mirror
/
pizero_tracker
kopia lustrzana https://github.com/ogre/pizero_tracker
1
0
Forkuj 0
Kod Zgłoszenia Projekty Wydania Wiki Aktywność

camera wip

master
Michal Fratczak 2020-04-17 00:19:43 +02:00
rodzic 71a375efd9
commit 3ceef421f1
3 zmienionych plików z 67 dodań i 21 usunięć
Pokaż statystyki Ściągnij plik aktualizacji Ściągnij plik porównania Expand all files Collapse all files

2
Readme.md
Wyświetl plik

@ -22,7 +22,7 @@ boost program_options
https://github.com/zeromq/cppzmq/
pip install zmq
pip install zmq exifread
sudo apt-get install imagemagick

81
camera/camera.py
Wyświetl plik

@ -4,13 +4,17 @@ import os, sys, string
import argparse
import json
import time
from datetime import datetime
utcnow = datetime.utcnow
import threading
import subprocess
import shlex
import shutil
import traceback
from pprint import pprint, pformat
import zmq
import picamera
import exifread
from datetime import datetime
utcnow = datetime.utcnow
THREADS_RUN = True
@ -25,16 +29,19 @@ def curdir():
_d = os.path.dirname(__file__)
else:
_d = os.environ['PWD']
if _d == '.':
_d = os.getcwd()
if not _d:
return None
return _d
def RunCmd(cmd):
p = subprocess.Popen(shlex.split(cmd), stdout=subprocess.PIPE, stderr=subprocess.PIPE, bufsize=1, shell=False )
(stdoutdata, stderrdata) = p.communicate()
return stdoutdata
# load key = value file with #comments
def config_file_read(fName):
with open(fName) as f:
@ -91,6 +98,49 @@ def prog_opts():
return ret
def FileExif(i_path):
try:
with open(i_path, 'rb') as f:
tags = exifread.process_file(f)
tags['JPEGThumbnail'] = None
return tags
except:
print("Error reading EXIF: ", i_path)
def ConvertToSSDV(i_file, o_file, resolution, callsign, image_id):
if not os.path.isfile(i_file):
print("ConvertToSSDV: not a file ", i_file)
alt = 0
try:
exif = FileExif(i_file)
alt= str(exif['GPS GPSAltitude']) # 1149/10
alt = eval(alt)
except:
pass
rx = 16 * int(resolution/16)
ry = 16 * int(resolution*2/3/16)
ann = 'Alt ' + str(alt)
resize_cmd = ""
resize_cmd += "convert %s " % i_file
resize_cmd += "-resize %dx%d^ -gravity center -extent %dx%d " % (rx,ry,rx,ry)
# disable annotation because we use low-res snapshots that are already annotated
# resize_cmd += "-gravity north -stroke '#333C' -strokewidth 2 -annotate +0+10 '%s' " % ann
# resize_cmd += "-stroke none -fill white -annotate +0+10 '%s' " % ann
resize_cmd += o_file + '_toSSDV.jpg'
print(resize_cmd)
print( RunCmd(resize_cmd) )
ssdv_cmd = '/boot/ssdv -e -c %s -i %d %s %s' % (callsign, image_id, o_file + '_toSSDV.jpg', o_file)
print(ssdv_cmd)
print( RunCmd(ssdv_cmd) )
os.remove(o_file + '_toSSDV.jpg')
def DecimalDegreeConvert(ddgr):
d = int(ddgr)
m = int((ddgr - d) * 60)
@ -98,7 +148,7 @@ def DecimalDegreeConvert(ddgr):
return (d,m,s)
def EXIF(camera, state):
def SetCameraExif(camera, state):
lat = 0
lon = 0
alt = 0
@ -178,7 +228,7 @@ def StateLoop(port):
def SSDV_DeliverLoop(callsign, out_ssdv_path):
def SSDV_DeliverLoop(callsign, out_ssdv_path, res):
