def init_capture(self,uid,size,fps):
if uid is not None:
self.capture = uvc.Capture(uid)
else:
self.capture = Fake_Capture()
self.uid = uid
self.frame_size = size
self.frame_rate = fps
if 'C930e' in self.capture.name:
logger.debug('Timestamp offset for c930 applied: -0.1sec')
self.ts_offset = -0.1
else:
self.ts_offset = 0.0
#UVC setting quirks:
controls_dict = dict([(c.display_name,c) for c in self.capture.controls])
try:
controls_dict['Auto Focus'].value = 0
except KeyError:
pass
if "Pupil Cam1" in self.capture.name or "USB2.0 Camera" in self.capture.name:
self.capture.bandwidth_factor = 1.3
if "ID0" in self.capture.name or "ID1" in self.capture.name:
try:
# Auto Exposure Priority = 1 leads to reduced framerates under low light and corrupt timestamps.
controls_dict['Auto Exposure Priority'].value = 1
except KeyError:
pass
try:
controls_dict['Absolute Exposure Time'].value = 59
except KeyError:
pass
try:
controls_dict['Auto Focus'].value = 0
except KeyError:
pass
def init_capture(self,uid):
self.uid = uid
if uid is not None:
self.capture = uvc.Capture(uid)
else:
self.capture = Fake_Capture()
if 'C930e' in self.capture.name:
logger.debug('Timestamp offset for c930 applied: -0.1sec')
self.ts_offset = -0.1
else:
self.ts_offset = 0.0
#UVC setting quirks:
controls_dict = dict([(c.display_name,c) for c in self.capture.controls])
try:
controls_dict['Auto Focus'].value = 0
except KeyError:
pass
if "Pupil Cam1" in self.capture.name or "USB2.0 Camera" in self.capture.name:
self.capture.bandwidth_factor = 1.8
if "ID0" in self.capture.name or "ID1" in self.capture.name:
self.capture.bandwidth_factor = 1.3
try:
controls_dict['Auto Exposure Priority'].value = 1
except KeyError:
pass
try:
controls_dict['Saturation'].value = 0
except KeyError:
pass
try:
controls_dict['Absolute Exposure Time'].value = 63
except KeyError:
pass
try:
controls_dict['Auto Focus'].value = 0
except KeyError:
pass
def init_capture(self,uid,size,fps):
if uid is not None:
self.capture = uvc.Capture(uid)
else:
self.capture = Fake_Capture()
self.uid = uid
self.frame_size = size
self.frame_rate = fps
if 'C930e' in self.capture.name:
logger.debug('Timestamp offset for c930 applied: -0.1sec')
self.ts_offset = -0.1
else:
self.ts_offset = 0.0
#UVC setting quirks:
controls_dict = dict([(c.display_name,c) for c in self.capture.controls])
try:
controls_dict['Auto Focus'].value = 0
except KeyError:
pass
if "Pupil Cam1" in self.capture.name or "USB2.0 Camera" in self.capture.name:
self.capture.bandwidth_factor = 1.3
if "ID0" in self.capture.name or "ID1" in self.capture.name:
try:
# Auto Exposure Priority = 1 leads to reduced framerates under low light and corrupt timestamps.
controls_dict['Auto Exposure Priority'].value = 1
except KeyError:
pass
try:
controls_dict['Absolute Exposure Time'].value = 59
except KeyError:
pass
try:
controls_dict['Auto Focus'].value = 0
except KeyError:
pass
class Camera_Capture(object):
"""
Camera Capture encapsulates the videoInput class
"""
deviceSettings = None
captureSettings = None
device = None
stream = None
menu = None
sidebar = None
width = 640
height = 480
preferred_fps = 30
fps_mediatype_map = None # list of tuples in form of: (fps, media_type_index)
readSetting = None
_frame = None
_is_initialized = False
_failed_inits = 0
@property
def settings(self):
settings = {}
settings['name'] = self.name
settings['frame_rate'] = self.frame_rate
settings['frame_size'] = self.frame_size
return settings
@settings.setter
def settings(self, settings):
self.frame_size = settings['frame_size']
self.frame_rate = settings['frame_rate']
@property
def name(self):
if self.uid is not None:
return str(self.device['name'])
else:
return "Fake Capture"
@property
def actual_width(self):
if self.uid is not None:
return self.stream.listMediaType[
self.deviceSettings.indexMediaType].width
else:
return self.width
@property
def actual_height(self):
if self.uid is not None:
return self.stream.listMediaType[
self.deviceSettings.indexMediaType].height
else:
return self.height
@property
def src_id(self):
return self.uid
def __init__(self, uid, size=(640, 480), fps=None, timebase=None):
self.init_capture(uid, size, fps)
def re_init_capture(self, uid, size=(640, 480), fps=None):
if self.sidebar is None:
self._close_device()
self.init_capture(uid, size, fps)
else:
self.deinit_gui()
self._close_device()
self.init_capture(uid, size, fps)
self.init_gui(self.sidebar)
self.menu.collapsed = False
def init_capture(self, uid, size=(640, 480), fps=None, timebase=None):
self.uid = uid
if uid is not None:
# validate parameter UID
devices = device_list(
) # TODO: read list only once (initially) to save runtime
for device in devices:
print
if device['uid'] == uid:
break
if device['uid'] != uid:
msg = ERR_INIT_FAIL + "UID of camera was not found."
logger.error(msg)
self.init_capture(None, size, fps, timebase)
return
# validate parameter SIZE
if not len(size) == 2:
msg = ERR_INIT_FAIL + "Parameter 'size' must have length 2."
logger.error(msg)
self.init_capture(None, size, fps, timebase)
return
# setting up device
self.device = device
self.deviceSettings = vi.DeviceSettings()
self.deviceSettings.symbolicLink = self.device['uid']
self.deviceSettings.indexStream = 0
self.deviceSettings.indexMediaType = 0
self.captureSettings = vi.CaptureSettings()
self.captureSettings.readMode = vi.ReadMode.SYNC
self.captureSettings.videoFormat = vi.CaptureVideoFormat.RGB32
self.stream = self.device['handle'].listStream[
self.deviceSettings.indexStream]
# set timebase
if timebase == None:
logger.debug("Capture will run with default system timebase")
self.timebase = 0
else:
logger.debug(
"Capture will run with app wide adjustable timebase")
self.timebase = timebase
# set properties
self.width = size[0]
self.height = size[1]
self.preferred_fps = fps
self._initFrameRates()
self._initMediaTypeId()
# robust camera initialization
self.context = _getVideoInputInstance()
while True:
res = self.context.setupDevice(self.deviceSettings,
self.captureSettings)
if res != vi.ResultCode.OK:
self._failed_inits += 1
msg = ERR_INIT_FAIL + "Fall back to Fake Capture. Error code: %d" % (
res)
if self._failed_inits < MAX_RETRY_INIT_CAMERA:
logger.warning(
"Retry initializing camera: {0}/{1}: ".format(
self._failed_inits, MAX_RETRY_INIT_CAMERA) +
msg)
else:
logger.error(msg)
self._failed_inits = 0
self.init_capture(None, size, fps, timebase)
return
sleep(0.25)
else:
break
# creating frame buffer and initializing capture settings
frame = np.empty((self.actual_height * self.actual_width * 4),
