def __init__(self,
width,
height,
depth=3,
device='/dev/video0',
channel=1,
title=None,
visionSystem=None,
visible=1):
"""
Device should be the name of the capture device in the /dev directory.
This is highly machine- and configuration-dependent, so make sure you
know what works on your system
Channel - 0: television; 1: composite; 2: S-Video
"""
if width < 48:
raise ValueError, "width must be greater than 48"
if height < 48:
raise ValueError, "height must be greater than 48"
self.deviceFilename = device
self.handle = None
self._cbuf = None
try:
self._dev = V4L2(device, width, height, depth, channel)
self._dev.setRGB(2, 1, 0)
except:
print "v4l2: grab_image failed!"
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
if title == None:
title = self.deviceFilename
self.rgb = (2, 1, 0) # offsets to BGR
self.format = "BGR"
Camera.__init__(self,
width,
height,
depth,
title=title,
visible=visible,
async=0) # this overwrites _dev!
self.rgb = (2, 1, 0) # offsets to BGR
self.format = "BGR"
self.subtype = "video4linux2"
self.source = device
self.data = CBuffer(self._cbuf)
def __init__(self, robot, width=80, height=60, depth=3, visionSystem=None):
"""
"""
self.robot = robot
self.width = width
self.height = height
self.depth = depth
self._dev = Robocup(self.width, self.height, self.depth)
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
# outer boundaries: Top, Left, Right, Bottom
# inner lines: top, left, right, bottom
# pentalty box: 1pleft, 2pright
# from page 31 of the Robocup Soccer Simulator manual:
self.lines = {
"top": ["lt", "ct", "rt"],
"left": ["lt", "glt", "gl", "glb", "lb"],
"bottom": ["lb", "cb", "rb"],
"right": ["rb", "grb", "gr", "grt", "rt"],
"Top": [
"tl50", "tl40", "tl30", "tl20", "tl10", "t0", "tr50", "tr40",
"tr30", "tr20", "tr10"
],
"Left": ["lt30", "lt20", "lt10", "l0", "lb30", "lb20", "lb10"],
"Bottom": [
"bl50", "bl40", "bl30", "bl20", "bl10", "b0", "br50", "br40",
"br30", "br20", "br10"
],
"Right": ["rt30", "rt20", "rt10", "r0", "rb30", "rb20", "rb10"],
"center": ["t0", "ct", "c", "cb", "b0"],
"1pleft": ["plt", "plc", "plb"],
"2pright": ["prt", "prc", "prb"],
"a": ["plt", "lt20"], # draw pentalty box sides
"A": ["plb", "lb20"], # draw pentalty box sides
"z": ["prt", "rt20"], # draw pentalty box sides
"Z": ["prb", "rb20"], # draw pentalty box sides
}
self.data = CBuffer(self._cbuf)
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Robocup Camera View")
self.subtype = "robocup"
self.data = CBuffer(self._cbuf)
def __init__(self, width, height, depth):
self.width = width
self.height = height
self.depth = depth
self._dev = Fake("", self.width, self.height, self.depth)
self.vision = VisionSystem()
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Fake Camera View")
self.subtype = "simulated"
self.data = CBuffer(self._cbuf)
def __init__(self, width, height, depth):
self.width = width
self.height = height
self.depth = depth
self._dev = Fake("", self.width, self.height, self.depth)
self.vision = VisionSystem()
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Fake Camera View")
self.subtype = "simulated"
self.data = CBuffer(self._cbuf)
def __init__(self, robot, visionSystem):
self.robot = robot
self.width = 320
self.height = 240
self.depth = 3
self._dev = Fake("", self.width, self.height, self.depth)
self.vision = VisionSystem()
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Rovio Camera View")
self.subtype = "rovio"
self.data = CBuffer(self._cbuf)
def __init__(self, robot, width=80, height=60, depth = 3, visionSystem = None):
"""
"""
self.robot = robot
self.width = width
self.height = height
self.depth = depth
self._dev = Robocup(self.width, self.height, self.depth)
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
# outer boundaries: Top, Left, Right, Bottom
# inner lines: top, left, right, bottom
# pentalty box: 1pleft, 2pright
# from page 31 of the Robocup Soccer Simulator manual:
self.lines = {"top": ["lt", "ct", "rt"],
"left": ["lt", "glt", "gl", "glb", "lb"],
"bottom": ["lb", "cb", "rb"],
"right": ["rb", "grb", "gr", "grt", "rt"],
"Top": ["tl50", "tl40", "tl30", "tl20", "tl10", "t0",
"tr50", "tr40", "tr30", "tr20", "tr10"],
"Left": ["lt30", "lt20", "lt10", "l0",
"lb30", "lb20", "lb10"],
"Bottom": ["bl50", "bl40", "bl30", "bl20", "bl10", "b0",
"br50", "br40", "br30", "br20", "br10"],
"Right": ["rt30", "rt20", "rt10", "r0",
"rb30", "rb20", "rb10"],
"center": ["t0", "ct", "c", "cb", "b0"],
"1pleft": ["plt", "plc", "plb"],
"2pright": ["prt", "prc", "prb"],
"a": ["plt", "lt20"], # draw pentalty box sides
"A": ["plb", "lb20"], # draw pentalty box sides
"z": ["prt", "rt20"], # draw pentalty box sides
"Z": ["prb", "rb20"], # draw pentalty box sides
}
self.data = CBuffer(self._cbuf)
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Robocup Camera View")
self.subtype = "robocup"
self.data = CBuffer(self._cbuf)
def __init__(self, leftcamera, rightcamera):
"""
Stereo Vision.
