576 lines
19 KiB
Python
576 lines
19 KiB
Python
# -*- coding: utf-8 -*-
|
|
|
|
"""
|
|
Raspberry Pi camera implementation of the StreamingCamera class.
|
|
|
|
NOTES:
|
|
Still port used for image capture
|
|
Preview port reserved for onboard GPU preview
|
|
Video port:
|
|
Splitter port 0: Image capture (if use_video_port == True)
|
|
Splitter port 1: Streaming frames
|
|
Splitter port 2: Video capture
|
|
Splitter port 3: [Currently unused]
|
|
|
|
StreamingCamera streams at video_resolution
|
|
Camera capture resolution set to video_resolution in frames()
|
|
Video port uses that resolution for everything. If a different resolution
|
|
is specified for video capture, this is handled by the resizer.
|
|
|
|
Still capture (if use_video_port == False) uses pause_stream
|
|
to temporarily increase the capture resolution.
|
|
"""
|
|
|
|
from __future__ import division
|
|
|
|
import io
|
|
import time
|
|
import datetime
|
|
import sys
|
|
import os
|
|
import yaml
|
|
import copy
|
|
import numpy as np
|
|
from PIL import Image
|
|
import logging
|
|
|
|
# Used for conversion only
|
|
from fractions import Fraction
|
|
|
|
# Pi camera
|
|
import picamera
|
|
import picamera.array
|
|
|
|
# Type hinting
|
|
from typing import Tuple
|
|
|
|
# Threading
|
|
import threading
|
|
|
|
from .base import BaseCamera, CaptureObject
|
|
# Richard's fix gain
|
|
from .set_picamera_gain import set_analog_gain, set_digital_gain
|
|
|
|
PICAMERA_KEYS = [
|
|
'exposure_mode',
|
|
'awb_mode',
|
|
'awb_gains',
|
|
'framerate',
|
|
'shutter_speed',
|
|
'saturation', ]
|
|
|
|
CONFIG_KEYS = [
|
|
'video_resolution',
|
|
'image_resolution',
|
|
'numpy_resolution',
|
|
'jpeg_quality',
|
|
'analog_gain',
|
|
'digital_gain',
|
|
'shading_table_path']
|
|
|
|
|
|
def fractions_to_floats(value):
|
|
"""Deal with horrible, horrible PiCamera fractions"""
|
|
result = value
|
|
if type(value) is list or type(value) is tuple:
|
|
result = [float(v) if isinstance(v, Fraction) else v for v in value]
|
|
if type(value) is tuple:
|
|
result = tuple(result)
|
|
else:
|
|
if isinstance(value, Fraction):
|
|
result = float(value)
|
|
return result
|
|
|
|
|
|
class StreamingCamera(BaseCamera):
|
|
"""Raspberry Pi camera implementation of StreamingCamera.
|
|
|
|
Args:
|
|
config (dict): Dictionary of config parameters to apply on init. If None, will default to basic config.
|
|
"""
|
|
def __init__(self, config: dict=None):
|
|
# Run BaseCamera init
|
|
BaseCamera.__init__(self)
|
|
# Attach to Pi camera
|
|
self.camera = picamera.PiCamera() #: :py:class:`picamera.PiCamera`: Picamera object
|
|
|
|
# Store state of StreamingCamera
|
|
self.state.update({
|
|
'stream_active': False,
|
|
'record_active': False,
|
|
'preview_active': False,
|
|
})
|
|
# Reset variable states
|
|
self.set_zoom(1.0)
|
|
|
|
# Default camera config
|
|
self._config.update({
|
|
'video_resolution': (832, 624),
|
|
'image_resolution': (2592, 1944),
|
|
'numpy_resolution': (1312, 976),
|
|
'jpeg_quality': 75,
|
|
})
|
|
|
|
# Load config dictionary if passed
|
|
if config:
|
|
self.config = config
|
|
|
|
# Start streaming
|
|
self.start_worker()
|
|
|
|
def initialisation(self):
|
|
"""Run any initialisation code when the frame iterator starts."""
|
|
pass
|
|
|
|
def close(self):
|
|
"""Close the Raspberry Pi StreamingCamera."""
|
|
# Run BaseCamera close method
|
|
BaseCamera.close(self)
|
|
# Detatch Pi camera
|
|
if self.camera:
|
|
self.camera.close()
|
|
|
|
# HANDLE SETTINGS
|
|
@property
|
|
def supports_lens_shading(self):
|
|
"""Determine whether the picamera module supports lens shading.
