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 readImage_thread(publisher_img):
global handle, running, Width, Height, save_flag, cfg, color_mode, rt_lock, count1
global COLOR_BayerGB2BGR, COLOR_BayerRG2BGR, COLOR_BayerGR2BGR, COLOR_BayerBG2BGR
global logpath, loghandle, log_stepsize, logging, curr_logging, loghandle1, max_num_frames_log, curr_num_frames_log
bridge = CvBridge()
count = 0
totalFrame = 0
time0 = time.time()
time1 = time.time()
data = {}
# DEMO WINDOW DECISION!!!
cv2.namedWindow("ArduCam Demo", 1)
if not os.path.exists("images1"):
os.makedirs("images1")
print "CIAO"
if not os.path.exists(logpath):
oldmask = os.umask(000)
os.makedirs(logpath, 0777)
print "CREATING DIRECTORY"
while running:
if count1 == 1:
if rt_lock.acquire(False):
print "read image", count1
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:
print "read data fail!"
continue
if datasize == 0:
continue
image = None
emImageFmtMode = cfg['emImageFmtMode']
if emImageFmtMode == ArducamSDK.FORMAT_MODE_JPG:
image = JPGToMat(data, datasize)
if emImageFmtMode == ArducamSDK.FORMAT_MODE_YUV:
image = YUVToMat(data)
if emImageFmtMode == ArducamSDK.FORMAT_MODE_RGB:
image = RGB565ToMat(data)
if emImageFmtMode == ArducamSDK.FORMAT_MODE_MON:
image = np.frombuffer(data, np.uint8).reshape(
Height, Width, 1)
if logging:
curr_logging = True
#save ENTIRE IMAGE!!!
np.save(loghandle1, image)
prev_bin = 0
for i in range(log_stepsize, 255, log_stepsize):
#print i
#print bigger0-bigger20
smaller = (image < i).sum()
loghandle.write(
str(smaller - prev_bin) + ',' + ' ')
prev_bin = smaller
#last one:
smaller = (image < 256).sum()
loghandle.write(
str(smaller - prev_bin) + ';' + '\n')
curr_num_frames_log += 1
if not (curr_num_frames_log <= max_num_frames_log):
logging = False
loghandle.close()
loghandle1.close()
print "Logging to" + logname + "has ended"
curr_num_frames_log = 0
curr_logging = False
if emImageFmtMode == ArducamSDK.FORMAT_MODE_RAW:
image = np.frombuffer(data, np.uint8).reshape(
Height, Width, 1)
if color_mode == 0:
image = cv2.cvtColor(image, COLOR_BayerRG2BGR)
if color_mode == 1:
image = cv2.cvtColor(image, COLOR_BayerGR2BGR)
if color_mode == 2:
image = cv2.cvtColor(image, COLOR_BayerGB2BGR)
if color_mode == 3:
image = cv2.cvtColor(image, COLOR_BayerBG2BGR)
if color_mode < 0 and color_mode > 3:
image = cv2.cvtColor(image, COLOR_BayerGB2BGR)
#HERE ONLY OUTPUTS CURRENT FPS -> IS THIS REALLY NEEDED?
time1 = time.time()
if time1 - time0 >= 1:
#print "%s %d %s\n"%("fps:",count,"/s")
print(time1 - time0)
count = 0
time0 = time1
count += 1
# POTENTIALLY SAVES THE IMAGE -> NEEDED?!
if save_flag:
cv2.imwrite("images/image%d.jpg" % totalFrame, image)
totalFrame += 1
# Descide if you want to resize or not here!!
# ATTENTION: THIS INFLUENCES THE RESULTING FRAME RATE
#image = cv2.resize(image,(640,480),interpolation = cv2.INTER_LINEAR)
# INCLUDE FCT INN THE FUTURE WHICH PART OF THE IMAGE I WANT TO SEE,...
# CROPPING IS HERE:
#image = image[0:640, 0:480]
# DESCIDE IF THE NORMAL DEMO WINDOW SHOULD OPEN OR NOT
# IN LONG EXPOSURE SCENARIO THIS MAKES NO BIG DIFFERENCE!!!
cv2.imshow("ArduCam Demo", image)
cv2.waitKey(10)
#NEWLY INSERTED ROS PUBLISHER
try:
publisher_img.publish(
bridge.cv2_to_imgmsg(image, 'mono8'))
except CvBridgeError as e:
print(e)
#publisher_img.publish(image)
