533 lines
21 KiB
Python
533 lines
21 KiB
Python
import os
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import re
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import shutil
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import threading
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import time
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# Temporary workaround for bug on OpenCV >= 3.4.2 that doesn't
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# properly release the device, see https://github.com/opencv/opencv/issues/12301#issuecomment-415801564
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os.environ['OPENCV_VIDEOIO_PRIORITY_MSMF'] = '0'
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import cv2
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from datetime import datetime
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from platypush.config import Config
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from platypush.message.response import Response
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from platypush.message.event.camera import CameraRecordingStartedEvent, \
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CameraRecordingStoppedEvent, CameraVideoRenderedEvent, \
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CameraPictureTakenEvent, CameraFrameCapturedEvent, CameraEvent
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from platypush.plugins import Plugin, action
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class CameraPlugin(Plugin):
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"""
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Plugin to control generic cameras over OpenCV.
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Triggers:
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* :class:`platypush.message.event.camera.CameraRecordingStartedEvent`
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when a new video recording/photo burst starts
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* :class:`platypush.message.event.camera.CameraRecordingStoppedEvent`
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when a video recording/photo burst ends
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* :class:`platypush.message.event.camera.CameraVideoRenderedEvent`
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when a sequence of captured is successfully rendered into a video
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* :class:`platypush.message.event.camera.CameraPictureTakenEvent`
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when a snapshot is captured and stored to an image file
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Requires:
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* **opencv** (``pip install opencv-python``)
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"""
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_default_frames_dir = os.path.join(Config.get('workdir'), 'camera',
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'frames')
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_default_warmup_frames = 5
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_default_sleep_between_frames = 0
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_default_color_transform = 'COLOR_BGR2BGRA'
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_max_stored_frames = 100
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_frame_filename_regex = re.compile('(\d+)-(\d+)-(\d+)_(\d+)-(\d+)-(\d+)-(\d+).jpe?g$')
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def __init__(self, device_id=0, frames_dir=_default_frames_dir,
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warmup_frames=_default_warmup_frames, video_type=0,
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sleep_between_frames=_default_sleep_between_frames,
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max_stored_frames=_max_stored_frames,
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color_transform=_default_color_transform,
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scale_x=None, scale_y=None, rotate=None, flip=None,
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*args, **kwargs):
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"""
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:param device_id: Index of the default video device to be used for
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capturing (default: 0)
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:type device_id: int
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:param frames_dir: Directory where the camera frames will be stored
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(default: ``~/.local/share/platypush/camera/frames``)
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:type frames_dir: str
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:param warmup_frames: Cameras usually take a while to adapt their
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luminosity and focus to the environment when taking a picture.
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This parameter allows you to specify the number of "warmup" frames
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to capture upon picture command before actually capturing a frame
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(default: 5 but you may want to calibrate this parameter for your
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camera)
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:type warmup_frames: int
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:param video_type: Default video type to use when exporting captured
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frames to camera (default: 0, infers the type from the video file
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extension). See https://docs.opencv.org/4.0.1/dd/d9e/classcv_1_1VideoWriter.html#afec93f94dc6c0b3e28f4dd153bc5a7f0
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for a reference on the supported types (e.g. 'MJPEG', 'XVID', 'H264' etc')
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:type video_type: str or int
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:param sleep_between_frames: If set, the process will sleep for the
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specified amount of seconds between two frames when recording
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(default: 0)
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:type sleep_between_frames: float
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:param max_stored_frames: Maximum number of frames to store in
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``frames_dir`` when recording with no persistence (e.g. streaming
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over HTTP) (default: 100)
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:type max_stored_frames: int
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:param color_transform: Color transformation to apply to the captured
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frames. See https://docs.opencv.org/3.2.0/d7/d1b/group__imgproc__misc.html
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for a full list of supported color transformations.
