64 frames a second capture with 3 cameras

ok ok. it takes a bit of time for the worker threads to finish, but this is more like it.

Author: daan

flir/flir_capture_all_continuous.py

@@ -0,0 +1,219 @@
+import sys
+import time
+import PySpin
+import os
+
+import numpy as np
+import cv2
+
+from queue import Queue
+import threading
+
+import argparse
+
+# construct the argument parse and parse the arguments
+ap = argparse.ArgumentParser()
+ap.add_argument("-c", "--camera", type=str, default="0", help="camera by id")
+
+args = vars(ap.parse_args())
+
+def set_trigger_mode(cam, triggerSource):
+    cam.TriggerMode.SetValue(PySpin.TriggerMode_Off)
+    cam.TriggerSource.SetValue(triggerSource)
+    cam.TriggerMode.SetValue(PySpin.TriggerMode_On)
+
+def reset_trigger_mode_software(cam):
+    cam.TriggerMode.SetValue(PySpin.TriggerMode_Off)
+    print("reset trigger mode")
+
+
+def reset_trigger_mode_software(cam):
+    cam.TriggerMode.SetValue(PySpin.TriggerMode_Off)
+    print("reset trigger mode")
+
+
+#
+#   setup
+#
+
+master_id = "18284509"
+master = None
+
+
+system = PySpin.System.GetInstance()
+cam_list = system.GetCameras()
+
+if cam_list.GetSize() == 0:
+    print("no cameras found, aborting")
+    system.ReleaseInstance()
+    del system
+    sys.exit()
+
+for i in range(cam_list.GetSize()):
+    cam = cam_list.GetByIndex(i)
+    print("camera {} serial: {}".format(i, cam.GetUniqueID()))
+
+
+
+cameras = []
+for i in range(cam_list.GetSize()):
+    try:
+        cam = cam_list.GetByIndex(i)
+        cam_id = cam.GetUniqueID()
+        cam.Init()
+    
+        if cam_id == master_id:
+            print("master: {}".format(cam_id))
+            master = cam
+            set_trigger_mode(cam, PySpin.TriggerSource_Software)
+        else:
+            print("follower: {}".format(cam_id))
+            set_trigger_mode(cam, PySpin.TriggerSource_Line3)
+        
+        cam.AcquisitionMode.SetValue(PySpin.AcquisitionMode_Continuous)        
+        cam.BeginAcquisition()
+        cameras.append(cam)
+    except PySpin.SpinnakerException as ex:
+        print("Error: {}".format(ex))
+        sys.exit()
+
+
+class ImageWorker(threading.Thread):
+    def __init__(self):
+        super(ImageWorker, self).__init__()
+        self.images = Queue()
+        self._stop_event = threading.Event()
+
+    def addImage(self, img):
+        self.images.put(img)
+    def stop(self):
+        self._stop_event.set()
+    def stopped(self):
+        return self._stop_event.is_set()
+    def run(self):
+        print("run")
+        while(1):        
+            if self.images.empty():
+                if self.stopped():
+                    break
+                else:
+                    time.sleep(0.10)
+            else:
+                item = self.images.get()
+                
+                if item != None:
+                    filename, i = item
+                    
+                    #i.save(filename)
+
+                    image_converted = i.Convert(PySpin.PixelFormat_BGR8, PySpin.DIRECTIONAL_FILTER)
+                    
+                    #writing with spinaker
+
+                    image_converted.Save(filename)
+
+                    #writing with opencv
+
+                    #image_data = image_converted.GetData()
+                    #cvi = np.frombuffer(image_data, dtype=np.uint8)            
+                    #cvi = cvi.reshape((i.GetHeight(),i.GetWidth(),3)) 
+                    #cv2.imwrite(filename, cvi)
+
+
+
+
+#
+#   loop
+#
+
+count = 0
+elapsed = 0
+
+#os.makedirs("captures", exist_ok=True)
+
+worker = ImageWorker()
+worker.start()
+
+
+blank_image = np.zeros((300,400,3), np.uint8)
+cv2.imshow("blank", blank_image)
+
+print("start capturing")
+
+while 1:
+    key = cv2.waitKey(1)
+
+    start = time.time()
+
+    
+
+    if key == 27: # ESC
+        cv2.destroyAllWindows()
+        break
+    
+
+    try:
+        master.TriggerSoftware.Execute()
+        count += 1
+    except PySpin.SpinnakerException as ex:
+        print("Error: {}".format(ex))
+
+    for cam in cameras:
+        try:
+            i = cam.GetNextImage()
+            #print(i.GetWidth(), i.GetHeight(), i.GetBitsPerPixel())
+
+            if i.IsIncomplete():
+                pass
+            else:            
+                cam_id = cam.GetUniqueID()
+                filename = "captures/cam_{}__{}.jpg".format(cam_id, count)
+                worker.addImage( (filename, i) )            
+                # see documentation: enum ColorProcessingAlgorithm 
+                #image_converted = i.Convert(PySpin.PixelFormat_BGR8, PySpin.DIRECTIONAL_FILTER)
+                #image_data = image_converted.GetData()
+                #cvi = np.frombuffer(image_data, dtype=np.uint8)
+                #cvi = cvi.reshape((i.GetHeight(),i.GetWidth(),3)) 
+                #frame[cam_id] = cvi
+
+                #res = cv2.resize(cvi, (int(1280/size),int(1024/size)))
+                #cv2.imshow("cam{}".format(cam_id),res)
+            i.Release()
+            del i
+        except PySpin.SpinnakerException as ex:
+            print("Error: {}".format(ex))
+
+    
+
+    end = time.time()
+    elapsed += end - start
+    
+    if count % 10 == 0:
+        print(worker.images.qsize() )
+        print("fps {0:.3f}".format(10 /elapsed))
+        
+        elapsed = 0
+
+#
+#   cleanup
+#
+
+worker.stop()
+
+while(1):
+    print("{} images to be processed. waiting for thread to finish".format(worker.images.qsize()))
+    time.sleep(0.5)
+    if worker.images.empty():
+        break
+
+for cam in cameras:
+    cam.EndAcquisition()
+    reset_trigger_mode_software(cam)
+    cam.DeInit()
+    del cam
+del cameras
+del cam_list
+
+system.ReleaseInstance()
+del system
+

kinect-v2/README.rst

@@ -7,6 +7,7 @@ These examples use pyKinect2 to interface with the Kinect API, and only work on
 Installation
 ------------
 
+Install the kinect v2 SDK https://www.microsoft.com/en-us/download/details.aspx?id=44561
 Install python, opencv and contrib (see top level readme) and install pyKinect2. <https://github.com/Kinect/pyKinect2>
 
 note: (october 5 2018: if you install with pip, you need to overwrite the files with the ones from github....)