SA-Kenan/90_ZielSW/01_OnlyCapturing_NoProcessing.py

# Creation Date: 02.03.2022
# Author: Kenan Gömek
# 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.
# This script is designed for shooting manually images with 'i'
# Press 'q' to exit
# Change camera parameters with v,b,n,m,x,c,o. See code for more information.


import cv2 as cv
import picamera
from picamera.array import PiRGBArray
from fractions import Fraction

import time
from datetime import datetime
import os

import numpy as np
import matplotlib.pyplot as plt


# Define camera settings


SENSOR_MODE = 4 # corresponding sensor mode to resolution 1640x1232
OUTPUT_RESOLUTION = (416, 320)  # (1640x1232)/4=(410,308) --> needs to be divisible by 16 --> 416x320


AWB_MODE = 'off'  # Auto white balance mode
AWB_GAINS = (1.395, 1.15)  # White Balance Gains to have colours read correctly: (red, blue). Int, floar or fraction are valid.
BRIGHTNESS = 25  # sets the brightness setting of the camera. default is 50. [0-100]
    #the brighter, the brighter the LEDs and the higher the RGB values and vice versa!
CONTRAST = 100  #  sets the contrast setting of the camera. The default value is 0. [-100 ... 100]

SHUTTER_SPEED = 30000  # [µs]

ISO = 320  # ISO value
EXPOSURE_MODE = 'off'
FRAMERATE = 25  # frames per second. 40 fps is max for sensor mode 4

SLEEP_TIME = 2  # Time for sleep-mode for the camera in seconds. My default: 2 s

# Define Funcions
def get_frames_from_camera():
    # Initialise Camera
    print('Initalise Camera...')
    with picamera.PiCamera() as camera:
        with PiRGBArray(camera) as output:
            # Set camera settings
            camera.sensor_mode = SENSOR_MODE  # force camera into desired sensor mode 
            camera.resolution = OUTPUT_RESOLUTION  # frame will be resized from GPU to this resolution. No CPU usage!
            camera.framerate = FRAMERATE

            camera.awb_mode = AWB_MODE
            camera.awb_gains = AWB_GAINS

            camera.iso = ISO
            camera.shutter_speed = SHUTTER_SPEED
                # it was found that, you have to set the right shutter speed at the first initalisation of the current runtime of the program.
                # The gains (analog, digital) will adjust to this set up.
                # After the gains are fixed, they will never change! even if you change the shutter speed during the runtime.
                # To get consistent brightness values, set the right shutter speed at initalisation once.
            
            time.sleep(SLEEP_TIME) # wait for iso gains and digital_gain and analog_gain to settle before fixing the gains with exposure_mode = off
            camera.exposure_mode = EXPOSURE_MODE

            time.sleep(1) # wait before applying brightness and contrast
            camera.brightness = BRIGHTNESS
            camera.contrast = CONTRAST
            time.sleep(SLEEP_TIME)  # Camera warm-up time to apply settings

            # camera.start_preview()  # show camera preview through PiCamera interface
            # camera.annotate_frame_num=True  # Controls whether the current frame number is drawn as an annotation.

            print('Start caputure...')

            for frameidx, frame in enumerate(camera.capture_continuous(output, format='bgr', use_video_port=True)):
                start_processing = time.perf_counter()

                framenumber = frameidx+1  # frameidx starts with 0, framenumber with 1
                image = frame.array  # raw NumPy array without JPEG encoding

                #cv.imshow("Current Frame", image)  # display the image without text
                output.truncate(0)  # clear the stream for next frame

                # processing



                # Only uncomment following code if you display the image. No errors if not commented, but higher fps if commented.
                # if q is pressed, break from loop. 
                pressed_key = cv.waitKey(2) & 0xff
                if pressed_key == ord('q'):
                    break

                elif pressed_key == ord('v'): #  increase shutterspeed by 5
                    shutter_speed = round(shutter_speed+5)
                    camera.shutter_speed = shutter_speed
                    time.sleep(2) # wait to shutter speed is applied before querying exposure speed
                    exposure_speed = camera.exposure_speed
                    print(f"shutter speed set to: {shutter_speed}")
                    print(f"retrieved shutter speed: {exposure_speed}")
                
                elif pressed_key == ord('b'): #  increase shutterspeed by 50
                    shutter_speed = round(shutter_speed+50)
                    camera.shutter_speed = shutter_speed
                    print(f"shutter speed set to: {shutter_speed}")
                elif pressed_key == ord('n'): #  increase shutterspeed by 500
                    shutter_speed = round(shutter_speed+500)
                    print(f"shutter speed set to: {shutter_speed}")
                elif pressed_key == ord('m'): #  max shutterspeed
                    shutter_speed = round(1/FRAMERATE*1e6)
                    camera.shutter_speed = shutter_speed
                    print(f"shutter speed set to: {shutter_speed}")
                elif pressed_key == ord('x'): #  decrease shutterspeed by 500
                    shutter_speed = round(shutter_speed-500)
                    camera.shutter_speed = shutter_speed
                    print(f"shutter speed set to: {shutter_speed}")
                elif pressed_key == ord('c'): #  decrease shutterspeed by 50
                    shutter_speed = round(shutter_speed-50)
                    camera.shutter_speed = shutter_speed
                    print(f"shutter speed set to: {shutter_speed}")
                elif pressed_key == ord('o'): #  set shutterspeed to 0
                    shutter_speed = 0
                    camera.shutter_speed = shutter_speed
                    print(f"shutter speed set to: {shutter_speed}")

                end_processing = time.perf_counter()
                time_processing = round(end_processing-start_processing, 2)
                time_processing = time_processing*1000
                print(f'processing time: {time_processing} ms')



# ----------------------------------------------------------------------------
# main
def main():
    # start capturing
    get_frames_from_camera() # start capture

    cv.destroyAllWindows()
    print('Program finished')



if __name__ == "__main__":
    main()