def __init__(self):
self.hCam = ueye.HIDS(
1
) # 0: first available camera; 1-254: The camera with the specified camera ID
self.sInfo = ueye.SENSORINFO()
self.cInfo = ueye.CAMINFO()
self.pcImageMemory = ueye.c_mem_p()
self.MemID = ueye.int()
self.rectAOI = ueye.IS_RECT()
self.pitch = ueye.INT()
self.nBitsPerPixel = ueye.INT(
24
) # 24: bits per pixel for color mode; take 8 bits per pixel for monochrome
self.channels = 3 # 3: channels for color mode(RGB); take 1 channel for monochrome
self.m_nColorMode = ueye.INT() # Y8/RGB16/RGB24/REG32
self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
self.f_length = (652.7396, 653.3803) # FocalLength
self.p_center = (321.8104, 259.7124) # PrincipalPoint
self.intrinsic = np.array(
[[self.f_length[0], 0, self.p_center[0]],
[0, self.f_length[1], self.p_center[1]], [0, 0, 1]],
dtype=np.float)
self.offset = [0, 0, 50] #milimeter
# ---------------------------------------------------------------------------------------------------------------------------------------
print("In hand camera initilized")
def __init__(self, camID, buffer_count=3):
# Variables
self.cam = ueye.HIDS(camID)
self.sInfo = ueye.SENSORINFO()
self.cInfo = ueye.CAMINFO()
self.pcImageMemory = ueye.c_mem_p()
self.MemID = ueye.int()
self.rectAOI = ueye.IS_RECT()
self.pitch = ueye.INT()
self.nBitsPerPixel = ueye.INT(8)
self.channels = 3
self.m_nColorMode = ueye.IS_CM_SENSOR_RAW8
self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
self.buffer_count = buffer_count
self.img_buffer = []
self.mode_filename = 0
self.pixelclock = 0
self.exposure = 0
self.width = 0
self.height = 0
self.nRet = 0
self.camID = camID
self.current_fps = 0
self.FPS = 0
self.gain = 0
self.rGain = 0
self.bGain = 0
self.gGain = 0
def __init__(self):
self.cam = ueye.HIDS(0)
self.cam_info = ueye.CAMINFO()
self.sensor_info = ueye.SENSORINFO()
self.image_memory = ueye.c_mem_p()
self.memory_id = ueye.int()
self.rect_aoi = ueye.IS_RECT()
self.bits_per_pixel = ueye.INT(24)
self.bytes_per_pixel = int(self.bits_per_pixel / 8)
self.pitch = ueye.INT()
self.color_mode = ueye.INT()
self.width = 0
self.height = 0
self.status = 'IDLE'
self.data = []
self.lock = Lock()
self.pipe = 0
self.offset_x = 2
self.offset_y = 2
self.__init_camera()
self.__get_camera_info()
self.__get_sensor_info()
#self.__default()
self.__display_mode()
self.__get_color_mode()
self.__get_dimensions()
self.__memory_allocation()
self.__set_color_mode()
self.__set_events()
self.__mandatory_shit()
print("Color mode {}".format(self.color_mode))
print("Bits per pixel {}".format(self.bits_per_pixel))
print("Bytes per pixel {}".format(self.bytes_per_pixel))
def __init__(self):
# Variabeln für Kameraverarbeitung
self.h_cam = ueye.HIDS(0)
self.pitch = ueye.INT()
self.ColorMode = ueye.IS_CM_BGRA8_PACKED
self.nBitsPerPixel = ueye.INT(32)
self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
self.pitch = ueye.INT()
self.pcImageMemory = ueye.c_mem_p()
self.rectAOI = ueye.IS_RECT()
self.MemID = ueye.int()
self.width = None
self.height = None
