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Examples/opencv2-python/gstreamer/Example1/example1.py

@@ -0,0 +1,49 @@
+# This script shows how to open a camera in OpenCV and grab frames and show these.
+# Kim S. Pedersen, 2022
+
+import cv2 # Import the OpenCV library
+
+
+def gstreamer_pipeline(capture_width=1024, capture_height=720, framerate=30):
+    """Utility function for setting parameters for the gstreamer camera pipeline"""
+    return (
+        "libcamerasrc !"
+        "video/x-raw, width=(int)%d, height=(int)%d, framerate=(fraction)%d/1 ! "
+        "videoconvert ! "
+        "appsink"
+        % (
+            capture_width,
+            capture_height,
+            framerate,
+        )
+    )
+
+
+print("OpenCV version = " + cv2.__version__)
+
+# Open a camera device for capturing
+cam = cv2.VideoCapture(gstreamer_pipeline(), apiPreference=cv2.CAP_GSTREAMER)
+
+
+if not cam.isOpened(): # Error
+    print("Could not open camera")
+    exit(-1)
+
+# Open a window
+WIN_RF = "Example 1"
+cv2.namedWindow(WIN_RF)
+cv2.moveWindow(WIN_RF, 100, 100)
+
+
+while cv2.waitKey(4) == -1: # Wait for a key pressed event
+    retval, frameReference = cam.read() # Read frame
+    
+    if not retval: # Error
+        print(" < < <  Game over!  > > > ")
+        exit(-1)
+    
+    # Show frames
+    cv2.imshow(WIN_RF, frameReference)
+    
+
+# Finished successfully

Examples/opencv2-python/gstreamer/Example2/example2.py

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+# This script shows how to do simple processing on frames comming from a camera in OpenCV.
+# Kim S. Pedersen, 2015
+
+import cv2 # Import the OpenCV library
+import numpy as np # We also need numpy
+
+
+from pkg_resources import parse_version
+OPCV3 = parse_version(cv2.__version__) >= parse_version('3')
+
+def capPropId(prop):
+    """returns OpenCV VideoCapture property id given, e.g., "FPS
+       This is needed because of differences in the Python interface in OpenCV 2.4 and 3.0
+    """
+    return getattr(cv2 if OPCV3 else cv2.cv, ("" if OPCV3 else "CV_") + "CAP_PROP_" + prop)
+    
+
+
+def gstreamer_pipeline(capture_width=1024, capture_height=720, framerate=30):
+    """Utility function for setting parameters for the gstreamer camera pipeline"""
+    return (
+        "libcamerasrc !"
+        "video/x-raw, width=(int)%d, height=(int)%d, framerate=(fraction)%d/1 ! "
+        "videoconvert ! "
+        "appsink"
+        % (
+            capture_width,
+            capture_height,
+            framerate,
+        )
+    )
+
+
+
+
+
+print("OpenCV version = " + cv2.__version__)
+    
+
+# Define some constants
+lowThreshold = 35
+ratio = 3
+kernel_size = 3
+
+
+# Open a camera device for capturing
+cam = cv2.VideoCapture(gstreamer_pipeline(), apiPreference=cv2.CAP_GSTREAMER)
+
+
+if not cam.isOpened(): # Error
+    print("Could not open camera")
+    exit(-1)
+    
+# Get camera properties
+width = int(cam.get(capPropId("FRAME_WIDTH"))) 
+height = int(cam.get(capPropId("FRAME_HEIGHT")))
+print("width = " + str(width) + ", Height = " + str(height))
+        
+    
+# Open a window
+WIN_RF = "Example 2"
+cv2.namedWindow(WIN_RF)
+cv2.moveWindow(WIN_RF, 100, 100)
+
+
+# Preallocate memory
+#gray_frame = np.zeros((height, width), dtype=np.uint8)
+
+while cv2.waitKey(4) == -1: # Wait for a key pressed event
+    retval, frameReference = cam.read() # Read frame
+    
+    if not retval: # Error
+        print(" < < <  Game over!  > > > ")
+        exit(-1)
+    
+    # Convert the image to grayscale
+    gray_frame = cv2.cvtColor( frameReference, cv2.COLOR_BGR2GRAY )
+    
+    # Reduce noise with a kernel 3x3
+    edge_frame = cv2.blur( gray_frame, (3,3) )
+
+    # Canny detector
+    cv2.Canny( edge_frame, lowThreshold, lowThreshold*ratio, edge_frame, kernel_size )
+    
+    # Show frames
+    cv2.imshow(WIN_RF, edge_frame)
+    
+# Close all windows
+cv2.destroyAllWindows()
+
+# Finished successfully

