508 lines
17 KiB
Python
508 lines
17 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_for_capture
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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 datetime
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import sys
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import os
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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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# 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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# Threading
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import threading
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from .base import BaseCamera, StreamObject, log
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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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from .config import load_config
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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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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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'image_resolution': (2592, 1944),
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'numpy_resolution': (1312, 976),
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'jpeg_quality': 75,
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})
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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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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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# 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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# TODO: Handle exceptions
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# TODO: Have this take a dictionary (not a config file)
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# TODO: Web API entry point to send settings as JSON to this method
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# TODO: Separate method to store current settings back to YAML file
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# TODO: API entry point to get settings to JSON
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def update_settings(self, config_path: str=None) -> None:
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"""Open config_picamera.yaml file and write to camera."""
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global DEFAULT_CONFIG
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self.start_worker()
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if not config_path:
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config = load_config(DEFAULT_CONFIG)
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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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# StreamingCamera settings
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if 'video_resolution' in config:
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self.settings['video_resolution'] = config['video_resolution']
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if 'image_resolution' in config:
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self.settings['image_resolution'] = config['image_resolution']
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if 'numpy_resolution' in config:
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self.settings['numpy_resolution'] = config['numpy_resolution']
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if 'jpeg_quality' in config:
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self.settings['jpeg_quality'] = config['jpeg_quality']
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if 'framerate' in config:
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self.settings['framerate'] = config['framerate']
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# Camera AWB
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if 'awb_mode' in config:
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self.camera.awb_mode = config['awb_mode']
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if 'red_gain' in config and 'blue_gain' in config:
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self.camera.awb_gains = (config['red_gain'], config['blue_gain'])
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# Camera framerate
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if 'framerate' in config:
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self.camera.framerate = config['framerate']
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# Camera exposure
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if 'shutter_speed' in config:
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self.camera.shutter_speed = config['shutter_speed']
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if 'saturation' in config:
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self.camera.saturation = config['saturation']
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# Camera misc.
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self.camera.led = False
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# Richard's library to set analog and digital gains
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if 'analog_gain' in config:
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set_analog_gain(self.camera, config['analog_gain'])
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if 'digital_gain' in config:
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set_digital_gain(self.camera, config['digital_gain'])
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def change_zoom(self, zoom_value: int=1) -> None:
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"""Change the camera zoom, handling recentering and scaling."""
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self.start_worker()
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zoom_value = float(zoom_value)
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if zoom_value < 1:
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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/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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print("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) -> bool:
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"""Start the onboard GPU camera preview."""
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self.start_worker()
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self.camera.start_preview()
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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 onboard GPU camera preview."""
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self.start_worker()
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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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target=None,
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write_to_file: bool=True,
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filename: str=None,
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folder: str='record',
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fmt: str='h264',
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quality: int=15):
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"""Start a new video recording, writing to a target object.
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target (str/BytesIO): Target object to write bytes to.
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(default StreamObject)
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write_to_file (bool/NoneType): Should the StreamObject write to a file?
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(default True for video capture)
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filename (str): Name of the stored file.
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(defaults to timestamp)
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folder (str): Relative directory to store data file in.
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fmt (str): Format of the capture.
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(default 'h264')
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"""
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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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self.start_worker()
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# If no target is specified, store to StreamingCamera
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if not target:
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# Create a new video and add to the video list
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target_obj = self.new_video(StreamObject(
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write_to_file=write_to_file,
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filename=filename,
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folder=folder,
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fmt=fmt))
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# Lock the StreamObject while recording
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target_obj.lock()
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# Store to the StreamObject target
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target = target_obj.target
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else:
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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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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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# Update state dictionary
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self.state['record_active'] = True
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return target_obj
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else:
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print("Cannot start a new recording until the current recording has stopped.")
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return None
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def stop_recording(self) -> bool:
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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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self.camera.stop_recording(splitter_port=2)
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log("Recording stopped")
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# Update state dictionary
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self.state['record_active'] = False
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def pause_stream_for_capture(self, splitter_port: int=1, resolution: Tuple[int, int]=None) -> None:
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"""
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Pause capture on a splitter port.
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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,
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after stopping recording.
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"""
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log("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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# Stop the camera video recording on port 1
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self.camera.stop_recording(splitter_port=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 resume_stream_for_capture(self, splitter_port: int=1, resolution: Tuple[int, int]=None) -> None:
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"""
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Resume capture on a splitter port.
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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,
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before starting recording.
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"""
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log("Unpausing stream")
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if not resolution:
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resolution = self.settings['video_resolution']
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# Reduce the resolution for video streaming
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self.camera.resolution = resolution
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# Resume the video channel
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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.settings['jpeg_quality'],
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splitter_port=splitter_port)
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def capture(
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self,
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target=None,
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write_to_file: bool=False,
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use_video_port: bool=False,
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filename: str=None,
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folder: str='capture',
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fmt: str='jpeg',
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resize: Tuple[int, int]=None):
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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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target (str/BytesIO): Target object to write data bytes to.
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write_to_file (bool): Should the StreamObject write to a file,
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instead of BytesIO stream?
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use_video_port (bool): Capture from the video port used for streaming.
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(lower resolution, faster)
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filename (str): Name of the stored file.
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(defaults to timestamp)
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folder (str): Relative directory to store data file in.
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fmt (str): Format of the capture.
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(default 'h264')
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resize ((int, int)): Resize the captured image.
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"""
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self.start_worker()
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# If no target is specified, store to StreamingCamera
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if not target:
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# Create a new image and add to the image list
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target_obj = self.new_image(StreamObject(write_to_file=write_to_file, filename=filename, folder=folder, fmt=fmt))
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target = target_obj.target # Store to the StreamObject BytesIO
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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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if not use_video_port:
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# Pause video splitter port 1
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self.pause_stream_for_capture()
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self.camera.capture(
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target,
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format=fmt,
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quality=100,
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resize=resize,
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bayer=True)
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# Resume video splitter port 1
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self.resume_stream_for_capture()
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else:
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self.camera.capture(
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target,
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format=fmt,
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quality=100,
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resize=resize,
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bayer=False,
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use_video_port=True)
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# Update state dictionary
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self.state['image_recent'] = str(target_obj)
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return target_obj
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def array(self, rgb=False, use_video_port: bool=True, 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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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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self.start_worker()
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if use_video_port:
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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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size = resolution
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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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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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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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log("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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return output.rgb_array
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else:
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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 iterator used by worker thread to generate stream frames.
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Holds a Pi camera in context, records video from port 1 to a
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byte stream, 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.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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time.sleep(0.1)
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# Settings config
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self.update_settings()
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# Set stream resolution
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self.camera.resolution = self.settings['video_resolution']
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# streaming
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self.stream = io.BytesIO()
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# start recording on video splitter port 1
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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.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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self.stream.truncate()
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# to stream, read the new frame
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time.sleep(1/self.settings['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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