class StereoCamera(Camera):
"""
"""
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 update(self):
if not self.active: return
self._dev.updateMMap()
self.processAll()
class FourwayCamera(Camera):
"""
"""
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 update(self):
if not self.active: return
self._dev.updateMMap()
self.processAll()
class StereoCamera(Camera):
"""
"""
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 update(self):
if not self.active: return
self._dev.updateMMap()
self.processAll()
class ManualFakeCamera(Camera):
"""
camera = ManualFakeCamera(w, h, d)
Used when you are creating the image from Python, and wish
to have the camera class show or manipulate the image.
Currently only depth 3 works.
Values in camera array are ints between 0 and 255.
"""
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 blankImage(self, val=0):
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(w, h, d, val)
def setGrayImage(self, array):
"""
Will set the RGB camera image from a grayscale array (depth 1)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
val = array[h * self.width + w]
for d in range(self.depth):
self.vision.setVal(w, h, d, val)
def setRGBImage(self, array):
"""
Will set the RGB camera image from a RGB array (depth 3)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(
w, h, d, array[(w + h * self.width) * self.depth + d])
def setRGB3Image(self, array):
"""
Will set the RGB camera image from a RGB array (depth 3)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(w, h, d, array[w][h][d])
class ManualFakeCamera(Camera):
"""
camera = ManualFakeCamera(w, h, d)
Used when you are creating the image from Python, and wish
to have the camera class show or manipulate the image.
Currently only depth 3 works.
Values in camera array are ints between 0 and 255.
"""
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 blankImage(self, val=0):
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(w, h, d, val)
def setGrayImage(self, array):
"""
Will set the RGB camera image from a grayscale array (depth 1)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
val = array[h * self.width + w]
for d in range(self.depth):
self.vision.setVal(w, h, d, val)
def setRGBImage(self, array):
"""
Will set the RGB camera image from a RGB array (depth 3)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(w, h, d, array[(w + h * self.width) * self.depth + d])
def setRGB3Image(self, array):
"""
Will set the RGB camera image from a RGB array (depth 3)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(w, h, d, array[w][h][d])
class RovioCamera(Camera):
"""
camera = RovioCamera()
"""
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 blankImage(self, val=0):
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(w, h, d, val)
def setGrayImage(self, array):
"""
Will set the RGB camera image from a grayscale array (depth 1)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
val = array[h * self.width + w]
for d in range(self.depth):
self.vision.setVal(w, h, d, val)
def setRGBImage(self, array):
"""
Will set the RGB camera image from a RGB array (depth 3)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(
w, h, d, array[(w + h * self.width) * self.depth + d])
def setRGB3Image(self, array):
"""
Will set the RGB camera image from a RGB array (depth 3)
assuming column major order.
"""
for w in range(self.width):
for h in range(self.height):
for d in range(self.depth):
self.vision.setVal(w, h, d, array[w][h][d])
def update(self):
self.robot.camLock.acquire()
if not self.active: return
import PIL.Image as PyImage
import array
self.processAll()
filename = "/home/rwalker1/research/test.jpg"
width = 352
height = 288
#fp = open(filename, "r")
#fp = self.robot.imageGrab()
#image = PyImage.open(fp)
image = PyImage.open(filename)
width, height = image.size
pixels = image.load()
for w in range(width):
for h in range(height):
r, g, b = pixels[w, h]
self.vision.setVal(w, h, 0, r)
self.vision.setVal(w, h, 1, g)
self.vision.setVal(w, h, 2, b)
self.robot.camLock.release()