self.size_of_square = 3.6 # Zentimeter
self.nx = 8
self.ny = 6
self.n_im = 0
self.gray = None
self.objectpoints = None
self.imagepoints = None
self.camera_matrix = None
self.dist_coeff = None
self.mean_error = 0
# Pfad zum Speichern der Bilder angeben
self.path = os.path.dirname(os.path.abspath(sys.argv[0])) + "/images/"
def init_cam(hcam):
# get fps
# hcam_fps = is_GetFramesPerSecond(hcam, None)
# set color mode
ueye.is_SetColorMode(hcam, ueye.IS_CM_BGR8_PACKED)
# set region of interest
rect_aoi = ueye.IS_RECT()
rect_aoi.s32X = ueye.int(0)
rect_aoi.s32Y = ueye.int(0)
rect_aoi.s32Width = ueye.int(width)
rect_aoi.s32Height = ueye.int(height)
ueye.is_AOI(hcam, ueye.IS_AOI_IMAGE_SET_AOI, rect_aoi,
ueye.sizeof(rect_aoi))
# allocate memory
mem_ptr = ueye.c_mem_p()
mem_id = ueye.int()
ueye.is_AllocImageMem(hcam, width, height, bitspixel, mem_ptr, mem_id)
ueye.is_SetImageMem(hcam, mem_ptr, mem_id)
# continuous capture to memory
ueye.is_CaptureVideo(hcam, ueye.IS_DONT_WAIT)
return mem_ptr
def convert_image_data(self):
rect_aoi = ueye.IS_RECT()
bits_per_pixel = 24
converted_image_data = ImageData()
conversion_params = ueye.BUFFER_CONVERSION_PARAMS()
ueye.is_AOI(self.hCam, ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi,
ueye.sizeof(rect_aoi))
converted_image_data.memory_pointer = self.converted_memory_pointer
converted_image_data.memory_id = self.converted_memory_id
converted_image_data.width = rect_aoi.s32Width
converted_image_data.height = rect_aoi.s32Height
converted_image_data.bits_per_pixel = bits_per_pixel
conversion_params.nDestPixelFormat = ueye.IS_CM_RGB8_PACKED
conversion_params.pSourceBuffer = self.img_data.memory_pointer
conversion_params.pDestBuffer = converted_image_data.memory_pointer
conversion_params.nDestPixelConverter = ueye.IS_CONV_MODE_SOFTWARE_3X3
conversion_params.nDestColorCorrectionMode = ueye.IS_CCOR_DISABLE
conversion_params.nDestGamma = ueye.INT(100)
conversion_params.nDestSaturationU = ueye.INT(100)
conversion_params.nDestSaturationV = ueye.INT(100)
conversion_params.nDestEdgeEnhancement = ueye.INT(0)
ueye.is_Convert(self.hCam,
ueye.IS_CONVERT_CMD_APPLY_PARAMS_AND_CONVERT_BUFFER,
conversion_params, ueye.sizeof(conversion_params))
return converted_image_data
def __init__(self, graphic=None, mainf=None):
self.camera = False
self.graphic = graphic
self.mainf = mainf
self.detected_devices = {}
self.nRet = None
try:
self.hid = ueye.HIDS()
self.sinfo = ueye.SENSORINFO()
self.hwnd = ueye.HWND()
self.width = ueye.INT()
self.height = ueye.INT()
self.psize = None
self.bitspixel = ueye.INT(24)
self.bytesppixel = int(self.bitspixel / 8)
self.ppcImgMem = ueye.c_mem_p()
self.pid = ueye.INT()
self.MemID = ueye.INT()
self.colorm = ueye.INT()
self.pitch = ueye.INT()
self.rect = ueye.IS_RECT()
self.maxExp = ueye.double()
self.minExp = ueye.double()
self.Exp = ueye.double()
except:
return
def get_aoi(self):
rect_aoi = ueye.IS_RECT()
ueye.is_AOI(self.h_cam, ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi,
ueye.sizeof(rect_aoi))
return Rect(rect_aoi.s32X.value, rect_aoi.s32Y.value,
