Move camera configurations close to camera classes

modules/camera/base_camera.py

@@ -6,8 +6,6 @@
 
 import numpy as np
 
-from . import camera_configurations
-
 
 class BaseCameraDevice(abc.ABC):
     """
@@ -20,13 +18,14 @@ def create(
         cls,
         width: int,
         height: int,
-        config: camera_configurations.PiCameraConfig | camera_configurations.OpenCVCameraConfig,
+        config: object,
     ) -> "tuple[True, BaseCameraDevice] | tuple[False, None]":
         """
         Abstract create method.
 
         width: Width of the camera.
         height: Height of the camera.
+        config: Configuration.
 
         Return: Success, camera object.
         """

modules/camera/camera_factory.py

@@ -5,7 +5,6 @@
 import enum
 
 from . import base_camera
-from . import camera_configurations
 from . import camera_opencv
 from . import camera_picamera2
 
@@ -23,7 +22,7 @@ def create_camera(
     camera_option: CameraOption,
     width: int,
     height: int,
-    config: camera_configurations.PiCameraConfig | camera_configurations.OpenCVCameraConfig,
+    config: camera_opencv.ConfigOpenCV | camera_picamera2.ConfigPiCamera2,
 ) -> tuple[True, base_camera.BaseCameraDevice] | tuple[False, None]:
     """
     Create a camera object based off of given parameters.

modules/camera/camera_opencv.py

@@ -6,7 +6,18 @@
 import numpy as np
 
 from . import base_camera
-from . import camera_configurations
+
+
+class ConfigOpenCV:
+    """
+    Configuration for the OpenCV camera.
+    """
+
+    def __init__(self, device_index: int) -> None:
+        """
+        index: Index of the device.
+        """
+        self.device_index = device_index
 
 
 class CameraOpenCV(base_camera.BaseCameraDevice):
@@ -18,21 +29,24 @@ class CameraOpenCV(base_camera.BaseCameraDevice):
 
     @classmethod
     def create(
-        cls, width: int, height: int, config: camera_configurations.OpenCVCameraConfig = None
+        cls, width: int, height: int, config: ConfigOpenCV
     ) -> "tuple[True, CameraOpenCV] | tuple[False, None]":
         """
         OpenCV Camera.
 
         width: Width of the camera.
         height: Height of the camera.
-        config (OpenCVCameraConfig, optional): Configuration of the camera.
+        config: Configuration of for OpenCV camera.
 
         Return: Success, camera object.
         """
+        if width <= 0:
+            return False, None
+
+        if height <= 0:
+            return False, None
 
-        # TODO: apply camera configs to camera here
-        _ = config  # placeholder
-        camera = cv2.VideoCapture(0)
+        camera = cv2.VideoCapture(config.device_index)
         if not camera.isOpened():
             return False, None
 

modules/camera/camera_picamera2.py

@@ -6,16 +6,60 @@
 
 # Picamera2 library only exists on Raspberry Pi
 try:
+    import libcamera
     import picamera2
 except ImportError:
     pass
 
 from . import base_camera
-from . import camera_configurations
 
 
-# TODO: pass in as constructor parameter
-CAMERA_TIMEOUT = 1
+class ConfigPiCamera2:
+    """
+    Configuration for the PiCamera.
+    """
+
+    def __init__(
+        self,
+        timeout: float = 1.0,
+        exposure_time: int = 250,
+        analogue_gain: float = 64.0,
+        contrast: float = 1.0,
+        maybe_lens_position: float | None = None,
+    ) -> None:
+        """
+        timeout: Getting image timeout in seconds.
+
+        exposure_time: Microseconds.
+        analogue_gain: 0.0 to 64.0 . ISO = Analogue gain * Digital gain * 100 .
+        contrast: 0.0 to 32.0 . 0.0 is no contrast, 1.0 is normal contrast, higher is more contrast.
+        lens_position: Position of the lens is dioptres (reciprocal of metres: 1/m ) (0 means infinite distance).
+        """
+        self.timeout = timeout
+
+        self.exposure_time = exposure_time
+        self.analogue_gain = analogue_gain
+        self.contrast = contrast
+        self.maybe_lens_position = maybe_lens_position
+
+    def to_dict(self) -> dict[str, int | float]:
+        """
+        Dictionary containing camera controls.
+        """
+        camera_controls = {
+            "ExposureTime": self.exposure_time,
+            "AnalogueGain": self.analogue_gain,
+            "Contrast": self.contrast,
+        }
+
+        if self.maybe_lens_position is not None:
+            camera_controls["LensPosition"] = self.maybe_lens_position
+            camera_controls["AfMode"] = libcamera.controls.AfModeEnum.Manual
+        else:
+            camera_controls["LensPosition"] = 0.0
+            camera_controls["AfMode"] = libcamera.controls.AfModeEnum.Auto
+
+        return camera_controls
 
 
 class CameraPiCamera2(base_camera.BaseCameraDevice):
@@ -27,38 +71,51 @@ class CameraPiCamera2(base_camera.BaseCameraDevice):
 
