python - Trouble shooting when using picam2.capture_array to take picture and put them into RAM - Stack Overflow

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I am using my raspberry pi to try to complete the task, which is taking a picture in, then use the function get_angle to find the angle of reference of the blue dots in the picture. Then, turing the survo motor to aim the angle. However when I run my program I got this error:

/home/ricky/Desktop/moduleç»ä¹ /module6.py:238: RuntimeWarning: This channel is already >in use, continuing anyway. Use GPIO.setwarnings(False) to disable warnings. GPIO.setup(PWM_pin, GPIO.OUT) # Create PWM instance for pin w freqency [0:07:40.899633954] [2414] INFO Camera camera_manager.cpp:327 libcamera v0.4.0+50-83cb8101 [0:07:40.926652928] [2435] WARN RPiSdn sdn.cpp:40 Using legacy SDN tuning - please consider moving SDN inside rpi.denoise [0:07:40.929008930] [2435] INFO RPI vc4.cpp:447 Registered camera /base/soc/i2c0mux/i2c@1/ov5647@36 to Unicam device /dev/media2 and ISP device /dev/media0 [0:07:40.929134722] [2435] INFO RPI pipeline_base.cpp:1121 Using configuration file '/usr/share/libcamera/pipeline/rpi/vc4/rpi_apps.yaml'

I modified my code to be this:

from picamera2 import Picamera2 
import cv2 
import numpy as np 
import time
import math
import argparse
import RPi.GPIO as GPIO
GPIO.setmode(GPIO.BOARD) 
PWM_pin   = 32   #Define pin, frequency and duty cycle 
freq      = 50 
dutyCycle = 7.5 #90 degrees at first#
                #Values 0 - 100 (represents 4%, ~27 deg) 
GPIO.setup(PWM_pin, GPIO.OUT) # Create PWM instance for pin w freqency 
pwm = GPIO.PWM(PWM_pin, freq) 
picam2 = Picamera2()    
parser=argparse.ArgumentParser(description="lower and upper bound for trying")
parser.add_argument('--tim',default=10,help="length of time to run")
parser.add_argument('--delay',default=0.5,help="time between image captures")
parser.add_argument('--debug',action='store_true',default=False,help="debug mode")
args=parser.parse_args()

def get_duty(direction)
    duty=(1/18)*direction +2.5
    return duty

def get_angle(img,debug):
    hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV) 
    mask = cv2.inRange(hsv, (90, 20, 130), (110, 255, 255))  
    cv2.imwrite('masked.jpg', mask) 
    M = cv2.moments(mask) 
    cX = int(M["m10"] / M["m00"])                            
    cY = int(M["m01"] / M["m00"]) 
    if M['m00']==0:
        angle=360
        print('no center of mass found')
    else:
        img_2=img.copy()
        img_2 = cv2.circle(img_2, (cX,cY), 5, (0,0,255), 2) # red circle placed on the center of mass
        cv2.imwrite('center_of_mass.jpg', img_2) 
        angle=180/math.pi*(math.atan((cX-0.5*img.shape[1])/(img.shape[0]-cY))) #calculate angle of reference
        print(f'''angle in degree {angle:0.2f}''')
    if debug== True:
        print(f'center of mass:({cX},{cY})') 
        cv2.imshow("masked",mask) 
        cv2.imshow("center_of_mass",img_2)
        cv2.waitKey(1000)
        cv2.destroyAllWindows() 
    return angle

start_time=time.time()
now_time=time.time()

while now_time-start_time<args.tim: 
    img_RAM = picam2.capture_array("main") #take picture into memory
    cv2.imshow("picture",img_RAM)
    cv2.waitKey(1000)
    cv2.destroyAllWindows()
    # debug=args.debug
    # # img_test = cv2.imread("bluetape.jpg")
    # angle=get_angle(img_RAM,debug) #call function
    # if -91 <angle< 91:
        # real_angle= angle+90 #real angle from horizontal
        # dutyCycle=get_duty(real_angle) 
        # pwm.ChangeDutyCycle(dutyCycle) 
        # if debug ==True:
            # print(f'PWM:{dutyCycle}')
    # else:
        # pass
    now_time=time.time()
    time.sleep(args.delay)'''

You can see how I add a "imshow" in the while loop and a "print('no center of mass found')" in the function get_angle. I would expect the picture to show up for a second and the screen printing the message of "no center of mass found" cause I just take a picture of the walls and there are no blue dots in the picture.

Strange enough, it does not print out anything, and no pictures shows up. Also, it does not automatically end for after 10s.

