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Changed color camera back to color, set all cameras to 20ms shutter speed

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Tempest 2025-12-01 15:42:16 +07:00
parent 35ddf9f844
commit 413590d1a2
1 changed files with 114 additions and 80 deletions
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194
src/detectionSoftware/run.py
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@ -11,7 +11,7 @@ TARGET_NUM_CAMS = 3
DEFAULT_W = 1280 DEFAULT_W = 1280
DEFAULT_H = 720 DEFAULT_H = 720
# --- PART 1: DETECTION --- # --- PART 1: DETECTION (Unchanged) ---
def scan_connected_cameras(): def scan_connected_cameras():
print("--- Scanning for Basler Cameras ---") print("--- Scanning for Basler Cameras ---")
detection_script = """ detection_script = """
@ -23,45 +23,58 @@ try:
if not devices: if not devices:
print("NONE") print("NONE")
else: else:
serials = [d.GetSerialNumber() for d in devices] results = []
cam = pylon.InstantCamera(tl_factory.CreateDevice(devices[0])) for i in range(len(devices)):
cam.Open() cam = pylon.InstantCamera(tl_factory.CreateDevice(devices[i]))
try: cam.Open()
cam.BinningHorizontal.Value = 2 serial = cam.GetDeviceInfo().GetSerialNumber()
cam.BinningVertical.Value = 2 model = cam.GetDeviceInfo().GetModelName()
is_color = model.endswith("c") or "Color" in model
w = cam.Width.GetValue() w = cam.Width.GetValue()
h = cam.Height.GetValue() h = cam.Height.GetValue()
cam.BinningHorizontal.Value = 1 binning = 0
cam.BinningVertical.Value = 1 try:
supported = 1 cam.BinningHorizontal.Value = 2
except: cam.BinningVertical.Value = 2
w = cam.Width.GetValue() cam.BinningHorizontal.Value = 1
h = cam.Height.GetValue() cam.BinningVertical.Value = 1
supported = 0 binning = 1
cam.Close() except: pass
print(f"{','.join(serials)}|{w}|{h}|{supported}") current_fmt = cam.PixelFormat.GetValue()
except Exception: cam.Close()
print("NONE") results.append(f"{serial}:{w}:{h}:{binning}:{1 if is_color else 0}:{model}:{current_fmt}")
print("|".join(results))
except Exception: print("NONE")
""" """
try: try:
result = subprocess.run([sys.executable, "-c", detection_script], capture_output=True, text=True) result = subprocess.run([sys.executable, "-c", detection_script], capture_output=True, text=True)
output = result.stdout.strip() output = result.stdout.strip()
if "NONE" in output or not output: if "NONE" in output or not output: return []
return [], DEFAULT_W, DEFAULT_H, False camera_list = []
parts = output.split('|') entries = output.split('|')
return parts[0].split(','), int(parts[1]), int(parts[2]), (parts[3] == '1') for entry in entries:
except: return [], DEFAULT_W, DEFAULT_H, False parts = entry.split(':')
camera_list.append({
"serial": parts[0], "width": int(parts[1]), "height": int(parts[2]),
"binning": (parts[3] == '1'), "is_color": (parts[4] == '1'), "model": parts[5]
})
return camera_list
except: return []
DETECTED_SERIALS, CAM_W, CAM_H, BINNING_SUPPORTED = scan_connected_cameras() DETECTED_CAMS = scan_connected_cameras()
ACTUAL_CAMS_COUNT = len(DETECTED_SERIALS) ACTUAL_CAMS_COUNT = len(DETECTED_CAMS)
# --- RESOLUTION & LAYOUT --- # --- RESOLUTION LOGIC ---
INTERNAL_WIDTH = 1280
if ACTUAL_CAMS_COUNT > 0: if ACTUAL_CAMS_COUNT > 0:
