def __init__(self, exposure=500, gain=0):
"""
exposure (in us, default 500us)
gain (image gain in dB, default 0)
"""
print("Creating camera object")
Aravis.enable_interface("Fake")
self.camera = Aravis.Camera.new(None)
self.camera.set_region(0, 0, 2064, 1544) #2064x1544
print("Old packet size: %d" % self.camera.gv_get_packet_size())
self.camera.gv_set_packet_size(1024)
print("New packet size: %d" % self.camera.gv_get_packet_size())
#camera.set_binning(1,1) #basically disable
#camera.set_frame_rate (10.0)
self.camera.set_exposure_time(exposure) #us
self.camera.set_gain(gain)
self.camera.set_pixel_format(Aravis.PIXEL_FORMAT_MONO_8)
self.camera.set_trigger("Line1")
print("Getting payload object")
self.payload = self.camera.get_payload()
[self.x, self.y, self.width, self.height] = self.camera.get_region()
print("Creating stream")
self.stream = self.camera.create_stream(None, None)
if self.stream is None:
print("Failed to construct stream")
return
print("Starting Acquisition")
self.camera.start_acquisition()
print("Creating stream buffer")
for i in range(0, 50):
self.stream.push_buffer(Aravis.Buffer.new_allocate(self.payload))
print("Done")
self.prs = queue.Queue()
def Setup_Camera(verbose, fakeCam=False):
'''
Instantiates a camera and returns it, along with the corresponding "dev". This
gives access to "deeper" camera functions, such as the device temperature.
If fakeCam = True, it returns the fake camera object, a software equivalent,
with (presumably realistic) noise, etc.
'''
Aravis.update_device_list() # Scan for live cameras
if fakeCam:
Aravis.enable_interface("Fake") # using arv-fake-gv-camera-0.8
cam = Aravis.Camera.new(None) # Instantiate cam
if verbose:
print("Instantiated FakeCam")
else: # Note: We expect only one "real" camera !!
try:
cam = Aravis.Camera.new(Aravis.get_device_id(0)) # Instantiate cam
if verbose:
print("Instantiated real camera")
except:
print("ERROR - No camera found") # Ooops!!
return None, None, None # Send back nothing
dev = cam.get_device() # Allows access to "deeper" features
return cam, dev # Send back camera, device
def getCameraStream():
Aravis.enable_interface("Fake")
try:
if len(sys.argv) > 1:
camera = Aravis.Camera.new(sys.argv[1])
else:
camera = Aravis.Camera.new(None)
except:
print("No camera found")
exit()
stream = camera.create_stream(None, None)
#stream.push_buffer (Aravis.Buffer.new_allocate(payload))
return stream, camera
def __init__(self):
# Open camera, and get image dimensions
Aravis.enable_interface('Fake')
self.camera = Aravis.Camera.new(None)
self.stream = self.camera.create_stream(None, None)
payload = self.camera.get_payload()
self.stream.push_buffer(Aravis.Buffer.new_allocate(payload))
x, y, w, h = self.camera.get_region()
self.width = w
self.height = h
self.camera.start_acquisition()
# Set up scanner
self.scanner = zbar.ImageScanner()
self.scanner.parse_config('enable')
# Set up code cache
self.cache = {}
def GigeStreamer(cam_id):
camera_id = cam_id
pyyolo.init(darknet_path, datacfg, cfgfile, weightfile)
Aravis.enable_interface(camera_id) # using arv-fake-gv-camera-0.6
camera = Aravis.Camera.new(None)
stream = camera.create_stream(None, None)
payload = camera.get_payload()
for i in range(0, 50):
stream.push_buffer(Aravis.Buffer.new_allocate(payload))
print("Starting acquisition")
camera.start_acquisition()
while True:
buffer = stream.try_pop_buffer()
print(buffer)
if buffer:
frame = convert(buffer)
stream.push_buffer(buffer) #push buffer back into stream
cv2.imshow("frame", frame)
# img = cv2.imread(filename)
img = frame.transpose(2, 0, 1) # img = img.transpose(2,0,1)
c, h, w = img.shape[0], img.shape[1], img.shape[2]
data = img.ravel() / 255.0
data = np.ascontiguousarray(data, dtype=np.float32)
# perform_recognition()
outputs = pyyolo.detect(w, h, c, data, thresh, hier_thresh)
for output in outputs:
print(output)
ch = cv2.waitKey(1) & 0xFF
if ch == 27 or ch == ord('q'):
break
elif ch == ord('s'):
cv2.imwrite("imagename.png", frame)
camera.stop_acquisition()
pyyolo.cleanup()