rect_aoi.s32Width.value, rect_aoi.s32Height.value)
def __init__(self):
# Variabeln für Kameraverarbeitung
self.h_cam = ueye.HIDS(0)
self.pitch = ueye.INT()
self.ColorMode = ueye.IS_CM_BGRA8_PACKED
self.nBitsPerPixel = ueye.INT(32)
self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
self.pitch = ueye.INT()
self.pcImageMemory = ueye.c_mem_p()
self.rectAOI = ueye.IS_RECT()
self.MemID = ueye.int()
self.width = None
self.height = None
self.dst = None
self.path_images = os.path.dirname(os.path.abspath(
sys.argv[0])) + "/images/"
# laden der intrinsischen Kalibriermatrix
self.load_calibration_config()
# Variabeln zur Farberkennung
self.found_container = False
self.contours_rectangle = []
blue_lower = [50, 0, 0]
blue_upper = [255, 75, 75]
self.boundaries = [(blue_lower, blue_upper)]
self.cX = None
self.cY = None
self.cX_container = None
self.cY_container = None
# Variablen zur Positionsbestimmung
self.container_world_position = []
self.ball_position = []
self.container_position = []
self.qr_centres = []
self.world_points = []
self.qr_codes = None
self.image_points_of_qr_codes = None
self.localization_qr_codes = []
self.world_localization_qr_codes = []
self.increment = 0.25
self.results = 0
# Wahl des Ansatzes
self.method = 0
while self.method <= 0 or self.method >= 4:
try:
self.method = eval(
input(
"Mit welchem Ansatz sollen die Positionen ermittelt werden?\n (1) GPS-Ansatz\n "
"(2) Vergleichsansattz\n (3) Berechnen der Weltkoordinaten\n"
))
except NameError:
self.method = 0
except SyntaxError:
self.method = 0
except TypeError:
self.method = 0
def set_aoi(self, x, y, width, height):
rect_aoi = ueye.IS_RECT()
rect_aoi.s32X = ueye.int(x)
rect_aoi.s32Y = ueye.int(y)
rect_aoi.s32Width = ueye.int(width)
rect_aoi.s32Height = ueye.int(height)
return ueye.is_AOI(self.h_cam, ueye.IS_AOI_IMAGE_SET_AOI, rect_aoi, ueye.sizeof(rect_aoi))
def get_aoi(self):
rect_aoi = ueye.IS_RECT()
ueye.is_AOI(self.cam, ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi,
ueye.sizeof(rect_aoi))
# --- --- #
x, y, width, height = rect_aoi.s32X.value, rect_aoi.s32Y.value, rect_aoi.s32Width.value, rect_aoi.s32Height.value
# --- --- #
#self.frame_buffer = np.zeros([height,width])
#self.frame_color_buffer = np.zeros([height,width,3])
return x, y, width, height
def __init__(self):
super(CamDialog, self).__init__()
loadUi('cam.ui', self)
self.image=None
self.roi_color=None
self.startButton.clicked.connect(self.start_webcam)
self.stopButton.clicked.connect(self.stop_webcam)
# self.detectButton.setCheckable(True)
# self.detectButton.toggled.connect(self.detect_webcam_face)
self.face_Enabled=False
self.faceCascade=cv2.CascadeClassifier('haarcascade_frontalface_default.xml')
self.hCam = ueye.HIDS(0) # 0: first available camera; 1-254: The camera with the specified camera ID
self.sInfo = ueye.SENSORINFO()
self.cInfo = ueye.CAMINFO()
self.pcImageMemory = ueye.c_mem_p()
self.MemID = ueye.int()
self.rectAOI = ueye.IS_RECT()
self.pitch = ueye.INT()
self.nBitsPerPixel = ueye.INT(24) # 24: bits per pixel for color mode; take 8 bits per pixel for monochrome
