674 lines
23 KiB
Python
674 lines
23 KiB
Python
# -*- coding: utf-8 -*-
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"""
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Raspberry Pi camera implementation of the PiCameraStreamer 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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PiCameraStreamer streams at video_resolution
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Camera capture resolution set to stream_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 os
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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 openflexure_microscope.camera.base import BaseCamera
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from openflexure_microscope.captures import 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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from openflexure_microscope.paths import settings_file_path
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from openflexure_microscope.utilities import (
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serialise_array_b64,
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ndarray_to_json,
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json_to_ndarray,
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)
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# MAIN CLASS
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class PiCameraStreamer(BaseCamera):
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"""Raspberry Pi camera implementation of PiCameraStreamer."""
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picamera_settings_keys = [
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"exposure_mode",
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"analog_gain",
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"digital_gain",
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"shutter_speed",
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"awb_gains",
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"awb_mode",
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"framerate",
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"saturation",
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"iso",
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"brightness",
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"contrast",
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"crop",
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"drc_strength",
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"exposure_compensation",
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"image_effect",
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"meter_mode",
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"sharpness",
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"annotate_text",
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"annotate_text_size",
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"zoom",
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]
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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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self.camera = (
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picamera.PiCamera()
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) #: :py:class:`picamera.PiCamera`: Picamera object
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# Store state of PiCameraStreamer
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self.preview_active = False
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# Reset variable states
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self.set_zoom(1.0)
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# Set default settings
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self.image_resolution = tuple(
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self.camera.MAX_RESOLUTION
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) #: tuple: Resolution for image captures
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self.stream_resolution = (
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832,
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624,
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) #: tuple: Resolution for stream and video captures
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self.numpy_resolution = (
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1312,
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976,
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) #: tuple: Resolution for numpy array captures
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self.jpeg_quality = 100 #: int: JPEG quality
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self.mjpeg_quality = 75 #: int: MJPEG quality
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# Set default lens shading table path
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self.picamera_lst_path = settings_file_path(
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"picamera_lst.npy"
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) #: str: Path of .npy lens shading table file
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# Start the stream worker on init
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self.start_worker()
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@property
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def configuration(self):
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"""The current camera configuration."""
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return {"board": self.camera.revision}
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@property
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def state(self):
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"""The current read-only camera state."""
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return {}
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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 PiCameraStreamer."""
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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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def read_settings(self) -> dict:
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"""
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Return config dictionary of the PiCameraStreamer.
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"""
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# Get config items from the base class
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conf_dict = BaseCamera.read_settings(self)
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# Include device-specific config items
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conf_dict.update(
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{
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"stream_resolution": self.stream_resolution,
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"image_resolution": self.image_resolution,
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"numpy_resolution": self.numpy_resolution,
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"jpeg_quality": self.jpeg_quality,
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"mjpeg_quality": self.mjpeg_quality,
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"picamera": {},
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}
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)
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# Include a subset of picamera properties. Excludes lens shading table
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for key in PiCameraStreamer.picamera_settings_keys:
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try:
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value = getattr(self.camera, key)
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logging.debug("Reading PiCamera().{}: {}".format(key, value))
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conf_dict["picamera"][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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# Include a serialised lens shading table
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if (
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hasattr(self.camera, "lens_shading_table")
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and getattr(self.camera, "lens_shading_table") is not None
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):
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conf_dict["picamera"]["lens_shading_table"] = ndarray_to_json(
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getattr(self.camera, "lens_shading_table")
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)
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return conf_dict
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def update_settings(self, config: dict):
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"""
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Write a config dictionary to the PiCameraStreamer 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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logging.debug("PiCameraStreamer: Applying config:")
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logging.debug(config)
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with self.lock(timeout=None):
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# Apply valid config params to Picamera object
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if not self.record_active: # If not recording a video
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# Pause stream while changing settings
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if self.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
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if "picamera" in config: # If new settings are given
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self.apply_picamera_settings(
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config["picamera"], pause_for_effect=True
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)
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# Handle lens shading if camera supports it
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if (
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hasattr(self.camera, "lens_shading_table")
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and "lens_shading_table" in config["picamera"]
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):
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try:
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self.camera.lens_shading_table = json_to_ndarray(
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config["picamera"].get("lens_shading_table")
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)
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except KeyError as e:
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logging.error(e)
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# PiCameraStreamer parameters
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for key, value in config.items(): # For each provided setting
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if (key != "picamera") and hasattr(self, key):
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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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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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)
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def apply_picamera_settings(
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self, settings_dict: dict, pause_for_effect: bool = True
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):
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"""