# If you have installed aravis in a non standard location, you may need
# to make GI_TYPELIB_PATH point to the correct location. For example:
#
# export GI_TYPELIB_PATH=$GI_TYPELIB_PATH:/opt/bin/lib/girepositry-1.0/
#
# You may also have to give the path to libaravis.so, using LD_PRELOAD or
# LD_LIBRARY_PATH.
import sys
import time
import gi
gi.require_version('Aravis', '0.4')
from gi.repository import Aravis
Aravis.enable_interface("Fake")
try:
if len(sys.argv) > 1:
camera = Aravis.Camera.new(sys.argv[1])
else:
camera = Aravis.Camera.new(None)
except:
print("No camera found")
exit()
camera.set_region(0, 0, 128, 128)
camera.set_frame_rate(10.0)
camera.set_pixel_format(Aravis.PIXEL_FORMAT_MONO_8)
payload = camera.get_payload()
# Author: Emmanuel Pacaud <*****@*****.**>
# If you have installed aravis in a non standard location, you may need
# to make GI_TYPELIB_PATH point to the correct location. For example:
#
# export GI_TYPELIB_PATH=$GI_TYPELIB_PATH:/opt/bin/lib/girepositry-1.0/
#
# You may also have to give the path to libaravis.so, using LD_PRELOAD or
# LD_LIBRARY_PATH.
import sys
import time
from gi.repository import Aravis
Aravis.enable_interface ("Fake")
try:
if len(sys.argv) > 1:
camera = Aravis.Camera.new (sys.argv[1])
else:
camera = Aravis.Camera.new (None)
except:
print ("No camera found")
exit ()
device = camera.get_device ()
genicam = device.get_genicam_xml ();
print genicam;
import sys
import time
import gi
gi.require_version('Aravis', '0.4')
from gi.repository import Aravis
import numpy as np
from PIL import Image
import cv2
Aravis.enable_interface("Fake") # using arv-fake-gv-camera-0.6
try:
if len(sys.argv) > 1:
camera = Aravis.Camera.new(sys.argv[1])
else:
camera = Aravis.Camera.new(None)
except:
print("No camera found")
exit()
camera.set_region(0, 0, 128, 128)
camera.set_frame_rate(10.0)
camera.set_pixel_format(Aravis.PIXEL_FORMAT_MONO_8)
camera.set_exposure_time(980)
#camera = Aravis.Camera.new(None)
device = camera.get_device()
device.set_string_feature_value("AcquisitionMode", "SingleFrame")
payload = camera.get_payload()
[x, y, width, height] = camera.get_region()
stream = camera.create_stream()
def worker(camId):
pyyolo.init(darknet_path, datacfg, cfgfile, weightfile)
Aravis.enable_interface("Fake")
try:
cam = Aravis.Camera.new(camId)
print("Camera found")
except:
print("No camera found")
exit()
thresh = 0.45
hier_thresh = 0.5
#cam.set_region (0,0,2048,1536)
#cam.set_region (0,0,512,512)
#cam.set_frame_rate (10.0)
#cam.set_exposure_time(500000)
#cam.set_pixel_format (Aravis.PIXEL_FORMAT_MONO_8)
#print(dir(cam))
stream = cam.create_stream(None, None)
payload = cam.get_payload()
[x, y, width, height] = cam.get_region()
print("Camera vendor : %s" % (cam.get_vendor_name()))
print("Camera model : %s" % (cam.get_model_name()))
print("Camera id : %s" % (cam.get_device_id()))
print("ROI : %dx%d at %d,%d" % (width, height, x, y))
print("Payload : %d" % (payload))
print("Pixel format : %s" % (cam.get_pixel_format_as_string()))