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(default: "``COLOR_BGR2BGRA``")
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:type color_transform: str
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:param scale_x: If set, the images will be scaled along the x axis by the
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specified factor
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:type scale_x: float
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:param scale_y: If set, the images will be scaled along the y axis by the
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specified factor
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:type scale_y: float
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:param rotate: If set, the images will be rotated by the specified
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number of degrees
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:type rotate: float
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:param flip: If set, the images will be flipped around the specified
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axis. Possible values::
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- ``0`` - flip along the x axis
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- ``1`` - flip along the y axis
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- ``-1`` - flip along both the axis
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:type flip: int
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"""
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super().__init__(*args, **kwargs)
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self.default_device_id = device_id
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self.frames_dir = os.path.abspath(os.path.expanduser(frames_dir))
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self.warmup_frames = warmup_frames
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self.video_type = cv2.VideoWriter_fourcc(*video_type) \
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if isinstance(video_type, str) else video_type
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self.sleep_between_frames = sleep_between_frames
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self.max_stored_frames = max_stored_frames
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self.color_transform = color_transform
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self.scale_x = scale_x
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self.scale_y = scale_y
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self.rotate = rotate
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self.flip = flip
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self._is_recording = {} # device_id => Event map
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self._devices = {} # device_id => VideoCapture map
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self._recording_threads = {} # device_id => Thread map
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self._recording_info = {} # device_id => recording info map
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def _init_device(self, device_id, frames_dir=None, **info):
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self._release_device(device_id)
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if device_id not in self._devices:
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self._devices[device_id] = cv2.VideoCapture(device_id)
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if device_id not in self._is_recording:
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self._is_recording[device_id] = threading.Event()
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self._recording_info[device_id] = info
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if frames_dir:
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os.makedirs(frames_dir, exist_ok=True)
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self._recording_info[device_id]['frames_dir'] = frames_dir
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return self._devices[device_id]
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def _release_device(self, device_id, wait_thread_termination=True):
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if device_id in self._is_recording:
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self._is_recording[device_id].clear()
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if device_id in self._recording_threads:
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if wait_thread_termination:
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self.logger.info('A recording thread is running, waiting for termination')
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if self._recording_threads[device_id].is_alive():
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self._recording_threads[device_id].join()
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del self._recording_threads[device_id]
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if device_id in self._devices:
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self._devices[device_id].release()
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del self._devices[device_id]
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self.fire_event(CameraRecordingStoppedEvent(device_id=device_id))
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self.logger.info("Device {} released".format(device_id))
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if device_id in self._recording_info:
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del self._recording_info[device_id]
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def _store_frame_to_file(self, frame, frames_dir, image_file):
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if image_file:
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filepath = image_file
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else:
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filepath = os.path.join(
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frames_dir, datetime.now().strftime('%Y-%m-%d_%H-%M-%S-%f.jpg'))
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cv2.imwrite(filepath, frame)
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return filepath
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def _get_stored_frames_files(self, frames_dir):
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ret = sorted([
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os.path.join(frames_dir, f) for f in os.listdir(frames_dir)
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if os.path.isfile(os.path.join(frames_dir, f)) and
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re.search(self._frame_filename_regex, f)
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])
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return ret
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def _get_avg_fps(self, frames_dir):
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files = self._get_stored_frames_files(frames_dir)
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frame_time_diff = 0.0
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n_frames = 0
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for i in range(1, len(files)):
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m1 = re.search(self._frame_filename_regex, files[i-1])
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m2 = re.search(self._frame_filename_regex, files[i])
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if not m1 or not m2:
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continue
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t1 = datetime.timestamp(datetime(*map(int, m1.groups())))
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t2 = datetime.timestamp(datetime(*map(int, m2.groups())))
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frame_time_diff += (t2-t1)
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n_frames += 1
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return n_frames/frame_time_diff if n_frames and frame_time_diff else 0
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def _remove_expired_frames(self, frames_dir, max_stored_frames):
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files = self._get_stored_frames_files(frames_dir)
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for f in files[:len(files)-max_stored_frames]:
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os.unlink(f)
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def _make_video_file(self, frames_dir, video_file, video_type):
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files = self._get_stored_frames_files(frames_dir)
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if not files:
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self.logger.warning('No frames found in {}'.format(frames_dir))
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return
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frame = cv2.imread(files[0])
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height, width, layers = frame.shape
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fps = self._get_avg_fps(frames_dir)
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video = cv2.VideoWriter(video_file, video_type, fps, (width, height))
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for f in files:
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video.write(cv2.imread(f))
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video.release()
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self.fire_event(CameraVideoRenderedEvent(filename=video_file))
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shutil.rmtree(frames_dir, ignore_errors=True)
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def _recording_thread(self):
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def thread(duration, video_file, image_file, device_id,
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frames_dir, n_frames, sleep_between_frames,
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max_stored_frames, color_transform, video_type,
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scale_x, scale_y, rotate, flip):
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device = self._devices[device_id]
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color_transform = getattr(cv2, self.color_transform)
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rotation_matrix = None
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self._is_recording[device_id].wait()
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self.logger.info('Starting recording from video device {}'.
