530 lines
18 KiB
Python
530 lines
18 KiB
Python
# -*- coding: utf-8 -*-
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"""
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Raspberry Pi camera implementation of the StreamingCamera class.
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NOTES:
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Still port used for image capture
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Preview port reserved for onboard GPU preview
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Video port:
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Splitter port 0: Image capture (if use_video_port == True)
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Splitter port 1: Streaming frames
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Splitter port 2: Video capture
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Splitter port 3: [Currently unused]
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StreamingCamera streams at video_resolution
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Camera capture resolution set to video_resolution in frames()
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Video port uses that resolution for everything. If a different resolution
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is specified for video capture, this is handled by the resizer.
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Still capture (if use_video_port == False) uses pause_stream
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to temporarily increase the capture resolution.
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"""
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from __future__ import division
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import io
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import time
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import numpy as np
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import logging
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# Pi camera
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import picamera
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import picamera.array
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# Type hinting
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from typing import Tuple
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from .base import BaseCamera, CaptureObject
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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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# Handle config and picamera settings
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CONFIG_KEYS = {
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'video_resolution': (832, 624),
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'image_resolution': (2592, 1944),
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'numpy_resolution': (1312, 976),
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'jpeg_quality': 75,
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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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},
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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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# Run BaseCamera init
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BaseCamera.__init__(self)
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# Attach to Pi camera
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self.camera = picamera.PiCamera() #: :py:class:`picamera.PiCamera`: Picamera object
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# Store state of StreamingCamera
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self.state.update({
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'stream_active': False,
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'record_active': False,
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'preview_active': False,
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})
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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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# Load config dictionary if passed
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if config:
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self.apply_config(config)
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# Create an empty stream
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self.stream = io.BytesIO()
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# Start streaming
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self.start_worker()
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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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def close(self):
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"""Close the Raspberry Pi StreamingCamera."""
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# Run BaseCamera close method
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BaseCamera.close(self)
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# Detach Pi camera
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if self.camera:
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self.camera.close()
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# HANDLE SETTINGS
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@property
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def supports_lens_shading(self):
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"""Determine whether the picamera module supports lens shading.
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As of March 2018, picamera did not wrap the necessary MMAL commands to
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set the lens shading table, or to write the value of analog or digital
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gain. I have a forked version of the library that does support these.
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For ease of use by people who don't want those features, this library
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does not have a hard dependency on lens shading. However, we need to
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check in some places whether it's available.
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"""
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return hasattr(self.camera, "lens_shading_table")
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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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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 self.config['picamera_settings'].items():
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try:
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value = getattr(self.camera, key)
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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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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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return conf_dict
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def apply_config(self, config: dict) -> None:
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"""
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Write a config dictionary to the StreamingCamera config.
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The passed dictionary may contain other parameters not relevant to
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camera config. Eg. Passing a general config file will work fine.
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Args:
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config (dict): Dictionary of config parameters.
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"""
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paused_stream = False
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with self.lock:
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# Apply valid config params to Picamera object
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if not self.state['record_active']: # If not recording a video
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logging.debug("Applying config:")
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logging.debug(config)
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# Pause stream while changing settings
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if self.state['stream_active']: # If stream is active
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logging.info("Pausing stream to update config.")
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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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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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self.config['picamera_settings'][key] = None # Add the key to the list of returned settings
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logging.debug("Setting parameter {}: {}".format(key, config['picamera_settings'][key]))
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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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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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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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logging.debug("Setting parameter {}: {}".format(key, value))
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self.config[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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logging.info("Resuming stream.")
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self.start_stream_recording()
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else:
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raise Exception(
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"Cannot update camera config while recording is active.")
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def set_zoom(self, zoom_value: float = 1.) -> None:
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"""
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Change the camera zoom, handling re-centering and scaling.
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"""
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with self.lock:
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self.state['zoom_value'] = float(zoom_value)
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if self.state['zoom_value'] < 1:
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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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# 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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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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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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"""Start the on board GPU camera preview."""
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self.camera.start_preview(fullscreen=fullscreen, window=window)
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self.state['preview_active'] = True
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return True
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def stop_preview(self) -> bool:
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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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return True
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def start_recording(
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self,
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output,
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fmt: str = 'h264',
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quality: int = 15):
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"""Start recording.
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Start a new video recording, writing to a output object.
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Args:
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output (CaptureObject/str): Output object to write data bytes to.
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fmt (str): Format of the capture.
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quality (int): Video recording quality.
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Returns:
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output_object (str/BytesIO): Target object.
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"""
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with self.lock:
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# Start recording method only if a current recording is not running
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if not self.state['record_active']:
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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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output_stream = output
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# Start the camera video recording on port 2
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logging.info("Recording to {}".format(output))
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self.camera.start_recording(
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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['video_resolution'],
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quality=quality)
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# Update state dictionary
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self.state['record_active'] = True
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return output
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else:
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logging.error(
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"Cannot start a new recording\
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until the current recording has stopped.")
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return None
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def stop_recording(self):
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"""Stop the last started video recording on splitter port 2."""
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with self.lock:
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# Stop the camera video recording on port 2
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logging.info("Stopping recording")
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self.camera.stop_recording(splitter_port=2)
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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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def stop_stream_recording(
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self,
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splitter_port: int = 1,
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resolution: Tuple[int, int] = None) -> None:
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"""
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Sets the camera resolution to the still-image resolution, and stops recording if the stream is active.