"""
self._leftcamera = leftcamera
self._rightcamera = rightcamera
self._dev = Stereo( self._leftcamera._dev, self._rightcamera._dev)
self.vision = VisionSystem()
self._dev.setRGB(leftcamera.rgb[0], leftcamera.rgb[1], leftcamera.rgb[2])
self.rgb = leftcamera.rgb
self.format = leftcamera.format
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
## -------------------------------------------------
Camera.__init__(self, self._dev.getWidth(), self._dev.getHeight(), self._dev.getDepth(),
"Stereo Camera")
self.data = CBuffer(self._cbuf)
def __init__(self, host, port, visionSystem = None):
"""
"""
self._dev = PlayerCam( host, port)
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
self.data = CBuffer(self._cbuf)
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Player Camera View")
self.subtype = "player"
self.data = CBuffer(self._cbuf)
def __init__(self, camera, splits, quad, rot = 0):
"""
Can split a camera 2 or 4 ways.
"""
self._camera = camera
self._splits = splits
self._quad = quad
self._dev = Fourway( self._camera._dev, splits, quad, rot)
self.vision = VisionSystem()
self._dev.setRGB(camera.rgb[0], camera.rgb[1], camera.rgb[2])
self.rgb = camera.rgb
self.format = camera.format
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
## -------------------------------------------------
Camera.__init__(self, self._dev.getWidth(), self._dev.getHeight(), self._dev.getDepth(),
"Quad #%d" % quad)
self.data = CBuffer(self._cbuf)
def __init__(self, robot, visionSystem = None, tcp = 1):
"""
"""
self.robot = robot
self._dev = RovioCam(self.robot.theurl, 80, tcp)
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
self.data = CBuffer(self._cbuf)
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth, "Rovio Camera View", async=1)
self.subtype = "rovio"
self.data = CBuffer(self._cbuf)
def __init__(self, leftcamera, rightcamera):
"""
Stereo Vision.
"""
self._leftcamera = leftcamera
self._rightcamera = rightcamera
self._dev = Stereo(self._leftcamera._dev, self._rightcamera._dev)
self.vision = VisionSystem()
self._dev.setRGB(leftcamera.rgb[0], leftcamera.rgb[1],
leftcamera.rgb[2])
self.rgb = leftcamera.rgb
self.format = leftcamera.format
self.vision.registerCameraDevice(self._dev)
self._cbuf = self.vision.getMMap()
## -------------------------------------------------
Camera.__init__(self, self._dev.getWidth(), self._dev.getHeight(),
self._dev.getDepth(), "Stereo Camera")
self.data = CBuffer(self._cbuf)
def __init__(self, host, port, visionSystem=None):
"""
"""
self._dev = PlayerCam(host, port)
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
self.data = CBuffer(self._cbuf)
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Player Camera View")
self.subtype = "player"
self.data = CBuffer(self._cbuf)
def __init__(self, robot, visionSystem=None, tcp=1):
"""
"""
self.robot = robot
self.robot.setRemoteControl("Raw Cam Server", "on")
time.sleep(1)
self._dev = AiboCam(self.robot.host, self.robot.PORT["Raw Cam Server"], tcp)
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
self.data = CBuffer(self._cbuf)
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth, "Aibo Camera View", async=1)
self.subtype = "aibo"
self.data = CBuffer(self._cbuf)
def __init__(self, robot, visionSystem = None, tcp = 1):
"""
"""
self.robot = robot
self.robot.setRemoteControl("Raw Cam Server", "on")
time.sleep(1)
self._dev = AiboCam( self.robot.host, self.robot.PORT["Raw Cam Server"], tcp)
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
self.data = CBuffer(self._cbuf)
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Aibo Camera View")
self.subtype = "aibo"
self.data = CBuffer(self._cbuf)
def __init__(self,
width,
height,
depth=3,
device='/dev/bt848fg0',
title=None,
visionSystem=None):
"""
Device should be the name of the capture device in the /dev directory.
