Converted config dict into properties/attributes
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Joel Collins
parent
5e6372835e
commit
3cf166226b
1 changed files with 77 additions and 75 deletions
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@ -41,34 +41,29 @@ from .set_picamera_gain import set_analog_gain, set_digital_gain
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# Handle config and picamera settings
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CONFIG_KEYS = {
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'stream_resolution': (832, 624),
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'image_resolution': (2592, 1944), # Default for PiCamera v1. Overridden in __init__
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'numpy_resolution': (1312, 976),
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'jpeg_quality': 75,
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'stream_resolution': tuple,
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'image_resolution': tuple,
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'numpy_resolution': tuple,
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'analog_gain': float,
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'digital_gain': float,
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'jpeg_quality': int,
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'picamera_settings': {
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'exposure_mode': None,
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'awb_mode': None,
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'awb_gains': None,
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'framerate': None,
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'shutter_speed': None,
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'saturation': None,
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'analog_gain': None,
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'digital_gain': None,
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'lens_shading_table': None,
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'exposure_mode': str,
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'awb_mode': str,
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'awb_gains': tuple,
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'framerate': int,
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'shutter_speed': float,
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'saturation': float,
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'lens_shading_table': np.ndarray,
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},
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}
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# MAIN CLASS
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class StreamingCamera(BaseCamera):
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"""Raspberry Pi camera implementation of StreamingCamera.
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Args:
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config (dict): Dictionary of config parameters to apply on init. If None, will default to basic config.
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"""
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def __init__(self, config: dict = None):
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global CONFIG_KEYS
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"""Raspberry Pi camera implementation of StreamingCamera."""
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def __init__(self):
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# Run BaseCamera init
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BaseCamera.__init__(self)
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# Attach to Pi camera
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@ -83,17 +78,11 @@ class StreamingCamera(BaseCamera):
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# Reset variable states
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self.set_zoom(1.0)
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# Populate config and settings with all available keys
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self.config.update(CONFIG_KEYS)
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# Update config based on PiCamera parameters
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self.config.update({
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'image_resolution': tuple(self.camera.MAX_RESOLUTION)
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})
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# Load config dictionary if passed
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if config:
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self.apply_config(config)
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# Update config properties
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self.image_resolution = tuple(self.camera.MAX_RESOLUTION)
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self.stream_resolution = (832, 624)
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self.numpy_resolution = (1312, 976)
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self.jpeg_quality = 75
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# Create an empty stream
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self.stream = io.BytesIO()
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@ -127,26 +116,47 @@ class StreamingCamera(BaseCamera):
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"""
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return hasattr(self.camera, "lens_shading_table")
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@property
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def digital_gain(self):
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# TODO: Handle missing picamera?
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return self.camera.digital_gain
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@digital_gain.setter
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def digital_gain(self, value):
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set_digital_gain(self.camera, value)
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@property
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def analog_gain(self):
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# TODO: Handle missing picamera?
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return self.camera.analog_gain
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@analog_gain.setter
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def analog_gain(self, value):
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set_analog_gain(self.camera, value)
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def read_config(self):
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"""
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Return config dictionary of the StreamingCamera.
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"""
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global CONFIG_KEYS
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conf_dict = {
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'picamera_settings': {},
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}
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# PiCamera parameters (obtained directly from PiCamera object)
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for key, _ in CONFIG_KEYS['picamera_settings'].items():
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# PiCamera parameters
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for key in CONFIG_KEYS['picamera_settings']:
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try:
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value = getattr(self.camera, key)
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logging.debug("{}: {}".format(key, value))
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conf_dict['picamera_settings'][key] = value
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except AttributeError:
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logging.debug("Unable to read PiCamera attribute {}".format(key))
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# StreamingCamera parameters (obtained from StreamingCamera _config)
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# StreamingCamera parameters
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for key in CONFIG_KEYS:
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if (key != 'picamera_settings') and (key in self.config):
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conf_dict[key] = self.config[key]
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if (key != 'picamera_settings') and hasattr(self, key):
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conf_dict[key] = getattr(self, key)
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return conf_dict
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@ -160,8 +170,12 @@ class StreamingCamera(BaseCamera):
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Args:
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config (dict): Dictionary of config parameters.
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"""
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global CONFIG_KEYS
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# TODO: Include timing and batching logic when applying PiCamera settings
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paused_stream = False
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logging.debug("Applying config:")
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logging.debug(config)
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with self.lock:
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@ -177,32 +191,22 @@ class StreamingCamera(BaseCamera):
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self.stop_stream_recording() # Pause stream
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paused_stream = True # Remember to unpause stream when done
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# PiCamera parameters (applied directly to PiCamera object)
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# PiCamera parameters
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if 'picamera_settings' in config: # If new settings are given
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for key, value in config['picamera_settings'].items(): # For each given setting
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if hasattr(self.camera, key):
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self.config['picamera_settings'][key] = None # Add the key to the list of returned settings
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if key not in CONFIG_KEYS['picamera_settings']:
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CONFIG_KEYS['picamera_settings'][key] = type(value)
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logging.debug("Setting parameter {}: {}".format(key, config['picamera_settings'][key]))
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setattr(self.camera, key, value) # Write setting to camera
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# Handle special attributes:
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if key == 'digital_gain':
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set_digital_gain(self.camera, value)
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elif key == 'analog_gain':
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set_analog_gain(self.camera, value)
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elif key == "shutter_speed":
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# TODO: use types from CONFIG_KEYS? @jtc42
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self.camera.shutter_speed = int(value)
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else:
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setattr(self.camera, key, value) # Write setting to camera
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# StreamingCamera parameters (applied via StreamingCamera config)
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# StreamingCamera parameters
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for key, value in config.items(): # For each provided setting
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if key != 'picamera_settings': # We already handled this
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if key not in CONFIG_KEYS.keys():
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logging.warn("{} is not in the streaming camera settings dictionary - adding it.")