Examples/opencv2-python/picamera/Eksempel3/eksempel3.py

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+# Example showing how to grab frames using the PiCamera module instead of OpenCV
+# import the necessary packages
+from picamera.array import PiRGBArray
+from picamera import PiCamera
+from fractions import *
+import time
+import cv2
+ 
+ 
+print("OpenCV version = " + cv2.__version__)
+ 
+# initialize the camera and grab a reference to the raw camera capture
+camera = PiCamera()
+time.sleep(1) # Wait for camera
+
+camera.resolution = (640, 480)
+camera.framerate = 30
+
+camera.shutter_speed = camera.exposure_speed
+camera.exposure_mode = 'off'
+
+gain = camera.awb_gains
+camera.awb_mode='off'
+#gain = (Fraction(2,1), Fraction(1,1))
+#gain = (1.5, 1.5)
+camera.awb_gains = gain
+
+print("shutter_speed = ", camera.shutter_speed)
+print("awb_gains = ", gain)
+
+rawCapture = PiRGBArray(camera, size=camera.resolution)
+ 
+# Open a window
+WIN_RF = "Frame";
+cv2.namedWindow(WIN_RF);
+cv2.moveWindow(WIN_RF, 100       , 100);
+
+
+# allow the camera to warmup
+time.sleep(0.1)
+ 
+# capture frames from the camera
+for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
+	# grab the raw NumPy array representing the image
+	image = frame.array
+ 
+	# show the frame
+	cv2.imshow(WIN_RF, image)
+	key = cv2.waitKey(4) & 0xFF
+ 
+	# clear the stream in preparation for the next frame
+	rawCapture.truncate(0)
+ 
+	# if the `q` key was pressed, break from the loop
+	if key == ord("q"):
+		break
+
+
+		

Examples/opencv2-python/picamera/Eksempel4/eksempel4.py

@@ -0,0 +1,57 @@
+# Example showing how to grab frames using the PiCamera module instead of OpenCV
+# import the necessary packages
+from picamera.array import PiRGBArray
+from picamera import PiCamera
+from fractions import *
+import time
+import cv2
+ 
+ 
+print("OpenCV version = " + cv2.__version__)
+ 
+# initialize the camera and grab a reference to the raw camera capture
+camera = PiCamera()
+time.sleep(1) # Wait for camera
+
+camera.resolution = (640, 480)
+camera.framerate = 30
+
+camera.shutter_speed = camera.exposure_speed
+camera.exposure_mode = 'off'
+
+gain = camera.awb_gains
+camera.awb_mode='off'
+#gain = (Fraction(2,1), Fraction(1,1))
+#gain = (1.5, 1.5)
+camera.awb_gains = gain
+
+print("shutter_speed = ", camera.shutter_speed)
+print("awb_gains = ", gain)
+
+rawCapture = PiRGBArray(camera, size=camera.resolution)
+ 
+# Open a window
+WIN_RF = "Frame";
+cv2.namedWindow(WIN_RF);
+cv2.moveWindow(WIN_RF, 100, 100);
+
+
+# allow the camera to warmup
+time.sleep(0.1)
+ 
+while True:
+    # capture frames from the camera
+    camera.capture(rawCapture, format="bgr", use_video_port=True)
+    # grab the raw NumPy array representing the image
+    image = rawCapture.array
+
+    # show the frame
+    cv2.imshow(WIN_RF, image)
+    key = cv2.waitKey(4) & 0xFF
+
+    # if the `q` key was pressed, break from the loop
+    if key == ord("q"):
+        break
+
+
+		

