Camera abstraction

MAPLE.cfg

@@ -21,3 +21,8 @@ Z2OffsetY = 7
 Z2OffsetZ = 10.7
 
 
+# To implement support for your own camera, follow examples in cameras.py.
+
+# Uncomment to use OpenCV supported camera.
+# camera_class = cameras.OpenCVCamera
+

cameras.py

@@ -0,0 +1,198 @@
+##
+## This copyrighted software is distributed under the GPL v2.0 license.
+## See the LICENSE file for more details.
+##
+
+"""
+Abstraction layer for other camera interfaces (pyicic, opencv, etc)
+
+To implement a custom camera, subclass cameras.Camera, and implement the
+methods with the @abstractmethod decorator.
+"""
+
+import abc
+from abc import abstractmethod
+import warnings
+
+import numpy as np
+import cv2
+
+
+class CameraNotFoundError(IOError): pass
+class NoFrameError(IOError): pass
+
+# Should work across Python 2 and 3.
+# see: https://gist.github.com/alanjcastonguay/25e4db0edd3534ab732d6ff615ca9fc1
+ABC = abc.ABCMeta('ABC', (object,), {})
+
+class Camera(ABC):
+    @abstractmethod
+    def __init__(self):
+        """
+        Camera needs an __init__ with no arguments, so it can be instantiated
+        in a uniform way inside of the MAPLE __init__.
+
+        Any dependencies specific to your camera should be imported as the first
+        lines inside this function.
+
+        Your __init__ implementation will likely create some other Python object
+        to manage interactions with the camera through whatever other library.
+        If this object is called `backing_camera_object`, the last line of your
+        __init__ function should be:
+        ```
+        self.cam = backing_camera_object
+        ```
+
+        Then, to change other properties of the camera after __init__, you can
+        access the camera of the MAPLE robot like so:
+        ```
+        robot = robotutil.MAPLE('MAPLE.cfg')
+        camera_wrapper = robot.cam
+        backing_camera_object = camera_wrapper.cam
+        ```
+        """
+        pass
+
+    @abstractmethod
+    def get_frame(self):
+        """Returns a current frame from the camera.
+
+        Returned frame must be a numpy.ndarray of dimensions
+        (height, width, color), where the colorspace is BGR.
+
+        Raises NoFrameError if could not get a frame from the camera.
+        """
+        pass
+
+    @abstractmethod
+    def close(self):
+        """Releases resources associated with connection to this camera.
+        """
+        pass
+
+    def write_png(self, filename):
+        """Write current frame to filename in PNG format.
+
+        Args:
+            filename (str): Path to save to.
+
+        Raises NoFrameError if could not get a frame from the camera.
+        """
+        frame = self.get_frame()
+        cv2.imwrite(filename, frame)
+
+    def write_jpg(self, filename, quality=95):
+        """Write current frame to filename in JPG format, with optional quality.
+
+        Args:
+            filename (str): Path to save to.
+            quality (int): (optional) 0-100 jpg quality (100=highest quality)
+
+        Raises NoFrameError if could not get a frame from the camera.
+        """
+        frame = self.get_frame()
+        IMWRITE_JPEG_QUALITY = 1
+        cv2.imwrite(filename, frame, [IMWRITE_JPEG_QUALITY, quality])
+
+
+class PyICIC_Camera(Camera):
+    def __init__(self):
+        import pyicic.IC_ImagingControl
+
+        ic_ic = pyicic.IC_ImagingControl.IC_ImagingControl()
+        ic_ic.init_library()
+        cam_names = ic_ic.get_unique_device_names()
+
+        if len(cam_names) == 0:
+            raise CameraNotFoundError('pyicic camera not found.')
+
+        cam = ic_ic.get_device(cam_names[0])
+        cam.open()
+
+        cam.gain.value = 10
+        cam.exposure.auto = False
+        # TODO does a negative exposure make sense?
+        cam.exposure.value = -10
+        cam.set_video_format('BY8 (2592x1944)')
+        cam.set_frame_rate(4.00)
+
+        cam.prepare_live()
+
+        self.cam = cam
+
+    def get_frame(self):
+        """Returns a current frame from the camera.
+        """
+        # TODO is there much overhead w/ start_live / stop_live calls?
+        # mechanism to keep live?
+        self.cam.start_live()
+        self.cam.snap_image()
+        imgdata, w, h, d = self.cam.get_image_data()
+        self.cam.stop_live()
+        return np.ndarray(buffer=imgdata, dtype=np.uint8, shape=(h, w, d))
+
+    def write_jpg(self, filename, quality=50):
+        """Writes a current image to filename in jpg format.
+        """
+        robot.cam.start_live()
+        robot.cam.snap_image()
+        # the 1 is for JPG, 0 is for BMP
+        robot.cam.save_image(filename, 1, jpeq_quality=qualPic)
+        robot.cam.stop_live()
+
+    def close(self):
+        """Releases resources associated with connection to this camera.
+        """
+        self.cam.close()
+
+
+class OpenCVCamera(Camera):
+    def __init__(self):
+        if hasattr(cv2, 'cv'):
+            self.cv2_v3 = False
+        else:
+            self.cv2_v3 = True
+
+        cam = cv2.VideoCapture(0)
+        if not cam.isOpened():
+            raise CameraNotFoundError('OpenCV compatible camera not found.')
+
+        self.cam = cam
+
+    def get_frame(self):
+        """Returns a current frame from the camera.
+
+        Raises NoFrameError if could not get a frame from the camera.
+        """
+        # TODO detect and give meaningful error message for that select timeout
+        # err? (having trouble reproducing now... camera wasn't closed
+        # properly?)
+        success, data = self.cam.read()
+        if not success:
+            raise NoFrameError('OpenCV VideoCapture.read() failed.')
+        else:
+            return data
+
+    def close(self):
+        """Releases resources associated with connection to this camera.
+        """
+        self.cam.release()
+
+    def cap_prop_id(self, name):
+        """Returns cv2 integer code for property with name."""
+        # TODO also handle case where property doesn't exist
+        return getattr(cv2 if self.cv2_v3 else cv2.cv,
+                ('' if self.cv2_v3 else 'CV_') + 'CAP_PROP_' + name)
+
+    def set_property(self, vc, name, value):
+        """Sets cv2.VideoCapture property. Warns if can not."""
+        print 'trying to set {} to {}'.format(name, value)
+        property_code = self.cap_prop_id(name)
+        v = vc.get(property_code)
+        if v == -1:
+            warnings.warn('Could not set property {}'.format(name))
+        else:
+            vc.set(property_code, value)
+
+    # TODO provide method to list properties camera *does* seem to support
+