     @classmethod
     def create(
-        cls, width: int, height: int, config: camera_configurations.PiCameraConfig = None
+        cls, width: int, height: int, config: ConfigPiCamera2
     ) -> "tuple[True, CameraPiCamera2] | tuple[False, None]":
         """
         Picamera2 Camera.
 
         width: Width of the camera.
         height: Height of the camera.
-        config (PiCameraConfig): Configuration object
+        config: Configuration for PiCamera2 camera.
+
         Return: Success, camera object.
         """
+        if width <= 0:
+            return False, None
+
+        if height <= 0:
+            return False, None
+
         try:
             camera = picamera2.Picamera2()
 
             camera_config = camera.create_preview_configuration(
-                {"size": (width, height), "format": "RGB888"}
+                {"size": (config.image_width, config.image_height), "format": "RGB888"}
             )
             camera.configure(camera_config)
             camera.start()
-            if config:
-                controls = config.to_dict()
-                camera.set_controls(controls)
-            return True, CameraPiCamera2(cls.__create_key, camera)
+            controls = config.to_dict()
+            camera.set_controls(controls)
+
+            return True, CameraPiCamera2(cls.__create_key, camera, config)
         except RuntimeError:
             return False, None
 
-    def __init__(self, class_private_create_key: object, camera: "picamera2.Picamera2") -> None:
+    def __init__(
+        self,
+        class_private_create_key: object,
+        camera: "picamera2.Picamera2",
+        config: ConfigPiCamera2,
+    ) -> None:
         """
         Private constructor, use create() method.
         """
         assert class_private_create_key is CameraPiCamera2.__create_key, "Use create() method."
 
         self.__camera = camera
+        self.__config = config
 
     def __del__(self) -> None:
         """
@@ -73,8 +130,7 @@ def run(self) -> tuple[True, np.ndarray] | tuple[False, None]:
         Return: Success, image with shape (height, width, channels in BGR).
         """
         try:
-            # CAMERA_TIMEOUT seconds before raising TimeoutError
-            image_data = self.__camera.capture_array(wait=CAMERA_TIMEOUT)
+            image_data = self.__camera.capture_array(wait=self.__config.timeout)
         except TimeoutError:
             return False, None
 

tests/integration/test_camera_opencv.py

@@ -6,8 +6,8 @@
 
 import cv2
 
-from modules.camera import camera_configurations
 from modules.camera import camera_factory
+from modules.camera import camera_opencv
 
 
 # TODO: Add camera logging
@@ -18,11 +18,11 @@ def main() -> int:
     """
     Main function.
     """
-    config = camera_configurations.OpenCVCameraConfig()
+    config = camera_opencv.ConfigOpenCV(0)
     assert config is not None
 
     result, device = camera_factory.create_camera(
-        camera_factory.CameraOption.OPENCV, 640, 480, config=config
+        camera_factory.CameraOption.OPENCV, 640, 480, config
     )
     if not result:
         print("OpenCV camera creation error.")
@@ -49,7 +49,7 @@ def main() -> int:
 
 if __name__ == "__main__":
     result_main = main()
-    if result_main < 0:
+    if result_main != 0:
         print(f"ERROR: Status code: {result_main}")
 
     print("Done!")

tests/integration/test_camera_picamera2.py

@@ -6,8 +6,8 @@
 
 import cv2
 
-from modules.camera import camera_configurations
 from modules.camera import camera_factory
+from modules.camera import camera_picamera2
 
 
 # TODO: Add camera logging
@@ -19,13 +19,11 @@ def main() -> int:
     Main function.
     """
 
-    config = camera_configurations.PiCameraConfig(
-        exposure_time=250, contrast=1.0, analogue_gain=64.0
-    )
+    config = camera_picamera2.ConfigPiCamera2()
     assert config.exposure_time == 250
     assert config.contrast == 1.0
     assert config.analogue_gain == 64.0
-    assert config.lens_position is None
+    assert config.maybe_lens_position is None
 
     result, device = camera_factory.create_camera(
         camera_factory.CameraOption.PICAM2, 640, 480, config
@@ -55,7 +53,7 @@ def main() -> int:
 
 if __name__ == "__main__":
     result_main = main()
-    if result_main < 0:
+    if result_main != 0:
         print(f"ERROR: Status code: {result_main}")
 
     print("Done!")

tests/integration/test_camera_qr_example.py

@@ -4,18 +4,18 @@
 
 import cv2
 
-from modules.camera import camera_configurations
 from modules.camera import camera_factory
+from modules.camera import camera_opencv
 from modules.qr import qr_scanner
 
 
 def main() -> int:
     """
     Main function.
     """
-    config = camera_configurations.OpenCVCameraConfig()
+    config = camera_opencv.ConfigOpenCV(0)
     result, camera = camera_factory.create_camera(
-        camera_factory.CameraOption.OPENCV, 640, 480, config=config
+        camera_factory.CameraOption.OPENCV, 640, 480, config
     )
     if not result:
         print("OpenCV camera creation error.")
@@ -44,7 +44,7 @@ def main() -> int:
 
 if __name__ == "__main__":
     result_main = main()
-    if result_main < 0:
+    if result_main != 0:
         print(f"ERROR: Status code: {result_main}")
 
     print("Done!")