self.channels = 3 # 3: channels for color mode(RGB); take 1 channel for monochrome
self.m_nColorMode = ueye.INT() # Y8/RGB16/RGB24/REG32
self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
self.nRet = ueye.is_InitCamera(self.hCam, None)
self.nRet = ueye.is_GetCameraInfo(self.hCam, self.cInfo)
self.nRet = ueye.is_GetSensorInfo(self.hCam, self.sInfo)
self.nRet = ueye.is_ResetToDefault(self.hCam)
self.nRet = ueye.is_SetDisplayMode(self.hCam, ueye.IS_SET_DM_DIB)
ueye.is_GetColorDepth(self.hCam, self.nBitsPerPixel, self.m_nColorMode)
self.nRet = ueye.is_AOI(self.hCam, ueye.IS_AOI_IMAGE_GET_AOI, self.rectAOI, ueye.sizeof(self.rectAOI))
self.width = self.rectAOI.s32Width
self.height = self.rectAOI.s32Height
self.nRet = ueye.is_AllocImageMem(self.hCam, self.width, self.height, self.nBitsPerPixel, self.pcImageMemory, self.MemID)
self.nRet = ueye.is_SetImageMem(self.hCam, self.pcImageMemory, self.MemID)
self.nRet = ueye.is_SetColorMode(self.hCam, self.m_nColorMode)
self.nRet = ueye.is_CaptureVideo(self.hCam, ueye.IS_DONT_WAIT)
self.nRet = ueye.is_InquireImageMem(self.hCam, self.pcImageMemory, self.MemID, self.width, self.height, self.nBitsPerPixel, self.pitch)
self.xp=[]
self.yp=[]
self.lxp=[]
self.lyp = []
self.rxp = []
self.ryp = []
self.sx = 200
self.sy = 150
self.endx = 600
self.endy = 450
# self.avgx = 0
# self.avgy = 0
self.holeflag = 0
self.lflag = 0
self.rflag = 0
def set_aoi(self, x, y, width, height):
rect_aoi = ueye.IS_RECT()
rect_aoi.s32X = ueye.int(x)
rect_aoi.s32Y = ueye.int(y)
rect_aoi.s32Width = ueye.int(width)
rect_aoi.s32Height = ueye.int(height)
# --- --- #
hasWorked = ueye.is_AOI(
self.cam, ueye.IS_AOI_IMAGE_SET_AOI, rect_aoi,
ueye.sizeof(rect_aoi)) # set and return the success of AOI change
#print('SET AOI: ', hasWorked )
return hasWorked
def getAOI(self):
self.AOI=ueye.IS_RECT()
if ueye.is_AOI(self.hcam, ueye.IS_AOI_IMAGE_GET_AOI, self.AOI, ueye.sizeof(self.AOI)):
_logger.error("Error retrinving AOI")
self.status=True
return True
x0=self.AOI.s32X.value
y0=self.AOI.s32Y.value
width=self.AOI.s32Width.value
height=self.AOI.s32Height.value
self.xaxis=np.arange(width)+x0
self.yaxis=np.arange(height)+y0
return False
def __init__(self, cam_ID = 0):
# Several parameters are unused, but may be needed in the future
self.hCam = ueye.HIDS(cam_ID)
self.sInfo = ueye.SENSORINFO()
self.cInfo = ueye.CAMINFO()
self.pcImageMemory = ueye.c_mem_p()
self.MemID = ueye.int()
self.rectAOI = ueye.IS_RECT()
self.pitch = ueye.INT()
self.nBitsPerPixel = ueye.INT(32) # 32 bits for color camera
self.channels = 3 # 3: channels for color mode(RGB); take 1 channel for monochrome
self.m_nColorMode = ueye.IS_CM_BGRA8_PACKED # RGB32
self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
def Camera_Initialization(self):
self.hcam = ueye.HIDS(0)
self.ret = ueye.is_InitCamera(self.hcam, None)
self.ret = ueye.is_SetColorMode(self.hcam, ueye.IS_CM_MONO12)
self.IDS_FPS = float(50)
self.newrate = ueye.DOUBLE(self.IDS_FPS)
self.rate = ueye.DOUBLE(self.IDS_FPS)