|
|
|
|
As of March 2018, picamera did not wrap the necessary MMAL commands to
|
|
set the lens shading table, or to write the value of analog or digital
|
|
gain. I have a forked version of the library that does support these.
|
|
For ease of use by people who don't want those features, this library
|
|
does not have a hard dependency on lens shading. However, we need to
|
|
check in some places whether it's available.
|
|
"""
|
|
return hasattr(self.camera, "lens_shading_table")
|
|
|
|
def apply_shading_table(self):
|
|
if not self.supports_lens_shading:
|
|
logging.error("the currently-installed picamera library does not support all "
|
|
"the features of the openflexure microscope software. These features "
|
|
"include lens shading control and setting the analog/digital gain.\n"
|
|
"\n"
|
|
"See the installation instructions for how to fix this:\n"
|
|
"https://github.com/rwb27/openflexure_microscope_software")
|
|
elif 'shading_table_path' not in self.config:
|
|
logging.warning("No shading table path given in config.")
|
|
else:
|
|
logging.debug("Applying shading table from {}".format(self.config['shading_table_path']))
|
|
npy = np.load(self.config['shading_table_path'])
|
|
self.camera.lens_shading_table = npy
|
|
|
|
@property
|
|
def config(self):
|
|
"""
|
|
Return config dictionary of the StreamingCamera.
|
|
"""
|
|
global PICAMERA_KEYS, CONFIG_KEYS
|
|
|
|
conf_dict = {
|
|
'picamera_params': {},
|
|
}
|
|
|
|
# PiCamera parameters (obtained directly from PiCamera object)
|
|
for key in PICAMERA_KEYS:
|
|
try:
|
|
value = getattr(self.camera, key)
|
|
value = fractions_to_floats(value)
|
|
conf_dict['picamera_params'][key] = value
|
|
except AttributeError:
|
|
logging.warning("Unable to read PiCamera attribute {}".format(key))
|
|
|
|
# StreamingCamera parameters (obtained from StreamingCamera _config)
|
|
for key in CONFIG_KEYS:
|
|
if key in self._config:
|
|
conf_dict[key] = self._config[key]
|
|
|
|
return conf_dict
|
|
|
|
@config.setter
|
|
def config(self, config: dict) -> None:
|
|
"""
|
|
Write a config dictionary to the StreamingCamera config.
|
|
|
|
The passed dictionary may contain other parameters not relevant to
|
|
camera config. Eg. Passing a general config file will work fine.
|
|
|
|
Args:
|
|
config (dict): Dictionary of config parameters.
|
|
"""
|
|
global PICAMERA_KEYS, CONFIG_KEYS
|
|
|
|
paused_stream = False
|
|
|
|
# Apply valid config params to Picamera object
|
|
if not self.state['record_active']: # If not recording a video
|
|
|
|
logging.debug("Applying config:")
|
|
logging.debug(config)
|
|
|
|
# Pause stream while changing settings
|
|
if self.state['stream_active']: # If stream is active
|
|
logging.info("Pausing stream to update config.")
|
|
self.stop_stream_recording() # Pause stream
|
|
paused_stream = True # Remember to unpause stream when done
|
|
|
|
# PiCamera parameters (applied directly to PiCamera object)
|
|
if 'picamera_params' in config:
|
|
for key in PICAMERA_KEYS:
|
|
if key in config['picamera_params']:
|
|
logging.debug("Setting parameter {}: {}".format(key, config['picamera_params'][key]))
|
|
setattr(self.camera, key, config['picamera_params'][key])
|
|
|
|
# StreamingCamera parameters (applied via StreamingCamera config)
|
|
for key in CONFIG_KEYS:
|
|
if key in config:
|
|
logging.debug("Setting parameter {}: {}".format(key, config[key]))
|
|
self._config[key] = config[key]
|
|
|
|
# Richard's library to set analog and digital gains
|
|
if 'analog_gain' in config:
|
|
set_analog_gain(self.camera, config['analog_gain'])
|
|
if 'digital_gain' in config:
|
|
set_digital_gain(self.camera, config['digital_gain'])
|
|
|
|
# Handle lens shading, if a new one is given
|
|
if 'shading_table_path' in config:
|
|
self.apply_shading_table()
|
|
|
|
# If stream was paused to update config, unpause
|
|
if paused_stream:
|
|
logging.info("Resuming stream.")