#cv2.namedWindow('Live Stream', flags=0)
cv2.namedWindow(camId, flags=0)
#rint(dir(stream))
#for i in range(0,50):
#stream.push_buffer (Aravis.Buffer.new_allocate (payload))
cam.start_acquisition()
lastTime = time.time()
transposeTime = 0
i = 0
while (True):
stream.push_buffer(Aravis.Buffer.new_allocate(payload))
buffer = stream.pop_buffer()
transposeTime = time.time()
b = ctypes.cast(buffer.data, ctypes.POINTER(ctypes.c_uint8))
im = np.ctypeslib.as_array(b, (height, width))
#im = im.copy()
#print("shape: ", im.shape)
#cv2.imshow("Live Stream", im.copy())
gray = im.copy()
cv2.imshow(camId, gray)
#im = np.zeros((3,gray.shape[0],gray.shape[1]))
#im[1,:,:] = gray
#im = cv2.cvtColor(gray,cv2.COLOR_GRAY2RGB)
im = np.stack((im, ) * 3, -1)
im = im.transpose(2, 0, 1)
c, h, w = im.shape[0], im.shape[1], im.shape[2]
#print(im.shape)
#cv2.imshow(camId, im.copy())
im = im.ravel() / 255.0
#print(im.shape)
data = np.ascontiguousarray(im, dtype=np.float32)
#print("TRANS-FPS: ", 1.0/(time.time()-transposeTime))
predictions = pyyolo.detect(w, h, c, data, thresh, hier_thresh)
# { 'left':0, 'right': 767, 'top': 0, 'bottom': x, class': x, prob: x, }
for output in predictions:
left, right, top, bottom, what, prob = output['left'], output[
'right'], output['top'], output['bottom'], output[
'class'], output['prob']
print(output)
if (what == 'car'):
d_from_top = top
d_from_bottom = bottom
d_from_left = left
d_from_right = right
d_height = top
d_width = left
if (d_height > 0.5):
print(output)
#trigger other cameras
cv2.waitKey(1)
print("CAM: ", camId, " Frame: ", i, " FPS: ",
1.0 / (time.time() - lastTime), "RES: ", h, " x ", w)
lastTime = time.time()
i += 1
cam.stop_acquisition()
def setup_camera(self):
print("PROCESS ID: ", os.getpid())
os.system("sudo chrt -f -p 1 %d" % os.getpid())
Aravis.enable_interface("Fake")
self.aravis_camera = Aravis.Camera.new(self.cam_id)
self.width = int(2048)
self.height = int(1536)
self.width = int(2048)
self.height = int(1536)
self.aravis_camera.set_binning(1, 1)
self.aravis_camera.set_region(0, 0, self.width,
self.height) #2064x1544
#self.width = int(2048/2)
#self.height = int(1536/2)
#self.aravis_camera.set_region(0,0,self.width,self.height) #2064x1544
#self.aravis_camera.set_binning(2,2)
self.aravis_camera.gv_set_packet_size(8000)
self.aravis_camera.gv_set_packet_delay(
40000) #np.random.randint(10000))
print("!!!!")
print(self.aravis_camera.gv_get_packet_delay())
#self.aravis_camera.gv_set_stream_options(Aravis.GvStreamOption.NONE)
aravis_device = self.aravis_camera.get_device()
####print(aravis_device.get_string_feature_value('MaxImageSize'))
availpixelformats = self.aravis_camera.dup_available_pixel_formats_as_strings(
)
if 'BayerRG8' in availpixelformats:
aravis_device.set_string_feature_value("PixelFormat", "BayerRG8")
#Mono8, RGB8Packed, BayerRG8
if self.aravis_camera.get_pixel_format_as_string() == 'RGB8Packed':
print("Colour")
self.colour_camera = True
else:
print("Monochrome")
self.colour_camera = False
#Trying to get it working...