Examples/opencv2-python/simple/Example1/example1.py

@@ -0,0 +1,34 @@
+# This script shows how to open a camera in OpenCV and grab frames and show these.
+# Kim S. Pedersen, 2022
+
+import cv2 # Import the OpenCV library
+
+
+print("OpenCV version = " + cv2.__version__)
+
+# Open a camera device for capturing
+cam = cv2.VideoCapture(0)
+
+
+if not cam.isOpened(): # Error
+    print("Could not open camera")
+    exit(-1)
+
+# Open a window
+WIN_RF = "Example 1"
+cv2.namedWindow(WIN_RF)
+cv2.moveWindow(WIN_RF, 100, 100)
+
+
+while cv2.waitKey(4) == -1: # Wait for a key pressed event
+    retval, frameReference = cam.read() # Read frame
+    
+    if not retval: # Error
+        print(" < < <  Game over!  > > > ")
+        exit(-1)
+    
+    # Show frames
+    cv2.imshow(WIN_RF, frameReference)
+    
+
+# Finished successfully

Examples/opencv2-python/simple/Example2/example2.py

@@ -0,0 +1,72 @@
+# This script shows how to do simple processing on frames comming from a camera in OpenCV.
+# Kim S. Pedersen, 2015
+
+import cv2 # Import the OpenCV library
+import numpy as np # We also need numpy
+
+
+from pkg_resources import parse_version
+OPCV3 = parse_version(cv2.__version__) >= parse_version('3')
+
+def capPropId(prop):
+    """returns OpenCV VideoCapture property id given, e.g., "FPS
+       This is needed because of differences in the Python interface in OpenCV 2.4 and 3.0
+    """
+    return getattr(cv2 if OPCV3 else cv2.cv, ("" if OPCV3 else "CV_") + "CAP_PROP_" + prop)
+    
+
+print("OpenCV version = " + cv2.__version__)
+    
+
+# Define some constants
+lowThreshold = 35
+ratio = 3
+kernel_size = 3
+
+
+# Open a camera device for capturing
+cam = cv2.VideoCapture(0)
+
+
+if not cam.isOpened(): # Error
+    print("Could not open camera")
+    exit(-1)
+    
+# Get camera properties
+width = int(cam.get(capPropId("FRAME_WIDTH"))) 
+height = int(cam.get(capPropId("FRAME_HEIGHT")))
+print("width = " + str(width) + ", Height = " + str(height))
+
+    
+# Open a window
+WIN_RF = "Example 2"
+cv2.namedWindow(WIN_RF)
+cv2.moveWindow(WIN_RF, 100, 100)
+
+
+# Preallocate memory
+#gray_frame = np.zeros((height, width), dtype=np.uint8)
+
+while cv2.waitKey(4) == -1: # Wait for a key pressed event
+    retval, frameReference = cam.read() # Read frame
+    
+    if not retval: # Error
+        print(" < < <  Game over!  > > > ")
+        exit(-1)
+    
+    # Convert the image to grayscale
+    gray_frame = cv2.cvtColor( frameReference, cv2.COLOR_BGR2GRAY )
+    
+    # Reduce noise with a kernel 3x3
+    edge_frame = cv2.blur( gray_frame, (3,3) )
+
+    # Canny detector
+    cv2.Canny( edge_frame, lowThreshold, lowThreshold*ratio, edge_frame, kernel_size )
+    
+    # Show frames
+    cv2.imshow(WIN_RF, edge_frame)
+    
+# Close all windows
+cv2.destroyAllWindows()
+
+# Finished successfully

find_aruco.py

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+def main():
+    pass
+
+if __name__ == "__main__":
+    main()

robot/robot.py

@@ -2,6 +2,7 @@
 
 from time import sleep
 import serial
+from picamera import PiCamera
 
 class Robot(object):
     """