self.IDS_exposure = float(20)
self.width = 2056
self.height = 1542
self.rect_aoi = ueye.IS_RECT()
self.rect_aoi.s32X = ueye.int(0)
self.rect_aoi.s32Y = ueye.int(0)
self.rect_aoi.s32Width = ueye.int(self.width)
self.rect_aoi.s32Height = ueye.int(self.height)
ueye.is_AOI(self.hcam, ueye.IS_AOI_IMAGE_SET_AOI, self.rect_aoi,
ueye.sizeof(self.rect_aoi))
self.mem_ptr = ueye.c_mem_p()
self.mem_id = ueye.int()
self.bitspixel = 16
self.ret = ueye.is_AllocImageMem(self.hcam, self.width, self.height,
self.bitspixel, self.mem_ptr,
self.mem_id)
self.ret = ueye.is_SetImageMem(self.hcam, self.mem_ptr, self.mem_id)
self.ret = ueye.is_CaptureVideo(self.hcam, ueye.IS_DONT_WAIT)
#self.lineinc = self.width * int((self.bitspixel + 7) / 8)
self.lineinc = self.width * int(self.bitspixel / 8)
self.nRet = ueye.is_SetFrameRate(self.hcam, self.rate, self.newrate)
self.expms = ueye.DOUBLE(self.IDS_exposure)
self.nRet = ueye.is_Exposure(self.hcam,
ueye.IS_EXPOSURE_CMD_SET_EXPOSURE,
self.expms, ueye.sizeof(self.expms))
self.pixelclock = ueye.c_uint(197)
self.nRet = ueye.is_PixelClock(self.hcam, ueye.IS_PIXELCLOCK_CMD_SET,
self.pixelclock, 4)
#pixelclock = ueye.c_uint()
#ueye.is_PixelClock(hcam, ueye.IS_PIXELCLOCK_CMD_GET, pixelclock, 4)
self.nRet = ueye.is_SetHardwareGain(self.hcam, 100,
ueye.IS_IGNORE_PARAMETER,
ueye.IS_IGNORE_PARAMETER,
ueye.IS_IGNORE_PARAMETER)
#gg = ueye.c_uint()
#ueye.is_SetHWGainFactor(hcam, ueye.IS_GET_MASTER_GAIN_FACTOR, gg)
self.nRet = ueye.is_SetHardwareGamma(self.hcam,
ueye.IS_SET_HW_GAMMA_ON)
def get_aoi(self):
"""
Get the current area of interest.
Returns
=======
rect: Rect object
Area of interest
"""
rect_aoi = ueye.IS_RECT()
ueye.is_AOI(self.h_cam, ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi,
ueye.sizeof(rect_aoi))
return Rect(rect_aoi.s32X.value, rect_aoi.s32Y.value,
rect_aoi.s32Width.value, rect_aoi.s32Height.value)
def init_cam(hcam):
# get fps
# hcam_fps = is_GetFramesPerSecond(hcam, None)
# set color mode
ueye.is_SetColorMode(hcam, ueye.IS_CM_BGR8_PACKED)
# set region of interest
rect_aoi = ueye.IS_RECT()
rect_aoi.s32X = ueye.int(0)
rect_aoi.s32Y = ueye.int(0)
rect_aoi.s32Width = ueye.int(width)
rect_aoi.s32Height = ueye.int(height)
ueye.is_AOI(hcam, ueye.IS_AOI_IMAGE_SET_AOI, rect_aoi, ueye.sizeof(rect_aoi))
#
# # set parameters, see ids doc for parameter setting flow chart
# ueye.is_PixelClock(hcam, ueye.IS_PIXELCLOCK_CMD_GET, exp, ueye.sizeof(pclock))
# pclock = ueye.int(220)
# ueye.is_PixelClock(hcam, ueye.IS_PIXELCLOCK_CMD_GET, pclock, ueye.sizeof(pclock))
#
# expo_rng = ueye.is_Exposure(hcam, IS_EXPOSURE_CMD_GET_CAPS, ncap, size(ncap))
# ftime_rng = ueye.is_GetFrameTimeRange()
# expo_rng = (expo_rng[0], max(expo_rng[1], ftime_rng[1]))
#
# fps_actual = ueye.cdouble()
# ueye.is_SetFrameRate(hcam, ueye.cdouble(fps_set), byref(fps_actual))
#
# exp_cap = ueye.uint32()
# ueye.is_Exposure(hcam, ueye.IS_EXPOSURE_GET_EXPOSURE_RANGE, ueye.byref(exp_cap), ueye.sizeof(exp_cap))
# exp_cur = ueye.cdouble() # in s
# ueye.is_Exposure(hcam, ueye.IS_EXPOSURE_SET_EXPOSURE, ueye.byref(exp_cur), ueye.sizeof(exp_cur))
# ueye.is_SetGainBoost()
# ueye.is_Gamma()
# ueye.is_SetHWGainFactor()
#
# allocate memory
mem_ptr = ueye.c_mem_p()
