add image capturing script for picamera (#5)

* add image capturing script for picamera

* linter fix

* fix bug and add more details in comment

* update foramtting and documentation

* add picamera test utility script

* Update docstring on venv instructions

* linter fixes, disable invalid-name

* move rc.local instructions from confluence to rc.local.copyme

* Fixup test_picam_settings.py

* Move rc.local commands to script file

* add comments and format picam.sh

* Move log directory creation into main function

picam.py

@@ -0,0 +1,34 @@
+"""
+Taking images with a Raspberry pi camera module 3 on a Rpi on the drone.
+"""
+
+import pathlib
+import time
+
+import picamera2
+
+
+LOG_DIRECTORY_PATH = pathlib.Path("logs")
+SAVE_PREFIX = str(pathlib.Path(LOG_DIRECTORY_PATH, "image_" + str(int(time.time())) + "_"))
+DELAY = 1.0  # seconds
+
+
+def main() -> None:
+    """
+    Main loop for capturing and saving images.
+    """
+    LOG_DIRECTORY_PATH.mkdir(parents=True, exist_ok=True)
+
+    picam2 = picamera2.Picamera2()
+    picam2.start(show_preview=False)
+
+    name_counter = 0
+    while True:
+        picam2.capture_file(f"{SAVE_PREFIX}{name_counter}.png")
+        name_counter += 1
+
+        time.sleep(DELAY)
+
+
+if __name__ == "__main__":
+    main()

picam.sh

@@ -0,0 +1,12 @@
+#!/bin/bash
+
+# Get current Unix time to avoid collision
+# TODO: Something more sophisticated (e.g. counter)
+TIME="${date +%s}"
+echo $TIME
+
+# Picamera Python
+cd /home/warg/image-collection  # Update to actual path
+touch logs/record_$TIME.log  # To confirm script has run
+source venv/bin/activate
+python picam.py &

rc.local.copyme

@@ -3,8 +3,12 @@
 
 # OpenCV Python (preferred)
 chmod +x /home/warg/image-collection/run.sh  # Update to actual path
-/home/warg/image-collection/run.sh  # Update to actual path
+/home/warg/image-collection/opencv.sh  # Update to actual path
 
 # FFMPEG video (backup)
 chmod +x /home/warg/image-collection/video.sh
 /home/warg/image-collection/video.sh
+
+# Picamera2 (for use with RPi 5 and Picamera)
+chmod +x /home/warg/image-collection/picam.sh
+/home/warg/image-collection/picam.sh

test_picam_settings.py

@@ -0,0 +1,35 @@
+"""
+Utility script to test different picamera settings (for use on a Rpi5).
+For available settings, see appendix C: https://datasheets.raspberrypi.com/camera/picamera2-manual.pdf
+"""
+
+import picamera2
+
+
+if __name__ == "__main__":
+    picam2 = picamera2.Picamera2()
+
+    picam2.configure(picam2.create_preview_configuration())
+
+    # Example default settings for use with IR camera + IR filter. (only sees IR hotspot)
+    # Don't change Brightness (artificially makes everything whiter) or Contrast (doesn't look too good)
+    # picam2.set_controls({"ExposureTime": 250, "AnalogueGain": 64.0, "Brightness": 0.0, "Contrast": 1.0})
+    print(picam2.controls)
+
+    picam2.start(show_preview=True)
+
+    while True:
+        # Since preview already started, it does not block preview
+        command = input("Enter a config and value (e.g. 'ExposureTime 250'): ")
+
+        input_tokens = command.split()
+        if len(input_tokens != 2):
+            print("Invalid input")
+            continue
+
+        config, raw_value = input_tokens
+        value = int(raw_value) if config == "ExposureTime" else float(raw_value)
+
+        picam2.set_controls({command: value})
+        print("New controls set")
+        print(picam2.controls)