This is highly machine- and configuration-dependent, so make sure you
know what works on your system
"""
if width < 48:
raise ValueError("width must be greater than 48")
if height < 48:
raise ValueError("height must be greater than 48")
self.deviceFile = device
self.handle = None
self._cbuf = None
try:
self._dev = BT848(device, width, height, depth)
self._dev.setRGB(2, 1, 0)
except:
print("bt848: grab_image failed!")
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
if title == None:
title = self.deviceFile
self.rgb = (2, 1, 0) # offsets to BGR
self.format = "BGR"
Camera.__init__(self, width, height, depth, title=title)
self.subtype = "bt848"
self.source = device
self.data = CBuffer(self._cbuf)
def __init__(self, width, height, depth = 3,
device = '/dev/video0', channel = 1, title = None,
visionSystem = None, visible = 1):
"""
Device should be the name of the capture device in the /dev directory.
This is highly machine- and configuration-dependent, so make sure you
know what works on your system
Channel - 0: television; 1: composite; 2: S-Video
"""
if width < 48:
raise ValueError, "width must be greater than 48"
if height < 48:
raise ValueError, "height must be greater than 48"
self.deviceFilename = device
self.handle=None
self._cbuf=None
try:
self._dev = V4L(device, width, height, depth, channel)
self._dev.setRGB( 2, 1, 0)
except:
print "v4l: grab_image failed!"
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
if title == None:
title = self.deviceFilename
self.rgb = (2, 1, 0) # offsets to BGR
self.format = "BGR"
Camera.__init__(self, width, height, depth, title = title,
visible = visible) # this overwrites _dev!
self.rgb = (2, 1, 0) # offsets to BGR
self.format = "BGR"
self.subtype = "video4linux"
self.source = device
self.data = CBuffer(self._cbuf)
def __init__(self, robot, camera=None, depth=3, visionSystem=None):
"""
"""
self.robot = robot
# if no camera given, we'll try a blobfinder
if camera == None:
# is there a default one?
try:
self.blobfinder = self.robot.blobfinder[0]
except AttributeError:
# no,then we'll try to start one:
self.blobfinder = self.robot.startDevice('blobfinder')
else:
# else, you better have supplied a name, like "blobfinder0"
self.blobfinder = camera
self._devBlobFinder = self.blobfinder._dev
while self._devBlobFinder.width == 0:
pass
self.width, self.height = self._devBlobFinder.width, self._devBlobFinder.height
self.depth = depth
self._dev = Blob(self.width, self.height, self.depth)
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
self.data = CBuffer(self._cbuf)
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Blob Camera View")
self.requires = ["blobfinder"]
self.subtype = "blob"
self.source = "%s[%d]" % (self.blobfinder.type, self.blobfinder.index)
self.data = CBuffer(self._cbuf)
def __init__(self, robot, camera = None, depth = 3, visionSystem = None):
"""
"""
self.robot = robot
# if no camera given, we'll try a blobfinder
if camera == None:
# is there a default one?
try:
self.blobfinder = self.robot.blobfinder[0]
except AttributeError:
# no,then we'll try to start one:
self.blobfinder = self.robot.startDevice('blobfinder')
else:
# else, you better have supplied a name, like "blobfinder0"
self.blobfinder = camera
self._devBlobFinder = self.blobfinder._dev
while self._devBlobFinder.width == 0: pass
self.width, self.height = self._devBlobFinder.width,self._devBlobFinder.height
self.depth = depth
self._dev = Blob(self.width, self.height, self.depth)
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
self.data = CBuffer(self._cbuf)
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Blob Camera View")
self.requires = ["blobfinder"]
self.subtype = "blob"
self.source = "%s[%d]" % (self.blobfinder.type, self.blobfinder.index)
self.data = CBuffer(self._cbuf)
def __init__(self, width, height, depth = 3,
device = '/dev/bt848fg0', title = None,
visionSystem = None):
"""
Device should be the name of the capture device in the /dev directory.