mem_id = ueye.int()
ueye.is_AllocImageMem(hcam, width, height, bitspixel, mem_ptr, mem_id)
ueye.is_SetImageMem(hcam, mem_ptr, mem_id)
# continuous capture to memory
ueye.is_CaptureVideo(hcam, ueye.IS_DONT_WAIT)
return mem_ptr
def GetROI(self):
"""
Returns
-------
The ROI, [x1, y1, x2, y2] in the numpy convention used by SetROI
"""
aoi = ueye.IS_RECT()
self.check_success(
ueye.is_AOI(self.h, ueye.IS_AOI_IMAGE_GET_AOI, aoi,
ueye.sizeof(aoi)))
x0, y0 = aoi.s32X.value, aoi.s32Y.value
return x0, y0, x0 + aoi.s32Width.value, y0 + aoi.s32Height.value
def initialize_dimensions(self):
'''
Gets dimensions of the camera.
Sets:
self.width
self.height
'''
log.info('Getting camera dimensions...')
rectAOI = ueye.IS_RECT()
nRet = ueye.is_AOI(self.input, ueye.IS_AOI_IMAGE_GET_AOI, rectAOI, ueye.sizeof(rectAOI))
if nRet != ueye.IS_SUCCESS:
log.error("is_AOI ERROR")
self.width = rectAOI.s32Width
self.height = rectAOI.s32Height
self.config['res'] = (self.width.value, self.height.value)
def __init__(self, h_cam, img_buff):
self.x = ueye.int()
self.y = ueye.int()
self.bits = ueye.int()
self.pitch = ueye.int()
self.img_buff = img_buff
rect_aoi = ueye.IS_RECT()
check(ueye.is_AOI(h_cam,
ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi, ueye.sizeof(rect_aoi)))
self.width = rect_aoi.s32Width.value
self.height = rect_aoi.s32Height.value
check(ueye.is_InquireImageMem(h_cam,
self.img_buff.mem_ptr,
self.img_buff.mem_id, self.x, self.y, self.bits, self.pitch))
def __init__(self):
# Variabeln für Kameraverarbeitung
self.h_cam = ueye.HIDS(0)
self.pitch = ueye.INT()
self.ColorMode = ueye.IS_CM_BGRA8_PACKED
self.nBitsPerPixel = ueye.INT(32)
self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
self.pitch = ueye.INT()
self.pcImageMemory = ueye.c_mem_p()
self.rectAOI = ueye.IS_RECT()
self.MemID = ueye.int()
self.width = None
self.height = None
self.dst = None
self.path_images = os.path.dirname(os.path.abspath(
sys.argv[0])) + "/images/"
# laden der intrinsischen Kalibriermatrix
self.load_calibration_config()
# Variabeln zur Farberkennung
blue_lower = [50, 0, 0]
blue_upper = [255, 75, 75]
red_lower = [0, 0, 100]
red_upper = [50, 50, 255]
green_lower = [0, 75, 50]
green_upper = [50, 255, 150]
self.blue_boundaries = [(blue_lower, blue_upper)]
self.red_boundaries = [(red_lower, red_upper)]
self.green_boundaries = [(green_lower, green_upper)]
# Variablen zur Positionsbestimmung
self.found_blue_container = False
self.found_red_container = False
self.found_green_container = False
self.qr_centres = []
self.world_points = []
self.localization_qr_codes = []
self.world_localization_qr_codes = []
self.results = 0
# Farbbereiche
self.blue = Color(self.blue_boundaries, "blue")
self.red = Color(
self.red_boundaries,
"red",
)
self.green = Color(self.green_boundaries, "green")
def set_aoi(self, x, y, width, height):
"""
Set the area of interest.