remoteOperation.py

@@ -41,7 +41,7 @@ def notifyUserFail(robot, arenanum, mailfrom, attPic=0, qualPic=25, attImg=1, de
         msg = MIMEMultipart()
         for imgnum in range(len(arenanum)):
             curarenanum = str(arenanum[imgnum])
-            imgname = curarenanum + 'errImage.png'
+            imgname = curarenanum + 'errImage.jpg'
             with open(imgname, 'rb') as fp:
                 img = MIMEImage(fp.read())
             msg.attach(img)
@@ -55,21 +55,18 @@ def notifyUserFail(robot, arenanum, mailfrom, attPic=0, qualPic=25, attImg=1, de
         arenanum = str(arenanum)
         robot.light(True)
         time.sleep(0.2)
-        robot.cam.start_live()
-        robot.cam.snap_image()
-        robot.cam.save_image(arenanum + 'errImage.png', 1, jpeq_quality=qualPic)
-        robot.cam.stop_live()
+        robot.write_jpg(arenanum + 'errImage.jpg', 1, quality=qualPic)
         robot.dwell(50)
         robot.light(False)
         msg['Subject'] = 'Failure: Arena ' + arenanum + ' Withdraw'
         msg = MIMEMultipart()
         msg.preamble = 'Arena ' + arenanum + ' failed to unload.'
-        fp = open(arenanum + 'errImage.png', 'rb')
+        fp = open(arenanum + 'errImage.jpg', 'rb')
         img = MIMEImage(fp.read())
         fp.close()
         msg.attach(img)
         if delFiles == 1:
-            os.remove(arenanum + 'errImage.png')
+            os.remove(arenanum + 'errImage.jpg')
     if attPic == 0 and attImg == 0:
         arenanum = str(arenanum)
         msg['Subject'] = 'Failure: Arena ' + arenanum + ' Withdraw'