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Fix py indentation legacy #111

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Fix py indentation legacy #111

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1c85d59
multi_cameras_auto_focus.py
ianzur Oct 17, 2025
67124a5
add variable to switch cameras
ianzur Oct 17, 2025
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10 changes: 8 additions & 2 deletions Motorized_Focus_Camera/python/Motorized_Focus_Camera_Preview.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,17 +2,21 @@
import os
import time
import sys
import thread
import _thread as thread
from ctypes import *

keyboard = CDLL('./lib/libarducam_keyboard.so')
arducam_vcm =CDLL('./lib/libarducam_vcm.so')
UP = 1
DOWN = 2
SAVE = 115
focus_val = 512;
step = 10

CAMERA_NUMBER = 0

def run_camera(name):
os.system("raspistill -t 0")
os.system(f"raspistill -t 0 -cs {CAMERA_NUMBER}")
if __name__ == "__main__":
thread.start_new_thread(run_camera, ("run_camera",))
#vcm init
Expand All @@ -22,6 +26,8 @@ def run_camera(name):
# preview=camera.start_preview()
#set windows size
# preview.window=(0,0,800,600)

arducam_vcm.choose_channel(CAMERA_NUMBER)
print("Please press up and down to adjust focus.")
while True:
keyVal = keyboard.processKeyEvent()
Expand Down
224 changes: 111 additions & 113 deletions Motorized_Focus_Camera/python/multi_cameras_auto_focus.py
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Original file line number Diff line number Diff line change
@@ -1,133 +1,131 @@
import cv2 #sudo apt-get install python-opencv
import numpy as py
import os
import time
from ctypes import *
cameraNum = 2

#load arducam shared object file
arducam_vcm= CDLL('./lib/libarducam_vcm.so')
try:
import picamera
from picamera.array import PiRGBArray
import picamera
from picamera.array import PiRGBArray
except:
sys.exit(0)
sys.exit(0)
def focusing(val):
arducam_vcm.vcm_write(val)
#print("focus value: {}".format(val))
arducam_vcm.vcm_write(val)
#print("focus value: {}".format(val))
def sobel(img):
img_gray = cv2.cvtColor(img,cv2.COLOR_RGB2GRAY)
img_sobel = cv2.Sobel(img_gray,cv2.CV_16U,1,1)
return cv2.mean(img_sobel)[0]
img_gray = cv2.cvtColor(img,cv2.COLOR_RGB2GRAY)
img_sobel = cv2.Sobel(img_gray,cv2.CV_16U,1,1)
return cv2.mean(img_sobel)[0]

def laplacian(img):
img_gray = cv2.cvtColor(img,cv2.COLOR_RGB2GRAY)
img_sobel = cv2.Laplacian(img_gray,cv2.CV_16U)
return cv2.mean(img_sobel)[0]
img_gray = cv2.cvtColor(img,cv2.COLOR_RGB2GRAY)
img_sobel = cv2.Laplacian(img_gray,cv2.CV_16U)
return cv2.mean(img_sobel)[0]

def calculation(camera):
rawCapture = PiRGBArray(camera)
camera.capture(rawCapture,format="bgr", use_video_port=True)
image = rawCapture.array
rawCapture.truncate(0)
return laplacian(image)
rawCapture = PiRGBArray(camera)
camera.capture(rawCapture,format="bgr", use_video_port=True)
image = rawCapture.array
rawCapture.truncate(0)
return laplacian(image)

