add seupt scripts

pyroengine/sensors.py

@@ -136,7 +136,7 @@ def move_in_seconds(self, s: float, operation: str = "Right", speed: int = 20, s
         self.move_camera("Stop")
         time.sleep(1)
         im = self.capture()
-        if im is not None:
+        if im is not None and save_path is not None:
             im.save(save_path)
 
     def get_ptz_preset(self):

src/capture_all_positions.py

@@ -0,0 +1,197 @@
+import argparse
+import os
+import time
+
+import cv2
+import matplotlib.pyplot as plt
+import numpy as np
+from dotenv import load_dotenv
+
+from pyroengine.sensors import ReolinkCamera
+
+
+def calculate_shift_time(fov, overlap, cam_speed_1, cam_stop_time, shift_angle=0):
+    """
+    Calculates the shift time based on FOV, overlap, camera speed, stop time, and shift angle.
+    """
+    shift_time = (fov / 2 - (4 * fov - 3 * overlap - 180 + shift_angle) + overlap / 2) / cam_speed_1 - cam_stop_time
+    return shift_time
+
+
+def draw_axes_on_image(image, fov):
+    """Draws central axes and graduation marks for left and right rotation on the image."""
+    height, width, _ = image.shape
+
+    # Define line positions centrally
+    line_y_top = height // 3  # Upper third of the image
+    line_y_bottom = 2 * height // 3  # Lower third of the image
+
+    # Draw main lines
+    cv2.line(image, (0, line_y_top), (width, line_y_top), (255, 255, 255), 3)
+    cv2.line(image, (0, line_y_bottom), (width, line_y_bottom), (255, 255, 255), 3)
+
+    # Font settings for text
+    font = cv2.FONT_HERSHEY_SIMPLEX
+    font_scale = 1.5
+    font_thickness = 2
+    text_color = (255, 0, 255)
+
+    # Add legends
+    cv2.putText(
+        image,
+        "Right Rotation",
+        (10, line_y_top - 40),
+        font,
+        font_scale,
+        text_color,
+        font_thickness,
+        lineType=cv2.LINE_AA,
+    )
+    cv2.putText(
+        image,
+        "Left Rotation",
+        (10, line_y_bottom + 60),
+        font,
+        font_scale,
+        text_color,
+        font_thickness,
+        lineType=cv2.LINE_AA,
+    )
+
+    # Draw graduation marks for the top line (0 to fov for right rotation)
+    num_graduations = 10
+    for i in range(num_graduations + 1):
+        x_pos = int(i * width / num_graduations)
+        angle_right = i * (fov / num_graduations)
+
+        # Graduation mark
+        cv2.line(image, (x_pos, line_y_top - 20), (x_pos, line_y_top + 20), (255, 255, 255), 2)
+
+        # Label
+        text = f"{angle_right:.1f}"
+        (text_width, text_height), _ = cv2.getTextSize(text, font, font_scale, font_thickness)
+        cv2.putText(
+            image,
+            text,
+            (x_pos - text_width // 2, line_y_top + 40 + text_height),
+            font,
+            font_scale,
+            text_color,
+            font_thickness,
+            lineType=cv2.LINE_AA,
+        )
+
+    # Draw graduation marks for the bottom line (from -fov to 0 for left rotation)
+    for i in range(num_graduations + 1):
+        x_pos = int(i * width / num_graduations)
+        angle_left = -fov + i * (fov / num_graduations)
+
+        # Graduation mark
+        cv2.line(image, (x_pos, line_y_bottom - 20), (x_pos, line_y_bottom + 20), (255, 255, 255), 2)
+
+        # Label
+        text = f"{angle_left:.1f}"
+        (text_width, text_height), _ = cv2.getTextSize(text, font, font_scale, font_thickness)
+        cv2.putText(
+            image,
+            text,
+            (x_pos - text_width // 2, line_y_bottom - 30),
+            font,
+            font_scale,
+            text_color,
+            font_thickness,
+            lineType=cv2.LINE_AA,
+        )
+
+    return image
+
+
+def main():
+    """
+    Script to control a Reolink camera for specific movements and capture images.
+    """
+    # Load environment variables
+    load_dotenv()