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Args:
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settings_dict (dict): Dictionary of properties to apply to the :py:class:`picamera.PiCamera`: object
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pause_for_effect (bool): Pause tactically to reduce risk of timing issues
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"""
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# Set exposure mode
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if "exposure_mode" in settings_dict:
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logging.debug(
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"Applying exposure_mode: {}".format(settings_dict["exposure_mode"])
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)
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self.camera.exposure_mode = settings_dict["exposure_mode"]
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# Apply gains and let them settle
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if "analog_gain" in settings_dict:
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logging.debug(
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"Applying analog_gain: {}".format(settings_dict["analog_gain"])
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)
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set_analog_gain(self.camera, float(settings_dict["analog_gain"]))
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if "digital_gain" in settings_dict:
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logging.debug(
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"Applying digital_gain: {}".format(settings_dict["digital_gain"])
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)
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set_digital_gain(self.camera, float(settings_dict["digital_gain"]))
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# Apply shutter speed
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if "shutter_speed" in settings_dict:
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logging.debug(
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"Applying shutter_speed: {}".format(settings_dict["shutter_speed"])
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)
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self.camera.shutter_speed = int(settings_dict["shutter_speed"])
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time.sleep(0.2) # Let gains settle
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# Handle AWB in a half-smart way
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if "awb_gains" in settings_dict:
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logging.debug("Applying awb_mode: off")
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self.camera.awb_mode = "off"
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logging.debug("Applying awb_gains: {}".format(settings_dict["awb_gains"]))
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self.camera.awb_gains = settings_dict["awb_gains"]
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elif "awb_mode" in settings_dict:
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logging.debug("Applying awb_mode: {}".format(settings_dict["awb_mode"]))
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self.camera.awb_mode = settings_dict["awb_mode"]
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# Handle some properties that can be quickly applied
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batched_keys = ["framerate", "saturation"]
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for key in batched_keys:
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if (key in settings_dict) and hasattr(self.camera, key):
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logging.debug("Applying {}: {}".format(key, settings_dict[key]))
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setattr(self.camera, key, settings_dict[key])
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# Final optional pause to settle
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if pause_for_effect:
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time.sleep(0.2)
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def set_zoom(self, zoom_value: float = 1.0) -> 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(timeout=None):
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self.zoom_value = float(zoom_value)
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if self.zoom_value < 1:
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self.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.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):
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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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try:
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if not self.camera.preview:
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logging.debug("Starting preview")
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self.camera.start_preview(fullscreen=fullscreen, window=window)
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else:
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logging.debug("Resizing preview")
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if window:
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self.camera.preview.window = window
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if fullscreen:
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self.camera.preview.fullscreen = fullscreen
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self.preview_active = True
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except picamera.exc.PiCameraMMALError as e:
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logging.error(
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"Suppressed a MMALError in start_preview. Exception: {}".format(e)
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)
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except picamera.exc.PiCameraValueError as e:
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logging.error(
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"Suppressed a ValueError exception in start_preview. Exception: {}".format(
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e
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)
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)
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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.preview_active = False
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def start_recording(self, output, fmt: str = "h264", 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: String or file-like object to write capture data 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.record_active:
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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,
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format=fmt,
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splitter_port=2,
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resize=self.stream_resolution,
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quality=quality,
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)
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# Update state
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self.record_active = True
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return output
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else:
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logging.warning(
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"Cannot start a new recording\
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until the current recording has stopped."
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)
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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
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self.record_active = False
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def stop_stream_recording(
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self, splitter_port: int = 1, resolution: Tuple[int, int] = None
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) -> 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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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.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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except picamera.exc.PiCameraNotRecording:
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logging.info("Not recording on splitter_port {}".format(splitter_port))
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else:
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logging.info(
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"Stopped MJPEG stream on port {1}. Switching to {0}.".format(
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resolution, splitter_port
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)
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)
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# Increase the resolution for taking an image
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time.sleep(
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0.2
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) # Sprinkled a sleep to prevent camera getting confused by rapid commands
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self.camera.resolution = resolution
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def start_stream_recording(
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self, splitter_port: int = 1, resolution: Tuple[int, int] = None
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) -> 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.
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Defaults to `self.stream_resolution`.
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"""
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with self.lock(timeout=None):
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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 = (
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self.stream_resolution
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) # Default to video recording resolution
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# Reduce the resolution for video streaming
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try:
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self.camera._check_recording_stopped()
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except picamera.exc.PiCameraRuntimeError:
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logging.info(
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"Error while changing resolution: Recording already running."
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)
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else:
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self.camera.resolution = resolution
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# If the stream should be active
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if self.stream_active:
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try:
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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.mjpeg_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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splitter_port=splitter_port,
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)
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except picamera.exc.PiCameraAlreadyRecording:
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logging.info(
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"Error while starting preview: Recording already running."
