236 lines
11 KiB
Python
236 lines
11 KiB
Python
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# Creation Date: 14.01.2022
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# Author: Kenan Gömek
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# This script takes pictures with Picameras VideoPort like it will be used to work with OpenCV and saves it with OpenCV to have the real use case pictures.
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# This script is designed for aligning the LED-Stripe horizontally to the image sensor with LEDs off
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# Use:
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# 1. turn on the LEDs to e.g. 005-000-000 manually via bash or similar
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# 2. execute this script
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# 3. adjust shutter speed if desired with x,c,b,n,m (program starts with max shutter speed for selected frame rate)
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# 4. align LED strip e.g. to the upper blue line and first led to the left edge of the image
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# 5. take image of alignment with 'i'
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# 6. end program with 'q'
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import cv2 as cv
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import picamera
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from picamera.array import PiRGBArray
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from fractions import Fraction
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import time
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from datetime import datetime
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import os
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import numpy as np
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# Define camera settings
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# divide origin resoluton by a number, to have the origin aspect ratio
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# RESOLUTION = (3280, 2464) # Max Photo-Resolution CAM03 and CAM04 # no image with PiCamera Videoport at this Resolution.. Probably GPU Memory and CPU issues.
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# RESOLUTION = (1640,1232) # 2nd best Resolution for CAM03 and CAM04 with FUll FOV (2x2 binning) # Mode 4
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SENSOR_MODE = 4 # corresponding sensor mode to resolution
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OUTPUT_RESOLUTION = (416, 320) # (1640x1232)/4=(410,308)
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# (410,308) is being upscaled to (416,320) from ISP (warning in bash), but image will have still (410,308) pixels.
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# OUTPUT_RESOLUTION = (820, 616) # (1640x1232)/2=(820,616)
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# bash: frame size rounded up from 820x616 to 832x624
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AWB_MODE = 'off' # Auto white balance mode
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AWB_GAINS = (Fraction(485, 256), Fraction(397, 256)) # White Balance Gains to have colours read correctly: (red, blue)
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ISO = 100 # ISO value
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EXPOSURE_MODE = 'off'
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FRAMERATE = 10 # frames per second. 40 fps is max for sensor mode 4
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SLEEP_TIME = 2 # Time for sleep-mode for the camera in seconds. My default: 2 s
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# Define Funcions
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def take_image_picamera_opencv(shutter_speed):
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# Initialise Camera
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with picamera.PiCamera() as camera:
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with PiRGBArray(camera) as output:
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# Set camera settings
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camera.sensor_mode = SENSOR_MODE # force camera into desired sensor mode
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camera.resolution = OUTPUT_RESOLUTION # frame will be resized from GPU to this resolution. No CPU usage!
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camera.framerate = FRAMERATE
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camera.awb_mode = AWB_MODE
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camera.awb_gains = AWB_GAINS
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camera.iso = ISO
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camera.shutter_speed = shutter_speed
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camera.exposure_mode = EXPOSURE_MODE
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time.sleep(SLEEP_TIME) # Camera warm-up time to apply settings
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# camera.start_preview() # show camera preview through PiCamera interface
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# camera.annotate_frame_num=True # Controls whether the current frame number is drawn as an annotation.
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for frameidx, frame in enumerate(camera.capture_continuous(output, format='bgr', use_video_port=True)):
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framenumber = frameidx+1 # frameidx starts with 0, framenumber with 1
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image = frame.array # raw NumPy array without JPEG encoding
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camera_exposure_speed = camera.exposure_speed # Retrieves the current shutter speed of the camera.
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# cv.imshow("Current Frame", image) # display the image without text
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img = alignment_procedure(image, shutter_speed, framenumber, camera_exposure_speed) # show the frame
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framenumber_to_save = 7000 # frame 15 (no particular reason for frame 15)
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trigger_save_frame = 'no' # trigger for saving the frame
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if framenumber == framenumber_to_save and trigger_save_frame=='yes': # save desired frame
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now = datetime.now(); d1 = now.strftime("%Y-%m-%d %H-%M-%S.%f")[:-3]
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print(f"Take picture! framenumber: {framenumber} shutter speed: {shutter_speed} µs")
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cv.imwrite(f"{path_saveFolder}/ss{shutter_speed}_Date {d1}.png", image)
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break # break from the loop, because we took the image we wanted
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output.truncate(0) # clear the stream for next frame
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# Only uncomment following code if you display the image. No errors if not commented, but higher fps if commented.
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# if q is pressed, break from loop.
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pressed_key = cv.waitKey(1) & 0xff
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if pressed_key == ord('q'):
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break
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elif pressed_key == ord('i'): # Take image from manipulated image if i is pressed
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now = datetime.now(); d1 = now.strftime("%Y-%m-%d %H-%M-%S.%f")[:-3]
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cv.imwrite(f"{path_saveFolder}/Date {d1}.png", img)
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print('took image!')