+    cam_user = os.getenv("CAM_USER")
+    cam_pwd = os.getenv("CAM_PWD")
+
+    # Argument parsing
+    parser = argparse.ArgumentParser(
+        description="Script to control Reolink camera for specific movements and capture images."
+    )
+    parser.add_argument("--ip", required=True, help="IP address of the Reolink camera")
+    parser.add_argument("--username", help="Username for camera access", default=cam_user)
+    parser.add_argument("--password", help="Password for camera access", default=cam_pwd)
+    parser.add_argument("--protocol", help="Protocol (http or https)", default="http")
+    parser.add_argument("--output_folder", help="Folder to save captured images", default="captured_images")
+    parser.add_argument("--fov", type=float, default=54.2, help="Field of View of the camera")
+    parser.add_argument("--overlap", type=float, default=6, help="Overlap angle between positions")
+    parser.add_argument("--cam_speed_1", type=float, default=1.4, help="Camera speed for PTZ operation")
+    parser.add_argument("--cam_stop_time", type=float, default=0.5, help="Camera stop time after movement")
+    parser.add_argument(
+        "--move_duration", type=float, default=34, help="Duration in seconds for the rightward move in each loop"
+    )
+    parser.add_argument("--shift_angle", type=float, default=0, help="Shift angle for time calculation adjustment")
+
+    args = parser.parse_args()
+
+    # Calculate shift time using the provided shift_angle parameter
+    shift_time = calculate_shift_time(args.fov, args.overlap, args.cam_speed_1, args.cam_stop_time, args.shift_angle)
+
+    # Create output directory if it doesn't exist
+    os.makedirs(args.output_folder, exist_ok=True)
+
+    # Initialize camera
+    camera = ReolinkCamera(ip_address=args.ip, username=args.username, password=args.password, protocol=args.protocol)
+
+    try:
+        # Move to position 10 at speed 64
+        print("Moving to position 10 at speed 64.")
+        camera.move_camera(operation="ToPos", speed=64, idx=10)
+        time.sleep(1)
+
+        # Move down for 10 seconds at speed 64
+        print("Moving down for 10 seconds at speed 64.")
+        camera.move_in_seconds(s=10, operation="Down", speed=64)
+
+        # Move right for calculated shift time at speed 1
+        print(f"Moving right for {shift_time:.2f} seconds at speed 1.")
+        camera.move_in_seconds(s=shift_time, operation="Right", speed=1)
+
+        # Loop to capture, register PTZ positions, and move right
+        for i in range(8):
+            # Capture image
+            print(f"Loop {i+1}/8: Capturing image.")
+            image = camera.capture()
+            if image:
+                # Convert the image to an OpenCV-compatible format
+                image_np = cv2.cvtColor(np.array(image), cv2.COLOR_RGB2BGR)
+
+                # Draw axes on the image
+                image_np = draw_axes_on_image(image_np, args.fov)
+
+                # Save the modified image
+                filename = f"im_{args.ip.split('.')[-1]}_{i}.jpg"
+                image_path = os.path.join(args.output_folder, filename)
+                cv2.imwrite(image_path, image_np)
+                print(f"Image saved at {image_path}")
+            else:
+                print("Failed to capture image.")
+
+            # Register PTZ position from 20 to 27
+            ptz_position = 20 + i
+            print(f"Registering PTZ position {ptz_position}.")
+            camera.set_ptz_preset(idx=ptz_position)
+
+            # Move right for specified duration at speed 1
+            print(f"Moving right for {args.move_duration} seconds at speed 1.")
+            camera.move_in_seconds(s=args.move_duration, operation="Right", speed=1)
+
+            time.sleep(1)
+
+    except Exception as e:
+        print(f"An error occurred: {e}")
+
+
+if __name__ == "__main__":
+    main()

