def connect_cam(cls, cam):
cls.logger.info("Beginning banana scan... ")
ArducamSDK.Py_ArduCam_scan()
ret = -1
for i in range(3):
time.sleep(5)
ret, cam.handle, rtn_cfg = ArducamSDK.Py_ArduCam_open(cam.cam_config, cam.dev_id)
if ret == 0:
cam.usb_version = rtn_cfg['usbType']
return
raise AssertionError("Failed to connect to camera - error code: {}".format(ret))
def run(self):
try:
self.logger.info("Beginning image capture process")
self.capture_image()
finally:
self.logger.info("Ending image capture process safely")
ArducamSDK.Py_ArduCam_endCaptureImage(self.cam.handle)
def write_regs(cls, cam, reg_name):
for r in cls.get_register_value(cam, reg_name):
if r[0] == "DELAY":
time.sleep(float(r[1]) / 1000)
continue
cls.logger.debug("Writing register to cam {0}: {1}".format(cam.dev_id, r))
ArducamSDK.Py_ArduCam_writeSensorReg(cam.handle, int(r[0], 16), int(r[1], 16))
def read_single_image(self):
rtn_val, data, rtn_cfg = ArducamSDK.Py_ArduCam_readImage(
self.cam.handle)
datasize = rtn_cfg['u32Size']
if datasize == 0 or rtn_val != 0:
raise ImageReadException(
"Bad image read: datasize: {0}, code: {1}".format(
datasize, rtn_val))
return rtn_val, data, rtn_cfg
def read_image(self):
counter = fps = 0
video = None
fps_counter = FPSCounter().start()
self.running = True
if self.cam.recording_enabled:
filename = datetime.datetime.now().strftime(
"%Y-%m-%d_%H-%M-%S") + ".avi"
video = Video(filename, self.cam.directory, self.cam.max_file_size)
while self.running:
if ArducamSDK.Py_ArduCam_availableImage(self.cam.handle) <= 0:
time.sleep(0.001)
continue
try:
rtn_val, data, rtn_cfg = self.read_single_image()
image = convert_image(data, rtn_cfg, self.cam.color_mode)
image = cv2.medianBlur(image, 3)
if counter % 10 == 0:
fps = fps_counter.get_fps(10)
if self.cam.show_label:
self.add_label(image, fps)
if self.cam.rotation_angle != 0:
image = imutils.rotate_bound(image,
int(self.cam.rotation_angle))
if self.cam.show_preview:
self.show_image(image)
if video is not None:
video.add_frame(image)
if counter != 0 and video.size >= self.cam.dump_size:
video.dump_async(fps)
counter += 1
except ImageReadException as e:
self.logger.warning("Bad image read: {}".format(e))
finally:
ArducamSDK.Py_ArduCam_del(self.cam.handle)
if video is not None:
video.close()
def capture_image(self):
self.running = True
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(self.cam.handle)
if rtn_val != 0:
raise ImageCaptureException(
"Error beginning capture, rtn_val: {}".format(rtn_val))
self.logger.info("Starting image capture for dev: {}".format(
self.cam.dev_id))
while self.running:
try:
rtn_val = ArducamSDK.Py_ArduCam_captureImage(self.cam.handle)
if rtn_val > 255:
if rtn_val == ArducamSDK.USB_CAMERA_USB_TASK_ERROR:
raise USBCameraTaskError(
"USB task error: {}".format(rtn_val))
raise ImageCaptureException(
"Error capture image, rtn_val: ".format(rtn_val))
time.sleep(0.005)
except ImageCaptureException as e:
self.logger.warning(
"Non critical error capturing image: {}".format(str(e)))
def configure_board(cls, cam, reg_name):
for r in cls.get_register_value(cam, reg_name):
cls.logger.debug("Writing register to cam {0}: {1}".format(cam.dev_id, r))
buffs = []
command = r[0]
value = r[1]
index = r[2]
buffsize = r[3]
for j in range(0, len(r[4])):
buffs.append(int(r[4][j], 16))
ArducamSDK.Py_ArduCam_setboardConfig(cam.handle, int(command, 16), int(value, 16), int(index, 16),
int(buffsize, 16), buffs)
def captureImage_thread():
global handle, running
rtn_val = ArducamSDK.Py_ArduCam_beginCaptureImage(handle)
if rtn_val != 0:
print("Error beginning capture, rtn_val = ", rtn_val)
running = False
return
else:
print("Capture began, rtn_val = ", rtn_val)
while running:
# print "capture"
rtn_val = ArducamSDK.Py_ArduCam_captureImage(handle)
if rtn_val > 255:
print("Error capture image, rtn_val = ", rtn_val)
if rtn_val == ArducamSDK.USB_CAMERA_USB_TASK_ERROR:
break
time.sleep(0.005)
running = False