if __name__ == "__main__":
#vcm init
arducam_vcm.vcm_init()
arducam_vcm.vcm_init()
#open camera
camera = picamera.PiCamera()
#open camera preview
camera.start_preview()
#set camera resolution to 640x480(Small resolution for faster speeds.)
camera.resolution = (640, 480)
time.sleep(0.1)
print("Start focusing 1")
max_index = 10
max_value = 0.0
last_value = 0.0
dec_count = 0
focal_distance = 10
#choose cmaera A
arducam_vcm.choose_channel(0)
while True:
#Adjust focus
focusing(focal_distance)
#Take image and calculate image clarity
val = calculation(camera)
#Find the maximum image clarity
if val > max_value:
max_index = focal_distance
max_value = val
#If the image clarity starts to decrease
if val < last_value:
dec_count += 1
else:
dec_count = 0
#Image clarity is reduced by six consecutive frames
if dec_count > 6:
break
last_value = val
#Increase the focal distance
focal_distance += 15
if focal_distance > 1000:
break
camera = picamera.PiCamera()
#open camera preview
camera.start_preview()
#set camera resolution to 640x480(Small resolution for faster speeds.)
camera.resolution = (640, 480)
time.sleep(0.1)
print("Start focusing 1")
max_index = 10
max_value = 0.0
last_value = 0.0
dec_count = 0
focal_distance = 10
#choose cmaera A
arducam_vcm.choose_channel(0)
while True:
# adjust focus
focusing(focal_distance)
#Take image and calculate image clarity
val = calculation(camera)
#Find the maximum image clarity
if val > max_value:
max_index = focal_distance
max_value = val
#If the image clarity starts to decrease
if val < last_value:
dec_count += 1
else:
dec_count = 0
#Image clarity is reduced by six consecutive frames
if dec_count > 6:
break
last_value = val
#Increase the focal distance
focal_distance += 15
if focal_distance > 1000:
break
#Adjust focus to the best
focusing(max_index)
time.sleep(1)
#set camera resolution to 2592x1944
camera.resolution = (1920,1080)
#save image to file.
camera.capture("test_A.jpg")
print("max index = %d,max value = %lf" % (max_index,max_value))
print("Start focusing 2")
max_index = 10
max_value = 0.0
last_value = 0.0
dec_count = 0
focal_distance = 10
camera.resolution = (640, 480)
#choose cmaera A
arducam_vcm.choose_channel(1)
while True:
#Adjust focus
focusing(focal_distance)
#Take image and calculate image clarity
val = calculation(camera)
#Find the maximum image clarity
if val > max_value:
max_index = focal_distance
max_value = val
#If the image clarity starts to decrease
if val < last_value:
dec_count += 1
else:
dec_count = 0
#Image clarity is reduced by six consecutive frames
if dec_count > 6:
break
last_value = val
#Increase the focal distance
focal_distance += 15
if focal_distance > 1000:
break
focusing(max_index)
time.sleep(1)
#set camera resolution to 2592x1944
camera.resolution = (1920,1080)
#save image to file.
camera.capture("test_A.jpg")
print("max index = %d,max value = %lf" % (max_index,max_value))
print("Start focusing 2")
max_index = 10
max_value = 0.0
last_value = 0.0
dec_count = 0
focal_distance = 10
camera.resolution = (640, 480)
#choose cmaera A
arducam_vcm.choose_channel(1)
while True:
# adjust focus
focusing(focal_distance)
#Take image and calculate image clarity
val = calculation(camera)
#Find the maximum image clarity
if val > max_value:
max_index = focal_distance
max_value = val
#If the image clarity starts to decrease
if val < last_value:
dec_count += 1
else:
dec_count = 0
#Image clarity is reduced by six consecutive frames
if dec_count > 6:
break
last_value = val
#Increase the focal distance
focal_distance += 15
if focal_distance > 1000:
break

#Adjust focus to the best
focusing(max_index)
time.sleep(1)
#set camera resolution to 2592x1944
camera.resolution = (1920,1080)
#save image to file.
camera.capture("test_B.jpg")
print("max index = %d,max value = %lf" % (max_index,max_value))


#while True:
# time.sleep(1)
camera.stop_preview()
camera.close()


focusing(max_index)
time.sleep(1)
#set camera resolution to 2592x1944
camera.resolution = (1920,1080)
#save image to file.
camera.capture("test_B.jpg")
print("max index = %d,max value = %lf" % (max_index,max_value))


#while True:
#time.sleep(1)
camera.stop_preview()
camera.close()