156 lines
4.6 KiB
Python
Executable File
156 lines
4.6 KiB
Python
Executable File
#!/usr/bin/env python
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import argparse
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from time import sleep
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import numpy as np
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from matplotlib import pyplot as plt
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from cameras.cameraclient import CameraClient
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def main():
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commands = ["restart", "roi", "status", "test", "show", "save"]
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commands.sort()
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printable_commands = ", ".join(commands)
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parser = argparse.ArgumentParser(description="CLI Cam (esh)")
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parser.add_argument("-c", "--camera", help="camera name", default="SATES24-CAMS161-M1")
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parser.add_argument("-v", "--verbose", help="verbose output", action="store_true")
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subparsers = parser.add_subparsers(title="commands", dest="command", help=printable_commands)
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subparser_restart = subparsers.add_parser("restart", description="Restart camera server")
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subparser_roi = subparsers.add_parser("roi", description="Set ROI")
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subparser_status = subparsers.add_parser("status", description="Print status")
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subparser_test = subparsers.add_parser("test", description="Test setting ROIs")
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subparser_show = subparsers.add_parser("show", description="Show current image")
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subparser_save = subparsers.add_parser("save", description="Save current image")
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for sp in subparsers.choices.values():
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sp.add_argument("-v", "--verbose", help="verbose output", action="store_true")
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subparser_restart.add_argument("-r", "--reset", help="reset ROI", action="store_true")
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subparser_roi.add_argument("xmin", type=int, help="x min")
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subparser_roi.add_argument("xmax", type=int, help="x max")
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subparser_roi.add_argument("ymin", type=int, help="y min")
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subparser_roi.add_argument("ymax", type=int, help="y max")
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subparser_save.add_argument("filename", help="Output filename")
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clargs = parser.parse_args()
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command = clargs.command
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if command is None:
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parser.print_help()
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raise SystemExit(1)
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camera = CameraClient(clargs.camera)
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if clargs.verbose:
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print(camera)
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print(f"command: {command}")
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# print(clargs)
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if command == "restart":
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do_restart(camera, clargs)
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elif command == "roi":
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do_roi(camera, clargs)
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elif command == "test":
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do_test(camera, clargs)
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elif command == "status":
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do_status(camera, clargs)
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elif command == "show":
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do_show(camera, clargs)
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elif command == "save":
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do_save(camera, clargs)
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else:
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print(f"nothing assigned to command: {command}")
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parser.print_help()
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raise SystemExit(2)
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def do_restart(camera, clargs):
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if not clargs.reset:
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roi = camera.get_roi()
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camera.restart()
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if not clargs.reset:
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camera.set_roi(*roi, debug=clargs.verbose) #TODO: workaround! why does the first try always set to: [101, 2400, 100, 2061]?
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camera.set_roi(*roi, debug=clargs.verbose)
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def do_roi(camera, clargs):
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camera.set_roi(clargs.xmin, clargs.xmax, clargs.ymin, clargs.ymax, debug=clargs.verbose)
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def do_status(camera, clargs):
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camera.status
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def do_test(camera, _clargs):
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camera.reset_roi() # [1, 2560, 1, 2160]
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print(camera.get_roi())
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for i in (1, 10, 100, 200, 300, 999, 1000, 1001):
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camera.set_roi(i, 1500, i, 1900, debug=True)
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def do_show(camera, _clargs):
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img = camera.get()
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proj_x = img.sum(axis=1)
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proj_y = img.sum(axis=0)
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fig = plt.figure()
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# ax_px = fig.add_subplot(222)
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# ax_py = fig.add_subplot(223)
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# ax_img = fig.add_subplot(221, sharex = ax_px, sharey = ax_py)
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left, width = bottom, height = 0.1, 0.65
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spacing = 0.005
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rect_img = [left, bottom, width, height]
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rect_px = [left, bottom + height + spacing, width, 0.2]
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rect_py = [left + width + spacing, bottom, 0.2, height]
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ax_img = plt.axes(rect_img)
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ax_px = plt.axes(rect_px)
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ax_py = plt.axes(rect_py)
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ax_img.tick_params(direction='in', top=True, right=True)
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ax_px.tick_params(direction='in', labelbottom=False)
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ax_py.tick_params(direction='in', labelleft=False)
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ax_img.imshow(img.T, origin="lower", interpolation="none")
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ax_px.plot(proj_x)
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ax_py.plot(proj_y, range(len(proj_y)))
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# aspx = np.diff(ax_px.get_xlim())[0] / np.diff(ax_px.get_ylim())[0]
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# ax_px.set_aspect(aspx)
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# aspy = np.diff(ax_py.get_xlim())[0] / np.diff(ax_py.get_ylim())[0]
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# ax_py.set_aspect(aspy)
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plt.show()
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def do_save(camera, clargs):
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ext = ".npy"
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filename = clargs.filename
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filename = filename if filename.endswith(ext) else filename + ext
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img = camera.get()
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img.dump(filename)
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if __name__ == "__main__":
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main()
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#CA client library tcp receive thread terminating due to a non-standard C++ exception
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#FATAL: exception not rethrown
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#Aborted (core dumped)
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# "solved" by
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sleep(0.001)
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