def initialize_from_file(self):
# load config file
config = arducam_config_parser.LoadConfigFile(self.config_file_name)
camera_parameter = config.camera_param.getdict()
Width = camera_parameter["WIDTH"]
Height = camera_parameter["HEIGHT"]
BitWidth = camera_parameter["BIT_WIDTH"]
ByteLength = 1
if BitWidth > 8 and BitWidth <= 16:
ByteLength = 2
save_raw = True
FmtMode = camera_parameter["FORMAT"][0]
self.color_mode = camera_parameter["FORMAT"][1]
print("color mode", self.color_mode)
I2CMode = camera_parameter["I2C_MODE"]
I2cAddr = camera_parameter["I2C_ADDR"]
TransLvl = camera_parameter["TRANS_LVL"]
cfg = {"u32CameraType":0x00,
"u32Width":Width,"u32Height":Height,
"usbType":0,
"u8PixelBytes":ByteLength,
"u16Vid":0,
"u32Size":0,
"u8PixelBits":BitWidth,
"u32I2cAddr":I2cAddr,
"emI2cMode":I2CMode,
"emImageFmtMode":FmtMode,
"u32TransLvl":TransLvl }
ret, self.handle, rtn_cfg = ArducamSDK.Py_ArduCam_autoopen(cfg)
# error
if ret != 0: print(f"open fail,rtn_val = {ret}"); return
# Loaded camera successfully
ArducamSDK.Py_ArduCam_writeReg_8_8(self.handle, 0x46, 3, 0x00)
usb_version = rtn_cfg['usbType']
for i in range(config.configs_length):
type = config.configs[i].type
if ((type >> 16) & 0xFF) != 0 and ((type >> 16) & 0xFF) != usb_version:
continue
if type & 0xFFFF == arducam_config_parser.CONFIG_TYPE_REG:
ArducamSDK.Py_ArduCam_writeSensorReg(self.handle, config.configs[i].params[0], config.configs[i].params[1])
elif type & 0xFFFF == arducam_config_parser.CONFIG_TYPE_DELAY:
time.sleep(float(config.configs[i].params[0])/1000)
elif type & 0xFFFF == arducam_config_parser.CONFIG_TYPE_VRCMD:
ArducamSDK.Py_ArduCam_setboardConfig(self.handle, config.configs[i].params[0], config.configs[i].params[1], config.configs[i].params[2], config.configs[i].params[3], config.configs[i].params[4:config.configs[i].params_length])
rtn_val,datas = ArducamSDK.Py_ArduCam_readUserData(self.handle, 0x400-16, 16)
print("Serial: %c%c%c%c-%c%c%c%c-%c%c%c%c"%(datas[0],datas[1],datas[2],datas[3],datas[4],datas[5],datas[6],datas[7],datas[8],datas[9],datas[10],datas[11]))
def capture_thread(self):
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(self.handle)
self.running = rtn_val == 0
print(f"Capture began {'error' if self.running else ''}, rtn_val = {rtn_val}")
while self.running:
rtn_val = ArducamSDK.Py_ArduCam_captureImage(self.handle)
if rtn_val > 255:
print("Error capture image, rtn_val = ", rtn_val)
# time.sleep(0.005)
ArducamSDK.Py_ArduCam_endCaptureImage(self.handle)
def __init__(self, config_file_name):
self.running = True
self.config_file_name = config_file_name
self.initialize_from_file()
ArducamSDK.Py_ArduCam_setMode(self.handle, ArducamSDK.CONTINUOUS_MODE)
self.capture_threading = Thread(target=self.capture_thread, daemon=True)
self.capture_threading.start()
def readImage_thread():
global handle, running, Width, Height, save_flag, cfg, color_mode, save_raw
global COLOR_BayerGB2BGR, COLOR_BayerRG2BGR, COLOR_BayerGR2BGR, COLOR_BayerBG2BGR
count = 0
totalFrame = 0
time0 = time.time()
time1 = time.time()
data = {}
cv2.namedWindow("ArduCam Demo", 1)
if not os.path.exists("images"):
os.makedirs("images")
while running:
display_time = time.time()
if ArducamSDK.Py_ArduCam_availableImage(handle) > 0:
rtn_val, data, rtn_cfg = ArducamSDK.Py_ArduCam_readImage(handle)
datasize = rtn_cfg['u32Size']
if rtn_val != 0 or datasize == 0:
ArducamSDK.Py_ArduCam_del(handle)
print("read data fail!")
