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replace picamera with picamera2 #44

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replace picamera with picamera2 #44

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20 changes: 6 additions & 14 deletions robot/vision.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,14 +16,7 @@

import cv2
import numpy as np
import picamera

try:
import picamera.array
# seperate import of picamera.array required:
# <https://picamera.readthedocs.io/en/latest/api_array.html>
except ImportError:
pass # Mock RPI doesn't have picamera.array as a separate import
import picamera2

import robot.apriltags3 as AT

Expand Down Expand Up @@ -164,7 +157,8 @@ class RoboConPiCamera(Camera):
the robocon classes"""

def __init__(self, start_res=(1296, 736), focal_lengths=None):
self._pi_camera = picamera.PiCamera(resolution=start_res)
self._pi_camera = picamera2.PiCamera2(resolution=start_res)
self._pi_camera.start()
self.focal_lengths = (PI_CAMERA_FOCAL_LENGTHS
if focal_lengths is None
else focal_lengths)
Expand All @@ -187,11 +181,9 @@ def res(self, new_res: tuple):

def capture(self):
# TODO Make this return the YUV capture
with picamera.array.PiRGBArray(self._pi_camera) as stream:
self._pi_camera.capture(stream, format="bgr", use_video_port=True)
capture_time = datetime.now()
colour_frame = stream.array
grey_frame = cv2.cvtColor(stream.array, cv2.COLOR_BGR2GRAY)
capture_time = datetime.now()
colour_frame = picam2.capture_array():
grey_frame = cv2.cvtColor(stream.array, cv2.COLOR_BGR2GRAY)

return Capture(grey_frame=grey_frame,
colour_frame=colour_frame,
Expand Down