|
|
self.start_stream_recording()
|
|
|
|
else:
|
|
raise Exception(
|
|
"Cannot update camera config while recording is active.")
|
|
|
|
def set_zoom(self, zoom_value: float=1.) -> None:
|
|
"""
|
|
Change the camera zoom, handling recentering and scaling.
|
|
"""
|
|
self.state['zoom_value'] = float(zoom_value)
|
|
if self.state['zoom_value'] < 1:
|
|
self.state['zoom_value'] = 1
|
|
# Richard's code for zooming !
|
|
fov = self.camera.zoom
|
|
centre = np.array([fov[0] + fov[2]/2.0, fov[1] + fov[3]/2.0])
|
|
size = 1.0/self.state['zoom_value']
|
|
# If the new zoom value would be invalid, move the centre to
|
|
# keep it within the camera's sensor (this is only relevant
|
|
# when zooming out, if the FoV is not centred on (0.5, 0.5)
|
|
for i in range(2):
|
|
if np.abs(centre[i] - 0.5) + size/2 > 0.5:
|
|
centre[i] = 0.5 + (1.0 - size)/2 * np.sign(centre[i]-0.5)
|
|
logging.info("setting zoom, centre {}, size {}".format(centre, size))
|
|
new_fov = (centre[0] - size/2, centre[1] - size/2, size, size)
|
|
self.camera.zoom = new_fov
|
|
|
|
# LAUNCH ACTIONS
|
|
|
|
def start_preview(self) -> bool:
|
|
"""Start the onboard GPU camera preview."""
|
|
self.camera.start_preview()
|
|
self.state['preview_active'] = True
|
|
return True
|
|
|
|
def stop_preview(self) -> bool:
|
|
"""Stop the onboard GPU camera preview."""
|
|
self.camera.stop_preview()
|
|
self.state['preview_active'] = False
|
|
return True
|
|
|
|
def start_recording(
|
|
self,
|
|
output,
|
|
fmt: str='h264',
|
|
quality: int=15):
|
|
"""Start recording.
|
|
|
|
Start a new video recording, writing to a output object.
|
|
|
|
Args:
|
|
output (CaptureObject/str): Output object to write data bytes to.
|
|
write_to_file (bool/NoneType): Should the StreamObject write to a file?
|
|
filename (str): Name of the stored file. Defaults to timestamp.
|
|
fmt (str): Format of the capture.
|
|
|
|
Returns:
|
|
output_object (str/BytesIO): Target object.
|
|
|
|
"""
|
|
# Start recording method only if a current recording is not running
|
|
if not self.state['record_active']:
|
|
|
|
# If output is a StreamObject
|
|
if isinstance(output, CaptureObject):
|
|
# Lock the StreamObject while recording
|
|
output.lock()
|
|
# Set target to capture stream
|
|
output_stream = output.stream
|
|
else:
|
|
output_stream = output
|
|
|
|
# Start the camera video recording on port 2
|
|
logging.info("Recording to {}".format(output))
|
|
|
|
self.camera.start_recording(
|
|
output_stream,
|
|
format=fmt,
|
|
splitter_port=2,
|
|
resize=self.config['video_resolution'],
|
|
quality=quality)
|
|
|
|
# Update state dictionary
|
|
self.state['record_active'] = True
|
|
|
|
return output
|
|
|
|
else:
|
|
logging.error(
|
|
"Cannot start a new recording\
|
|
until the current recording has stopped.")
|
|
return None
|
|
|
|
def stop_recording(self) -> bool:
|
|
"""Stop the last started video recording on splitter port 2."""
|
|
# Stop the camera video recording on port 2
|
|
logging.info("Stopping recording")
|
|
self.camera.stop_recording(splitter_port=2)
|
|
logging.info("Recording stopped")
|
|
|
|
# Update state dictionary
|
|
self.state['record_active'] = False
|
|
|
|
def stop_stream_recording(
|
|
self,
|
|
splitter_port: int=1,
|
|
resolution: Tuple[int, int]=None) -> None:
|
|
"""
|
|
Sets the camera resolution to the still-image resolution, and stops recording if the stream is active.
|
|
|
|
Args:
|
|
splitter_port (int): Splitter port to stop recording on
|
|
resolution ((int, int)): Resolution to set the camera to, after stopping recording.