ArducamSDK.Py_ArduCam_endCaptureImage(handle)
def configBoard(fileNodes):
global handle
for i in range(0, len(fileNodes)):
fileNode = fileNodes[i]
buffs = []
command = fileNode[0]
value = fileNode[1]
index = fileNode[2]
buffsize = fileNode[3]
for j in range(0, len(fileNode[4])):
buffs.append(int(fileNode[4][j], 16))
ArducamSDK.Py_ArduCam_setboardConfig(handle, int(command, 16),
int(value, 16), int(index, 16),
int(buffsize, 16), buffs)
def writeSensorRegs(fileNodes):
global handle
for i in range(0, len(fileNodes)):
fileNode = fileNodes[i]
if fileNode[0] == "DELAY":
time.sleep(float(fileNode[1]) / 1000)
continue
regAddr = int(fileNode[0], 16)
val = int(fileNode[1], 16)
print(str(regAddr) + "\t" + str(val))
# ["0x3012","0x0032"] = 12306 50
# 3012 (hex) = 12306 (dec)
# 0032 (hex) = 50 (dec)
ArducamSDK.Py_ArduCam_writeSensorReg(handle, regAddr, val)
def camera_initFromFile(fialeName):
global acfg, handle, Width, Height, color_mode, save_raw
# load config file
z = handle
config = json.load(open(fialeName, "r"))
print(fialeName)
# print(config)
camera_parameter = config["camera_parameter"]
Width = int(camera_parameter["SIZE"][0])
Height = int(camera_parameter["SIZE"][1])
BitWidth = camera_parameter["BIT_WIDTH"]
ByteLength = 1
if BitWidth > 8 and BitWidth <= 16:
ByteLength = 2
save_raw = True
FmtMode = int(camera_parameter["FORMAT"][0])
color_mode = (int)(camera_parameter["FORMAT"][1])
print(camera_parameter)
print(Width)
print(Height)
print(BitWidth)
print(FmtMode)
# print(BitWidth)
print("color mode", color_mode)
I2CMode = camera_parameter["I2C_MODE"]
I2cAddr = int(camera_parameter["I2C_ADDR"], 16)
TransLvl = int(camera_parameter["TRANS_LVL"])
acfg = {
"u32CameraType": 0x4D091031,
"u32Width": Width,
"u32Height": Height,
"usbType": 0,
"u8PixelBytes": ByteLength,
"u16Vid": 0,
"u32Size": 0,
"u8PixelBits": BitWidth,
"u32I2cAddr": I2cAddr,
"emI2cMode": I2CMode,
"emImageFmtMode": FmtMode,
"u32TransLvl": TransLvl
}
print("\nbanana\n")
# usb_version = rtn_acfg['usbType']
# print(usb_version)
# Return vale: number of supported cameras,indexs,serials
# a, b, c = ArducamSDK.Py_ArduCam_scan()
# print(a) #2
# print(b) #[0,1]
# print(c)
# camnum = ArducamSDK.Py_ArduCam_scan()
# print(camnum)
# print(camnum[1][0])
# print(camnum[1][1])
# input("p")
# Serial: AU3S-1830-0003 <= USB 3.0 MT9J001
# Bus 001 Device 009: ID 04b4:03f1 Cypress Semiconductor Corp.
# Serial: AU2S-1843-0016
# Bus 001 Device 010: ID 52cb:52cb
# 4.2.1.3 Py_ArduCam_open( acfg,index)
# Param 1: ArduCamCfg structure instance
# Param 2: index of the camera, handle,acfg
ArducamSDK.Py_ArduCam_scan()
print("scanning")
time.sleep(3)
ret, handle, rtn_cfg = ArducamSDK.Py_ArduCam_open(acfg, cameraID)
time.sleep(3)
# ret = ArducamSDK.Py_ArduCam_open(acfg,1)
# print(ret)
# input("p")
# 4.2.1.1 Py_ArduCam_autoopen(acfg )
# Return vale: error code, handle,acfg
# ret,handle,rtn_cfg = ArducamSDK.Py_ArduCam_autoopen(acfg)
print(ret)
print(handle)
print(rtn_cfg)
if ret == 0:
# ArducamSDK.Py_ArduCam_writeReg_8_8(handle,0x46,3,0x00)
usb_version = rtn_cfg['usbType']
print("USB VERSION:", usb_version)
# config board param
configBoard(config["board_parameter"])
if usb_version == ArducamSDK.USB_1 or usb_version == ArducamSDK.USB_2:
configBoard(config["board_parameter_dev2"])
if usb_version == ArducamSDK.USB_3:
configBoard(config["board_parameter_dev3_inf3"])
if usb_version == ArducamSDK.USB_3_2:
configBoard(config["board_parameter_dev3_inf2"])
writeSensorRegs(config["register_parameter"])
if usb_version == ArducamSDK.USB_3:
writeSensorRegs(config["register_parameter_dev3_inf3"])
if usb_version == ArducamSDK.USB_3_2:
writeSensorRegs(config["register_parameter_dev3_inf2"])
rtn_val, datas = ArducamSDK.Py_ArduCam_readUserData(
handle, 0x400 - 16, 16)
print("Serial: %c%c%c%c-%c%c%c%c-%c%c%c%c" %
(datas[0], datas[1], datas[2], datas[3], datas[4], datas[5],
datas[6], datas[7], datas[8], datas[9], datas[10], datas[11]))