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)
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else:
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logging.debug(
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"Started MJPEG stream at {} on port {}".format(
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resolution, splitter_port
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)
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)
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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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"""
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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: String or file-like object to write capture data to
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fmt (str): Format of the capture.
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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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bayer (bool): Store raw bayer data in capture
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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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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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time.sleep(0.1)
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self.camera.capture(
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output,
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format=fmt,
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quality=self.jpeg_quality,
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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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)
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#time.sleep(0.1)
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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, use_video_port: bool = True, resize: Tuple[int, int] = None
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) -> 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.
|
|
|
|
Returns:
|
|
output_array (np.ndarray): Output array of capture
|
|
"""
|
|
with self.lock:
|
|
if use_video_port:
|
|
resolution = self.stream_resolution
|
|
else:
|
|
resolution = self.numpy_resolution
|
|
|
|
if resize:
|
|
size = resize
|
|
else:
|
|
size = resolution
|
|
|
|
if not use_video_port:
|
|
self.stop_stream_recording(resolution=resolution)
|
|
|
|
logging.debug("Creating PiYUVArray")
|
|
with picamera.array.PiYUVArray(self.camera, size=size) as output:
|
|
|
|
logging.info("Capturing to {}".format(output))
|
|
|
|
self.camera.capture(
|
|
output, resize=size, format="yuv", use_video_port=use_video_port
|
|
)
|
|
|
|
if not use_video_port:
|
|
self.start_stream_recording()
|
|
|
|
return output.array
|
|
|
|
def array(
|
|
self, use_video_port: bool = True, resize: Tuple[int, int] = None
|
|
) -> np.ndarray:
|
|
"""Capture an uncompressed still RGB image to a Numpy array.
|
|
|
|
Args:
|
|
use_video_port (bool): Capture from the video port used for streaming. Lower resolution, faster.
|
|
resize ((int, int)): Resize the captured image.
|
|
|
|
Returns:
|
|
output_array (np.ndarray): Output array of capture
|
|
"""
|
|
with self.lock:
|
|
if use_video_port:
|
|
resolution = self.stream_resolution
|
|
else:
|
|
resolution = self.numpy_resolution
|
|
|
|
if resize:
|
|
size = resize
|
|
else:
|
|
size = resolution
|
|
|
|
# Always pause stream, to prevent resizer memory issues
|
|
self.stop_stream_recording(resolution=resolution)
|
|
|
|
logging.debug("Creating PiRGBArray")
|
|
with picamera.array.PiRGBArray(self.camera, size=size) as output:
|
|
|
|
logging.info("Capturing to {}".format(output))
|
|
|
|
self.camera.capture(
|
|
output, resize=size, format="rgb", use_video_port=use_video_port
|
|
)
|
|
|
|
# Resume stream
|
|
self.start_stream_recording()
|
|
|
|
return output.array
|
|
|
|
# HANDLE STREAM FRAMES
|
|
|
|
def wait_for_camera(self, timeout=5):
|
|
"""Wait for camera object, with 5 second timeout."""
|
|
timeout_time = time.time() + timeout
|
|
while not self.camera:
|
|
if time.time() > timeout_time:
|
|
raise TimeoutError("Timeout waiting for camera")
|
|
else:
|
|
pass
|
|
|
|
def frames(self):
|
|
"""
|
|
Create generator that returns frames from the camera.
|
|
|
|
Records video from port 1 to a byte stream,
|
|
and iterates sequential frames.
|
|
"""
|
|
# Run this initialisation method
|
|
self.initialisation()
|
|
self.wait_for_camera()
|
|
|
|
# Start stream recording (and set resolution)
|
|
self.start_stream_recording()
|
|
|
|
logging.debug("STREAM ACTIVE")
|
|
|
|
# While the iterator is not closed
|
|
try:
|
|
while True:
|
|
# reset stream for next frame
|
|
self.stream.seek(0)
|
|
self.stream.truncate()
|
|
# to stream, read the new frame
|
|
time.sleep(1 / self.camera.framerate * 0.1)
|
|
# yield the result to be read
|
|
frame = self.stream.getvalue()
|
|
|
|
# ensure the size of package is right
|
|
if len(frame) == 0:
|
|
pass
|
|
else:
|
|
yield frame
|
|
# When GeneratorExit or StopIteration raised, run cleanup code
|
|
finally:
|
|
# Stop stream recording (and set resolution)
|
|
self.stop_stream_recording()
|
|
|
|
logging.debug("FRAME ITERATOR END")
|