print("Error beginning capture, rtn_val = ", rtn_val)
self.running = False
return
else:
print("Capture began, rtn_val = ", rtn_val)
while self.running:
if self.loading:
rtn_val = ArducamSDK.Py_ArduCam_captureImage(self.handle)
if rtn_val > 255:
# print("Error capture image, rtn_val = ",rtn_val)
if rtn_val == ArducamSDK.USB_CAMERA_USB_TASK_ERROR:
break
else:
print("restarting camera...")
# time.sleep(1)
ArducamSDK.Py_ArduCam_endCaptureImage(self.handle)
self.camera_initFromFile(self.fileName, self.expconf)
ArducamSDK.Py_ArduCam_beginCaptureImage(self.handle)
self.loading = True
self.running = False
ArducamSDK.Py_ArduCam_endCaptureImage(self.handle)
def captureImage_thread():
global handle, running, ct_lock, count1
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print "Error beginning capture, rtn_val = ", rtn_val
running = False
return
else:
print "Capture began, rtn_val = ", rtn_val
while (running and (not rospy.is_shutdown())):
#print "capture"
if count1 == 0:
if ct_lock.acquire(False):
print "capture image", count1
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
count1 = count1 + 1
if rtn_val != 0:
print "Error capture image, rtn_val = ", rtn_val
break
else:
time.sleep(0.005)
ct_lock.release()
else:
time.sleep(0.005)
else:
time.sleep(0.005)
running = False
ArducamSDK.Py_ArduCam_endCaptureImage(handle)
def start_capture(self):
self.logger.info("Start arducam capture thread")
start_code = ArducamSDK.Py_ArduCam_beginCaptureImage(self.handle)
if start_code != 0:
raise ArducamException("Error starting capture thread",
code=start_code)
self.logger.debug("Thread started")
def start(self, full=True):
self.logger.info("Start arducam capture thread")
self.handle = {}
if full:
self.configure()
else:
self.connect_cam()
self.running = True
start_code = ArducamSDK.Py_ArduCam_beginCaptureImage(self.handle)
if start_code != 0:
raise ArducamException("Error starting capture thread",
code=start_code)
start_thread(self.read_frames)
self.extra_info = self.get_extra_label_info()
self.logger.info("Arducam thread started")
def capture_thread(self):
global handle, running
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print("Error beginning capture, rtn_val = ", rtn_val)
else:
logging.info("Capture began, rtn_val = ", rtn_val)
while running:
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
if rtn_val > 255:
#print("Error capture image, rtn_val = ", rtn_val)
if rtn_val == ArducamSDK.USB_CAMERA_USB_TASK_ERROR:
print("ardu cam USB_CAMERA_USB_TASK_ERROR!!")
time.sleep(0.01)
def captureImage_thread():
global handle,running
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print "Error beginning capture, rtn_val = ",rtn_val
running = False
return
else:
print "Capture began, rtn_val = ",rtn_val
while running:
#print "capture"
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
if rtn_val != 0:
print "Error capture image, rtn_val = ",rtn_val
break
time.sleep(0.005)
running = False
ArducamSDK.Py_ArduCam_endCaptureImage(handle)
def captureImage_thread():
global handle, running
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print("Error beginning capture, rtn_val = ", rtn_val)
running = False
return
else:
print("Capture began, rtn_val = ", rtn_val)
while running:
#print "capture"
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
if rtn_val > 255:
print("Error capture image, rtn_val = ", rtn_val)
if rtn_val == ArducamSDK.USB_CAMERA_USB_TASK_ERROR:
break
time.sleep(0.005)
running = False
ArducamSDK.Py_ArduCam_endCaptureImage(handle)
def captureImage_thread():
global handle, running
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print("Failed to begin capture, return value: %s." % (rtn_val))
running = False
return
else:
print("Capture began: %s." % (rtn_val))
while running:
# print "capture"
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
if rtn_val > 255:
print("Error while capturing image: %s." % (rtn_val))
if rtn_val == ArducamSDK.USB_CAMERA_USB_TASK_ERROR:
break
time.sleep(0.005)
running = False
ArducamSDK.Py_ArduCam_endCaptureImage(handle)
def captureImage_thread():
global handle, running
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print "Error beginning capture, rtn_val = ", rtn_val
running = False
return
else:
print "Capture began, rtn_val = ", rtn_val
while (running and (not rospy.is_shutdown())):
#print "capture"
time0 = time.time()
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
time1 = time.time()
print str(time1 - time0)
if rtn_val != 0:
print "Error capture image, rtn_val = ", rtn_val
break
time.sleep(0.005)
running = False
ArducamSDK.Py_ArduCam_endCaptureImage(handle)
try:
h_flip = rospy.get_param("~horizontal_flip")
except:
h_flip = False
try:
v_flip = rospy.get_param("~vertical_flip")
except:
v_flip = False
try:
id_frame = rospy.get_param("~frame_id")
except:
print "Please input frame_id."
exit()
if camera_initFromFile(config_file_name):
ArducamSDK.Py_ArduCam_setMode(handle,ArducamSDK.CONTINUOUS_MODE)
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print "Error beginning capture, rtn_val = ",rtn_val
exit()
else:
print "Capture began, rtn_val = ",rtn_val
service_write = rospy.Service('arducam/write_reg', WriteReg, write_register)
service_read = rospy.Service('arducam/read_reg', ReadReg, read_register)
service_capture = rospy.Service('arducam/capture', Capture, capture)
rospy.on_shutdown(rosShutdown)
while not rospy.is_shutdown():
captureImage()