return True
else:
print("open fail,rtn_val = ", ret)
return False
def readImage_thread():
global handle, running, Width, Height, save_flag, acfg, color_mode, save_raw
global COLOR_BayerGB2BGR, COLOR_BayerRG2BGR, COLOR_BayerGR2BGR, COLOR_BayerBG2BGR
count = 0
totalFrame = 0
time0 = time.time()
time1 = time.time()
data = {}
# cv2.namedWindow("ArduCam Demo", 1)
counter = 0
# clahe = cv2.createCLAHE(clipLimit=1.0, tileGridSize=(4, 4))
frame_h = cfg['frame_height']
frame_w = cfg['frame_width']
out = None
t = time.perf_counter()
fps = 0
while running:
if ArducamSDK.Py_ArduCam_availableImage(handle) > 0:
rtn_val, data, rtn_cfg = ArducamSDK.Py_ArduCam_readImage(handle)
datasize = rtn_cfg['u32Size']
if counter % 10 == 0:
t2 = time.perf_counter()
fps = round(10 / (t2 - t), 2)
t = t2
reprint(fps)
if rtn_val != 0:
print("read data fail!")
continue
if datasize == 0:
continue
image = convert_image(data, rtn_cfg, color_mode)
image = imutils.rotate_bound(image, cfg["rotation_angle"])
kernel = np.array([[-1, -1, -1], [-1, 9, -1], [-1, -1, -1]])
image = cv2.medianBlur(image, 3)
# image = cv2.filter2D(image, -1, kernel)
# image = cv2.resize(image, (frame_w, frame_h), interpolation=cv2.INTER_AREA)
# digits_area = image[int(image.shape[0] * 0.965):int((1 - 0) * image.shape[0]), int(image.shape[1] * 0):int((1 - 0.5) * image.shape[1]),:]
# Defines height
# From XXX to image.shape[1]
# a1 = [0, int(image.shape[0] * 0.93)] # 0,896
# a2 = [0, int((1 - 0) * image.shape[0])] # 0,964
#
# # Defines width
# # From XXX to image.shape[1]
# a3 = [int(image.shape[1] * 0.4), int((1 - 0) * image.shape[0])] # 512,964
# a4 = [int(image.shape[1] * 0.4), int(image.shape[0] * 0.93)] # 512,896
#
# digits_area = np.array([[a1, a2, a3, a4]], dtype=np.int32)
# image shape: [H,W]
# digits area: [W,H]
# digits_area = np.array([[[512,964], [0,964], [0,896], [512,896]]], dtype=np.int32)
# print(digits_area)
# 930
# 964
# 0
# 640
# cv2.fillConvexPoly(image, np.array(a1, a2, a3, a4, 'int32'), 255)
# cv2.fillPoly(image, digits_area, (0, 0, 0))
if counter == 0:
filename = datetime.datetime.now().strftime(
"%Y-%m-%d_%H-%M-%S") + "_front_top.avi"
# out = cv2.VideoWriter(filename, cv2.VideoWriter_fourcc('X', 'V', 'I', 'D'), 8,
# (cfg['output_frame_width'], cfg['output_frame_height']))
out = cv2.VideoWriter(
filename, cv2.VideoWriter_fourcc('X', 'V', 'I', 'D'), 22,
(1280, 964))
# out = cv2.VideoWriter(filename, cv2.VideoWriter_fourcc('X', 'V', 'I', 'D'), 8, (640, 480))
# out = cv2.VideoWriter(filename, cv2.VideoWriter_fourcc('M', 'J', '2', 'C'), 8, (1280, 964)) #Lossless
# out = cv2.VideoWriter(filename, cv2.VideoWriter_fourcc('H', 'F', 'Y', 'U'), 8, (1280, 964)) #Lossless
reprint("Creating file " + str(filename))
cv2.putText(image, str(fps), (10, image.shape[0] - 10),
cv2.FONT_HERSHEY_DUPLEX, 0.8, (255, 255, 255), 1,
cv2.LINE_AA)
# ardu = ("Time: " + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12644))[1])) + " ISO: " + str(
# (ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12586))[1])) + " lum: " + str(
# (ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12626))[1])) + "/" + str(
# (ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12546))[1])))
# cv2.putText(image, ardu, (10, image.shape[0] - 40), cv2.FONT_HERSHEY_DUPLEX, 0.8, (255, 255, 255), 1,
# cv2.LINE_AA)
# try:
# colorconversion = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
# except:
# colorconversion = image
# pass
cv2.imshow("stream", image)
cv2.waitKey(5)
# cv2.resize(image, (640, 480))
if out is not None:
out.write(cv2.resize(image, (1280, 964)))