dtype=np.uint8)
self.readSetting = vi.ReadSetting()
self.readSetting.symbolicLink = self.deviceSettings.symbolicLink
self.readSetting.setNumpyArray(frame)
frame.shape = (self.actual_height, self.actual_width, -1)
self._frame = frame
logger.debug(
"Successfully set up device: %s @ %dx%dpx %dfps (mediatype %d)"
% (self.name, self.actual_height, self.actual_width,
self.frame_rate, self.deviceSettings.indexMediaType))
else:
self.device = Fake_Capture()
self.width = size[0]
self.height = size[1]
self.preferred_fps = fps
self._is_initialized = True
self._failed_inits = 0
def get_frame(self):
if self.uid is not None:
res = self.context.readPixels(self.readSetting)
if res == vi.ResultCode.READINGPIXELS_REJECTED_TIMEOUT:
for n in range(MAX_RETRY_GRABBING_FRAMES):
logger.warning(
"Retry reading frame: {0}/{1}. Error code: {2}".format(
n + 1, MAX_RETRY_GRABBING_FRAMES, res))
res = self.context.readPixels(self.readSetting)
if res == vi.ResultCode.READINGPIXELS_DONE:
break
if res != vi.ResultCode.READINGPIXELS_DONE:
msg = "Could not read frame. Fall back to Fake Capture. Error code: %d" % (
res)
logger.error(msg)
self.re_init_capture(None, self.frame_size, self.preferred_fps)
return self.get_frame()
frame = Frame(self.get_now() - self.timebase, self._frame)
return frame
else:
return self.device.get_frame_robust()
@property
def frame_rate(self):
if self.uid is not None:
return self.stream.listMediaType[
self.deviceSettings.indexMediaType].MF_MT_FRAME_RATE
else:
return self.preferred_fps
@frame_rate.setter
def frame_rate(self, preferred_fps):
self.re_init_capture(self.uid, (self.width, self.height),
preferred_fps)
@property
def available_frame_rates(self):
fps_list = []
for fps, _ in self.fps_mediatype_map:
fps_list.append(fps)
return fps_list
@property
def frame_size(self):
return (self.actual_width, self.actual_height)
@frame_size.setter
def frame_size(self, size):
self.re_init_capture(self.uid, size, self.preferred_fps)
@property
def available_frame_sizes(self):
size_list = []
for size in self.size_mediatype_map:
size_list.append(size)
return size_list
@property
def jpeg_support(self):
return False
def get_now(self):
return time()
def get_timestamp():
return self.get_now() - self.timebase.value
def init_gui(self, sidebar):
def gui_init_cam(uid):
logger.debug("selected new device: " + str(uid))
self.re_init_capture(uid, (self.width, self.height),
self.preferred_fps)
def gui_get_cam():
return self.uid
def gui_get_frame_size():
return self.frame_size
def gui_set_frame_size(new_size):
self.frame_size = new_size
def gui_get_frame_rate():
return self.frame_rate
def gui_set_frame_rate(new_fps):
self.frame_rate = new_fps
#create the menu entry
self.menu = ui.Growing_Menu(label='Camera Settings')
self.menu.append(ui.Info_Text("Device: " + self.name))
# TODO: refresh button for capture list. Make properties that refresh on reading...
cams = device_list()
cam_names = ['Fake Capture'] + [str(c["name"]) for c in cams]
cam_devices = [None] + [c["uid"] for c in cams]
self.menu.append(
ui.Selector('device',
self,
selection=cam_devices,
labels=cam_names,
label='Capture Device',
getter=gui_get_cam,
setter=gui_init_cam))
#hardware_ts_switch = ui.Switch('use_hw_ts',self,label='use hardware timestamps')
#hardware_ts_switch.read_only = True
#self.menu.append(hardware_ts_switch)
#self.menu.append(ui.Selector('frame_size', selection=self.available_frame_sizes, label='Frame Size', getter=gui_get_frame_size, setter=gui_set_frame_size))
if self.uid is not None:
self.menu.append(
ui.Info_Text("Resolution: {0} x {1} pixels".format(
self.actual_width, self.actual_height)))
self.menu.append(
ui.Selector('frame_rate',
selection=self.available_frame_rates,
label='Frame Rate',
getter=gui_get_frame_rate,
setter=gui_set_frame_rate))