scale = INTERNAL_WIDTH / CAM_W MASTER_W = DETECTED_CAMS[0]['width']
INTERNAL_HEIGHT = int(CAM_H * scale) MASTER_H = DETECTED_CAMS[0]['height']
else: else:
INTERNAL_HEIGHT = 720 MASTER_W = DEFAULT_W
MASTER_H = DEFAULT_H
INTERNAL_WIDTH = 1280
scale = INTERNAL_WIDTH / MASTER_W
INTERNAL_HEIGHT = int(MASTER_H * scale)
if INTERNAL_HEIGHT % 2 != 0: INTERNAL_HEIGHT += 1 if INTERNAL_HEIGHT % 2 != 0: INTERNAL_HEIGHT += 1
WEB_WIDTH = 1280 WEB_WIDTH = 1280
@ -70,7 +83,9 @@ scale_tiled = WEB_WIDTH / total_source_width
WEB_HEIGHT = int(INTERNAL_HEIGHT * scale_tiled) WEB_HEIGHT = int(INTERNAL_HEIGHT * scale_tiled)
if WEB_HEIGHT % 2 != 0: WEB_HEIGHT += 1 if WEB_HEIGHT % 2 != 0: WEB_HEIGHT += 1
print(f"LAYOUT: {TARGET_NUM_CAMS} Slots | Detected: {ACTUAL_CAMS_COUNT} Cams") print(f"LAYOUT: {TARGET_NUM_CAMS} Slots | Detected: {ACTUAL_CAMS_COUNT}")
for c in DETECTED_CAMS:
print(f" - Cam {c['serial']} ({c['model']}): {'COLOR' if c['is_color'] else 'MONO'}")
# --- FLASK & GSTREAMER --- # --- FLASK & GSTREAMER ---
import gi import gi
@ -107,7 +122,6 @@ class GStreamerPipeline(threading.Thread):
if not sample: return Gst.FlowReturn.ERROR if not sample: return Gst.FlowReturn.ERROR
frame_count += 1 frame_count += 1
# Calculate FPS every 30 frames
if frame_count % 30 == 0: if frame_count % 30 == 0:
elapsed = time.time() - start_time elapsed = time.time() - start_time
current_fps = 30 / elapsed if elapsed > 0 else 0 current_fps = 30 / elapsed if elapsed > 0 else 0
@ -125,52 +139,80 @@ class GStreamerPipeline(threading.Thread):
return Gst.FlowReturn.OK return Gst.FlowReturn.OK
def build_pipeline(self): def build_pipeline(self):
# 1. CAMERA SETTINGS
# Note: We run cameras at 60 FPS for internal stability
cam_settings = (
"cam::TriggerMode=Off "
"cam::AcquisitionFrameRateEnable=true cam::AcquisitionFrameRate=60.0 "
"cam::ExposureAuto=Off "
"cam::ExposureTime=20000.0 "
"cam::GainAuto=Continuous "
"cam::DeviceLinkThroughputLimitMode=Off "
)
if BINNING_SUPPORTED:
cam_settings += "cam::BinningHorizontal=2 cam::BinningVertical=2 "
sources_str = "" sources_str = ""
for i in range(TARGET_NUM_CAMS): for i in range(TARGET_NUM_CAMS):
if i < len(DETECTED_SERIALS): if i < len(DETECTED_CAMS):
# --- REAL CAMERA SOURCE --- cam_info = DETECTED_CAMS[i]
serial = DETECTED_SERIALS[i] serial = cam_info['serial']
print(f"Slot {i}: Linking Camera {serial}") is_color = cam_info['is_color']
print(f"Slot {i}: Linking {serial} [{'Color' if is_color else 'Mono'}]")
# --- 1. BASE SETTINGS (Common) ---
# We DISABLE Throughput Limit to allow high bandwidth
base_settings = (
f"pylonsrc device-serial-number={serial} "
"cam::TriggerMode=Off "
"cam::AcquisitionFrameRateEnable=true cam::AcquisitionFrameRate=60.0 "
"cam::DeviceLinkThroughputLimitMode=Off "
)
# Pre-scaler
pre_scale = ( pre_scale = (
"nvvideoconvert compute-hw=1 ! " "nvvideoconvert compute-hw=1 ! "
f"video/x-raw(memory:NVMM), format=NV12, width={INTERNAL_WIDTH}, height={INTERNAL_HEIGHT}, framerate=60/1 ! " f"video/x-raw(memory:NVMM), format=NV12, width={INTERNAL_WIDTH}, height={INTERNAL_HEIGHT}, framerate=60/1 ! "
) )
source = ( if is_color:
f"pylonsrc device-serial-number={serial} {cam_settings} ! " # --- 2A. COLOR SETTINGS (High Speed) ---
"video/x-raw,format=GRAY8 ! " # FIX: Force ExposureTime=20000.0 (20ms) even for Color.
