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,
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 __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
class FakeCamera(Camera):
"""
A fake camera. This will emulate a camera, but instead of
accessing the hardware, it will load a series of images from file.
"""
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 pauseButton(self):
self.freezeFrame()
def playButton(self):
self.unFreezeFrame()
def setUpdateInterval(self, val):
Camera.setUpdateInterval(self, val)
self.interval = val
def freezeFrame(self):
if self.oldStart == None:
self.oldStart = self.start
self.oldStop = self.stop
self.stop = self.current
self.start = max(self.current - 1, 0)
def unFreezeFrame(self):
if self.oldStart != None:
self.stop = self.oldStop
self.start = self.oldStart
self.oldStart = None
self.oldStop = None
def update(self):
if (self.current < self.stop):
currentTime = time.time()
if currentTime - self.lastUpdate > self.interval:
if self.match:
currname = self.pattern[:self.match.start()] + \
self.fstring % self.current + \
self.pattern[self.match.end():]
else:
currname = self.pattern
if self.verbose:
print "info: reading file '%s'..." % (self.path + currname)
self._dev.updateMMap(self.path + currname)
self.processAll()
self.current += 1
self.lastUpdate = currentTime
else:
self.current = self.start
class FakeCamera(Camera):
"""
A fake camera. This will emulate a camera, but instead of
accessing the hardware, it will load a series of images from file.
"""
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 pauseButton(self):
self.freezeFrame()
def playButton(self):
self.unFreezeFrame()
def setUpdateInterval(self, val):
Camera.setUpdateInterval(self, val)
self.interval = val
def freezeFrame(self):
if self.oldStart == None:
self.oldStart = self.start
self.oldStop = self.stop
self.stop = self.current
self.start = max(self.current - 1, 0)
def unFreezeFrame(self):
if self.oldStart != None:
self.stop = self.oldStop
self.start = self.oldStart
self.oldStart = None
self.oldStop = None
def update(self):
if not self.active: return
if (self.current < self.stop):
currentTime = time.time()
if currentTime - self.lastUpdate > self.interval:
if self.match:
currname = self.pattern[:self.match.start()] + \
self.fstring % self.current + \
self.pattern[self.match.end():]
else:
currname = self.pattern
if self.verbose:
print "info: reading file '%s'..." % (self.path + currname)
self._dev.updateMMap(self.path + currname)
self.processAll()
self.current += 1
self.lastUpdate = currentTime
else:
self.current = self.start