Panoramaker

panoramaker.py

# -*- coding: utf-8 -*-
################################################################################
##Author:        Carlos Asmat
##Creation Date: 12/09/09
##Title:         Panoramaker
##
##Copyright: Carlos Asmat, 2009
##License:
##      This program is free software: you can redistribute it and/or modify
##      it under the terms of the GNU General Public License as published by
##      the Free Software Foundation, either version 3 of the License, or
##      (at your option) any later version.
##
##      This program is distributed in the hope that it will be useful,
##      but WITHOUT ANY WARRANTY; without even the implied warranty of
##      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
##      GNU General Public License for more details.
##
##      You should have received a copy of the GNU General Public License
##      along with this program.  If not, see <http://www.gnu.org/licenses/>.
##
##Description:
##      This is a simple script that uses the lib_Pololu library among others
##      in order to capture a 360 deg panorama.
##
################################################################################

# Adding the path to the lib_pololu.py file to your modules path.
# Assuming that the file is at /your/path/to/the/library/lib_pololu.py
import sys
sys.path.append('/your/path/to/the/library')

# Import the lib_pololu module
import lib_pololu

# Import the serial communication and time modules
import serial
import time

# Open serial port
port = serial.Serial('/dev/ttyUSB1')
port.baudrate=2400 #set an appropriate baudrate

# Camera Code (from vmlaker.org)
import os, re
from subprocess import call, Popen, PIPE

def run(command):
    print 'Running:', command
    p = Popen(command, shell=True, stdout=PIPE)
    lines = p.stdout.readlines()
    for line in lines:
        print 'Stdout :', line,
    return lines
def capture():
    c = 'gphoto2 --capture-image'
    sout = run(c)
    firstLine = sout[0]
    
    expr = 'New file is in location (.*?) on the camera'
    comp = re.compile(expr, re.DOTALL)
    path = re.findall(comp, firstLine)[0]
    dir, fname = os.path.split(path)
    
    c = 'gphoto2 --get-file %s --folder %s'%(fname, dir)
    run(c)
    
    c = 'gphoto2 --delete-file %s --folder %s'%(fname, dir)
    run(c)
    
    c = 'gphoto2 --storage-info'
    run(c)

# Calibration Parameters
# These parameters set the limits and reference positions of the rig.
# They have been obtained trough trial and error.
horizontal = 93.5
front = 95.5
back_l = 84.5
back_r = 107
top = 70
bottom = 110

# Create two motors
# There are associated to the panning and tilting motion of the rig.
tilt = lib_pololu.Servo(port, 0, 1150, 4650)
pan = lib_pololu.Servo(port, 1, 1200, 4987)

# Define a capture routine
# This is a simple loop that takes pictures in order to produce a
# 360 deg panorama.
def capture_pano():
    
    # Capture parameters
    steps_h = 16
    steps_v = 4
    step_h = (back_r - back_l)/steps_h
    step_v = (bottom - top)/steps_v
    pos_v = bottom

    while (pos_v >=top):
        tilt.set_pos(pos_v)
        pos_v = pos_v - step_v
        pos_h = back_l
        while(pos_h <= back_r):
            pan.set_pos(pos_h)
            pos_h = pos_h + step_h
            time.sleep(2)
            capture()


# Initialize the motors
tilt.set_pos(horizontal)
pan.set_pos(front)
time.sleep(2)

# Capture the panorama
capture_pano()