Device Camera

Flo Edge comes with a 12 MP (4032 x 3024) RGB rolling shutter camera (max fps: 30). To access this, you can either use the pre installed cli tool or via the SDK with the below example.

Available Streams

The anx cli tool can help you out here.

SSH into your Flo Edge
Run anx camera_config
This would print all available configurations for the on board camera

Note : The SDK currently only supports MJPEG streams (pixel_format=0)

Create a stream and read frames

Let’s create an MJPEG stream with images sized 640x480 at 30fps

Using the CLI tool

To know more use : anx stream_camera --help

SSH into your Flo Edge
Run anx stream_camera --fps 30 --width 640 --height 480 --pixel_format 0

You would then see on your terminal the dimensions of every new frame and measured fps

 $ anx stream_camera --fps 30 --width 640 --height 480 --pixel_format 0
 [hz = 30] (480, 640, 3)
 [hz = 30] (480, 640, 3)
 [hz = 30] (480, 640, 3)
 [hz = 29] (480, 640, 3)
 [hz = 29] (480, 640, 3)
 ...

Using the SDK

The following example shows how you can use the SDK to read frames from the stream

import cv2
import numpy as np
from anx_interface import Anx

import threading

class StreamCamera:
    def __init__(self):
        self.anx = Anx()
        self.running = False
        self.display_thread = None
        
    def start_stream(self, width, height, fps, pixel_format):
        self.anx.start_device_camera(fps=fps, width=width, height=height, pixel_format=pixel_format)
        self.running = True
        self.display_thread = threading.Thread(target=self.display_loop)
        self.display_thread.start()

    def display_loop(self):
        while self.running:
            ret, img = self.anx.device_camera.read() 
            if not ret: 
                continue 
            cv2.imshow('ImageWindow', img) 
            cv2.waitKey(1)

    def wait(self):
        self.anx.wait() # blocks till interrupt is received
        self.running = False
        self.display_thread.join()
        cv2.destroyAllWindows()
 
def main(): 
    stream_camera = StreamCamera()
    stream_camera.start_stream(fps=30, width=640, height=480, pixel_format=0)
    stream_camera.wait()

if __name__ == "__main__": 
    main()