src/setup_positions.py

@@ -0,0 +1,94 @@
+import argparse
+import os
+import time
+
+import cv2
+import numpy as np
+from dotenv import load_dotenv
+
+from pyroengine.sensors import ReolinkCamera
+
+
+def main():
+    """
+    Script to set up camera positions by moving to specific poses, capturing images,
+    and saving them with new pose IDs.
+
+    Mapping:
+    - Move to pose 22 and save as pose_id 0
+    - Move to pose 23 and save as pose_id 1
+    - Move to pose 24 and save as pose_id 2
+    - Move to pose 25 and save as pose_id 3
+
+    After saving, if demo mode is enabled, moves to each pose in sequence at speed 64 with a 2-second pause, repeating 3 times.
+    """
+    # Load environment variables
+    load_dotenv()
+    cam_user = os.getenv("CAM_USER")
+    cam_pwd = os.getenv("CAM_PWD")
+
+    # Argument parsing
+    parser = argparse.ArgumentParser(
+        description="Set up camera positions by saving specific poses to new pose IDs and capturing images."
+    )
+    parser.add_argument("--ip", required=True, help="IP address of the Reolink camera")
+    parser.add_argument("--username", help="Username for camera access", default=cam_user)
+    parser.add_argument("--password", help="Password for camera access", default=cam_pwd)
+    parser.add_argument("--protocol", help="Protocol (http or https)", default="http")
+    parser.add_argument("--output_folder", help="Folder to save captured images", default="captured_positions")
+    parser.add_argument("--demo", action="store_true", help="If set, demo mode is activated")
+
+    args = parser.parse_args()
+
+    output_folder = f"{args.output_folder}/{args.ip.split('.')[-1]}"
+
+    # Create output directory if it doesn't exist
+    os.makedirs(output_folder, exist_ok=True)
+
+    # Initialize camera
+    camera = ReolinkCamera(ip_address=args.ip, username=args.username, password=args.password, protocol=args.protocol)
+
+    # Mapping of original poses to new pose IDs
+    pose_mapping = {22: 0, 23: 1, 24: 2, 25: 3}
+
+    try:
+        # First, move to each pose, capture an image, and save it as a new pose ID
+        for original_pose, new_pose_id in pose_mapping.items():
+            print(f"Moving to original pose {original_pose} at speed 64...")
+            camera.move_camera(operation="ToPos", speed=64, idx=original_pose)
+            time.sleep(2)  # Allow time for the camera to move
+
+            # Capture an image at the position
+            print(f"Capturing image for new pose ID {new_pose_id}...")
+            image = camera.capture()
+            if image:
+                # Convert image to OpenCV-compatible format and save it
+                image_np = cv2.cvtColor(np.array(image), cv2.COLOR_RGB2BGR)
+                filename = f"pose_{new_pose_id}.jpg"
+                image_path = os.path.join(output_folder, filename)
+                cv2.imwrite(image_path, image_np)
+                print(f"Image saved at {image_path}")
+            else:
+                print(f"Failed to capture image for pose ID {new_pose_id}.")
+
+            # Save the position as a new pose ID
+            print(f"Saving current position as new pose ID {new_pose_id}...")
+            camera.set_ptz_preset(idx=new_pose_id)
+            print(f"Position saved with new pose ID {new_pose_id}.")
+            time.sleep(1)
+
+        # If demo mode is enabled, go through each pose three times with a 2-second pause
+        if args.demo:
+            print("Running in demo mode...")
+            for _ in range(3):  # Loop three times
+                for original_pose in pose_mapping.keys():
+                    print(f"Moving to pose {original_pose} at speed 64 for demo...")
+                    camera.move_camera(operation="ToPos", speed=64, idx=original_pose)
+                    time.sleep(2)  # Pause for 2 seconds at each pose
+
+    except Exception as e:
+        print(f"An error occurred: {e}")
+
+
+if __name__ == "__main__":
+    main()