# for control in self.controls:
# c = None
# ctl_name = control['name']
# # we use closures as setters and getters for each control element
# def make_setter(control):
# def fn(val):
# self.capture.set_control(control['id'],val)
# control['value'] = self.capture.get_control(control['id'])
# return fn
# def make_getter(control):
# def fn():
# return control['value']
# return fn
# set_ctl = make_setter(control)
# get_ctl = make_getter(control)
# #now we add controls
# if control['type']=='bool':
# c = ui.Switch(ctl_name,getter=get_ctl,setter=set_ctl)
# elif control['type']=='int':
# c = ui.Slider(ctl_name,getter=get_ctl,min=control['min'],max=control['max'],
# step=control['step'], setter=set_ctl)
# elif control['type']=="menu":
# if control['menu'] is None:
# selection = range(control['min'],control['max']+1,control['step'])
# labels = selection
# else:
# selection = [value for name,value in control['menu'].iteritems()]
# labels = [name for name,value in control['menu'].iteritems()]
# c = ui.Selector(ctl_name,getter=get_ctl,selection=selection,labels = labels,setter=set_ctl)
# else:
# pass
# if control['disabled']:
# c.read_only = True
# if ctl_name == 'Exposure, Auto Priority':
# # the controll should always be off. we set it to 0 on init (see above)
# c.read_only = True
# if c is not None:
# self.menu.append(c)
# self.menu.append(ui.Button("refresh",gui_update_from_device))
# self.menu.append(ui.Button("load defaults",gui_load_defaults))
self.menu.collapsed = True
self.sidebar = sidebar
#add below geneal settings
self.sidebar.insert(1, self.menu)
def deinit_gui(self):
if self.menu:
self.sidebar.remove(self.menu)
self.menu = None
def close(self):
self.deinit_gui()
self._close_device()
def _close_device(self):
if self.uid is None:
return
if self._is_initialized:
self._is_initialized = False
res = self.context.closeDevice(self.deviceSettings)
if res != vi.ResultCode.OK:
msg = "Error while closing the capture device. Error code: %s" % res
logger.error(msg)
raise CameraCaptureError(msg)
def _initFrameRates(self):
""" Reads out possible frame-rates for a given resolution and stores result as internal frame-rate map. """
self.fps_mediatype_map = []
tmp_fps_values = []
self.size_mediatype_map = []
media_types = self.stream.listMediaType
for mt, i in zip(media_types, range(len(media_types))):
size_tuple = (mt.width, mt.height)
# add distinct resolutions
if not size_tuple in self.size_mediatype_map:
self.size_mediatype_map.append(size_tuple)
if mt.width == self.width and mt.height == self.height:
# add distinct frame-rate options
if not mt.MF_MT_FRAME_RATE in tmp_fps_values:
tmp_fps_values.append(mt.MF_MT_FRAME_RATE)
self.fps_mediatype_map.append((mt.MF_MT_FRAME_RATE, i))
if not self.fps_mediatype_map:
msg = ERR_INIT_FAIL + "Capture device does not support resolution: %d x %d" % (
self.width, self.height)
logger.error(msg)
raise CameraCaptureError(msg)
logger.debug(
"found %d media types for given resolution: %s" %
(len(self.fps_mediatype_map), str(self.fps_mediatype_map)))
self.fps_mediatype_map.sort()
def _initMediaTypeId(self):
""" Selects device by setting media-type ID based on previously initialized frame-rate map. """
match = None
# choose highest framerate if none is given
if self.preferred_fps is None:
match = self.fps_mediatype_map[-1]
else:
# choose best match (fps +/- .25 is ok)
for fps, i in self.fps_mediatype_map:
if abs(fps - self.preferred_fps) < .25:
match = (fps, i)
break
# if none is found, choose highest framerate
if match is None:
logger.warn(
"Capture device does not support preferred frame-rate %d" %
(self.preferred_fps))
match = self.fps_mediatype_map[-1]
self.deviceSettings.indexMediaType = match[1]
def init_capture(self, uid, size=(640, 480), fps=None, timebase=None):
self.uid = uid
if uid is not None:
# validate parameter UID
devices = device_list(
) # TODO: read list only once (initially) to save runtime
for device in devices:
print
if device['uid'] == uid:
break
if device['uid'] != uid:
msg = ERR_INIT_FAIL + "UID of camera was not found."