Parameters
==========
x, y, width, height: integers
Position and size of the area of interest.
"""
rect_aoi = ueye.IS_RECT()
rect_aoi.s32X = ueye.int(x)
rect_aoi.s32Y = ueye.int(y)
rect_aoi.s32Width = ueye.int(width)
rect_aoi.s32Height = ueye.int(height)
return ueye.is_AOI(self.h_cam, ueye.IS_AOI_IMAGE_SET_AOI, rect_aoi,
ueye.sizeof(rect_aoi))
def __init__(self, camID):
super().__init__()
# Define the variables that will be used to retrieve the properties
# of the camera (generic dictionnaries from ueye)
# -----------------------------------------------
self.hcam = ueye.HIDS(
camID
) # 0 for the first available camera - 1-254 when we already have a specified ID
self.sensor_info = ueye.SENSORINFO()
self.cam_info = ueye.CAMINFO()
self.rectAOI = ueye.IS_RECT()
self.pcImageMemory = ueye.c_mem_p()
self.MemID = ueye.int()
self.pitch = ueye.INT()
def Init_Cam(width=640, heigth=480, gain_boost=1):
"""inits the uEye camera"""
# inits next available cam
cam = ueye.HIDS(0)
ueye.is_InitCamera(cam, None)
ueye.is_EnableAutoExit(cam, ueye.IS_ENABLE_AUTO_EXIT)
# sets the Colourmode of the camera
ueye.is_SetColorMode(cam, ueye.IS_CM_SENSOR_RAW8)
# sets the trigger
ret = ueye.is_SetExternalTrigger(cam, ueye.IS_SET_TRIGGER_SOFTWARE)
mode = ueye.int(0)
# sets the blacklevel
ueye.is_Blacklevel(cam, ueye.IS_BLACKLEVEL_CMD_SET_MODE, mode,
ueye.sizeof(mode))
# sets the size of the image
rectAOI = ueye.IS_RECT()
rectAOI.s32X = 44
rectAOI.s32Y = 0
rectAOI.s32Width = 480
rectAOI.s32Height = 480
ueye.is_AOI(cam, ueye.IS_AOI_IMAGE_SET_AOI, rectAOI, ueye.sizeof(rectAOI))
# allocates memory with given size
width = ueye.int(width)
heigth = ueye.int(heigth)
bitspixel = ueye.int(8)
pcImgMem = ueye.c_mem_p()
pid = ueye.int()
ueye.is_AllocImageMem(cam, 480, heigth, bitspixel, pcImgMem, pid)
# sets the image memory as active
ueye.is_SetImageMem(cam, pcImgMem, pid)
# activates video mode
ueye.is_CaptureVideo(cam, ueye.IS_DONT_WAIT)
# sets gain boost mode
if gain_boost == 1:
ueye.is_SetGainBoost(cam, ueye.IS_SET_GAINBOOST_ON)
else:
ueye.is_SetGainBoost(cam, ueye.IS_SET_GAINBOOST_OFF)
return cam, ret, pcImgMem, pid
def alloc(self, h_cam):
rect_aoi = ueye.IS_RECT()
memory_id = ueye.int()
memory_pointer = ueye.c_mem_p()
bits_per_pixel = 8
ueye.is_AOI(h_cam, ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi,
ueye.sizeof(rect_aoi))
ueye.is_AllocImageMem(h_cam, rect_aoi.s32Width, rect_aoi.s32Height,
bits_per_pixel, memory_pointer, memory_id)
ueye.is_SetImageMem(h_cam, memory_pointer, memory_id)
self.img_data.memory_pointer = memory_pointer
self.img_data.memory_id = memory_id
self.img_data.width = rect_aoi.s32Width
self.img_data.height = rect_aoi.s32Height
self.img_data.bits_per_pixel = bits_per_pixel
ueye.is_AllocImageMem(h_cam, rect_aoi.s32Width, rect_aoi.s32Height, 24,
self.converted_memory_pointer,
self.converted_memory_id)
def getImageData(self):