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Args:
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splitter_port (int): Splitter port to stop recording on
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resolution ((int, int)): Resolution to set the camera to, after stopping recording.
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"""
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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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# Stop the camera video recording on port 1
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try:
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self.camera.stop_recording(splitter_port=splitter_port)
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logging.info("Stopped MJPEG stream on port {1}. Switching to {0}.".format(resolution, splitter_port))
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except picamera.exc.PiCameraNotRecording:
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logging.info("Not recording on splitter_port {}".format(splitter_port))
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# Increase the resolution for taking an image
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self.camera.resolution = resolution
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def start_stream_recording(
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self,
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splitter_port: int = 1,
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resolution: Tuple[int, int] = None) -> None:
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"""
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Sets the camera resolution to the video/stream resolution, and starts recording if the stream should be active.
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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. Defaults to `self.config['video_resolution']`.
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"""
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# If stream object was destroyed
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if not hasattr(self, 'stream'):
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self.stream = io.BytesIO() # Create a stream object
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# If no explicit resolution is passed
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if not resolution:
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resolution = self.config['video_resolution'] # Default to video recording resolution
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# Reduce the resolution for video streaming
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self.camera.resolution = resolution
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# If the stream should be active
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if self.state['stream_active']:
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# Start recording on stream port
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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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splitter_port=splitter_port)
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logging.debug("Started MJPEG stream at {} on port {}".format(resolution, splitter_port))
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def capture(
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self,
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output,
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fmt: str = 'jpeg',
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use_video_port: bool = False,
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resize: Tuple[int, int] = None,
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bayer: bool = True):
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"""
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Capture a still image to a StreamObject.
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Defaults to JPEG format.
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Target object can be overridden for development purposes.
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Args:
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output (CaptureObject/str): Output object to write data bytes to.
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use_video_port (bool): Capture from the video port used for streaming. Lower resolution, faster.
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fmt (str): Format of the capture.
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resize ((int, int)): Resize the captured image.
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bayer (bool): Store raw bayer data in capture
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"""
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with self.lock:
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# If output is a StreamObject
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if isinstance(output, CaptureObject):
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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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output_stream = output
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logging.info("Capturing to {}".format(output))
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# Set resolution and stop stream recording if necessary
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if not use_video_port:
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self.stop_stream_recording()
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self.camera.capture(
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output_stream,
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format=fmt,
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quality=100,
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resize=resize,
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bayer=(not use_video_port) and bayer,
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use_video_port=use_video_port)
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# Set resolution and start stream recording if necessary
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if not use_video_port:
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self.start_stream_recording()
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return output
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def yuv(
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self,
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use_video_port: bool = True,
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resize: Tuple[int, int] = None) -> np.ndarray:
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"""Capture an uncompressed still YUV image to a Numpy array.
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Args:
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use_video_port (bool): Capture from the video port used for streaming. Lower resolution, faster.
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resize ((int, int)): Resize the captured image.
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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['video_resolution']
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else:
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resolution = self.config['numpy_resolution']
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if resize:
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size = resize
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else:
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size = resolution
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if not use_video_port:
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self.stop_stream_recording(resolution=resolution)
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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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logging.info("Capturing to {}".format(output))
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self.camera.capture(
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output,
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resize=size,
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format='yuv',
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use_video_port=use_video_port)
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if not use_video_port:
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self.start_stream_recording()
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return output.array
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def array(
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self,
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use_video_port: bool = True,
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resize: Tuple[int, int] = None) -> np.ndarray:
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"""Capture an uncompressed still RGB image to a Numpy array.
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Args:
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use_video_port (bool): Capture from the video port used for streaming. Lower resolution, faster.
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resize ((int, int)): Resize the captured image.
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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['video_resolution']
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else:
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resolution = self.config['numpy_resolution']
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if resize:
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size = resize
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else:
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size = resolution
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# Always pause stream, to prevent resizer memory issues
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self.stop_stream_recording(resolution=resolution)
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logging.debug("Creating PiRGBArray")
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with picamera.array.PiRGBArray(self.camera, size=size) as output:
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logging.info("Capturing to {}".format(output))
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self.camera.capture(
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output,
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resize=size,
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format='rgb',
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use_video_port=use_video_port)
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# Resume stream
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self.start_stream_recording()
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return output.array
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# HANDLE STREAM FRAMES
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def frames(self):
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"""
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Create generator that returns frames from the camera.
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Records video from port 1 to a byte stream,
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and iterates sequential frames.
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"""
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# Run this initialisation method
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self.initialisation()
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self.wait_for_camera()
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# Start stream recording (and set resolution)
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self.start_stream_recording()
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# Update state
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logging.debug("STREAM ACTIVE")
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# While the iterator is not closed
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try:
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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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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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# yield the result to be read
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frame = self.stream.getvalue()
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# ensure the size of package is right
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if len(frame) == 0:
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pass
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else:
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yield frame
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# When GeneratorExit or StopIteration raised, run cleanup code
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finally:
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# Stop stream recording (and set resolution)
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self.stop_stream_recording()
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logging.debug("FRAME ITERATOR END")
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