def main():
# thread = threading.Thread(target=wait_sig)
# thread.start()
# thread.join()
camera = arducam.mipi_camera()
print("Open camera...")
camera.init_camera()
print("Setting the resolution...")
fmt = camera.set_resolution(12800, 800)
print("res set")
for i in range(7):
camera.write_sensor_reg(regs[i][0], regs[i][1])
camera.set_control(v4l2.V4L2_CID_VFLIP, 1)
camera.set_control(v4l2.V4L2_CID_HFLIP, 1)
camera.set_control(v4l2.V4L2_CID_EXPOSURE, 1)
print("Current resolution is {}".format(fmt))
set_controls(camera)
capture(camera)
# sleep(1)
# capture(camera)
# for i in range(100):
# capture(camera)
# print(i)
print("Close camera...")
camera.close_camera()
def init_camera(self):
self.camera = arducam.mipi_camera()
self.camera.init_camera()
print("Camera open.")
self.camera.set_resolution(*self.res)
# use mode 5 or 11 for 1280x800 2lane raw8 capture
self.camera.set_mode(self.config["mode"])
self.camera.set_control(v4l2.V4L2_CID_VFLIP, 1)
self.camera.set_control(v4l2.V4L2_CID_HFLIP, 1)
self.camera.set_control(v4l2.V4L2_CID_EXPOSURE,
self.config["exposure"])
print("Camera set.")
def main():
try:
camera = arducam.mipi_camera()
print("Open camera...")
camera.init_camera()
print("Setting the resolution...")
fmt = camera.set_resolution(1920, 1080)
print("Current resolution is {}".format(fmt))
print("Start preview...")
camera.start_preview(fullscreen=False, window=(0, 0, 1280, 720))
set_controls(camera)
curses.wrapper(draw_menu, camera)
print("Stop preview...")
camera.stop_preview()
print("Close camera...")
camera.close_camera()
except Exception as e:
print(e)
def main():
thread = threading.Thread(target=wait_sig)
thread.start()
thread.join()
camera = arducam.mipi_camera()
print("Open camera...")
camera.init_camera()
print("Setting the resolution...")
fmt = camera.set_resolution(1920, 1080)
camera.set_control(v4l2.V4L2_CID_VFLIP, 1)
camera.set_control(v4l2.V4L2_CID_HFLIP, 1)
print("Current resolution is {}".format(fmt))
set_controls(camera)
# sleep(1)
# capture(camera)
for i in range(100):
capture(camera)
print(i)
print("Close camera...")
camera.close_camera()
def capture(self):
camera = arducam.mipi_camera()
camera.init_camera()
print("Camera open.")
camera.set_resolution(*self.config["resolution"])
# use mode 5 or 11 for 1280x800 2lane raw8 capture
camera.set_mode(self.config["mode"])
camera.set_control(v4l2.V4L2_CID_VFLIP, 1)
camera.set_control(v4l2.V4L2_CID_HFLIP, 1)
camera.set_control(v4l2.V4L2_CID_EXPOSURE, self.config["exposure"])
print("Camera set.\n")
dropped = 0
t_overall = time.time()
while not self.trigger_latched.value:
i = self.ind.value
# capture a frame in continuous capture
frame = camera.capture(encoding="raw", quality=90)
self.timestamp[i] = time.time()
# wait for detection thread to finish copying from buffer
self.buffer_copied.wait()
self.buffer_copied.clear()
# presentaion timestamp
self.pts[i] = frame.buffer_ptr[0].pts
# diff in pts from last frame
self.timediff[i] = self.pts[i] - self.pts[i - 1]
# number of frame skipped from last frame, gives 2ms margin
self.skipped[i] = int((self.timediff[i] - 2000) / 10000)
# saves image to buffer
self.buffer[i] = np.ctypeslib.as_array(frame.buffer_ptr[0].data,
shape=self.res)
self.ind.value = (i + 1) % self.buffer_len
self.frame_taken.set()
# print FPS every time buffer is filled
if i == 0:
fps = self.buffer_len / (time.time() - t_overall)
if fps < 500:
print("FPS: {:3.2f}".format(fps), end="\t")
print("Dropped: %d" % np.sum(self.skipped), end="\t")
print("Motion: {:8d}".format(np.max(self.pixdiff)))
t_overall = time.time()
# take remaining frames
for j in range(self.config["frames_after"]):
i = self.ind.value
frame = camera.capture(encoding="raw", quality=90)
self.timestamp[i] = time.time()
self.pts[i] = frame.buffer_ptr[0].pts
self.timediff[i] = self.pts[i] - self.pts[i - 1]
self.skipped[i] = int((self.timediff[i] - 2000) / 10000)
self.buffer[i] = np.ctypeslib.as_array(frame.buffer_ptr[0].data,
shape=self.res)
self.ind.value = (i + 1) % self.buffer_len
print("Remaining frames taken.", end=" ")
# roll buffer position so the last taken image is positioned last
i = self.ind.value
self.buffer[:] = np.roll(self.buffer, -i, axis=0)
camera.close_camera()
print("Camera closed.")