|
|
"""
|
|
# If no resolution is specified, default to image_resolution
|
|
if not resolution:
|
|
resolution = self.config['image_resolution']
|
|
|
|
# Stop the camera video recording on port 1
|
|
try:
|
|
self.camera.stop_recording(splitter_port=splitter_port)
|
|
logging.info("Stopped MJPEG stream on port {1}. Switching to {0}.".format(resolution, splitter_port))
|
|
except picamera.exc.PiCameraNotRecording:
|
|
logging.info("Not recording on splitter_port {}".format(splitter_port))
|
|
|
|
# Increase the resolution for taking an image
|
|
self.camera.resolution = resolution
|
|
|
|
def start_stream_recording(
|
|
self,
|
|
splitter_port: int=1,
|
|
resolution: Tuple[int, int]=None) -> None:
|
|
"""
|
|
Sets the camera resolution to the video/stream resolution, and starts recording if the stream should be active.
|
|
|
|
Args:
|
|
splitter_port (int): Splitter port to start recording on
|
|
resolution ((int, int)): Resolution to set the camera to, before starting recording. Defaults to `self.config['video_resolution']`.
|
|
"""
|
|
|
|
# If no stream object exists
|
|
if not hasattr(self, 'stream'):
|
|
self.stream = io.BytesIO() # Create a stream object
|
|
|
|
# If no explicit resolution is passed
|
|
if not resolution:
|
|
resolution = self.config['video_resolution'] # Default to video recording resolution
|
|
|
|
# Reduce the resolution for video streaming
|
|
self.camera.resolution = resolution
|
|
|
|
# If the stream should be active
|
|
if self.state['stream_active']:
|
|
# Start recording on stream port
|
|
self.camera.start_recording(
|
|
self.stream,
|
|
format='mjpeg',
|
|
quality=self.config['jpeg_quality'],
|
|
splitter_port=splitter_port)
|
|
|
|
logging.debug("Started MJPEG stream at {} on port {}".format(resolution, splitter_port))
|
|
|
|
def capture(
|
|
self,
|
|
output,
|
|
fmt: str='jpeg',
|
|
use_video_port: bool=False,
|
|
resize: Tuple[int, int]=None,
|
|
bayer: bool=True):
|
|
"""
|
|
Capture a still image to a StreamObject.
|
|
|
|
Defaults to JPEG format.
|
|
Target object can be overridden for development purposes.
|
|
|
|
Args:
|
|
output (CaptureObject/str): Output object to write data bytes to.
|
|
use_video_port (bool): Capture from the video port used for streaming. Lower resolution, faster.
|
|
fmt (str): Format of the capture.
|
|
resize ((int, int)): Resize the captured image.
|
|
"""
|
|
|
|
# If output is a StreamObject
|
|
if isinstance(output, CaptureObject):
|
|
# Set target to capture stream
|
|
output_stream = output.stream
|
|
else:
|
|
output_stream = output
|
|
|
|
logging.info("Capturing to {}".format(output))
|
|
|
|
# Set resolution and stop stream recording if necesarry
|
|
if not use_video_port:
|
|
self.stop_stream_recording()
|
|
|
|
self.camera.capture(
|
|
output_stream,
|
|
format=fmt,
|
|
quality=100,
|
|
resize=resize,
|
|
bayer=(not use_video_port) and bayer,
|
|
use_video_port=use_video_port)
|
|
|
|
# Set resolution and start stream recording if necesarry
|
|
if not use_video_port:
|
|
self.start_stream_recording()
|
|
|
|
return output
|
|
|
|
def yuv(
|
|
self,
|
|
rgb=False,
|
|
use_video_port: bool=True,
|
|
resize: Tuple[int, int]=None) -> np.ndarray:
|
|
"""Capture an uncompressed still YUV 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.
|
|
"""
|
|
if use_video_port:
|
|
resolution = self.config['video_resolution']
|
|
else:
|
|
resolution = self.config['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()
|
|
|
|
if rgb:
|
|
logging.debug("Converting to RGB")
|
|
return output.rgb_array
|
|
else:
|
|
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.
|
|
"""
|
|
|
|
if use_video_port:
|
|
resolution = self.config['video_resolution']
|
|
else:
|
|
resolution = self.config['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 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()
|
|
|
|
# Update state
|
|
logging.debug("STREAM ACTIVE")
|
|
#self.state['stream_active'] = True
|
|
|
|
# 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")
|