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NanoCam.py
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NanoCam.py
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# Import the needed libraries
import time
from threading import Thread
import cv2
CSI: int = 0
USB: int = 1
RTSP: int = 2
MJPEG: int = 3
class Camera:
def __init__(self, camera_type=CSI, device_id=0, source="localhost:8080", flip=0, width=640, height=480, fps=30,
enforce_fps=False, debug=False):
# initialize all variables
self.fps = fps
self.camera_type = camera_type
self.camera_id = device_id
# for streaming camera only
self.camera_location = source
self.flip_method = flip
self.width = width
self.height = height
self.enforce_fps = enforce_fps
self.debug_mode = debug
# track error value
'''
-1 = Unknown error
0 = No error
1 = Error: Could not initialize camera.
2 = Thread Error: Could not read image from camera
3 = Error: Could not read image from camera
4 = Error: Could not release camera
'''
# Need to keep an history of the error values
self.__error_value = [0]
# created a thread for enforcing FPS camera read and write
self.cam_thread = None
# holds the frame data
self.frame = None
# tracks if a CAM opened was succesful or not
self.__cam_opened = False
# create the OpenCV camera inteface
self.cap = None
# open the camera interface
self.open()
# enable a threaded read if enforce_fps is active
if self.enforce_fps:
self.start()
def __csi_pipeline(self, sensor_id=0):
return ('nvarguscamerasrc sensor-id=%d ! '
'video/x-raw(memory:NVMM), '
'width=(int)%d, height=(int)%d, '
'format=(string)NV12, framerate=(fraction)%d/1 ! '
'nvvidconv flip-method=%d ! '
'video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! '
'videoconvert ! '
'video/x-raw, format=(string)BGR ! appsink' % (sensor_id,
self.width, self.height, self.fps, self.flip_method,
self.width, self.height))
def __usb_pipeline(self, device_name="/dev/video1"):
return ('v4l2src device=%s ! '
'video/x-raw, '
'width=(int)%d, height=(int)%d, '
'format=(string)YUY2, framerate=(fraction)%d/1 ! '
'videoconvert ! '
'video/x-raw, format=BGR ! '
'appsink' % (device_name, self.width, self.height, self.fps))
def __rtsp_pipeline_bak(self, location="localhost:8080"):
return ('rtspsrc location=%s latency=0 ! '
'rtph264depay ! h264parse ! omxh264dec ! '
'videorate ! videoscale ! '
'video/x-raw, '
'width=(int)%d, height=(int)%d, '
'format=(string)YUY2, framerate=(fraction)%d/1 ! '
'videoconvert ! '
'video/x-raw, format=BGR ! '
'appsink' % ("rtsp://" + location, self.width, self.height, self.fps))
def __rtsp_pipeline(self, location="localhost:8080"):
return ('rtspsrc location=%s ! '
'rtph264depay ! h264parse ! omxh264dec ! '
'videorate ! videoscale ! '
'video/x-raw, '
'width=(int)%d, height=(int)%d, '
'framerate=(fraction)%d/1 ! '
'videoconvert ! '
'video/x-raw, format=BGR ! '
'appsink' % ("rtsp://" + location, self.width, self.height, self.fps))
def __mjpeg_pipeline(self, location="localhost:8080"):
return ('souphttpsrc location=%s do-timestamp=true is_live=true ! '
'multipartdemux ! jpegdec ! '
'videorate ! videoscale ! '
'video/x-raw, '
'width=(int)%d, height=(int)%d, '
'framerate=(fraction)%d/1 ! '
'videoconvert ! '
'video/x-raw, format=BGR ! '
'appsink' % ("http://" + location, self.width, self.height, self.fps))
def __usb_pipeline_enforce_fps(self, device_name="/dev/video1"):
return ('v4l2src device=%s ! '
'video/x-raw, '
'width=(int)%d, height=(int)%d, '
'format=(string)YUY2, framerate=(fraction)%d/1 ! '
'videorate ! '
'video/x-raw, framerate=(fraction)%d/1 ! '
'videoconvert ! '
'video/x-raw, format=BGR ! '
'appsink' % (device_name, self.width, self.height, self.fps, self.fps))
def open(self):
# open the camera inteface
# determine what type of camera to open
if self.camera_type == CSI:
# then CSI camera
self.__open_csi()
elif self.camera_type == USB:
# it is USB camera
self.__open_usb()
elif self.camera_type == RTSP:
# rtsp camera
self.__open_rtsp()
elif self.camera_type == MJPEG:
# http camera
self.__open_mjpeg()
else:
raise Exception("Not Support Camera Type %d", self.camera_type)
return self
def start(self):
self.cam_thread = Thread(target=self.__thread_read)
self.cam_thread.daemon = True
self.cam_thread.start()
return self
# Tracks if camera is ready or not(maybe something went wrong)
def isReady(self):
