194 pantiltzoomlib.py
View file
@@ -31,6 +31,11 @@
except:
pass

try:
import telegraf
except Exception as e:
print(str(e))

logging.getLogger("paramiko").setLevel(logging.WARNING)


@@ -272,7 +277,6 @@ def __init__(self, config=None, config_filename=None, queue=None):
self.name = config.get("name", "DEFAULT_PANO_NAME")
self.logger = logging.getLogger(self.name)
self._output_dir = os.path.join(config.get("output_dir", "/home/images/upload"), self.name)
self._spool_dir = tempfile.mkdtemp(prefix=self.name)
self.output_dir = self._output_dir

start_time_string = str(config.get('starttime', "0000"))
@@ -384,6 +388,19 @@ def __init__(self, config=None, config_filename=None, queue=None):
self._scan_order = self._scan_order_translation.get(str(scan_order_unparsed).lower().replace(" ", ""), 0)
self.logger.info(self.summary)

try:
telegraf_client = telegraf.TelegrafClient(host="localhost", port=8092)
metric = {
"num_rows": len(self._tilt_pos_list),
"num_cols": len(self._pan_pos_list),
"recovery_index": int(self._recovery_file.get("image_index", 0)),
"hfov": self.camera.hfov,
"vfov": self.camera.vfov
}
telegraf_client.metric("gigavision", metric, tags={'name': self.name})
except:
pass

def set_current_as_first_corner(self):
"""
This and :func:`set_current_as_second_corner`, both internally call enumerate positions.
@@ -893,89 +910,112 @@ def take_panorama(self):
# im1.shape[1]*len(self._pan_pos_list),
# 3), np.uint8)
# cv2.imwrite("overview.jpg", overview)
try:
telegraf_client = telegraf.TelegrafClient(host="localhost", port=8092)
except:
pass
with tempfile.TemporaryDirectory(prefix=self.name) as spool:
def cap(_pan_pos: float, _tilt_pos: float, _image_index: int, lcap: int) -> int:
"""
captures an image for the position _pan_pos,_tilt_pos with the image index _image_index
:param _pan_pos: the pan position to take an image
:param _tilt_pos: the tilt position to take an image
:param _image_index: index of the current image. used to write the image filename.
:param lcap: used to calculate how long capture is taking.
:return:
"""
self._pantilt.position = _pan_pos, _tilt_pos
time.sleep(0.1)

self.write_csv_log(_image_index, _pan_pos, _tilt_pos)
self.write_to_recovery_file(_image_index, now.strftime(ts_fmt))
for _ in range(0, 15):
filename = os.path.join(spool,
now.strftime("{name}_" + ts_fmt + "_{index:04}").format(name=self.name,
index=_image_index + 1))
try:
output_filenames = list(self._camera.capture(filename=filename))
# output_filenames = self._camera.capture_monkey(filename=filename)
self.camera.communicate_with_updater()
if type(output_filenames) is list and len(output_filenames):
# image = cv2.resize(self.camera.image.copy(),
# None, fx=0.1, fy=0.1,
# interpolation=cv2.INTER_NEAREST)

# yoff = _i * image.shape[0]
# xoff = _j * image.shape[1]
# overview[yoff:yoff+image.shape[0], xoff:xoff+image.shape[1]] = image
# cv2.imwrite("overview.jpg", overview)
for f in output_filenames:
shutil.move(f, os.path.join(this_dir, os.path.basename(f)))
self.logger.info("wrote image {}/{}".format(_image_index + 1,
(len(self._pan_pos_list) * len(
self._tilt_pos_list))))
lcap += 1
# update time per image
current_time = time.time()
self._seconds_per_image = (current_time - start_time) / lcap
self.logger.info("Seconds per image {0:.2f}s".format(self._seconds_per_image))
return lcap
except Exception as e:
self.logger.error("Bad things happened: {}".format(str(e)))
else:
self.logger.error("failed capturing!")
return lcap

def cap(_pan_pos: float, _tilt_pos: float, _image_index: int, lcap: int) -> int:
"""
captures an image for the position _pan_pos,_tilt_pos with the image index _image_index
:param _pan_pos: the pan position to take an image
:param _tilt_pos: the tilt position to take an image
:param _image_index: index of the current image. used to write the image filename.
:param lcap: used to calculate how long capture is taking.
:return:
"""
self._pantilt.position = _pan_pos, _tilt_pos
time.sleep(0.1)

self.write_csv_log(_image_index, _pan_pos, _tilt_pos)
self.write_to_recovery_file(_image_index, now.strftime(ts_fmt))
for _ in range(0, 15):
filename = os.path.join(self._spool_dir,
now.strftime("{name}_" + ts_fmt + "_{index:04}").format(name=self.name,
index=_image_index + 1))
try:
output_filenames = list(self._camera.capture(filename=filename))
# output_filenames = self._camera.capture_monkey(filename=filename)
self.camera.communicate_with_updater()
if type(output_filenames) is list and len(output_filenames):
# image = cv2.resize(self.camera.image.copy(),
# None, fx=0.1, fy=0.1,
# interpolation=cv2.INTER_NEAREST)

