def update_frame_big(self):
self.grabResult = self.camera.RetrieveResult(
5000, pylon.TimeoutHandling_ThrowException)
if self.grabResult.GrabSucceeded():
# Access the image data
self.img = self.converter_RGB.Convert(self.grabResult)
self.image = self.img.GetArray()
# Find distance between target and needle position
try:
fdist = fd.FindingDistance(self.image)
distance = fdist.real_distance
# send out distance values to control thread
# self.count_for_done += 1
self.dist_signal.emit(distance)
if self.count_for_done < self.TargetAmount_int - 1:
self.dist_signal.emit(distance)
print()
print("count: ", self.count_for_done)
print()
else:
self.dist_signal.disconnect(self.obj3.robot)
print()
print("disconnect")
print()
'''
# stop timer
self.timer_camera_big.stop()
self.timer_camera_small.stop()
# Releasing grab result
self.grabResult.Release()
# Releasing the resource
self.camera.StopGrabbing()
self.gui.Dia_Finish()
self.gui.dialog6.show()
self.gui.dialog6.exec_()
'''
except:
print("No distance")
# pass
# Modify image for gui_window
self.imp = im.ImageProcessing(self.image, 'BLOB')
self.show_img = self.imp.img_with_bounding
# get image infos
height, width, channel = self.show_img.shape
step = channel * width
# create QImage from image
qImg = QImage(self.show_img.data, width, height, step,
QImage.Format_RGB888)
# show image in img_label
self.gui.form_main.label_bigCam.setPixmap(QPixmap.fromImage(qImg))
self.gui.form_main.label_bigCam.setScaledContents(True)
'''
def update_frame_big(self):
self.grabResult = self.camera.RetrieveResult(
5000, pylon.TimeoutHandling_ThrowException)
if self.grabResult.GrabSucceeded():
# Access the image data
self.img = self.converter_RGB.Convert(self.grabResult)
self.image = self.img.GetArray()
# Find distance between target and needle position
try:
fdist = fd.FindingDistance(self.image)
distance = fdist.real_distance
# send out distance values to control thread
self.dist_signal.emit(distance)
except:
print("No distance")
# pass
# Modify image for gui_window
self.imp = im.ImageProcessing(self.image, 'BLOB')
self.show_img = self.imp.img_with_bounding
# get image infos
height, width, channel = self.show_img.shape
step = channel * width
# create QImage from image
qImg = QImage(self.show_img.data, width, height, step,
QImage.Format_RGB888)
# show image in img_label
self.gui.form_main.label_bigCam.setPixmap(QPixmap.fromImage(qImg))
self.gui.form_main.label_bigCam.setScaledContents(True)
'''
def Camera(self, queue, queue2):
# conecting to the first available camera
camera = pylon.InstantCamera(pylon.TlFactory.GetInstance().CreateFirstDevice())
# Grabing Continusely (video) with minimal delay
camera.StartGrabbing(pylon.GrabStrategy_LatestImageOnly)
##camera.StartGrabbing(pylon.GrabStrategy_OneByOne)
##camera.StartGrabbing(pylon.GrabStrategy_LatestImages)
converter = pylon.ImageFormatConverter()
# converting to opencv bgr format
converter.OutputPixelFormat = pylon.PixelType_BGR8packed
converter.OutputBitAlignment = pylon.OutputBitAlignment_MsbAligned
while camera.IsGrabbing():
grabResult = camera.RetrieveResult(5000, pylon.TimeoutHandling_ThrowException)
if grabResult.GrabSucceeded():
# Access the image data
image = converter.Convert(grabResult)
img = image.GetArray()
# Find distance between target and needle position
try:
fdist = fd.FindingDistance(img)
distance = fdist.real_distance
# send out distance values to control thread
queue.put(distance)
show_im = fdist.ip_Orb.reimg
queue2.put(show_im)
except:
print("No distance")
# pass
k = cv2.waitKey(1)
if k == 27:
break
grabResult.Release()
# Releasing the resource
camera.StopGrabbing()
cv2.destroyAllWindows()
def viewCam(): global grabResult ### big window ''' # read image in BGR format ret, image = self.cap.read() # convert image to RGB format image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB) # get image infos height, width, channel = image.shape step = channel * width # create QImage from image qImg = QImage(image.data, width, height, step, QImage.Format_RGB888) # show image in img_label self.label_camera.setPixmap(QPixmap.fromImage(qImg)) self.label_camera.setScaledContents(True) ''' ### small window grabResult = camera.RetrieveResult(5000, pylon.TimeoutHandling_ThrowException) if grabResult.GrabSucceeded(): # Access the image data image2 = converter.Convert(grabResult) img2 = image2.GetArray() # distance = ([x_distance, y_distance]) fdist = fd.FindingDistance() distance = fdist.Distance(img2) robot.DXL_Control(serialPort, distance) show_im = fdist.ip_Orb.reimg # get image infos height2, width2, channel2 = show_im.shape step2 = channel2 * width2 # create QImage from image qImg2 = QImage(show_im.data, width2, height2, step2, QImage.Format_RGB888) # show image in img_label ui.label_camera2.setPixmap(QPixmap.fromImage(qImg2)) ui.label_camera2.setScaledContents(True)