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format(device_id))
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recording_started_time = time.time()
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captured_frames = 0
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evt_args = {
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'device_id': device_id,
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}
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if video_file or image_file:
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evt_args['filename'] = video_file or image_file
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if frames_dir:
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evt_args['frames_dir'] = frames_dir
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self.fire_event(CameraRecordingStartedEvent(**evt_args))
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while device_id in self._is_recording and self._is_recording[device_id].is_set():
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if duration and time.time() - recording_started_time >= duration \
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or n_frames and captured_frames >= n_frames:
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break
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ret, frame = device.read()
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if not ret:
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self.logger.warning('Error while retrieving video frame')
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continue
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frame = cv2.cvtColor(frame, color_transform)
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if rotate:
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rows, cols = frame.shape
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if not rotation_matrix:
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rotation_matrix = cv2.getRotationMatrix2D(
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(cols/2, rows/2), rotate, 1)
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frame = cv2.warpAffine(frame, rotation_matrix, (cols, rows))
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if flip is not None:
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frame = cv2.flip(frame, flip)
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if scale_x or scale_y:
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scale_x = scale_x or 1
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scale_y = scale_y or 1
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frame = cv2.resize(frame, None, fx=scale_x, fy=scale_y,
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interpolation = cv2.INTER_CUBIC)
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self._store_frame_to_file(frame=frame, frames_dir=frames_dir,
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image_file=image_file)
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captured_frames += 1
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self.fire_event(CameraFrameCapturedEvent(filename=image_file))
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if max_stored_frames and not video_file:
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self._remove_expired_frames(
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frames_dir=frames_dir,
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max_stored_frames=max_stored_frames)
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if sleep_between_frames:
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time.sleep(sleep_between_frames)
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self._release_device(device_id, wait_thread_termination=False)
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if image_file:
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self.fire_event(CameraPictureTakenEvent(filename=image_file))
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self.logger.info('Recording terminated')
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if video_file:
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self.logger.info('Writing frames to video file {}'.
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format(video_file))
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self._make_video_file(frames_dir=frames_dir,
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video_file=video_file,
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video_type=video_type)
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self.logger.info('Video file {}: rendering completed'.
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format(video_file))
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return thread
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@action
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def start_recording(self, duration=None, video_file=None, video_type=None,
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device_id=None, frames_dir=None,
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sleep_between_frames=None, max_stored_frames=None,
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color_transform=None, scale_x=None, scale_y=None,
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rotate=None, flip=None):
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"""
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Start recording
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:param duration: Record duration in seconds (default: None, record until
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``stop_recording``)
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:type duration: float
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:param video_file: If set, the stream will be recorded to the specified
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video file (default: None)
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:type video_file: str
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:param video_type: Overrides the default configured ``video_type``
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:type video_file: str
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:param device_id, frames_dir, sleep_between_frames, max_stored_frames,
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color_transform, scale_x, scale_y, rotate, flip: Set
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these parameters if you want to override the default configured ones.
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"""
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device_id = device_id if device_id is not None else self.default_device_id
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if device_id in self._is_recording and \
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self._is_recording[device_id].is_set():
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self.logger.info('A recording on device {} is already in progress'.
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format(device_id))
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return self.status(device_id=device_id)
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recording_started = threading.Event()
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def on_recording_started(event):
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recording_started.set()
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frames_dir = os.path.abspath(os.path.expanduser(frames_dir)) \
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if frames_dir is not None else self.frames_dir
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sleep_between_frames = sleep_between_frames if sleep_between_frames \
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is not None else self.sleep_between_frames
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max_stored_frames = max_stored_frames if max_stored_frames \
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is not None else self.max_stored_frames
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color_transform = color_transform if color_transform \
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is not None else self.color_transform
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scale_x = scale_x if scale_x is not None else self.scale_x
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scale_y = scale_y if scale_y is not None else self.scale_y
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rotate = rotate if rotate is not None else self.rotate
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flip = flip if flip is not None else self.flip
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if video_type is not None:
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video_type = cv2.VideoWriter_fourcc(*video_type.upper()) \
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if isinstance(video_type, str) else video_type
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else:
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video_type = self.video_type
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frames_dir = os.path.join(frames_dir, str(device_id))
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if video_file:
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video_file = os.path.abspath(os.path.expanduser(video_file))
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frames_dir = os.path.join(frames_dir, 'recording_{}'.format(
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datetime.now().strftime('%Y-%m-%d_%H-%M-%S-%f')))
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self._init_device(device_id, video_file=video_file,
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video_type=video_type,
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frames_dir=frames_dir,
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sleep_between_frames=sleep_between_frames,
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max_stored_frames=max_stored_frames,
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color_transform=color_transform, scale_x=scale_x,
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scale_y=scale_y, rotate=rotate, flip=flip)
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self.register_handler(CameraRecordingStartedEvent, on_recording_started)
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self._recording_threads[device_id] = threading.Thread(
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target=self._recording_thread(), kwargs = {
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'duration':duration,
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'video_file':video_file,
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'video_type':video_type,
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'image_file':None, 'device_id':device_id,
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'frames_dir':frames_dir, 'n_frames':None,
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'sleep_between_frames':sleep_between_frames,
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'max_stored_frames':max_stored_frames,
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'color_transform':color_transform,
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'scale_x':scale_x, 'scale_y':scale_y,
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'rotate':rotate, 'flip':flip
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})
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self._recording_threads[device_id].start()
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self._is_recording[device_id].set()
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recording_started.wait()
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self.unregister_handler(CameraRecordingStartedEvent, on_recording_started)
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return self.status(device_id=device_id)
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@action
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def stop_recording(self, device_id=None):
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"""
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Stop recording
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"""
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device_id = device_id if device_id is not None else self.default_device_id
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frames_dir = self._recording_info.get(device_id, {}).get('frames_dir')
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self._release_device(device_id)
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shutil.rmtree(frames_dir, ignore_errors=True)
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@action
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def take_picture(self, image_file, device_id=None, warmup_frames=None,
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color_transform=None, scale_x=None, scale_y=None,
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rotate=None, flip=None):
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"""
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Take a picture.