This is highly machine- and configuration-dependent, so make sure you
know what works on your system
"""
if width < 48:
raise ValueError, "width must be greater than 48"
if height < 48:
raise ValueError, "height must be greater than 48"
self.deviceFile = device
self.handle=None
self._cbuf=None
try:
self._dev = BT848(device, width, height, depth)
self._dev.setRGB( 2, 1, 0)
except:
print "bt848: grab_image failed!"
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
if title == None:
title = self.deviceFile
self.rgb = (2, 1, 0) # offsets to BGR
self.format = "BGR"
Camera.__init__(self, width, height, depth, title = title)
self.subtype = "bt848"
self.source = device
self.data = CBuffer(self._cbuf)
def __init__(self,
pattern=None,
start=0,
stop=19,
char="?",
interval=1.0,
visionSystem=None,
verbose=0):
"""
pattern is a filename with indicators on where to put digits for the
sequence. Absolute or relative filenames can be used.
For example, 'image???-.ppm' would start at 'image000.ppm'
and continue up to stop.
char is the character that should be replaced in the pattern.
interval = how often do I get new image
As an example, to load som-0.ppm through som-19.ppm, we could call
FakeCamera('vision/snaps/som-?.ppm', 0, 19)
"""
if pattern == None:
pattern = "vision/snaps/som-?.ppm"
self.pattern = pattern
self.stop = stop
self.start = start
self.current = start
self.setUpdateInterval(interval)
self.verbose = verbose
self.lastUpdate = 0
#create a matchdata object that we will store
self.match = re.search(re.escape(char) + "+", pattern)
#create a format string that we can use to replace the
#replace characters
if self.match:
self.fstring = "%%0%dd" % len(self.match.group())
currname = self.pattern[:self.match.start()] + \
self.fstring % self.current + \
self.pattern[self.match.end():]
else:
currname = self.pattern
if system.file_exists(currname):
self.path = ''
elif system.file_exists(os.getenv('PYROBOT') + "/" + currname):
self.path = os.getenv('PYROBOT') + "/"
else:
raise ValueError("file not found: '%s'" % currname)
if self.verbose:
print("info: reading file '%s'..." % (self.path + currname))
self._dev = Fake(self.path + currname)
# connect vision system: --------------------------
if visionSystem:
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
else:
self.vision = None
self.width = 0
self.height = 0
self.depth = 0
self._cbuf = None
# -------------------------------------------------
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Fake Camera View")
self.subtype = "simulated"
self.source = self.pattern
self.data = CBuffer(self._cbuf)
self.oldStart = None
self.oldStop = None
def setUpdateInterval(self, val):
Camera.setUpdateInterval(self, val)
self.interval = val
def __init__(self, pattern = None,
start = 0, stop = 19, char = "?",
interval = 1.0, visionSystem = None, verbose = 0):
"""
pattern is a filename with indicators on where to put digits for the
sequence. Absolute or relative filenames can be used.
For example, 'image???-.ppm' would start at 'image000.ppm'
and continue up to stop.
char is the character that should be replaced in the pattern.
interval = how often do I get new image
As an example, to load som-0.ppm through som-19.ppm, we could call
FakeCamera('vision/snaps/som-?.ppm', 0, 19)
"""
if pattern == None:
pattern = "vision/snaps/som-?.ppm"
self.pattern = pattern
self.stop = stop
self.start = start
self.current = start
self.setUpdateInterval(interval)
self.verbose = verbose
self.lastUpdate = 0
#create a matchdata object that we will store
self.match = re.search(re.escape(char) + "+", pattern)
#create a format string that we can use to replace the
#replace characters
if self.match:
self.fstring = "%%0%dd" % len(self.match.group())
currname = self.pattern[:self.match.start()] + \
self.fstring % self.current + \
self.pattern[self.match.end():]
else:
currname = self.pattern
if system.file_exists(currname):
self.path = ''
elif system.file_exists( pyrobotdir() + "/" + currname):
self.path = pyrobotdir() + "/"
else:
raise ValueError, "file not found: '%s'" % currname
if self.verbose:
print "info: reading file '%s'..." % (self.path + currname)
self._dev = Fake(self.path + currname)
# connect vision system: --------------------------
if visionSystem:
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
else:
self.vision = None
self.width = 0
self.height = 0
self.depth = 0
self._cbuf = None
# -------------------------------------------------
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Fake Camera View")
self.subtype = "simulated"
self.source = self.pattern
self.data = CBuffer(self._cbuf)
self.oldStart = None
self.oldStop = None
def setUpdateInterval(self, val):
Camera.setUpdateInterval(self, val)
self.interval = val
