Moved generic camera methods into BaseCamera class
This commit is contained in:
Joel Collins
parent
35c7d97db9
commit
7b23ca4b8a
4 changed files with 325 additions and 317 deletions
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@ -32,6 +32,7 @@ import yaml
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import copy
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import numpy as np
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from PIL import Image
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import logging
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# Pi camera
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import picamera
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@ -43,7 +44,7 @@ from typing import Tuple
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# Threading
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import threading
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from .base import BaseCamera, StreamObject, log
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from .base import BaseCamera, StreamObject
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# Richard's fix gain
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from .set_picamera_gain import set_analog_gain, set_digital_gain
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# Manage config
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@ -53,29 +54,12 @@ HERE = os.path.abspath(os.path.dirname(__file__))
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DEFAULT_CONFIG = os.path.join(HERE, 'config_picamera.yaml')
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def last_entry(object_list: list):
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if object_list: # If any images have been captured
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return object_list[-1] # Return the latest captured image
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else:
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return None
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def entry_by_id(id: str, object_list: list):
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found = None
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for o in object_list:
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if o.id == id:
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found = o
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return found
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class StreamingCamera(BaseCamera):
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"""Raspberry Pi camera implementation of StreamingCamera."""
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def __init__(self):
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# Run BaseCamera init to start thread
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"""Raspberry Pi camera implementation of StreamingCamera."""
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# Run BaseCamera init
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BaseCamera.__init__(self)
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# Capture data
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self.images = []
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self.videos = []
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# Camera settings
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self.settings.update({
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'video_resolution': (832, 624),
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@ -96,55 +80,9 @@ class StreamingCamera(BaseCamera):
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def initialisation(self):
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"""Run any initialisation code when the frame iterator starts."""
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pass
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# HANDLE CONTEXT MANAGER AND FILE CLOSING
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def close(self):
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"""Close method called by BaseCamera __exit__"""
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# Close all StreamObjects
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for capture_list in [self.images, self.videos]:
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for stream_object in capture_list:
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stream_object.close()
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self.stop_worker()
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# RETURNING CAPTURES
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@property
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def image(self):
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"""Return the latest captured image"""
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return last_entry(self.images)
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@property
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def video(self):
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"""Return the latest recorded video"""
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return last_entry(self.videos)
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def image_from_id(self, id):
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"""Returns an image StreamObject with a matching ID"""
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return entry_by_id(id, self.images)
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def video_from_id(self, id):
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"""Returns a video StreamObject with a matching ID"""
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return entry_by_id(id, self.videos)
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# CREATING NEW CAPTURES
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def new_stream_object(self, stream_object, target_list: list, shunt_others: bool=True):
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"""Add a new capture to a list of captures, and shunt all others"""
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if shunt_others: # If shunting all older captures
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for obj in target_list: # For each older capture
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obj.shunt() # Shunt capture from memory to storage
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target_list.append(stream_object)
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return stream_object
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def new_image(self, stream_object, shunt_others=True):
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"""Add a new capture to the image list, and shunt all others"""
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return self.new_stream_object(stream_object, self.images, shunt_others=shunt_others)
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def new_video(self, stream_object, shunt_others=True):
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"""Add a new capture to the video list, and shunt all others"""
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return self.new_stream_object(stream_object, self.videos, shunt_others=shunt_others)
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# HANDLING SETTINGS
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# HANDLE SETTINGS
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# TODO: Handle exceptions
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# TODO: Have this take a dictionary (not a config file)
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@ -162,8 +100,7 @@ class StreamingCamera(BaseCamera):
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else:
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config = load_config(config_path)
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log("Applying config:")
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log(config)
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logging.debug(config)
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# StreamingCamera settings
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if 'video_resolution' in config:
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@ -221,7 +158,7 @@ class StreamingCamera(BaseCamera):
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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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# LAUNCH ACTIONS
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def start_preview(self) -> bool:
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"""Start the onboard GPU camera preview."""
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@ -282,14 +219,15 @@ class StreamingCamera(BaseCamera):
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target_obj = target
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# Start the camera video recording on port 2
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log("Starting record at {}".format(self.settings['video_resolution']))
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logging.info("Starting record at {}".format(self.settings['video_resolution']))
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self.camera.start_recording(
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target,
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format=fmt,
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splitter_port=2,
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resize=self.settings['video_resolution'],
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quality=quality)
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logging.debug("Recording started successfully.")
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# Update state dictionary
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self.state['record_active'] = True
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@ -303,9 +241,9 @@ class StreamingCamera(BaseCamera):
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"""Stop the last started video recording on splitter port 2."""
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# Stop the camera video recording on port 2
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log("Stopping recording")
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logging.info("Stopping recording")
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self.camera.stop_recording(splitter_port=2)
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log("Recording stopped")
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logging.info("Recording stopped")
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# Update state dictionary
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self.state['record_active'] = False
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@ -318,7 +256,7 @@ class StreamingCamera(BaseCamera):
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resolution ((int, int)): Resolution to set the camera to,
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after stopping recording.
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"""
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log("Pausing stream")
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logging.debug("Pausing stream")
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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.settings['image_resolution']
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@ -337,7 +275,7 @@ class StreamingCamera(BaseCamera):
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resolution ((int, int)): Resolution to set the camera to,
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before starting recording.
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"""
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log("Unpausing stream")
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logging.debug("Unpausing stream")
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if not resolution:
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resolution = self.settings['video_resolution']
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@ -389,7 +327,7 @@ class StreamingCamera(BaseCamera):
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else:
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target_obj = target
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log("Capturing to {}".format(target))
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logging.info("Capturing to {}".format(target))
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if not use_video_port:
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@ -432,7 +370,7 @@ class StreamingCamera(BaseCamera):
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resolution = self.settings['video_resolution']
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else:
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resolution = self.settings['numpy_resolution']
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if resize:
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size = resize
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else:
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@ -440,10 +378,10 @@ class StreamingCamera(BaseCamera):
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if not use_video_port:
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self.pause_stream_for_capture(resolution=resolution)
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log("Creating PiYUVArray")
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logging.debug("Creating PiYUVArray")
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with picamera.array.PiYUVArray(self.camera, size=size) as output:
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log("Capturing to PiYUVArray from {}".format(self.camera))
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logging.debug("Capturing to PiYUVArray from {}".format(self.camera))
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self.camera.capture(
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output,
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@ -451,13 +389,13 @@ class StreamingCamera(BaseCamera):
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format='yuv',
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use_video_port=use_video_port)
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log("Capturing complete")
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logging.debug("Capturing complete")
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if not use_video_port:
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self.resume_stream_for_capture()
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if rgb:
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log("Converting to RGB")
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logging.debug("Converting to RGB")
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return output.rgb_array
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else:
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return output.array
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@ -473,7 +411,6 @@ class StreamingCamera(BaseCamera):
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"""
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# Run this initialisation method
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self.initialisation()
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self.stream_method = 'PiCamera'
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with picamera.PiCamera() as self.camera:
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# Let camera warm up
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@ -492,7 +429,7 @@ class StreamingCamera(BaseCamera):
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format='mjpeg',
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quality=self.settings['jpeg_quality'],
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splitter_port=1)
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while True:
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# reset stream for next frame
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self.stream.seek(0)
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