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:param image_file: Path where the output image will be stored.
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:type image_file: str
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:param device_id, warmup_frames, color_transform, scale_x, scale_y,
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rotate, flip: Overrides the configured default parameters
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"""
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device_id = device_id if device_id is not None else self.default_device_id
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image_file = os.path.abspath(os.path.expanduser(image_file))
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picture_taken = threading.Event()
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def on_picture_taken(event):
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picture_taken.set()
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if device_id in self._is_recording and \
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self._is_recording[device_id].is_set():
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self.logger.info('A recording on device {} is already in progress'.
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format(device_id))
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status = self.status(device_id=device_id).output.get(device_id)
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if 'image_file' in status:
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shutil.copyfile(status['image_file'], image_file)
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return { 'path': image_file }
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raise RuntimeError('Recording already in progress and no images ' +
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'have been captured yet')
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warmup_frames = warmup_frames if warmup_frames is not None else \
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self.warmup_frames
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color_transform = color_transform if color_transform \
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is not None else self.color_transform
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scale_x = scale_x if scale_x is not None else self.scale_x
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scale_y = scale_y if scale_y is not None else self.scale_y
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rotate = rotate if rotate is not None else self.rotate
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flip = flip if flip is not None else self.flip
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self._init_device(device_id, image_file=image_file,
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warmup_frames=warmup_frames,
|
|
color_transform=color_transform,
|
|
scale_x=scale_x, scale_y=scale_y, rotate=rotate,
|
|
flip=flip)
|
|
|
|
self.register_handler(CameraPictureTakenEvent, on_picture_taken)
|
|
self._recording_threads[device_id] = threading.Thread(
|
|
target=self._recording_thread(), kwargs = {
|
|
'duration':None, 'video_file':None,
|
|
'image_file':image_file, 'video_type':None,
|
|
'device_id':device_id, 'frames_dir':None,
|
|
'n_frames':warmup_frames,
|
|
'sleep_between_frames':None,
|
|
'max_stored_frames':None,
|
|
'color_transform':color_transform,
|
|
'scale_x':scale_x, 'scale_y':scale_y,
|
|
'rotate':rotate, 'flip':flip
|
|
})
|
|
|
|
self._recording_threads[device_id].start()
|
|
self._is_recording[device_id].set()
|
|
|
|
picture_taken.wait()
|
|
self.unregister_handler(CameraPictureTakenEvent, on_picture_taken)
|
|
return { 'path': image_file }
|
|
|
|
@action
|
|
def status(self, device_id=None):
|
|
"""
|
|
Returns the status of the specified device_id or all the device in a
|
|
``{ device_id => device_info }`` map format. Device info includes
|
|
``video_file``, ``image_file``, ``frames_dir`` and additional video info
|
|
"""
|
|
|
|
resp = Response(output={
|
|
id: {
|
|
'image_file': self._get_stored_frames_files(info['frames_dir'])[-2]
|
|
if 'frames_dir' in info
|
|
and len(self._get_stored_frames_files(info['frames_dir'])) > 1
|
|
and 'image_file' not in info else info.get('image_file'), **info
|
|
}
|
|
for id, info in self._recording_info.items()
|
|
if device_id is None or id == device_id
|
|
}, disable_logging=True)
|
|
return resp
|
|
|
|
|
|
@action
|
|
def get_default_device_id(self):
|
|
return self.default_device_id
|
|
|
|
|
|
# vim:sw=4:ts=4:et:
|