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#continue #TODO: filter settings somehow?
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if (key != 'picamera_settings') and hasattr(self, key):
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if key not in CONFIG_KEYS:
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CONFIG_KEYS[key] = type(value)
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logging.debug("Setting parameter {}: {}".format(key, value))
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self.config[key] = value
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setattr(self, key, value)
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# If stream was paused to update config, unpause
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if paused_stream:
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@ -223,21 +227,21 @@ class StreamingCamera(BaseCamera):
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self.state['zoom_value'] = 1
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# Richard's code for zooming !
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fov = self.camera.zoom
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centre = np.array([fov[0] + fov[2]/2.0, fov[1] + fov[3]/2.0])
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size = 1.0/self.state['zoom_value']
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centre = np.array([fov[0] + fov[2] / 2.0, fov[1] + fov[3] / 2.0])
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size = 1.0 / self.state['zoom_value']
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# If the new zoom value would be invalid, move the centre to
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# keep it within the camera's sensor (this is only relevant
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# when zooming out, if the FoV is not centred on (0.5, 0.5)
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for i in range(2):
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if np.abs(centre[i] - 0.5) + size/2 > 0.5:
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centre[i] = 0.5 + (1.0 - size)/2 * np.sign(centre[i]-0.5)
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if np.abs(centre[i] - 0.5) + size / 2 > 0.5:
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centre[i] = 0.5 + (1.0 - size) / 2 * np.sign(centre[i] - 0.5)
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logging.info("setting zoom, centre {}, size {}".format(centre, size))
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new_fov = (centre[0] - size/2, centre[1] - size/2, size, size)
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new_fov = (centre[0] - size / 2, centre[1] - size / 2, size, size)
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self.camera.zoom = new_fov
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# LAUNCH ACTIONS
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def start_preview(self, fullscreen=True, window=None) -> bool:
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def start_preview(self, fullscreen=True, window=None):
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"""Start the on board GPU camera preview."""
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logging.info("Starting the GPU preview")
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@ -260,7 +264,7 @@ class StreamingCamera(BaseCamera):
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except picamera.exc.PiCameraValueError as e:
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logging.error("Suppressed a ValueError exception in start_preview. Exception: {}".format(e))
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def stop_preview(self) -> bool:
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def stop_preview(self):
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"""Stop the on board GPU camera preview."""
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self.camera.stop_preview()
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self.state['preview_active'] = False
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@ -289,8 +293,6 @@ class StreamingCamera(BaseCamera):
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# If output is a StreamObject
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if isinstance(output, CaptureObject):
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# Lock the StreamObject while recording
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output.lock()
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# Set target to capture stream
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output_stream = output.stream
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else:
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@ -303,7 +305,7 @@ class StreamingCamera(BaseCamera):
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output_stream,
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format=fmt,
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splitter_port=2,
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resize=self.config['stream_resolution'],
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resize=self.stream_resolution,
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quality=quality)
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# Update state dictionary
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@ -342,7 +344,7 @@ class StreamingCamera(BaseCamera):
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with self.lock:
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# If no resolution is specified, default to image_resolution
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if not resolution:
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resolution = self.config['image_resolution']
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resolution = self.image_resolution
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# Stop the camera video recording on port 1
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try:
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@ -366,7 +368,7 @@ class StreamingCamera(BaseCamera):
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Args:
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splitter_port (int): Splitter port to start recording on
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resolution ((int, int)): Resolution to set the camera to, before starting recording.
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Defaults to `self.config['stream_resolution']`.
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Defaults to `self.stream_resolution`.
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"""
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with self.lock:
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# If stream object was destroyed
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@ -375,7 +377,7 @@ class StreamingCamera(BaseCamera):
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# If no explicit resolution is passed
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if not resolution:
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resolution = self.config['stream_resolution'] # Default to video recording resolution
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resolution = self.stream_resolution # Default to video recording resolution
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# Reduce the resolution for video streaming
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try:
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@ -392,7 +394,7 @@ class StreamingCamera(BaseCamera):
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self.camera.start_recording(
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self.stream,
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format='mjpeg',
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quality=self.config['jpeg_quality'],
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quality=self.jpeg_quality,
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bitrate=-1, # RWB: disable bitrate control
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# (bitrate control makes JPEG size less good as a focus
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# metric)
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@ -463,9 +465,9 @@ class StreamingCamera(BaseCamera):
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"""
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with self.lock:
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if use_video_port:
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resolution = self.config['stream_resolution']
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resolution = self.stream_resolution
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else:
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resolution = self.config['numpy_resolution']
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resolution = self.numpy_resolution
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if resize:
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size = resize
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@ -503,9 +505,9 @@ class StreamingCamera(BaseCamera):
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"""
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with self.lock:
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if use_video_port:
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resolution = self.config['stream_resolution']
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resolution = self.stream_resolution
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else:
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resolution = self.config['numpy_resolution']
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resolution = self.numpy_resolution
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if resize:
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size = resize
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@ -557,7 +559,7 @@ class StreamingCamera(BaseCamera):
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self.stream.seek(0)
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self.stream.truncate()
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# to stream, read the new frame
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time.sleep(1/self.camera.framerate*0.1)
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time.sleep(1 / self.camera.framerate * 0.1)
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# yield the result to be read
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frame = self.stream.getvalue()
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