I am using my raspberry pi to try to complete the task, which is taking a picture in, then use the function get_angle to find the angle of reference of the blue dots in the picture. Then, turing the survo motor to aim the angle. However when I run my program I got this error:

/home/ricky/Desktop/moduleç»ä¹ /module6.py:238: RuntimeWarning: This channel is already >in use, continuing anyway. Use GPIO.setwarnings(False) to disable warnings. GPIO.setup(PWM_pin, GPIO.OUT) # Create PWM instance for pin w freqency [0:07:40.899633954] [2414] INFO Camera camera_manager.cpp:327 libcamera v0.4.0+50-83cb8101 [0:07:40.926652928] [2435] WARN RPiSdn sdn.cpp:40 Using legacy SDN tuning - please consider moving SDN inside rpi.denoise [0:07:40.929008930] [2435] INFO RPI vc4.cpp:447 Registered camera /base/soc/i2c0mux/i2c@1/ov5647@36 to Unicam device /dev/media2 and ISP device /dev/media0 [0:07:40.929134722] [2435] INFO RPI pipeline_base.cpp:1121 Using configuration file '/usr/share/libcamera/pipeline/rpi/vc4/rpi_apps.yaml'

I modified my code to be this:

from picamera2 import Picamera2 
import cv2 
import numpy as np 
import time
import math
import argparse
import RPi.GPIO as GPIO
GPIO.setmode(GPIO.BOARD) 
PWM_pin   = 32   #Define pin, frequency and duty cycle 
freq      = 50 
dutyCycle = 7.5 #90 degrees at first#
                #Values 0 - 100 (represents 4%, ~27 deg) 
GPIO.setup(PWM_pin, GPIO.OUT) # Create PWM instance for pin w freqency 
pwm = GPIO.PWM(PWM_pin, freq) 
picam2 = Picamera2()    
parser=argparse.ArgumentParser(description="lower and upper bound for trying")
parser.add_argument('--tim',default=10,help="length of time to run")
parser.add_argument('--delay',default=0.5,help="time between image captures")
parser.add_argument('--debug',action='store_true',default=False,help="debug mode")
args=parser.parse_args()

def get_duty(direction)
    duty=(1/18)*direction +2.5
    return duty

def get_angle(img,debug):
    hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV) 
    mask = cv2.inRange(hsv, (90, 20, 130), (110, 255, 255))  
    cv2.imwrite('masked.jpg', mask) 
    M = cv2.moments(mask) 
    cX = int(M["m10"] / M["m00"])                            
    cY = int(M["m01"] / M["m00"]) 
    if M['m00']==0:
        angle=360
        print('no center of mass found')
    else:
        img_2=img.copy()
        img_2 = cv2.circle(img_2, (cX,cY), 5, (0,0,255), 2) # red circle placed on the center of mass
        cv2.imwrite('center_of_mass.jpg', img_2) 
        angle=180/math.pi*(math.atan((cX-0.5*img.shape[1])/(img.shape[0]-cY))) #calculate angle of reference
        print(f'''angle in degree {angle:0.2f}''')
    if debug== True:
        print(f'center of mass:({cX},{cY})') 
        cv2.imshow("masked",mask) 
        cv2.imshow("center_of_mass",img_2)
        cv2.waitKey(1000)
        cv2.destroyAllWindows() 
    return angle

start_time=time.time()
now_time=time.time()

while now_time-start_time<args.tim: 
    img_RAM = picam2.capture_array("main") #take picture into memory
    cv2.imshow("picture",img_RAM)
    cv2.waitKey(1000)
    cv2.destroyAllWindows()
    # debug=args.debug
    # # img_test = cv2.imread("bluetape.jpg")
    # angle=get_angle(img_RAM,debug) #call function
    # if -91 <angle< 91:
        # real_angle= angle+90 #real angle from horizontal
        # dutyCycle=get_duty(real_angle) 
        # pwm.ChangeDutyCycle(dutyCycle) 
        # if debug ==True:
            # print(f'PWM:{dutyCycle}')
    # else:
        # pass
    now_time=time.time()
    time.sleep(args.delay)'''

You can see how I add a "imshow" in the while loop and a "print('no center of mass found')" in the function get_angle. I would expect the picture to show up for a second and the screen printing the message of "no center of mass found" cause I just take a picture of the walls and there are no blue dots in the picture.

Strange enough, it does not print out anything, and no pictures shows up. Also, it does not automatically end for after 10s.

• python
• raspberry-pi
• picamera

Share Improve this question Follow asked Feb 13 at 15:38 Ricky W.Ricky W. 1333 bronze badges

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1 Answer 1

Sorted by: Reset to default 0

resolved, fet to put picam2.start(). It should be placed in at the start of the while loop.

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