SatTraker/ImageCapture.py at master · dbrewster/SatTraker · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
import cv2
import threading
from typing import List
from abc import ABC, abstractmethod
import time
import imutils
import numpy as np

import Controller


class ImageOptions:
    cameraNum: int = 0
    flipHorizontal: bool = False
    flipVertical: bool = False
    rotate: int = 0
    captureRateInMS: int = 1.0/60.0
    exposure: float = -3


class Image:
    img = None
    captureTime = None
    timeSinceLastCapture = None


class ImageObserver(ABC):
    @abstractmethod
    def processingStarted(self) -> None:
        pass

    @abstractmethod
    def imageCaptured(self, img: Image) -> None:
        pass

    @abstractmethod
    def processingDone(self) -> None:
        pass


class ImageCapture:
    _observers: List[ImageObserver] = []

    def __init__(self, controller: Controller) -> None:
        super().__init__()
        self.cap = None
        self.controller = controller
        self.capturing = False
        self.currentExposure = 0
        self.currentGain = 0

    def startCaputure(self):
        self.capturing = True
        imagethread = threading.Thread(target=self.processImage)
        imagethread.start()

    def stopCapture(self):
        self.capturing = False

    def processImage(self):
        self.cap = cv2.VideoCapture(self.controller.get("camera"), cv2.CAP_DSHOW)
        cam = self.cap
        cam.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
        cam.set(cv2.CAP_PROP_FRAME_HEIGHT, 960)
        print("CAP_PROP_FORMAT: " + str(cam.get(cv2.CAP_PROP_FORMAT)))
        print("CAP_PROP_MODE: " + str(cam.get(cv2.CAP_PROP_MODE)))
        print("CAP_PROP_FPS: " + str(cam.get(cv2.CAP_PROP_FPS)))
        print("CAP_PROP_CONTRAST: " + str(cam.get(cv2.CAP_PROP_CONTRAST)))
        print("CAP_PROP_GAIN: " + str(cam.get(cv2.CAP_PROP_GAIN)))
        print("CAP_PROP_FRAME_WIDTH: " + str(cam.get(cv2.CAP_PROP_FRAME_WIDTH)))
        print("CAP_PROP_FRAME_HEIGHT: " + str(int(cam.get(cv2.CAP_PROP_FRAME_HEIGHT))))
        print("CAP_PROP_POS_FRAMES: " + str(cam.get(cv2.CAP_PROP_POS_FRAMES)))
        print("CAP_PROP_EXPOSURE: " + str(cam.get(cv2.CAP_PROP_EXPOSURE)))

        for observer in self._observers:
            observer.processingStarted()

        lastCapture = 0
        while self.capturing:
            ret, img = self.cap.read()
            exposure = self.controller.get("exposure")
            if exposure != self.currentExposure:
                if exposure > 0:
                    str_val = str(pow(2, exposure))
                else:
                    str_val = "1/" + str(pow(2, -exposure))
                print("Setting to exposure " + str_val)
                self.cap.set(cv2.CAP_PROP_AUTO_EXPOSURE, 0.25)
                self.cap.set(cv2.CAP_PROP_EXPOSURE, exposure)
                self.currentExposure = exposure

            gain = self.controller.get("gain")
            if gain != self.currentGain:
                print("Setting to gain " + str(gain))
                self.cap.set(cv2.CAP_PROP_GAIN, gain)
                self.currentGain = gain

            if ret:
                if self.controller.get("flipVertical") and self.controller.get("flipHorizontal"):
                    img = cv2.flip(img, 0)
                elif self.controller.get("flipHorizontal"):
                    img = cv2.flip(img, 1)
                elif self.controller.get("flipVertical"):
                    img = cv2.flip(img, -1)
                img = imutils.rotate(img, self.controller.get("rotate"))
                currentTime = time.time()
                timeSinceLastCapture = currentTime - lastCapture
                lastCapture = currentTime
                image = Image()
                image.img = img
                is_all_zero = np.all((img == 0))
                if not is_all_zero:
                    image.captureTime = currentTime
                    image.timeSinceLastCapture = timeSinceLastCapture
                    for observer in self._observers:
                        observer.imageCaptured(image)
            # delayTime = float(self.options.captureRateInMS) / 1000.0
            # time.sleep(delayTime)  # sleep 20 ms

        for observer in self._observers:
            observer.processingDone()
        self.cap.release()

    def addObserver(self, param):
        self._observers.append(param)