add some new functions:

take photo,record video,continuous shoot,timelapse photography,panorama

examples/continuous_shooting.py

@@ -0,0 +1,109 @@
+from time import sleep,strftime,localtime
+from vilib import Vilib
+from sunfounder_io import PWM,Servo,I2C
+
+import sys
+import tty
+import termios
+
+# region  read keyboard 
+def readchar():
+    fd = sys.stdin.fileno()
+    old_settings = termios.tcgetattr(fd)
+    try:
+        tty.setraw(sys.stdin.fileno())
+        ch = sys.stdin.read(1)
+    finally:
+        termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
+    return ch
+
+manual = '''
+Press keys on keyboard to record value!
+    W: up
+    A: left
+    S: right
+    D: down
+    Q: continuous_shooting
+
+    G: Quit
+'''
+# endregion
+
+# region init
+I2C().reset_mcu()
+sleep(0.01)
+
+pan = Servo(PWM("P1"))
+tilt = Servo(PWM("P0"))
+panAngle = 0
+tiltAngle = 0
+
+pan.angle(0)
+tilt.angle(0)
+
+#endregion init
+
+# region servo control
+def limit(x,min,max):
+    if x > max:
+        return max
+    elif x < min:
+        return min
+    else:
+        return x
+
+def servo_control(key):
+    global panAngle,tiltAngle       
+    if key == 'w':
+        tiltAngle -= 1
+        tiltAngle = limit(tiltAngle, -90, 90)
+        tilt.angle(tiltAngle)
+    if key == 's':
+        tiltAngle += 1
+        tiltAngle = limit(tiltAngle, -90, 90)
+        tilt.angle(tiltAngle)
+    if key == 'a':
+        panAngle += 1
+        panAngle = limit(panAngle, -90, 90)
+        pan.angle(panAngle)
+    if key == 'd':
+        panAngle -= 1
+        panAngle = limit(panAngle, -90, 90)
+        pan.angle(panAngle)
+
+# endregion
+
+# continuous shooting 
+def continuous_shooting(path,interval_ms:int=50,number=10):
+
+    for i in range(number):
+        Vilib.take_photo(photo_name='%03d'%i,path=path+'/'+strftime("%Y-%m-%d-%H.%M.%S", localtime()))
+    print("take_photo: %s"%i)
+
+def main():
+
+    Vilib.camera_start(inverted_flag=True)
+    Vilib.display(local=True,web=True)
+
+    path = "/home/pi/picture/continuous_shooting"
+
+    print(manual)
+    while True:
+        key = readchar()
+        # servo control
+        servo_control(key)
+        # take photo
+        if key == 'q': 
+            print("continuous_shooting .. ")
+            continuous_shooting(path,interval_ms=50,number=10)
+            print("continuous_shooting done ")
+        # esc
+        if key == 'g':
+            Vilib.camera_close()
+            break 
+
+        sleep(0.1)
+
+
+if __name__ == "__main__":
+    main()

examples/panorama.py

@@ -0,0 +1,142 @@
+from time import perf_counter, sleep,strftime,localtime
+from vilib import Vilib
+from sunfounder_io import PWM,Servo,I2C
+import cv2
+import os
+
+import sys
+import tty
+import termios
+
+# region  read keyboard 
+def readchar():
+    fd = sys.stdin.fileno()
+    old_settings = termios.tcgetattr(fd)
+    try:
+        tty.setraw(sys.stdin.fileno())
+        ch = sys.stdin.read(1)
+    finally:
+        termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
+    return ch
+
+manual = '''
+Press keys on keyboard to record value!
+    W: up
+    A: left
+    S: right
+    D: down
+    Q: take photo
+
+    G: Quit
+'''
+# endregion
+
+# # check dir 
+def check_dir(dir):
+    if not os.path.exists(dir):
+        try:
+            os.makedirs(dir)
+        except Exception as e:
+            print(e)
+
+I2C().reset_mcu()
+sleep(0.01)
+
+pan = Servo(PWM("P1"))
+tilt = Servo(PWM("P0"))
+pan.angle(0)
+tilt.angle(0)
+panAngle = 0
+tiltAngle = 0
+
+'''
+    https://docs.opencv.org/3.4.15/d2/d8d/classcv_1_1Stitcher.html
+    https://github.com/opencv/opencv/blob/4.2.0/samples/python/stitching.py
+    https://github.com/opencv/opencv/blob/4.2.0/samples/python/stitching_detailed.py
+
+'''
+Status_info = {
+  0: 'OK',
+  1: 'ERR_NEED_MORE_IMGS',
+  2: 'ERR_HOMOGRAPHY_EST_FAIL',
+  3: 'ERR_CAMERA_PARAMS_ADJUST_FAIL',
+}
+
+def panorama_shooting(path):
+    global panAngle,tiltAngle
+
+    temp_path = "/home/pi/picture/.temp/panorama"
+    imgs =[]
+
+    # check path
+    check_dir(path)
+
+    # stitcher = cv2.createStitcher(cv2.Stitcher_SCANS)
+    stitcher = cv2.Stitcher_create(cv2.Stitcher_SCANS)
+
+    # tilt.angle(0)
+    # panAngle  = -90
+    for a in range(panAngle,-91,-5):
+        panAngle = a
+        pan.angle(panAngle)
+        sleep(0.1)
+    # take photo
+    num = 0
+    for angle in range(-80,80,20):
+        for a in range(panAngle,angle,1):
+            panAngle = a
+            pan.angle(a)
+            sleep(0.1)
+        sleep(0.5)
+        # sleep(0.5)
+        print(num,angle)
+        Vilib.take_photo(photo_name='%s'%num,path=temp_path)
+        sleep(0.2)
+        num += 1
+
+    # stitch image 
+    for index in range(num):
+        imgs.append(cv2.imread('%s/%s.jpg'%(temp_path,index)))
+        cv2.imshow('test',imgs[index])
+    print('imgs num: %s'%len(imgs))
+
+    status,pano = stitcher.stitch(imgs)
+
+    # imwrite and imshow
+    print('status: %s , %s'%(status,Status_info[status]))
+    if status == 0:
+        cv2.imwrite('%s/%s.jpg'%(path,strftime("%Y-%m-%d-%H.%M.%S", localtime())),pano)
+        cv2.imshow('panorama',pano)
+
+
+    # clear temp
+    # os.removedirs(temp_path)
+    os.system('sudo rm -r %s'%temp_path)
+
+# main
+
+def main():
+
+    Vilib.camera_start(inverted_flag=True)
+    Vilib.display(local=True,web=False)
+
+    path = "/home/pi/picture/panorama"
+
+    print(manual)
+    while True:
+        key = readchar()
+        # take photo
+        if key == 'q': 
+            print("panorama shooting ...")
+            panorama_shooting(path)
+
+        # esc
+        if key == 'g':
+            print('Quit')
+            Vilib.camera_close()
+            break 
+
+        sleep(0.01)   
+
+if __name__ == "__main__":
+    main()