# assuming: del deletes the pic,...
#ArducamSDK.Py_ArduCam_del(handle)
ArducamSDK.Py_ArduCam_flush(handle)
#print "------------------------display time:",(time.time() - display_time)
else:
time.sleep(0.001)
count1 = count1 - 1
rt_lock.release()
else:
time.sleep(0.001)
else:
time.sleep(0.001)
def readImage_thread(publisher_img):
global handle, running, Width, Height, save_flag, cfg, color_mode, rt_lock, count1
global COLOR_BayerGB2BGR, COLOR_BayerRG2BGR, COLOR_BayerGR2BGR, COLOR_BayerBG2BGR
bridge = CvBridge()
count = 0
totalFrame = 0
time0 = time.time()
time1 = time.time()
data = {}
# DEMO WINDOW DECISION!!!
#cv2.namedWindow("ArduCam Demo",1)
if not os.path.exists("images"):
os.makedirs("images")
while running:
#if count1 == 1:
if rt_lock.acquire(False):
#print "read image", count1
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:
print "read data fail!"
continue
if datasize == 0:
continue
image = None
emImageFmtMode = cfg['emImageFmtMode']
if emImageFmtMode == ArducamSDK.FORMAT_MODE_JPG:
image = JPGToMat(data, datasize)
if emImageFmtMode == ArducamSDK.FORMAT_MODE_YUV:
image = YUVToMat(data)
if emImageFmtMode == ArducamSDK.FORMAT_MODE_RGB:
image = RGB565ToMat(data)
if emImageFmtMode == ArducamSDK.FORMAT_MODE_MON:
image = np.frombuffer(data,
np.uint8).reshape(Height, Width, 1)
if emImageFmtMode == ArducamSDK.FORMAT_MODE_RAW:
image = np.frombuffer(data,
np.uint8).reshape(Height, Width, 1)
if color_mode == 0:
image = cv2.cvtColor(image, COLOR_BayerRG2BGR)
if color_mode == 1:
image = cv2.cvtColor(image, COLOR_BayerGR2BGR)
if color_mode == 2:
image = cv2.cvtColor(image, COLOR_BayerGB2BGR)
if color_mode == 3:
image = cv2.cvtColor(image, COLOR_BayerBG2BGR)
if color_mode < 0 and color_mode > 3:
image = cv2.cvtColor(image, COLOR_BayerGB2BGR)
#HERE ONLY OUTPUTS CURRENT FPS -> IS THIS REALLY NEEDED?
time1 = time.time()
if time1 - time0 >= 1:
print "%s %d %s\n" % ("fps:", count, "/s")
#print (time1 - time0)
count = 0
time0 = time1
count += 1
# POTENTIALLY SAVES THE IMAGE -> NEEDED?!
if save_flag:
cv2.imwrite("images/image%d.jpg" % totalFrame, image)
totalFrame += 1
# Descide if you want to resize or not here!!
# ATTENTION: THIS INFLUENCES THE RESULTING FRAME RATE
#image = cv2.resize(image,(640,480),interpolation = cv2.INTER_LINEAR)
# INCLUDE FCT INN THE FUTURE WHICH PART OF THE IMAGE I WANT TO SEE,...
# CROPPING IS HERE:
#image = image[0:640, 0:480]
# DEMO WINDOW SHOULD NOT BE OPEN OR HERE, DUE TO FRAME RATE ISSUES,...
#cv2.imshow("ArduCam Demo",image)
# cv2.waitKey(10)
#NEWLY INSERTED ROS PUBLISHER
try:
publisher_img.publish(bridge.cv2_to_imgmsg(image, 'mono8'))
except CvBridgeError as e:
print(e)
#publisher_img.publish(image)
# assuming: del deletes the pic,...
#ArducamSDK.Py_ArduCam_del(handle)
ArducamSDK.Py_ArduCam_flush(handle)
#print "------------------------display time:",(time.time() - display_time)
else:
time.sleep(0.001)
# count1 = count1 - 1
rt_lock.release()