continue
image = convert_image(data, rtn_cfg, color_mode)
time1 = time.time()
if time1 - time0 >= 1:
print("%s %d %s\n" % ("fps:", count, "/s"))
count = 0
time0 = time1
count += 1
if save_flag:
cv2.imwrite("images/image%d.jpg" % totalFrame, image)
if save_raw:
with open("images/image%d.raw" % totalFrame, 'wb') as f:
f.write(data)
totalFrame += 1
image = cv2.resize(image, (640, 480),
interpolation=cv2.INTER_LINEAR)
cv2.imshow("ArduCam Demo", image)
cv2.waitKey(10)
ArducamSDK.Py_ArduCam_del(handle)
#print("------------------------display time:",(time.time() - display_time))
else:
time.sleep(0.001)
def captureImage_thread():
global handle, running
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print("Error beginning capture, rtn_val = ", rtn_val)
running = False
return
else:
print("Capture began, rtn_val = ", rtn_val)
while running:
#print "capture"
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
if rtn_val > 255:
print("Error capture image, rtn_val = ", rtn_val)
if rtn_val == ArducamSDK.USB_CAMERA_USB_TASK_ERROR:
break
time.sleep(0.005)
running = False
ArducamSDK.Py_ArduCam_endCaptureImage(handle)
def shot(self):
while ArducamSDK.Py_ArduCam_availableImage(self.handle) > 0:
ArducamSDK.Py_ArduCam_del(self.handle)
while ArducamSDK.Py_ArduCam_availableImage(self.handle) < 2: pass
ArducamSDK.Py_ArduCam_del(self.handle)
rtn_val, data, rtn_cfg = ArducamSDK.Py_ArduCam_readImage(self.handle)
ArducamSDK.Py_ArduCam_del(self.handle)
datasize = rtn_cfg['u32Size']
if rtn_val != 0 or datasize == 0:
ArducamSDK.Py_ArduCam_del(self.handle)
print("read data fail!")
image = convert_image(data, rtn_cfg, self.color_mode)
return image
def camera_initFromFile(fileName):
global cfg, handle, Width, Height, color_mode, save_raw
#load config file
# config = json.load(open(fialeName,"r"))
config = arducam_config_parser.LoadConfigFile(fileName)
camera_parameter = config.camera_param.getdict()
Width = camera_parameter["WIDTH"]
Height = camera_parameter["HEIGHT"]
BitWidth = camera_parameter["BIT_WIDTH"]
ByteLength = 1
if BitWidth > 8 and BitWidth <= 16:
ByteLength = 2
save_raw = True
FmtMode = camera_parameter["FORMAT"][0]
color_mode = camera_parameter["FORMAT"][1]
print("color mode", color_mode)
I2CMode = camera_parameter["I2C_MODE"]
I2cAddr = camera_parameter["I2C_ADDR"]
TransLvl = camera_parameter["TRANS_LVL"]
cfg = {
"u32CameraType": 0x00,
"u32Width": Width,
"u32Height": Height,
"usbType": 0,
"u8PixelBytes": ByteLength,
"u16Vid": 0,
"u32Size": 0,
"u8PixelBits": BitWidth,
"u32I2cAddr": I2cAddr,
"emI2cMode": I2CMode,
"emImageFmtMode": FmtMode,
"u32TransLvl": TransLvl
}
#ret,handle,rtn_cfg = ArducamSDK.Py_ArduCam_open(cfg,0)
ret, handle, rtn_cfg = ArducamSDK.Py_ArduCam_autoopen(cfg)
if ret == 0:
#ArducamSDK.Py_ArduCam_writeReg_8_8(handle,0x46,3,0x00)
usb_version = rtn_cfg['usbType']
configs = config.configs
configs_length = config.configs_length
for i in range(configs_length):
type = configs[i].type
if ((type >> 16) & 0xFF) != 0 and (
(type >> 16) & 0xFF) != usb_version:
continue
if type & 0xFFFF == arducam_config_parser.CONFIG_TYPE_REG:
ArducamSDK.Py_ArduCam_writeSensorReg(handle,
configs[i].params[0],
configs[i].params[1])
elif type & 0xFFFF == arducam_config_parser.CONFIG_TYPE_DELAY:
time.sleep(float(configs[i].params[0]) / 1000)
elif type & 0xFFFF == arducam_config_parser.CONFIG_TYPE_VRCMD:
configBoard(configs[i])
rtn_val, datas = ArducamSDK.Py_ArduCam_readUserData(
handle, 0x400 - 16, 16)
print("Serial: %c%c%c%c-%c%c%c%c-%c%c%c%c" %
(datas[0], datas[1], datas[2], datas[3], datas[4], datas[5],
datas[6], datas[7], datas[8], datas[9], datas[10], datas[11]))
return True
else:
print("open fail,rtn_val = ", ret)
return False
def configBoard(config):
global handle
ArducamSDK.Py_ArduCam_setboardConfig(handle, config.params[0], \
config.params[1], config.params[2], config.params[3], \
config.params[4:config.params_length])
if __name__ == "__main__":
config_file_name = ""
if len(sys.argv) > 1:
config_file_name = sys.argv[1]
if not os.path.exists(config_file_name):
print("Config file does not exist.")
exit()
else:
showHelp()
exit()
if camera_initFromFile(config_file_name):
ArducamSDK.Py_ArduCam_setMode(handle, ArducamSDK.CONTINUOUS_MODE)
ct = threading.Thread(target=captureImage_thread)
rt = threading.Thread(target=readImage_thread)
ct.start()
rt.start()
while running:
input_kb = str(sys.stdin.readline()).strip("\n")
if input_kb == 'q' or input_kb == 'Q':
running = False
if input_kb == 's' or input_kb == 'S':
save_flag = True
if input_kb == 'c' or input_kb == 'C':
save_flag = False