def picam_capture():
iv = ivport.IVPort(ivport.TYPE_QUAD2, iv_jumper='A')
iv.camera_open()
iv.camera_change(1)
iv.camera_capture("picam", use_video_port=False)
iv.camera_change(2)
iv.camera_capture("picam", use_video_port=False)
iv.close()
def picam_capture():
iv = ivport.IVPort(ivport.TYPE_DUAL2)
iv.camera_open()
iv.camera_change(1)
iv.camera_capture("picam", use_video_port=False)
iv.camera_change(2)
iv.camera_capture("picam", use_video_port=False)
iv.close()
def main():
pub1 = rospy.Publisher('camera_topic1', Image, queue_size=10) #2 topica
pub2 = rospy.Publisher('camera_topic2', Image, queue_size=10)
rospy.init_node('camera_publish_node', anonymous=True)
rate = rospy.Rate(5) #vise, brze
bridge = CvBridge()
iv = ivport.IVPort(ivport.TYPE_DUAL2)
iv.camera_open(camera_v2=True) #za sequenace camera_v2 = True
i = 0
#pogledaj u camera_publish_node.launch, ne kuzim zakaj ovo ne radi
#dir = rospy.get_param('~dir')
#print(dir) #/home/ivona-rpi/proba_ws/src/paket
#dir = dir+'/'
#print(dir) #/home/ivona-rpi/proba_ws/src/paket/
dir = '/home/ivona-rpi/proba_ws/src/rpi-ivport/'
#stvaranje foldera cam1_frames i cam2_frames, brisanje nakon svakog pokretanja
for j in range(1, 3):
if not os.path.exists(dir + '/cam' + str(j) + '_frames'):
os.makedirs(dir + '/cam' + str(j) + '_frames')
else:
empty_folder(dir + '/cam' + str(j) + '_frames')
while not rospy.is_shutdown():
iv.camera_change(1)
iv.camera_capture('picam', use_video_port=True)
image = cv2.imread(dir + '/src/picam_CAM1.jpg')
cv2.imwrite(dir + '/cam1_frames/' + str(i) + '.jpg', image)
#print(image.shape) #480x720x3
#print(image.dtype) #uint8
image = np.uint8(image)
image_message = bridge.cv2_to_imgmsg(image, encoding="passthrough")
rospy.loginfo(image)
pub1.publish(image_message)
print('I publish1')
rate.sleep()
iv.camera_change(2)
iv.camera_capture('picam', use_video_port=True)
image = cv2.imread(dir + '/src/picam_CAM2.jpg')
cv2.imwrite(dir + '/cam2_frames/' + str(i) + '.jpg', image)
image = np.uint8(image)
image_message = bridge.cv2_to_imgmsg(image, encoding="passthrough")
rospy.loginfo(image)
pub2.publish(image_message)
print('I publish2')
rate.sleep()
i += 1
iv.close()
def still_capture2():
# raspistill capture
def capture(camera):
"This system command for raspistill capture"
cmd = "raspistill -t 10 -o still_CAM%d.jpg" % camera
os.system(cmd)
ivA = ivport.IVPort(ivport.TYPE_QUAD2, iv_jumper='A')
ivA.camera_change(1)
capture(1)
# ivA.camera_change(2)
# capture(2)
# ivA.camera_change(3)
# capture(3)
ivB = ivport.IVPort(ivport.TYPE_QUAD2, iv_jumper='B')
ivB.camera_change(2)
ivA.camera_change(4)
capture(2)
ivA.close()
ivB.close()
def still_capture():
# raspistill capture
def capture(camera):
"This system command for raspistill capture"
cmd = "raspistill -t 10 -o still_CAM%d.jpg" % camera
os.system(cmd)
iv = ivport.IVPort(ivport.TYPE_DUAL2)
iv.camera_change(1)
capture(1)
iv.camera_change(2)
capture(2)
iv.close()
def main():
print "beginning of main"
if camera_v2 is True:
iviic = IIC.IIC(addr=(0x70), bus_enable=(0x01))
print "right after iviic = IIC.IIC...."
camera_list = range(1, 5)
print camera_list
#picam_capture_into_files()
#exit()
iv = ivport.IVPort(board_type, iv_jumper='A')
print "right after iv = ivport.IVPort(...."