logger.error(msg)
self.init_capture(None, size, fps, timebase)
return
# validate parameter SIZE
if not len(size) == 2:
msg = ERR_INIT_FAIL + "Parameter 'size' must have length 2."
logger.error(msg)
self.init_capture(None, size, fps, timebase)
return
# setting up device
self.device = device
self.deviceSettings = vi.DeviceSettings()
self.deviceSettings.symbolicLink = self.device['uid']
self.deviceSettings.indexStream = 0
self.deviceSettings.indexMediaType = 0
self.captureSettings = vi.CaptureSettings()
self.captureSettings.readMode = vi.ReadMode.SYNC
self.captureSettings.videoFormat = vi.CaptureVideoFormat.RGB32
self.stream = self.device['handle'].listStream[
self.deviceSettings.indexStream]
# set timebase
if timebase == None:
logger.debug("Capture will run with default system timebase")
self.timebase = 0
else:
logger.debug(
"Capture will run with app wide adjustable timebase")
self.timebase = timebase
# set properties
self.width = size[0]
self.height = size[1]
self.preferred_fps = fps
self._initFrameRates()
self._initMediaTypeId()
# robust camera initialization
self.context = _getVideoInputInstance()
while True:
res = self.context.setupDevice(self.deviceSettings,
self.captureSettings)
if res != vi.ResultCode.OK:
self._failed_inits += 1
msg = ERR_INIT_FAIL + "Fall back to Fake Capture. Error code: %d" % (
res)
if self._failed_inits < MAX_RETRY_INIT_CAMERA:
logger.warning(
"Retry initializing camera: {0}/{1}: ".format(
self._failed_inits, MAX_RETRY_INIT_CAMERA) +
msg)
else:
logger.error(msg)
self._failed_inits = 0
self.init_capture(None, size, fps, timebase)
return
sleep(0.25)
else:
break
# creating frame buffer and initializing capture settings
frame = np.empty((self.actual_height * self.actual_width * 4),
dtype=np.uint8)
self.readSetting = vi.ReadSetting()
self.readSetting.symbolicLink = self.deviceSettings.symbolicLink
self.readSetting.setNumpyArray(frame)
frame.shape = (self.actual_height, self.actual_width, -1)
self._frame = frame
logger.debug(
"Successfully set up device: %s @ %dx%dpx %dfps (mediatype %d)"
% (self.name, self.actual_height, self.actual_width,
self.frame_rate, self.deviceSettings.indexMediaType))
else:
self.device = Fake_Capture()
self.width = size[0]
self.height = size[1]
self.preferred_fps = fps
self._is_initialized = True
self._failed_inits = 0
class Camera_Capture(object):
"""
Camera Capture is a class that encapsualtes uvc.Capture:
- adds UI elements
- adds timestamping sanitization fns.
