git-svn-id: http://newslabx.csie.ntu.edu.tw/svn/Ginger@19 5747cdd2-2146-426f-b2b0-0570f90b98ed

trunk/code/readGridEye.py

@@ -0,0 +1,100 @@
+import cv2
+import serial
+import threading
+import time
+
+class Frame():
+    def __init__(self, time, data):
+        self.time = time
+        self.data = data
+
+class GridEye():
+    def __init__(self, serialPort, baudrate):
+        self.port = serial.Serial(serialPort, baudrate)
+        self.frames = []
+        self.reading = True
+        self.thread = threading.Thread(target = self.reader)
+        self.thread.setDaemon(True)
+
+    def start(self):
+        self.thread.start()
+        
+    def stop(self):
+        self.reading = False
+        self.thread.join()
+        
+    def reader(self):
+        data = []
+        data_time = 0;
+        while (self.reading):
+            line = b''
+            while (self.reading):
+                c = self.port.read()
+                if c == b'\r':
+                    c = self.port.read()
+                    break
+                if c == b'\n':
+                    break
+                line += c
+            #line = self.port.readline()#.decode('utf-8')
+            # if line:
+                # print (line)
+                # time.sleep(0.01)
+            # if self.port.in_waiting > 0:
+                # print (self.port.in_waiting)
+            if b'#' in line:
+                if len(data) == 8:
+                    print (data_time)
+                    #print (data)
+                    self.frames.append(Frame(data_time, data))
+                    if len(self.frames) > 100:
+                        self.frames.pop(0)
+                else:
+                    print ('something wrong', len(data))
+                data_time = time.time()
+                data = []
+            else:
+                try:
+                    row = [float(x) for x in line.split()] 
+                    if len(row) == 8:
+                        data.append(row)
+                except ValueError as e:
+                    print ('error', e)
+                    data_time = time.time()
+                    data = []
+                if len(data) > 8:
+                    data.pop(0)
+                    
+                    
+        
+if __name__ == '__main__':
+    import cv2
+    import numpy as np
+    SIZE = 128
+    overlap = 120
+    grideye = GridEye('COM12', 115200)
+    grideye.start()
+    cv2.imshow('sample', np.empty((SIZE*2,SIZE*2), np.uint8))
+    while True:
+        if len(grideye.frames) > 0:
+            frame = grideye.frames.pop(0)
+            img = (np.array(frame.data)-15)*10
+            img = cv2.resize(img.astype(np.uint8), (SIZE,SIZE), interpolation = cv2.INTER_LINEAR)
+            img2 = np.copy(img)
+            
+            out = np.empty((SIZE*2, SIZE*2), dtype=np.uint16)
+            out[:SIZE, :SIZE] = img
+            out[:SIZE, SIZE:] = img2
+            
+            out[SIZE:, :SIZE] = img
+            out[SIZE:, (SIZE-overlap):SIZE] += img2[:,:overlap]
+            out[SIZE:, (SIZE-overlap):SIZE] = out[SIZE:, (SIZE-overlap):SIZE]/2
+            
+            out[SIZE:, SIZE:SIZE+(SIZE-overlap)] = img2[:,overlap:SIZE]
+            out = out.astype(np.uint8)
+            cv2.imshow('sample', out)
+            if cv2.waitKey(1) == ord('q'):
+                break
+        time.sleep(0.001)
+    grideye.stop()
+