def video():
global flag, regArr, handle
regNum = 0
res, handle = ArducamSDK.Py_ArduCam_autoopen(cfg)
if res == 0:
openFlag = True
print "device open success!"
while (regArr[regNum][0] != 0xFFFF):
ArducamSDK.Py_ArduCam_writeSensorReg(handle, regArr[regNum][0],
regArr[regNum][1])
regNum = regNum + 1
res = ArducamSDK.Py_ArduCam_beginCapture(handle)
if res == 0:
print "transfer task create success!"
while flag:
res = ArducamSDK.Py_ArduCam_capture(handle)
if res != 0:
print "capture fail!"
break
time.sleep(0.03)
if flag == False:
break
else:
print "transfer task create fail!"
res = ArducamSDK.Py_ArduCam_close(handle)
if res == 0:
openFlag = False
print "device close success!"
else:
print "device close fail!"
else:
print "device open fail!"
def rosShutdown():
global handle
rtn_val = ArducamSDK.Py_ArduCam_close(handle)
if rtn_val == 0:
rospy.loginfo("device close success!")
else:
rospy.logerr("device close fail!")
def cameramain(self, config_file_name, expconf, child_conn):
if self.camera_initFromFile(config_file_name, expconf):
ArducamSDK.Py_ArduCam_setMode(self.handle,
ArducamSDK.CONTINUOUS_MODE)
ct = threading.Thread(target=self.captureImage_thread)
rt = threading.Thread(target=self.readImage_thread,
args=(child_conn, ))
ct.start()
rt.start()
while True:
reload = child_conn.recv()
print("reloading configuration file")
if reload == False:
self.loading = False
if reload == 'quit':
self.running = False
sys.exit()
break
ct.join()
rt.join()
rtn_val = ArducamSDK.Py_ArduCam_close(self.handle)
if rtn_val == 0:
print("device close success!")
else:
print("device close fail!")
def rosShutdown():
global handle
rtn_val = ArducamSDK.Py_ArduCam_close(handle)
if rtn_val == 0:
print "device close success!"
else:
print "device close fail!"
def stop(self):
self.logger.info("Stopping arducam")
self.running = False
ArducamSDK.Py_ArduCam_del(self.handle)
ArducamSDK.Py_ArduCam_flush(self.handle)
ArducamSDK.Py_ArduCam_endCaptureImage(self.handle)
ArducamSDK.Py_ArduCam_close(self.handle)
self.images.clear()
self.logger.info("Arducam stopped")
def show2():
global flag, regArr, handle
global W_zoom, H_zoom, V_value, H_value, lx, ly, downFlag, saveFlag, saveNum
regNum = 0
res, handle = ArducamSDK.Py_ArduCam_autoopen(cfg)
if res == 0:
openFlag = True
print "device open success!"
while (regArr[regNum][0] != 0xFFFF):
ArducamSDK.Py_ArduCam_writeSensorReg(handle, regArr[regNum][0],
regArr[regNum][1])
regNum = regNum + 1
res = ArducamSDK.Py_ArduCam_beginCapture(handle)
if res == 0 and flag:
print "transfer task create success!"
res = ArducamSDK.Py_ArduCam_capture(handle)
if ArducamSDK.Py_ArduCam_available(handle) > 0:
print "estou available"
res, data = ArducamSDK.Py_ArduCam_read(handle, Width * Height)
image = Image.frombuffer("L", (Width, Height), data)
img = np.array(image)
height, width = img.shape[:2]
img2 = cv2.cvtColor(img, COLOR_BYTE2RGB)
if args.name and capture:
cv2.imwrite(args.name + "." + args.type, img2)
if not args.show:
return
if saveFlag:
saveFlag = False
saveNum += 1
name = ""
if "bmp" == args.type:
name = str(saveNum) + ".bmp"
if "png" == args.type:
name = str(saveNum) + ".png"
if "jpg" == args.type:
name = str(saveNum) + ".jpg"
cv2.imwrite(name, img2)
if res != 0:
print "capture fail!"
