def __init__(self, port="/dev/openmvcam"):
self.port = port
self.connected = False
pyopenmv.disconnect()
rospy.loginfo("Connecting...")
for i in range(10):
try:
# opens CDC port.
# Set small timeout when connecting
pyopenmv.init(self.port, baudrate=921600, timeout=0.050)
self.connected = True
break
except Exception as e:
self.connected = False
sleep(0.100)
if not self.connected:
rospy.logerr("Failed to connect to OpenMV's serial port.\n"
"Please install OpenMV's udev rules first:\n"
"sudo cp openmv/udev/50-openmv.rules /etc/udev/rules.d/\n"
"sudo udevadm control --reload-rules\n\n")
return
rospy.loginfo("Connected!")
# Set higher timeout after connecting for lengthy transfers.
pyopenmv.set_timeout(1*2) # SD Cards can cause big hicups.
pyopenmv.stop_script()
pyopenmv.enable_fb(True)
pyopenmv.exec_script(script)
# init pub
self.pub_image = rospy.Publisher("/image", Image, queue_size=10)
# init thread
self.running = False
self.thread = Thread(target=self.run)
self.thread.start()
rospy.on_shutdown(self.shutdown)
def camera_connect():
"""
Camera connection loop.
"""
connected = False
pyopenmv.disconnect()
# try and connect
for i in range(10):
try:
# opens CDC port.
# Set small timeout when connecting
pyopenmv.init(port_name, baudrate=921600, timeout=0.050)
connected = True
break
except Exception as e:
connected = False
sleep(0.100)
if not connected:
print("Failed to connect to OpenMV's serial port.\n"
"Please install OpenMV's udev rules first:\n"
"sudo cp openmv/udev/50-openmv.rules /etc/udev/rules.d/\n"
"sudo udevadm control --reload-rules\n\n")
sys.exit(1)
# Set higher timeout after connecting for lengthy transfers.
pyopenmv.set_timeout(1 * 2) # SD Cards can cause big hicups.
pyopenmv.stop_script()
pyopenmv.enable_fb(True)
pyopenmv.exec_script(blob_script)
# init screen
running = True
Clock = pygame.time.Clock()
font = pygame.font.SysFont("monospace", 15)
return running, Clock, font
while(True):
img = sensor.snapshot() # Take a picture and return the image.
sensor.flush()
"""
# init pygame
pygame.init()
if len(sys.argv)!= 2:
print ('usage: pyopenmv_fb.py <serial port>')
sys.exit(1)
portname = sys.argv[1]
connected = False
pyopenmv.disconnect()
for i in range(10):
try:
# opens CDC port.
# Set small timeout when connecting
pyopenmv.init(portname, baudrate=921600, timeout=0.050)
connected = True
break
except Exception as e:
connected = False
sleep(0.100)
if not connected:
print ( "Failed to connect to OpenMV's serial port.\n"
"Please install OpenMV's udev rules first:\n"
"sudo cp openmv/udev/50-openmv.rules /etc/udev/rules.d/\n"
while(True):
img = sensor.snapshot() # Take a picture and return the image.
sensor.flush()
"""
# init pygame
pygame.init()
if len(sys.argv)!= 2:
print ('usage: pyopenmv_fb.py <serial port>')
sys.exit(1)
portname = sys.argv[1]
connected = False
pyopenmv.disconnect()
for i in range(10):
try:
# opens CDC port.
# Set small timeout when connecting
pyopenmv.init(portname, baudrate=921600, timeout=0.050)
connected = True
break
except Exception as e:
connected = False
sleep(0.100)
if not connected:
print ( "Failed to connect to OpenMV's serial port.\n"
"Please install OpenMV's udev rules first:\n"
"sudo cp openmv/udev/50-openmv.rules /etc/udev/rules.d/\n"