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elif pressed_key == ord('b'): # increase shutterspeed by 50
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shutter_speed = round(shutter_speed+50)
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camera.shutter_speed = shutter_speed
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elif pressed_key == ord('n'): # increase shutterspeed by 500
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shutter_speed = round(shutter_speed+500)
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elif pressed_key == ord('m'): # max shutterspeed
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shutter_speed = round(1/FRAMERATE*1e6)
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camera.shutter_speed = shutter_speed
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elif pressed_key == ord('x'): # decrease shutterspeed by 500
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shutter_speed = round(shutter_speed-500)
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camera.shutter_speed = shutter_speed
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elif pressed_key == ord('c'): # decrease shutterspeed by 50
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shutter_speed = round(shutter_speed-50)
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camera.shutter_speed = shutter_speed
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elif pressed_key == ord('o'): # set shutter speed to 0
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shutter_speed = 0
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camera.shutter_speed = shutter_speed
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def display_image_with_text(img, shutter_speed, framenumber, camera_exposure_speed):
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img = img.copy() # make copy of image and do not modify the original image
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font = cv.FONT_HERSHEY_SIMPLEX # font
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fontScale = 1 # fontScale
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color = (255, 255, 255) # Font colour in BGR
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thickness = 1 # Line thickness in px
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# set text position
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frame_width = int(img.shape[1])
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frame_height = int(img.shape[0])
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text_start_position_Y = int(round(frame_height*0.12)) # start position of text in pixels 12 % of frame height
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text_linespacing = 50 # line spacing between two strings in pixels
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# text_start_position_X = int(frame_width/4) # start text from 1/4 of image width
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text_start_position_X = int(0) # start text from left edge of image
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# set position in (x,y)-coordinated from top left corner. Bottom-left corner of the text string in the image.
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pos_1 = (text_start_position_X, text_start_position_Y) # start text from 1/4 of image width
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pos_2 = (text_start_position_X, text_start_position_Y+text_linespacing) # start text from 1/4 of image width
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pos_3 = (text_start_position_X, text_start_position_Y+2*text_linespacing) # start text from 1/4 of image width
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# define text to display
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text_line_1 = f"set shttr-spd: {shutter_speed} us"
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text_line_3 = f"Frame: {framenumber}"
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text_line_2 = f"ret exp-spd: {camera_exposure_speed} us"
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# put the text into the image
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image_text_1 = cv.putText(img, text_line_1, pos_1, font,
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fontScale, color, thickness, cv.LINE_AA)
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image_text_2 = cv.putText(img, text_line_2, pos_2, font,
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fontScale, color, thickness, cv.LINE_AA)
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image_text_3 = cv.putText(img, text_line_3, pos_3, font,
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fontScale, color, thickness, cv.LINE_AA)
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cv.imshow("Current Frame", img) # display the image
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def alignment_procedure(img, shutter_speed, framenumber, camera_exposure_speed):
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img = img.copy() # make copy of image and do not modify the original image
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font = cv.FONT_HERSHEY_SIMPLEX # font
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fontScale = 1 # fontScale
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color = (255, 255, 255) # Font colour in BGR
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thickness = 1 # Line thickness in px
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# set text position
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frame_width = int(img.shape[1])
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frame_height = int(img.shape[0])
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text_start_position_Y = int(round(frame_height*0.12)) # start position of text in pixels 12 % of frame height
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text_linespacing = 50 # line spacing between two strings in pixels
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# text_start_position_X = int(frame_width/4) # start text from 1/4 of image width
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text_start_position_X = int(0) # start text from left edge of image
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# set position in (x,y)-coordinated from top left corner. Bottom-left corner of the text string in the image.
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pos_1 = (text_start_position_X, text_start_position_Y) # start text from 1/4 of image width
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pos_2 = (text_start_position_X, text_start_position_Y+text_linespacing) # start text from 1/4 of image width
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pos_3 = (text_start_position_X, text_start_position_Y+2*text_linespacing) # start text from 1/4 of image width
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# define text to display
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text_line_1 = f"set shttr-spd: {shutter_speed} us"
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text_line_3 = f"Frame: {framenumber}"
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text_line_2 = f"ret exp-spd: {camera_exposure_speed} us"
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# put the text into the image
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image_text_1 = cv.putText(img, text_line_1, pos_1, font,
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fontScale, color, thickness, cv.LINE_AA)
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image_text_2 = cv.putText(img, text_line_2, pos_2, font,
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fontScale, color, thickness, cv.LINE_AA)
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image_text_3 = cv.putText(img, text_line_3, pos_3, font,
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fontScale, color, thickness, cv.LINE_AA)
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# draw lines into image
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alignment_line_thickness = 1 # thickness of the alignment line in pixels
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alignment_line_offset = 21 # offset of the alignment line from the center
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frame_center = round(frame_height/2) # center of the frame
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offset_center = frame_center + 70 # offset of the center for e.g. have the alignment lines more in the bottom part of the image
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alignment_row_start = offset_center-alignment_line_offset
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alignment_row_end = offset_center+alignment_line_offset
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img[offset_center, :, :] = [255,255,255] # bgr format
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img[alignment_row_start-alignment_line_thickness:alignment_row_start, :, :] = [255,0,0] # bgr format
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img[alignment_row_end:alignment_row_end+alignment_line_thickness, :, :] = [0,0,255] # bgr format
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cv.imshow("Current Frame", img) # display the image
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return img
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# Start Script
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# Create folder for saving the captured pictures
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now = datetime.now(); d1 = now.strftime("%Y-%m-%d %H-%M")
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path_cwd = os.getcwd()
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path_saveFolder = path_cwd+r"/Ledstripe_alignment_"+d1
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try:
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os.mkdir(path_saveFolder)
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except OSError:
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print("Error! Ending script. Try it again in 1 minute")
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quit()
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# start capture series for different shutter speeds
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print('start caputure series...')
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# take_image_picamera_opencv(shutter_speed=2000000) #Can see something at normal light conditions
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take_image_picamera_opencv(shutter_speed=round(1/FRAMERATE*1e6)) # max shutter-speed depending on fps: 1/2 fps = 500 000 µs
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# End Script
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cv.destroyAllWindows()
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print('Script finished')
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