#aravis_device.set_string_feature_value("LineSelector", "Line0")
#aravis_device.set_string_feature_value("LineMode", "Input")
#Triggering the camera:
# Software trigger...
#aravis_device.set_string_feature_value("TriggerMode", "On")
#aravis_device.set_string_feature_value("TriggerSource", "Software")
# Hardware trigger...
aravis_device.set_string_feature_value("TriggerMode", "On")
aravis_device.set_string_feature_value("TriggerSource", "Line0")
##print(aravis_device.get_available_trigger_sources())
##print(self.aravis_camera.get_available_pixel_formats_as_strings())
##self.aravis_camera.set_trigger("Line0")
####### #self.aravis_camera.set_trigger_source("Line0")
aravis_device.set_string_feature_value("TriggerActivation",
"RisingEdge")
aravis_device.set_string_feature_value("AcquisitionMode", "Continuous")
#Triggering the flash...
#if triggerflash: #this camera might not be the one doing the triggering
aravis_device.set_string_feature_value("LineSelector", "Line2")
aravis_device.set_boolean_feature_value("StrobeEnable", True)
aravis_device.set_string_feature_value("LineMode", "Strobe")
aravis_device.set_integer_feature_value("StrobeLineDelay", 100)
aravis_device.set_integer_feature_value("StrobeLinePreDelay",
165) #200
aravis_device.set_string_feature_value("LineSource",
"ExposureStartActive")
aravis_device.set_boolean_feature_value("LineInverter", True)
#aravis_device.set_string_feature_value("ExposureTimeMode","UltraShort")
self.aravis_camera.set_exposure_time(90) #140
self.aravis_camera.set_gain(0)
##########NEW CODE FOR SHORT EXPOSURE##########
#aravis_device = self.aravis_camera.get_device();
#aravis_device.set_string_feature_value("ExposureTimeMode","UltraShort")
#self.aravis_camera.set_exposure_time(7) #15 us
#self.aravis_camera.set_gain(0)
#self.aravis_camera.set_pixel_format (Aravis.PIXEL_FORMAT_MONO_8)
#self.aravis_camera.set_trigger("Line1")
#aravis_device.set_float_feature_value("LineDebouncerTime",5.0)
##########ORIGINAL CODE########################
#self.aravis_camera.set_exposure_time(15) #1000000)#15 us
#self.aravis_camera.set_gain(0)
#self.aravis_camera.set_pixel_format (Aravis.PIXEL_FORMAT_MONO_8)
#self.aravis_camera.set_trigger("Line1")
self.payload = self.aravis_camera.get_payload()
self.stream = self.aravis_camera.create_stream(None, None)
###
#self.stream.set_property('packet-timeout',5000)
#self.stream.set_property('frame-retention',250000)
#self.stream.set_property('packet-request-ratio',0.1)
#self.stream.set_property('socket-buffer',Aravis.GvStreamSocketBuffer.FIXED)
#self.stream.set_property('socket-buffer-size',5000000)
#self.stream.set_property('packet-resend',Aravis.GvStreamPacketResend.ALWAYS)
###
if self.stream is None:
print("Failed to construct stream")
return
self.aravis_camera.start_acquisition()
for i in range(0, 16):
self.stream.push_buffer(Aravis.Buffer.new_allocate(self.payload))
#Print info about camera...
print("Camera vendor : %s" % (self.aravis_camera.get_vendor_name()))
print("Camera model : %s" % (self.aravis_camera.get_model_name()))
print("Camera id : %s" % (self.aravis_camera.get_device_id()))
print("Pixel format : %s" %
(self.aravis_camera.get_pixel_format_as_string()))
print("Ready")