return
if flag == False:
return
else:
print "transfer task create fail!"
res = ArducamSDK.Py_ArduCam_close(handle)
if res == 0:
openFlag = False
print "device close success!"
else:
print "device close fail!"
else:
print "device open fail!"
def readThread():
global timestamps, images
handle = {}
data = {}
regNum = 0
res, handle = ArducamSDK.Py_ArduCam_autoopen(cfg)
#print(handle)
#print(3)
if res == 0:
print("device open success!")
while (regArr[regNum][0] != 0xFFFF):
ArducamSDK.Py_ArduCam_writeSensorReg(handle, regArr[regNum][0], regArr[regNum][1])
regNum = regNum + 1
#print(32143)
res = ArducamSDK.Py_ArduCam_beginCapture(handle)
if res == 0:
print("transfer task create success!")
while not rospy.is_shutdown():
#print(2134124)
res = ArducamSDK.Py_ArduCam_capture(handle)
#print(res)
if res == 0:
timestamp = rospy.Time.now()
#print(7324627864)
res, data = ArducamSDK.Py_ArduCam_read(handle, Width * Height)
#print(34242)
if res == 0:
#print(3746827346782)
ArducamSDK.Py_ArduCam_del(handle)
#print(374623846278)
timestamps.put(timestamp)
#print(3742846237846)
images.put(data)
#print(382746278346782)
time.sleep(0.03)
else:
print("read data fail!")
if res != 0:
print("capture fail!")
break
else:
print("transfer task create fail!")
res = ArducamSDK.Py_ArduCam_close(handle)
if res == 0:
print("device close success!")
else:
print("device close fail!")
else:
print("device open fail!")
def init_and_read_arducam():
global flag, regArr, handle, openFlag
regNum = 0
res, handle = ArducamSDK.Py_ArduCam_autoopen(cfg)
if res == 0:
openFlag = True
print("device open success!")
while (regArr[regNum][0] != 0xFFFF):
ArducamSDK.Py_ArduCam_writeSensorReg(handle, regArr[regNum][0],
regArr[regNum][1])
regNum = regNum + 1
res = ArducamSDK.Py_ArduCam_beginCapture(handle)
if res == 0:
print("transfer task create success!")
while flag:
res = ArducamSDK.Py_ArduCam_capture(handle)
if res != 0:
print("capture failed!")
flag = False
break
time.sleep(0.1)
if flag == False:
break
else:
print("transfer task create fail!")
time.sleep(2)
res = ArducamSDK.Py_ArduCam_close(handle)
if res == 0:
openFlag = False
print("device close success!")
else:
print("device close fail!")
else:
print("device open fail!")
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)
while True:
if ArducamSDK.Py_ArduCam_availableImage(handle) > 0:
print('hello')
rtn_val, data, rtn_cfg = ArducamSDK.Py_ArduCam_readImage(
handle)
image = convert_image(data, rtn_cfg, color_mode)
#pause
#ArducamSDK.Py_ArduCam_writeReg_8_8(handle,0x46,3,0x40)
rtn_val = ArducamSDK.Py_ArduCam_close(handle)
if rtn_val == 0:
print("device close success!")
else:
print("device close fail!")
#os.system("pause")
mouse_y = parameters["mouse_y"]
draw_x = parameters["draw_x"]
draw_y = parameters["draw_y"]
print("Loaded parameters - mouse: (%d; %d), draw: (%d; %d)." %
(mouse_x, mouse_y, draw_x, draw_y))
result = get_focus()
top_right_x = int(mouse_x - rectangle_width / 2)
top_right_y = int(mouse_y - rectangle_height / 2)
running = False
ct.join()
ArducamSDK.Py_ArduCam_close(handle)
if not result:
exit()
print("Final parameters - mouse: (%d; %d), draw: (%d; %d)." %
(mouse_x, mouse_y, draw_x, draw_y))
time.sleep(1)
running = True
ret, handle = camera_initFromFile(config_focused)
ct = threading.Thread(target=captureImage_thread)
rt = threading.Thread(target=readImage_thread)