for col_index, value in enumerate(row[0]):
try:
lateral_cal_map[row_index][0][col_index] = raw_lateral_cal_map[row_index][0][col_index]
lateral_cal_map[row_index][1][col_index] = raw_lateral_cal_map[row_index][1][col_index]
except IndexError:
lateral_cal_map[row_index][0][col_index] = -32767.0
lateral_cal_map[row_index][1][col_index] = -32767.0
T = 200
E = 5000
# image = cv2.imread('cal_test.tif', cv2.IMREAD_GRAYSCALE)
# image = cv2.imread('round_test.tif', cv2.IMREAD_GRAYSCALE)
camera = arducam.mipi_camera()
camera.init_camera()
fmt = camera.set_resolution(640, 480)
camera.set_control(v4l2.V4L2_CID_EXPOSURE, E)
data_points = np.zeros((640, 2), np.float)
frame = camera.capture(encoding = 'i420')
height = int(align_up(fmt[1], 16))
width = int(align_up(fmt[0], 32))
image = frame.as_array.reshape(int(height * 1.5), width)
# image = cv2.cvtColor(image, cv2.COLOR_YUV2BGR_I420)
image = cv2.cvtColor(image, cv2.COLOR_YUV2GRAY_I420)
image = cv2.rotate(image, rotateCode=cv2.ROTATE_180)
thresh = cv2.threshold(image, T, 255, cv2.THRESH_BINARY)[1]
def capture(self):
camera = arducam.mipi_camera()
camera.init_camera()
print("Camera open.")
camera.set_resolution(*self.config["resolution"])
# use mode 5 or 11 for 1280x800 2lane raw8 capture
camera.set_mode(self.config["mode"])
camera.set_control(v4l2.V4L2_CID_VFLIP, 1)
camera.set_control(v4l2.V4L2_CID_HFLIP, 1)
camera.set_control(v4l2.V4L2_CID_EXPOSURE, self.config["exposure"])
print("Camera set.\n")
dropped = 0
t_overall = time.time()
t_snapshot = time.time()
while not self.trigger_latched.value:
i = self.ind.value
try:
# capture a frame in continuous capture
frame = camera.capture(encoding="raw", quality=90)
self.timestamp[i] = time.time()
# wait for detection thread to finish copying from buffer
self.buffer_copied.wait()
self.buffer_copied.clear()
# presentaion timestamp
self.pts[i] = frame.buffer_ptr[0].pts
# diff in pts from last frame
self.timediff[i] = self.pts[i] - self.pts[i - 1]
# number of frame skipped from last frame, gives 2ms margin
self.skipped[i] = int((self.timediff[i] - 2000) / 10000)
# saves image to buffer
self.buffer[i] = np.ctypeslib.as_array(
frame.buffer_ptr[0].data, shape=self.res)
self.ind.value = (i + 1) % self.buffer_len
self.frame_taken.set()
except ValueError:
print("Camera disconnected.")
GPIO.output(self.config["output_pins"]["trig"], GPIO.HIGH)
time.sleep(0.1)
self.frame_taken.set()
break
if time.time() - t_snapshot > 300:
t_snapshot = time.time()
im = Image.fromarray(self.buffer[0]).convert("L")
d = datetime.now().strftime(self.config["date_format"])
path = os.path.join(self.config["save_path"],
d + self.config["image_format"])
im.save(path)
# print FPS every time buffer is filled
if i == 0:
fps = self.buffer_len / (time.time() - t_overall)
if fps < 500:
print("FPS: {:3.2f}".format(fps), end="\t")
print("Dropped: %d" % np.sum(self.skipped))
t_overall = time.time()
i = self.ind.value
self.buffer[:] = np.roll(self.buffer, -i, axis=0)
camera.close_camera()
print("Camera closed.")
