def CaptureFrame(self, skip_pin_trig=False, skip_manual_trig=False):
'''
@brief Capture image
Pin triggering is handled if it is set.
@param skip_pin_trig (True/False for skipping trigging a new frame on the Ptgrey)
@param skip_manual_trig (True/False for skipping manual trig.)
@return frame
'''
self.AssertCameraCapturing()
if not (skip_manual_trig):
self.ManualTriggering()
if self.__mc_trigger_pin.GetPin() >= 0 and not (skip_pin_trig):
self.__mc_trigger_pin.TogglePin()
t = RunThread(self.RetrieveBufferThread)
if self.__capture_timeout >= 0:
t.join(self.__capture_timeout)
else:
t.join()
if t.isAlive():
raise PtGreyError('timeout_capturing_frame_error_msg')
elif self.__error_flag:
self.__error_flag = False
raise PtGreyError('failed_capturing_frame_error_msg')
if self.CheckManualTriggering():
time.sleep(
1.0
) # Sleep camera if manual trig to make it dump the image buffer.
return np.array(self.__frame_object)
def ImportFlyCapture2(self):
'''
@brief import pyflycapture2
raies import_flycapture2_error_msg error if flycapture2 library is not available.
'''
try:
import flycapture2 as fc2
self.__fc2 = fc2
except ImportError:
raise PtGreyError('import_fc2_error_msg')
def ConnectCamera(self):
'''
@brief connect to camera
@return camera_info
'''
# Ensure sufficient cameras are found
bus = self.__fc2.BusManager()
numCams = bus.getNumOfCameras()
self.__fc2_camera = self.__fc2.Context()
if bus.getNumOfCameras() == 0:
raise PtGreyError('camera_not_connected_error_msg')
self.__fc2_camera = self.__fc2.Camera()
self.__fc2_camera.connect(bus.getCameraFromIndex(0))
self.__frame_object = self.__fc2.Image()
# Power on the Camera
cameraPower = 0x610
powerVal = 0x80000000
self.__fc2_camera.writeRegister(cameraPower, powerVal)
# Waiting for camera to power up
retries = 10
timeToSleep = 0.1 #seconds
for i in range(retries):
sleep(timeToSleep)
try:
regVal = self.__fc2_camera.readRegister(cameraPower)
except self.__fc2.Fc2error: # Camera might not respond to register reads during powerup.
pass
awake = True
if regVal == powerVal:
break
awake = False
if not awake:
print "Could not wake Camera. Exiting..."
raise PtGreyError('camera_not_connected_error_msg')
self.__camera_connected = True
return self.GetCameraInfo()
def ConnectCamera(self):
'''
@brief connect to camera
@return camera_info
'''
self.__fc2_camera = self.__fc2.Context()
if self.__fc2_camera.get_num_of_cameras() == 0:
raise PtGreyError('camera_not_connected_error_msg')
self.__fc2_camera.connect(*self.__fc2_camera.get_camera_from_index(0))
self.__frame_object = self.__fc2.Image()
self.__camera_connected = True
return self.GetCameraInfo()
def __init__(self, pin, out_pin=True):
'''CONSTRUCTOR'''
try:
import wiringpi2 as wpi
self.__wpi = wpi
except ImportError:
raise PtGreyError('wiringpi_not_available_error_msg')
self.__wpi.wiringPiSetup()
self.SetPin(pin)
if out_pin:
self.SetPinOut()
else:
self.SetPinIn()
def AssertCameraCapturing(self):
'''
@brief Assert camera capturing
'''
if not (self.CheckCapturing()):
raise PtGreyError('camera_not_capturing_error_msg')
def AssertCameraConnected(self):
'''
@brief Assert camera connected
'''
if self.__fc2_camera == None or not (self.__camera_connected):
raise PtGreyError('camera_not_connected_error_msg')
def AssertFlyCapture2(self):
'''
@brief Assert that the flycapture2 library is available
'''
if self.__fc2 == None:
raise PtGreyError('import_flycapture2_error_msg')