modified tis-camera python example

gistfile1.txt

import numpy
import gi
from collections import namedtuple
import cv2

gi.require_version("Gst", "1.0")
gi.require_version("Tcam", "0.1")

from gi.repository import Tcam, Gst, GLib, GObject


class TIS(object):
    'The Imaging Source Camera'

    def __init__(self, serial, width, height, numerator, denumerator, color):
        Gst.init([])
        self.height = height
        self.width = width
        self.sample = None
        self.samplelocked = False
        self.newsample = False
        format = "BGRx"
        if (color == False):
            format = "GRAY8"

        p = 'tcambin serial="%s" name=source ! video/x-raw,format=%s,width=%d,height=%d,framerate=%d/%d' % (
            serial, format, width, height, numerator, denumerator,)
        p += ' ! videoconvert ! appsink name=sink'

        print(p)
        try:
            self.pipeline = Gst.parse_launch(p)
        except GLib.Error as error:
            print("Error creating pipeline: {0}".format(err))
            raise

        self.pipeline.set_state(Gst.State.READY)
        self.pipeline.get_state(Gst.CLOCK_TIME_NONE)
        # Query a pointer to our source, so we can set properties.
        self.source = self.pipeline.get_by_name("source")

        # Query a pointer to the appsink, so we can assign the callback function.
        self.appsink = self.pipeline.get_by_name("sink")
        self.appsink.set_property("max-buffers", 5)
        self.appsink.set_property("drop", 1)
        self.appsink.set_property("emit-signals", 1)
        self.appsink.connect('new-sample', self.on_new_buffer)

    def on_new_buffer(self, appsink):
        self.newsample = True
        if (self.samplelocked == False):
            try:
                self.sample = appsink.get_property('last-sample')
            except GLib.Error as error:
                print("Error on_new_buffer pipeline: {0}".format(err))
                raise
        return False

    def Start_pipeline(self):
        try:
            self.pipeline.set_state(Gst.State.PLAYING)
            self.pipeline.get_state(Gst.CLOCK_TIME_NONE)


        except GLib.Error as error:
            print("Error starting pipeline: {0}".format(err))
            raise

    def Get_image(self):
        # Sample code from https://gist.github.com/cbenhagen/76b24573fa63e7492fb6#file-gst-appsink-opencv-py-L34
        if (self.sample != None and self.newsample == True):
            self.samplelocked = True
            buf = self.sample.get_buffer()
            caps = self.sample.get_caps()
            bpp = 4;
            if (caps.get_structure(0).get_value('format') == "BGRx"):
                bpp = 4;

            if (caps.get_structure(0).get_value('format') == "GRAY8"):
                bpp = 1;

            self.img_mat = numpy.ndarray(
                (caps.get_structure(0).get_value('height'),
                 caps.get_structure(0).get_value('width'),
                 bpp),
                buffer=buf.extract_dup(0, buf.get_size()),
                dtype=numpy.uint8)
            self.newsample = False
            self.samplelocked = False
            return self.img_mat
        return None

    def Stop_pipeline(self):
        self.pipeline.set_state(Gst.State.PAUSED)
        self.pipeline.set_state(Gst.State.READY)
        self.pipeline.set_state(Gst.State.NULL)

Gst.init([])
serial = "20810358"

################################################
# ADDING THESE TWO LINES MAKES THE CODE NOT WORK
tcam1 = Gst.ElementFactory.make('tcamsrc')
tcam1.set_property("serial", "20810358")
################################################

LeftCam = TIS(serial, 640, 480, 15, 1, False)

cv2.namedWindow('Left Camera', 1)

# Start the pipeline
LeftCam.Start_pipeline()

cv2.waitKey(1000)

error = 0
print('Press Esc to stop')
lastkey = 0
try:
    while (lastkey != 27):
        # Grab an image
        LeftImage = LeftCam.Get_image()

        if LeftImage is not None:
            error = 0
            # cv2.imwrite('img.jpg' , LeftImage)
            # show the image
            cv2.imshow('Left Camera', LeftImage)
        else:
            print("No left image reveived ")
            error = error + 1

        # wait. The wait period should be somewhat longer than 1000 / fps.
        lastkey = cv2.waitKey(67)  # 67 = 1000 / 15 fps


except KeyboardInterrupt:
    cv2.destroyWindow('Window')

# Stop the pipeline and clean ip
LeftCam.Stop_pipeline()
print('Program ended')