6a73634ac2
v4l2l.py is included in src dir. The version you get from pip install does not work with python3 (at least not on my system), so I had to modify a bunch of the functions returning a list() of range() instead of the original range().
110 lines
2.9 KiB
Python
110 lines
2.9 KiB
Python
# Class that simulates the functionality of opencv so howdy can use v4l2 devices seamlessly
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# Import required modules. lib4l-dev package is also required.
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import v4l2
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import fcntl
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import numpy
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import sys
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from cv2 import cvtColor, COLOR_GRAY2BGR, CAP_PROP_FRAME_WIDTH, CAP_PROP_FRAME_HEIGHT
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try:
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from pyv4l2.frame import Frame
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except ImportError:
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print("Missing pyv4l2 module, please run:")
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print(" pip3 install pyv4l2\n")
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sys.exit(13)
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class pyv4l2_reader:
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""" This class was created to look as similar to the openCV features used in Howdy as possible for overall code cleanliness. """
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# Init
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def __init__(self, device_name, device_format):
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self.device_name = device_name
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self.device_format = device_format
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self.height = 0
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self.width = 0
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self.probe()
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self.frame = ""
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def set(self, prop, setting):
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""" Setter method for height and width """
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if prop == CAP_PROP_FRAME_WIDTH:
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self.width = setting
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elif prop == CAP_PROP_FRAME_HEIGHT:
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self.height = setting
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def get(self, prop):
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""" Getter method for height and width """
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if prop == CAP_PROP_FRAME_WIDTH:
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return self.width
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elif prop == CAP_PROP_FRAME_HEIGHT:
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return self.height
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def probe(self):
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""" Probe the video device to get height and width info """
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vd = open(self.device_name, 'r')
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fmt = v4l2.v4l2_format()
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fmt.type = v4l2.V4L2_BUF_TYPE_VIDEO_CAPTURE
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ret = fcntl.ioctl(vd, v4l2.VIDIOC_G_FMT, fmt)
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vd.close()
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if ret == 0:
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height = fmt.fmt.pix.height
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width = fmt.fmt.pix.width
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else:
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# Could not determine the resolution from ioctl call. Reverting to slower ffmpeg.probe() method
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import ffmpeg
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probe = ffmpeg.probe(self.device_name)
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height = int(probe['streams'][0]['height'])
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width = int(probe['streams'][0]['width'])
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if self.get(CAP_PROP_FRAME_HEIGHT) == 0:
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self.set(CAP_PROP_FRAME_HEIGHT, int(height))
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if self.get(CAP_PROP_FRAME_WIDTH) == 0:
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self.set(CAP_PROP_FRAME_WIDTH, int(width))
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def record(self):
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""" Start recording """
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self.frame = Frame(self.device_name)
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def grab(self):
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""" Read a sigle frame from the IR camera. """
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self.read()
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def read(self):
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""" Read a sigle frame from the IR camera. """
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if not self.frame:
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self.record()
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# Grab a raw frame from the camera
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frame_data = self.frame.get_frame()
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# Convert the raw frame_date to a numpy array
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img = (
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numpy
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.frombuffer(frame_data, numpy.uint8)
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)
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# Convert the numpy array to a proper grayscale image array
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img_bgr = cvtColor(img, COLOR_GRAY2BGR)
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# Convert the grayscale image array into a proper RGB style numpy array
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img2 = (
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numpy
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.frombuffer(img_bgr, numpy.uint8)
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.reshape([352, 352, 3])
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)
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# Return a single frame of video
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return 0, img2
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def release(self):
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""" Empty our array. If we had a hold on the camera, we would give it back here. """
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self.video = ()
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self.num_frames_read = 0
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if self.frame:
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self.frame.close()
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