'''
picks last image from PHOTO_ARR, converts to SSDV and copies to output
'''
@ -195,9 +245,7 @@ def SSDV_DeliverLoop(callsign, out_ssdv_path):
continue
ssdv_in = PHOTO_ARR.pop()
cmd = '/boot/ssdv -e -c %s -i %d %s %s' % (callsign, image_id, ssdv_in, out_ssdv_path)
print(cmd)
os.system( cmd )
ConvertToSSDV( ssdv_in, out_ssdv_path, res, callsign, image_id)
image_id += 1
@ -256,7 +304,7 @@ def CameraLoop(session_dir, opts):
if b_stdby_mode:
# print('b_stdby_mode')
CAMERA.resolution = (8*16, 4*16)
EXIF(CAMERA, STATE)
SetCameraExif(CAMERA, STATE)
CAMERA.annotate_text = str( int(seconds_since(BOOT_TIME) / 60) )
CAMERA.capture( stdby_file )
time.sleep(5)
@ -267,7 +315,7 @@ def CameraLoop(session_dir, opts):
# full res photo
print("Photo HI")
CAMERA.resolution = (2592, 1944)
EXIF(CAMERA, STATE)
SetCameraExif(CAMERA, STATE)
CAMERA.annotate_text = ''
CAMERA.capture( next_path(photo_hi_dir, 'jpeg'))
@ -289,9 +337,9 @@ def CameraLoop(session_dir, opts):
alt = STATE['dynamics']['alt']['val']
dAlt = STATE['dynamics']['alt']['dVdT']
dAltAvg = STATE['dynamics']['alt']['dVdT_avg']
print(alt, dAlt, dAltAvg)
# print(alt, dAlt, dAltAvg)
EXIF(CAMERA, STATE)
SetCameraExif(CAMERA, STATE)
CAMERA.annotate_text = 'Alt: %d/%.01f m' % (int(alt), dAlt)
if seconds_since(snapshot_time) > snapshot_interval_secs:
@ -301,8 +349,6 @@ def CameraLoop(session_dir, opts):
snapshot_time = utcnow()
time.sleep(1)
print("CAMERA.stop_recording()")
CAMERA.stop_recording()
print('CAMERA.close()')
@ -327,7 +373,7 @@ def main():
cam_process.start()
state_process = threading.Thread( target= lambda: StateLoop(GLOB['port']) )
state_process.start()
ssdv_process = threading.Thread( target= lambda: SSDV_DeliverLoop( GLOB['callsign'], GLOB['ssdv']) )
ssdv_process = threading.Thread( target= lambda: SSDV_DeliverLoop( GLOB['callsign'], GLOB['ssdv'], GLOB['cam_ssdv_res']) )
ssdv_process.start()
while(1):
time.sleep(1)
@ -347,3 +393,4 @@ def main():
if __name__ == "__main__":
main()
# ConvertToSSDV(sys.argv[-2], sys.argv[-1], 512, 'fro', 0)

5
tracker/code/main/main.cpp
Wyświetl plik

@ -244,7 +244,6 @@ int main1(int argc, char** argv)
// internal temp
const float temp_int = read_temp_from_ds18b20(ds18b20_device);
GLOB::get().dynamics_add("temp_int", std::chrono::steady_clock::now(), temp_int);
cout<<C_RED<<"temp "<<GLOB::get().dynamics_get("temp_int").str()<<C_OFF<<endl;
this_thread::sleep_for( chrono::seconds(15) );
}
});
@ -314,10 +313,10 @@ int main1(int argc, char** argv)
if( ssdv_tiles.size() )
{
auto tile = ssdv_tiles.next_tile();
if(!ssdv_tiles.size()) // delete image when done
system( (string("rm -f ") + G.cli.ssdv_image + " || echo \"Can't delete SSDV image.\"").c_str() );
cout<<"Send SSDV @RF"<<endl;
mtx2_write( radio_fd, tile.data(), sizeof(tile) );
if(!ssdv_tiles.size()) // delete image when done
system( (string("rm -f ") + G.cli.ssdv_image + " || echo \"Can't delete SSDV image.\"").c_str() );
}
}
}