examples/record_video.py

@@ -0,0 +1,128 @@
+
+from time import sleep,strftime,localtime
+from vilib import Vilib
+from sunfounder_io import PWM,Servo,I2C
+
+import sys
+import tty
+import termios
+
+# region  read keyboard 
+def readchar():
+    fd = sys.stdin.fileno()
+    old_settings = termios.tcgetattr(fd)
+    try:
+        tty.setraw(sys.stdin.fileno())
+        ch = sys.stdin.read(1)
+    finally:
+        termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
+    return ch
+
+manual = '''
+Press keys on keyboard to record value!
+    W: up
+    A: left
+    S: right
+    D: down
+    Q: record/pause/continue
+    E: stop
+
+    G: Quit
+'''
+# endregion
+
+# region init
+I2C().reset_mcu()
+sleep(0.01)
+
+pan = Servo(PWM("P1"))
+tilt = Servo(PWM("P0"))
+panAngle = 0
+tiltAngle = 0
+pan.angle(0)
+tilt.angle(0)
+
+Vilib.rec_video_set["path"] = "/home/pi/video/"
+vname = strftime("%Y-%m-%d-%H.%M.%S", localtime())
+Vilib.rec_video_set["name"] = vname
+
+rec_flag = 'stop' # start,pause,stop
+# endregion init
+
+# rec control
+def rec_control(key):
+    global rec_flag
+
+    if key == 'q' and rec_flag == 'stop':
+        key = None
+        rec_flag = 'start'
+        Vilib.rec_video_run()
+        print('rec start ...')
+    if key == 'q' and rec_flag == 'start':
+        key = None
+        rec_flag = 'pause'
+        Vilib.rec_video_pause()
+        print('pause')
+    if key == 'q' and rec_flag == 'pause':
+        key = None
+        rec_flag = 'start'
+        Vilib.rec_video_start()
+        print('continue')    
+
+    if key == 'e' and rec_flag != 'stop':
+        Vilib.rec_video_stop()
+        print('stop')
+        print("The video saved as %s%s.avi"%(Vilib.rec_video_set["path"],vname))  
+
+# region servo control
+def limit(x,min,max):
+    if x > max:
+        return max
+    elif x < min:
+        return min
+    else:
+        return x
+
+def servo_control(key):
+    global panAngle,tiltAngle       
+    if key == 'w':
+        tiltAngle -= 1
+        tiltAngle = limit(tiltAngle, -90, 90)
+        tilt.angle(tiltAngle)
+    if key == 's':
+        tiltAngle += 1
+        tiltAngle = limit(tiltAngle, -90, 90)
+        tilt.angle(tiltAngle)
+    if key == 'a':
+        panAngle += 1
+        panAngle = limit(panAngle, -90, 90)
+        pan.angle(panAngle)
+    if key == 'd':
+        panAngle -= 1
+        panAngle = limit(panAngle, -90, 90)
+        pan.angle(panAngle)
+
+# endregion servo control
+
+
+def main():
+
+    Vilib.camera_start(inverted_flag=True)
+    Vilib.display(local=True,web=True)
+
+    print(manual)
+    while True:
+        key = readchar()
+        # rec control
+        rec_control(key)
+        # servo control
+        servo_control(key)
+        # esc
+        if key == 'g':
+            Vilib.camera_close()
+            break 
+
+        sleep(0.1)
+
+if __name__ == "__main__":
+    main()