"videoconvert ! " # If we leave it on Auto, it will slow down the Mono cameras.
"video/x-raw,format=I420 ! " # We rely on 'GainAuto' to make the image bright enough.
"nvvideoconvert compute-hw=1 ! " color_settings = (
"video/x-raw(memory:NVMM) ! " f"{base_settings} "
f"{pre_scale}" "cam::ExposureAuto=Off cam::ExposureTime=20000.0 "
f"m.sink_{i} " "cam::GainAuto=Continuous "
) "cam::Width=1920 cam::Height=1080 cam::OffsetX=336 cam::OffsetY=484 "
"cam::PixelFormat=BayerBG8 " # Force Format
)
source = (
f"{color_settings} ! "
"bayer2rgb ! " # Debayer
"videoconvert ! "
"video/x-raw,format=RGBA ! "
"nvvideoconvert compute-hw=1 ! "
f"video/x-raw(memory:NVMM), format=NV12 ! "
f"{pre_scale}"
f"m.sink_{i} "
)
else:
# --- 2B. MONO SETTINGS (High Speed) ---
# Force ExposureTime=20000.0
mono_settings = (
f"{base_settings} "
"cam::ExposureAuto=Off cam::ExposureTime=20000.0 "
"cam::GainAuto=Continuous "
)
if cam_info['binning']:
mono_settings += "cam::BinningHorizontal=2 cam::BinningVertical=2 "
source = (
f"{mono_settings} ! "
"video/x-raw,format=GRAY8 ! "
"videoconvert ! "
"video/x-raw,format=I420 ! "
"nvvideoconvert compute-hw=1 ! "
f"video/x-raw(memory:NVMM), format=NV12 ! "
f"{pre_scale}"
f"m.sink_{i} "
)
else: else:
# --- DISCONNECTED PLACEHOLDER --- # --- DISCONNECTED PLACEHOLDER ---
print(f"Slot {i}: Creating Placeholder (Synchronized)")
# FIX 1: Add 'videorate' to enforce strict timing on the fake source
# This prevents the placeholder from running too fast/slow and jittering the muxer
source = ( source = (
f"videotestsrc pattern=black is-live=true ! " f"videotestsrc pattern=black is-live=true ! "
f"videorate ! " # <--- TIMING ENFORCER f"videorate ! "
f"video/x-raw,width={INTERNAL_WIDTH},height={INTERNAL_HEIGHT},format=I420,framerate=60/1 ! " f"video/x-raw,width={INTERNAL_WIDTH},height={INTERNAL_HEIGHT},format=I420,framerate=60/1 ! "
f"textoverlay text=\"DISCONNECTED\" valignment=center halignment=center font-desc=\"Sans, 48\" ! " f"textoverlay text=\"DISCONNECTED\" valignment=center halignment=center font-desc=\"Sans, 48\" ! "
"nvvideoconvert compute-hw=1 ! " "nvvideoconvert compute-hw=1 ! "
@ -181,28 +223,21 @@ class GStreamerPipeline(threading.Thread):