return self.__cam_opened
# Tracks the camera error state.
def hasError(self):
# check the current state of the error history
latest_error = self.__error_value[-1]
if latest_error == 0:
# means no error has occured yet.
return self.__error_value, False
else:
return self.__error_value, True
def __open_csi(self):
# opens an inteface to the CSI camera
try:
# initialize the first CSI camera
self.cap = cv2.VideoCapture(self.__csi_pipeline(self.camera_id), cv2.CAP_GSTREAMER)
if not self.cap.isOpened():
# raise an error here
# update the error value parameter
self.__error_value.append(1)
raise RuntimeError()
self.__cam_opened = True
except RuntimeError:
self.__cam_opened = False
if self.debug_mode:
raise RuntimeError('Error: Could not initialize CSI camera.')
except Exception:
# some unknown error occurred
self.__error_value.append(-1)
self.__cam_opened = False
if self.debug_mode:
raise RuntimeError("Unknown Error has occurred")
def __open_usb(self):
# opens an interface to the USB camera
try:
# initialize the USB camera
self.camera_name = "/dev/video" + str(self.camera_id)
# check if enforcement is enabled
if self.enforce_fps:
self.cap = cv2.VideoCapture(self.__usb_pipeline_enforce_fps(self.camera_name), cv2.CAP_GSTREAMER)
else:
self.cap = cv2.VideoCapture(self.__usb_pipeline(self.camera_name), cv2.CAP_GSTREAMER)
if not self.cap.isOpened():
# raise an error here
# update the error value parameter
self.__error_value.append(1)
raise RuntimeError()
self.__cam_opened = True
except RuntimeError:
self.__cam_opened = False
if self.debug_mode:
raise RuntimeError('Error: Could not initialize USB camera.')
except Exception:
# some unknown error occurred
self.__error_value.append(-1)
self.__cam_opened = False
if self.debug_mode:
raise RuntimeError("Unknown Error has occurred")
def __open_rtsp(self):
# opens an interface to the RTSP location
try:
# starts the rtsp client
self.cap = cv2.VideoCapture(self.__rtsp_pipeline(self.camera_location), cv2.CAP_GSTREAMER)
if not self.cap.isOpened():
# raise an error here
# update the error value parameter
self.__error_value.append(1)
raise RuntimeError()
self.__cam_opened = True
except RuntimeError:
self.__cam_opened = False
if self.debug_mode:
raise RuntimeError('Error: Could not initialize RTSP camera.')
except Exception:
# some unknown error occurred
self.__error_value.append(-1)
self.__cam_opened = False
if self.debug_mode:
raise RuntimeError("Unknown Error has occurred")
def __open_mjpeg(self):
# opens an interface to the MJPEG location
try:
# starts the MJEP client
self.cap = cv2.VideoCapture(self.__mjpeg_pipeline(self.camera_location), cv2.CAP_GSTREAMER)
if not self.cap.isOpened():
# raise an error here
# update the error value parameter
self.__error_value.append(1)
raise RuntimeError()
self.__cam_opened = True
except RuntimeError:
self.__cam_opened = False
if self.debug_mode:
raise RuntimeError('Error: Could not initialize MJPEG camera.')
except Exception:
# some unknown error occurred
self.__error_value.append(-1)
self.__cam_opened = False
if self.debug_mode:
raise RuntimeError("Unknown Error has occurred")
def __thread_read(self):
# uses thread to read
time.sleep(1.5)
while self.__cam_opened:
try:
self.frame = self.__read()
except Exception:
# update the error value parameter
self.__error_value.append(2)
self.__cam_opened = False
if self.debug_mode:
raise RuntimeError('Thread Error: Could not read image from camera')
break
# reset the thread object:
self.cam_thread = None
def __read(self):
# reading images
ret, image = self.cap.read()
if ret:
return image
else:
# update the error value parameter
self.__error_value.append(3)
def read(self):
# read the camera stream
try:
# check if debugging is activated
if self.debug_mode:
# check the error value
if self.__error_value[-1] != 0:
raise RuntimeError("An error as occurred. Error Value:", self.__error_value)
if self.enforce_fps:
# if threaded read is enabled, it is possible the thread hasn't run yet
if self.frame is not None:
return self.frame
else:
# we need to wait for the thread to be ready.
return self.__read()
else:
return self.__read()
except Exception as ee:
if self.debug_mode:
raise RuntimeError(ee.args)
def release(self):
# destroy the opencv camera object
try:
# update the cam opened variable
self.__cam_opened = False
# ensure the camera thread stops running
if self.enforce_fps:
if self.cam_thread is not None:
self.cam_thread.join()
if self.cap is not None:
self.cap.release()
# update the cam opened variable
self.__cam_opened = False
except RuntimeError:
# update the error value parameter
self.__error_value.append(4)
if self.debug_mode:
raise RuntimeError('Error: Could not release camera')