# --- set AOI --- #
rect_aoi = ueye.IS_RECT()
hasWorked = ueye.is_AOI(self.cam, ueye.IS_AOI_IMAGE_GET_AOI, rect_aoi,
ueye.sizeof(rect_aoi))
self.check(hasWorked, 'getImageData')
# --- --- #
x = ueye.int()
y = ueye.int()
bits = ueye.int()
pitch = ueye.int()
self.frame_width = rect_aoi.s32Width.value
self.frame_height = rect_aoi.s32Height.value
hasWorked = ueye.is_InquireImageMem(self.cam, self.img_buffer.mem_ptr,
self.img_buffer.mem_id, x, y, bits,
pitch)
self.check(hasWorked, 'getImageData')
self.imgdata = ueye.get_data(self.img_buffer.mem_ptr, self.frame_width,
self.frame_height, bits, pitch, True)
def setAOI(self, x0, y0, width, height): self.AOI=ueye.IS_RECT() if (x0<0)|((x0+width)>self.sensorInfo.nMaxWidth.value): self.status=True return True if (y0<0)|((y0+height)>self.sensorInfo.nMaxHeight.value): self.status=True return True self.AOI.s32X.value=x0 self.AOI.s32Y.value=y0 self.AOI.s32Width.value=width self.AOI.s32Height.value=height self.xaxis=np.arange(width)+x0 self.yaxis=np.arange(height)+y0 if ueye.is_AOI(self.hcam, ueye.IS_AOI_IMAGE_SET_AOI, self.AOI, ueye.sizeof(self.AOI)): self.status=True return True return False
def __init__(self):
rospy.init_node("coordinates_publisher")
self.coordinates_pub = rospy.Publisher("/coordinates",
Coordinates,
queue_size=1)
self.coordinates_msg = Coordinates()
self.h_cam = ueye.HIDS(0)
self.pitch = ueye.INT()
self.ColorMode = ueye.IS_CM_BGRA8_PACKED
self.nBitsPerPixel = ueye.INT(32)
self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
self.pitch = ueye.INT()
self.pcImageMemory = ueye.c_mem_p()
self.rectAOI = ueye.IS_RECT()
self.MemID = ueye.int()
self.width = None
self.height = None
self.dst = None
self.load_calibration_config()
self.found_container = False
self.contours_rectangle = []
blue_lower = [51, 0, 0]
blue_upper = [255, 62, 62]
self.boundaries = [(blue_lower, blue_upper)]
self.cX = None
self.cY = None
self.cX_container = None
self.cY_container = None
self.container_world_position = []
self.ball_position = []
self.container_position = []
self.qr_centres = []
self.world_points = []
self.qr_codes = None
self.image_points_of_qr_codes = None
self.localization_qr_codes = []
self.world_localization_qr_codes = []
self.increment = 0.25
def initialize(self):
self.hcam = ueye.HIDS(self.cam_num)
self.sInfo = ueye.SENSORINFO()
self.cInfo = ueye.CAMINFO()
self.pcImageMemory = ueye.c_mem_p()
self.MemID = ueye.int()
self.rectAOI = ueye.IS_RECT()
self.pitch = ueye.INT()
self.nBitsPerPixel = ueye.INT(24) # 8 bit for monochrome 24 for color
self.channels = 3 # 3: for color mode(RGB); 1 channel for monochrome
self.m_nColorMode = ueye.INT(24) # Y8/RGB16/RGB24/REG32
self.bytes_per_pixel = int(self.nBitsPerPixel / 8)
self.ret = ueye.is_InitCamera(self.hcam, None)
if self.ret != ueye.IS_SUCCESS:
print("is_InitCamera ERROR")
self.setAOI()
self.setmemory()
self.acquireimage()