# out.write(image)
# regAddr = int(12644)
# val = hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, regAddr)[1])
# print("Integration time\t" + str(hex(12644)) + "\t" + str(hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12644))[1])))
# print("Gains\t" + str(hex(12586)) + "\t" + str(hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12586))[1])))
# print("Mean gain\t" + str(hex(12626)) + "\t" + str(hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12626))[1])))
# print("Dark current\t" + str(hex(12680)) + "\t" + str(hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12680))[1])))
# print("Frame exposure\t" + "\t" + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12460))[1])))
# logger.write(str(datetime.datetime.now().strftime("%Y-%m-%d: %H:%M:%S")) + "\t")
# logger.write(str(hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12644))[1])) + "\t")
# logger.write(str(hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12586))[1])) + "\t")
# logger.write(str(hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12626))[1])) + "\t")
# logger.write(str(hex(ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12680))[1])) + "\n")
# logger.flush()
# try:
# colorconversion = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
# except:
# colorconversion = image
# pass
# for i in range(2):
# colorconversion = clahe.apply(colorconversion)
# image = image[:,:,0]
# print(image.shape)
# image = cv2.cvtColor(colorconversion, cv2.COLOR_GRAY2BGR)
# print(image.shape)
# image = cv2.GaussianBlur(image, (3, 3), 0)
# for i in range(image.shape[2]):
# image[:,:,i] = colorconversion
# fh.post_image(colorconversion)
counter += 1
if counter == 500:
out.release()
# reprint("Sending file " + str(filename))
# threading.Thread(target=fh.post_files, args=[filename]).start()
# counter = 0
# print("Exposure: " + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12460))[1])) + "\tAcq time: " + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12644))[1])) + "\tGain: " + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12586))[1])) + " lum: " + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12626))[1])) + "/" + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12546))[1])) + " DC: " + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12680))[1])) + "/" + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12580))[1])))
# print("Noise correction\t" + "\t" + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12500))[1])))
# print(str(regAddr) + "\t" + str(val))
# ["0x3012","0x0032"] = 12306 50
# 3012 (hex) = 12306 (dec)
# 0032 (hex) = 50 (dec)
# print(str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12644))[1])) + "\t" + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12586))[1])) + "\t" + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12626))[1])) + "\t" + str((ArducamSDK.Py_ArduCam_readSensorReg(handle, int(12680))[1])))
# ["0x3012","0x0032"] = 12306 50
# 3012 (hex) = 12306 (dec)
# 0032 (hex) = 50 (dec)
# if counter == 5:
# cimage = cv2.cvtColor(image, cv2.COLOR_GRAY2BGR)
# cv2.imwrite(os.path.join(local_dir, "frame.jpg"), cv2.resize(cimage,(512,384)))
# counter = 0
# cv2.imwrite(os.path.join(local_dir, "Desktop", "images", str(datetime.datetime.now().strftime("%Y-%m-%d-%H-%M-%S-%f") + ".jpg")), image)
# counter += 1
# cv2.imshow("ArduCam Demo",image)
# cv2.waitKey(10)
ArducamSDK.Py_ArduCam_del(handle)
else:
time.sleep(0.001)
if len(sys.argv) > 1:
config_file_name = sys.argv[1]
cameraID = int(sys.argv[2])
if not os.path.exists(config_file_name):
print("Config file does not exist.")
exit()
else:
showHelp()
exit()
if camera_initFromFile(config_file_name):
print("reseting")
z = handle
ArducamSDK.Py_ArduCam_setMode(handle, ArducamSDK.CONTINUOUS_MODE)
ct = threading.Thread(target=captureImage_thread)
rt = threading.Thread(target=readImage_thread)
ct.start()
rt.start()
while running:
input_kb = str(sys.stdin.readline()).strip("\n")
if input_kb == 'q' or input_kb == 'Q':
running = False
if input_kb == 's' or input_kb == 'S':
save_flag = True
if input_kb == 'c' or input_kb == 'C':
save_flag = False
def set_mode(cls, cam):
r = ArducamSDK.Py_ArduCam_setMode(cam.handle, ArducamSDK.CONTINUOUS_MODE)
if r != 0:
raise AssertionError("Failed to set mode: {}".format(r))