# yoff = _i * image.shape[0]
# xoff = _j * image.shape[1]
# overview[yoff:yoff+image.shape[0], xoff:xoff+image.shape[1]] = image
# cv2.imwrite("overview.jpg", overview)
for f in output_filenames:
shutil.move(f, os.path.join(this_dir, os.path.basename(f)))
self.logger.info("wrote image {}/{}".format(_image_index + 1,
(len(self._pan_pos_list) * len(
self._tilt_pos_list))))
lcap += 1
# update time per image
current_time = time.time()
self._seconds_per_image = (current_time - start_time) / lcap
self.logger.info("Seconds per image {0:.2f}s".format(self._seconds_per_image))
return lcap
except Exception as e:
self.logger.error("Bad things happened: {}".format(str(e)))
else:
self.logger.error("failed capturing!")
return lcap

# reverse it because we should start from top and go down
tilt_pos_list = list(reversed(self._tilt_pos_list))
pan_pos_list = self._pan_pos_list
if self.scan_order == 1:
# cols left
pan_pos_list = self._pan_pos_list
# reverse it because we should start from top and go down
tilt_pos_list = list(reversed(self._tilt_pos_list))
elif self.scan_order == 3:
# rows up
tilt_pos_list = self._tilt_pos_list
pan_pos_list = list(reversed(self._pan_pos_list))
recovery_index = self._recovery_file.get('image_index', 0)

if self._scan_order >= 2:
for i, tilt_pos in enumerate(tilt_pos_list):
for j, pan_pos in enumerate(pan_pos_list):
image_index = i * len(pan_pos_list) + j
if image_index < recovery_index:
continue
last_image_captured = cap(pan_pos, tilt_pos, image_index, last_image_captured)

else:
for j, pan_pos in enumerate(pan_pos_list):
pan_pos_list = self._pan_pos_list
if self.scan_order == 1:
# cols left
pan_pos_list = self._pan_pos_list
tilt_pos_list = list(reversed(self._tilt_pos_list))
elif self.scan_order == 3:
# rows up
tilt_pos_list = self._tilt_pos_list
pan_pos_list = list(reversed(self._pan_pos_list))
recovery_index = self._recovery_file.get('image_index', 0)
rolling = []

if self._scan_order >= 2:
for i, tilt_pos in enumerate(tilt_pos_list):
image_index = j * (len(tilt_pos_list)) + i
if image_index < recovery_index:
continue
last_image_captured = cap(pan_pos, tilt_pos, image_index, last_image_captured)
for j, pan_pos in enumerate(pan_pos_list):
image_index = i * len(pan_pos_list) + j
if image_index < recovery_index:
continue
t = time.time()
last_image_captured = cap(pan_pos, tilt_pos, image_index, last_image_captured)
rolling.append(time.time()-t)
try:
metric = {'timing_avg_s': sum(rolling)/len(rolling), 'total_images': len(rolling)}
telegraf_client.metric("gigavision", metric, tags={"name": self.name})
except:
pass
else:
for j, pan_pos in enumerate(pan_pos_list):
for i, tilt_pos in enumerate(tilt_pos_list):
image_index = j * (len(tilt_pos_list)) + i
if image_index < recovery_index:
continue
t = time.time()
last_image_captured = cap(pan_pos, tilt_pos, image_index, last_image_captured)
rolling.append(time.time() - t)
try:
metric = {'timing_avg_s': sum(rolling) / len(rolling), 'total_images': len(rolling)}
telegraf_client.metric("gigavision", metric, tags={"name": self.name})
except:
pass

shutil.move(self._csv_log, os.path.join(self._output_dir, os.path.basename(self._csv_log)))
os.remove(self._recovery_filename)
self._recovery_file['image_index'] = 0
self.logger.info("Panorama complete in {}".format(sec2human(time.time() - start_time)))
t = time.time() - start_time
self.logger.info("Panorama complete in {}".format(sec2human(t)))
try:
telegraf_client.metric("gigavision", {'timing_total_s': t}, tags={"name": self.name})
except:
pass

def calibrate_and_run(self):
"""