iv.camera_open(camera_v2=camera_v2)
print "right after iv.camear_open"
time.sleep(2.0)
print "stop to sleep"
#for i in range(1, 2):
# cv2.namedWindow( windows_name_by_id(i) )
while True:
images = {}
print "right after images = {}"
# first take all the images and store them
for i in camera_list:
image_new = get_one_image_by_cameraId(iv, i)
#cv2.imshow( windows_name_by_id(i) , image_new)
images[windows_name_by_id(i)] = image_new
#print "taking new image port %u windows_name:%s" % (i, windows_name_by_id(i))
print "got the images"
# print all the images
for i in camera_list:
image_new = images[windows_name_by_id(i)]
cv2.imshow(windows_name_by_id(i), image_new)
#images[windows_name_by_id(i)] = image_new
#print "taking new image port %u windows_name:%s" % (i, windows_name_by_id(i))
key = cv2.waitKey(1)
if key == ord("q"): # if the `q` key was pressed, break from the loop
break
cv2.destroyAllWindows()
def picam_sequence():
FRAMES = 30
CAM = 0
def sequence_outputs(iv):
frame = 0
while frame < FRAMES:
camera = (frame%2)+1
time.sleep(0.2) # SD Card Bandwidth Correction Delay
iv.camera_change(camera)
time.sleep(0.2) # SD Card Bandwidth Correction Delay
yield 'sequence_%02d.jpg' % frame
frame += 1
print camera
iv = ivport.IVPort(ivport.TYPE_QUAD2, iv_jumper='A')
iv.camera_open(camera_v2=True, resolution=(640, 480), framerate=60)
#iv.picam.resolution = (640, 480)
#iv.picam.framerate = 30
#time.sleep(1)
iv.camera_sequence(outputs=sequence_outputs(iv), use_video_port=True)
iv.close()
def picam_capture_into_files():
iv = ivport.IVPort(board_type, iv_jumper='A')
iv.camera_open(camera_v2=camera_v2)
iv.camera_change(1)
iv.camera_capture("picam", use_video_port=False)
iv.camera_change(2)
iv.camera_capture("picam", use_video_port=False)
iv.camera_change(3)
iv.camera_capture("picam", use_video_port=False)
iv.camera_change(4)
iv.camera_capture("picam", use_video_port=False)
img = cv2.imread('picam_CAM1.jpg')
cv2.imshow("desparateWindows1", img)
img = cv2.imread('picam_CAM2.jpg')
cv2.imshow("desparateWindows2", img)
print "press any key to exit"
cv2.waitKey(0)
print "just read my file"
time.sleep(0.5)
cv2.destroyAllWindows()
iv.close()
GPIO.setup(ECHO3,GPIO.IN) GPIO.output(TRIG1, False) print "Waiting For Sensor1 To Settle" time.sleep(2) GPIO.output(TRIG2, False) print "Waiting For Sensor2 To Settle" time.sleep(2) GPIO.output(TRIG3, False) print "Waiting For Sensor3 To Settle" time.sleep(2) GPIO.output(TRIG4, False) print "Waiting For Sensor4 To Settle" time.sleep(2) #Camera multiplexer setup iv = ivport.IVPort(ivport.TYPE_DUAL2) camera = picamera.PiCamera() cur_camera = 1 #1 is IR 2 is Visible light talons = 0 #0 is open 1 is closed def getTemperature(pin): temp = GPIO.input(pin) camera.annotate_text = temp return temp def openTalons(): for pulse in range(50, 250, 1):
from utils import *
#import picamera
import ivport
import time
import os
if __name__ == '__main__':
to_measure = True
to_plot = not to_measure
if to_measure:
os.system('~/Downloads/ivport-v2/init_ivport.py')
os.system('~/Downloads/ivport-v2/vcgencmd get_camera')
os.system('~/Downloads/ivport-v2/i2cdetect -y 1')
iv = ivport.IVPort(ivport.TYPE_QUAD2)
iv.camera_change(1)
iv.camera_open(resolution=(1920, 1080), framerate=24)
#camera = picamera.PiCamera()
#camera.resolution = (1920,1080)
#camera.framerate=24
time.sleep(2)
#img = snapshot(iv.camera)
iv.camera_capture('single')
#print(np.array_repr(img))
iv.close()
if to_plot:
exit()