sources_str += source sources_str += source
# 3. MUXER & PROCESSING # 3. MUXER & PROCESSING
# FIX 2: batched-push-timeout=33000
# This tells the muxer: "If you have data, send it every 33ms (30fps). Don't wait forever."
# FIX 3: Output Videorate
# We process internally at 60fps (best for camera driver), but we DROP to 30fps
# for the web stream. This makes the network stream buttery smooth and consistent.
processing = ( processing = (
f"nvstreammux name=m batch-size={TARGET_NUM_CAMS} width={INTERNAL_WIDTH} height={INTERNAL_HEIGHT} " f"nvstreammux name=m batch-size={TARGET_NUM_CAMS} width={INTERNAL_WIDTH} height={INTERNAL_HEIGHT} "
f"live-source=1 batched-push-timeout=33000 ! " # <--- TIMEOUT FIX f"live-source=1 batched-push-timeout=33000 ! "
f"nvmultistreamtiler width={WEB_WIDTH} height={WEB_HEIGHT} rows=1 columns={TARGET_NUM_CAMS} ! " f"nvmultistreamtiler width={WEB_WIDTH} height={WEB_HEIGHT} rows=1 columns={TARGET_NUM_CAMS} ! "
"nvvideoconvert compute-hw=1 ! " "nvvideoconvert compute-hw=1 ! "
"video/x-raw(memory:NVMM) ! " "video/x-raw(memory:NVMM) ! "
"videorate drop-only=true ! " # <--- DROPPING FRAMES CLEANLY "videorate drop-only=true ! "
"video/x-raw(memory:NVMM), framerate=30/1 ! " # <--- Force 30 FPS Output "video/x-raw(memory:NVMM), framerate=30/1 ! "
f"nvjpegenc quality=60 ! " f"nvjpegenc quality=60 ! "
"appsink name=sink emit-signals=True sync=False max-buffers=1 drop=True" "appsink name=sink emit-signals=True sync=False max-buffers=1 drop=True"
) )
pipeline_str = f"{sources_str} {processing}" pipeline_str = f"{sources_str} {processing}"
print(f"Launching SMOOTH Pipeline...") print(f"Launching Optimized Pipeline (All Cams Forced to 20ms Shutter)...")
self.pipeline = Gst.parse_launch(pipeline_str) self.pipeline = Gst.parse_launch(pipeline_str)
appsink = self.pipeline.get_by_name("sink") appsink = self.pipeline.get_by_name("sink")
appsink.connect("new-sample", self.on_new_sample) appsink.connect("new-sample", self.on_new_sample)
@ -225,7 +260,7 @@ def index():
</style> </style>
</head> </head>
<body> <body>
<h1>Basler 3-Cam (Smooth)</h1> <h1>Basler Final Feed</h1>
<div class="container"> <div class="container">
<div class="hud" id="fps-counter">FPS: --</div> <div class="hud" id="fps-counter">FPS: --</div>
<img src="{{ url_for('video_feed') }}"> <img src="{{ url_for('video_feed') }}">
@ -249,8 +284,7 @@ def video_feed():
with buffer_lock: with buffer_lock:
if frame_buffer: if frame_buffer:
yield (b'--frame\r\n' b'Content-Type: image/jpeg\r\n\r\n' + frame_buffer + b'\r\n') yield (b'--frame\r\n' b'Content-Type: image/jpeg\r\n\r\n' + frame_buffer + b'\r\n')
# Sleep 33ms (30 FPS) time.sleep(0.016)
time.sleep(0.033)
count += 1 count += 1
if count % 200 == 0: gc.collect() if count % 200 == 0: gc.collect()
return Response(generate(), mimetype='multipart/x-mixed-replace; boundary=frame') return Response(generate(), mimetype='multipart/x-mixed-replace; boundary=frame')