RGBpi.py

#base packages
import os, sys
import errno 
import datetime
import subprocess
from time import gmtime, strftime, sleep

#rPi packages
from picamera import PiCamera
import RPi.GPIO as GPIO

#setup GPIO pins
GPIO.setmode(GPIO.BCM)
GPIO.setup(4,GPIO.IN)
GPIO.setup(12,GPIO.OUT)

#setup Servo
servo=GPIO.PWM(12,50)
servo.start(8.2) #set for RGB image first

#Setup Camera
camera = PiCamera()
camera.rotation = 90

# Path to be created
# scripts current directory
basepath = sys.path[0]
# make images folder
fullpath = os.path.join(basepath, "images")

# mkdir_p function for creating path in current directory
def mkdir_p(path):
    try:
        os.makedirs(path)
        print("Path is created.")
    except OSError as exc:  # Python >2.5
        if exc.errno == errno.EEXIST and os.path.isdir(path):
            pass
            print("Path exists, skipping.")
        else:
            raise
            print("Can't create path, check name.")

mkdir_p(fullpath)

try: 
    while True:
        if GPIO.input(4)==1:
            # Take IR photo at 2.5 servo position
            # build up filenames
            gottime = datetime.datetime.now().strftime("%Y-%m-%d_%H%M%S.%f")
            RGBcapname = gottime + '_RGB.jpg'
            IRcapname = gottime + '_IR.jpg'
            RGBimage = os.path.join(fullpath, RGBcapname)
            IRimage = os.path.join(fullpath, IRcapname)

            #take image
            camera.start_preview()
            sleep(0.5)
            camera.capture(RGBimage)
            camera.stop_preview()

            #move servo for IR image
            servo.ChangeDutyCycle(2.5)
            
            # Send file via ssh, run script and return IRimage to same directory as RGB one
            # http://stackoverflow.com/questions/13332268/python-subprocess-command-with-pipe
            catcall = subprocess.Popen(('cat', 'camerawargs.py'), stdout = subprocess.PIPE)
            runcall = subprocess.call(['ssh', 'pi@piir.local', 'python3', '-', '-l', IRimage], stdin=catcall.stdout)
            
           # subprocess.call(['ssh', 'pi@piir.local', 'python3', '-u', '-', '--opt' '-l', IRimage, '<', 'camerawargs.py'])
            
            #move servo back for RGB image
            servo.ChangeDutyCycle(8.2)


except KeyboardInterrupt:
    servo.stop()
    GPIO.cleanup()