"""
def __init__(self, uid, timebase=None):
if timebase == None:
logger.debug("Capture will run with default system timebase")
self.timebase = c_double(0)
elif hasattr(timebase, 'value'):
logger.debug("Capture will run with app wide adjustable timebase")
self.timebase = timebase
else:
logger.error(
"Invalid timebase variable type. Will use default system timebase"
)
self.timebase = c_double(0)
self.sidebar = None
self.menu = None
self.init_capture(uid)
def re_init_capture(self, uid):
current_size = self.capture.frame_size
current_fps = self.capture.frame_rate
self.capture = None
#recreate the bar with new values
menu_conf = self.menu.configuration
self.deinit_gui()
self.init_capture(uid)
self.frame_size = current_size
self.frame_rate = current_fps
self.init_gui(self.sidebar)
self.menu.configuration = menu_conf
def init_capture(self, uid):
self.uid = uid
if uid is not None:
self.capture = uvc.Capture(uid)
else:
self.capture = Fake_Capture()
if 'C930e' in self.capture.name:
logger.debug('Timestamp offset for c930 applied: -0.1sec')
self.ts_offset = -0.1
else:
self.ts_offset = 0.0
#UVC setting quirks:
controls_dict = dict([(c.display_name, c)
for c in self.capture.controls])
try:
controls_dict['Auto Focus'].value = 0
except KeyError:
pass
if "Pupil Cam1" in self.capture.name or "USB2.0 Camera" in self.capture.name:
self.capture.bandwidth_factor = 1.3
if "ID0" in self.capture.name or "ID1" in self.capture.name:
try:
controls_dict['Auto Exposure Priority'].value = 1
except KeyError:
pass
try:
controls_dict['Absolute Exposure Time'].value = 59
except KeyError:
pass
try:
controls_dict['Auto Focus'].value = 0
except KeyError:
pass
def get_frame(self):
try:
frame = self.capture.get_frame_robust()
except:
raise CameraCaptureError("Could not get frame from %s" % self.uid)
timestamp = self.get_now() + self.ts_offset
timestamp -= self.timebase.value
frame.timestamp = timestamp
return frame
def get_now(self):
return time()
def get_timestamp(self):
return self.get_now() - self.timebase.value
@property
def frame_rate(self):
return self.capture.frame_rate
@frame_rate.setter
def frame_rate(self, new_rate):
#closest match for rate
rates = [abs(r - new_rate) for r in self.capture.frame_rates]
best_rate_idx = rates.index(min(rates))
rate = self.capture.frame_rates[best_rate_idx]
if rate != new_rate:
logger.warning(
"%sfps capture mode not available at (%s) on '%s'. Selected %sfps. "
% (new_rate, self.capture.frame_size, self.capture.name, rate))
self.capture.frame_rate = rate
@property
def settings(self):
settings = {}
settings['name'] = self.capture.name
settings['frame_rate'] = self.frame_rate
settings['frame_size'] = self.frame_size
settings['uvc_controls'] = {}
for c in self.capture.controls:
settings['uvc_controls'][c.display_name] = c.value
return settings
@settings.setter
def settings(self, settings):
self.frame_size = settings['frame_size']
self.frame_rate = settings['frame_rate']
for c in self.capture.controls:
try:
c.value = settings['uvc_controls'][c.display_name]
except KeyError as e:
logger.info('No UVC setting "%s" found from settings.' %
c.display_name)
@property
def frame_size(self):
return self.capture.frame_size
@frame_size.setter
def frame_size(self, new_size):
#closest match for size
sizes = [abs(r[0] - new_size[0]) for r in self.capture.frame_sizes]
best_size_idx = sizes.index(min(sizes))
size = self.capture.frame_sizes[best_size_idx]
if size != new_size:
logger.warning(
"%s resolution capture mode not available. Selected %s." %
(new_size, size))
self.capture.frame_size = size
@property
def name(self):
return self.capture.name
@property
def jpeg_support(self):
if self.capture.__class__ is Fake_Capture:
return False
else:
return True
def init_gui(self, sidebar):
#lets define some helper functions:
def gui_load_defaults():
for c in self.capture.controls:
try:
c.value = c.def_val
except:
pass
def set_size(new_size):
self.frame_size = new_size
menu_conf = self.menu.configuration
self.deinit_gui()
self.init_gui(self.sidebar)
self.menu.configuration = menu_conf
def gui_update_from_device():
for c in self.capture.controls:
c.refresh()
def gui_init_cam_by_uid(requested_id):
if requested_id is None:
self.re_init_capture(None)
else:
for cam in uvc.device_list():
if cam['uid'] == requested_id:
if is_accessible(requested_id):
self.re_init_capture(requested_id)
else:
logger.error(
"The selected Camera is already in use or blocked."
)
return
logger.warning(
"could not reinit capture, src_id not valid anymore")
return
#create the menu entry
self.menu = ui.Growing_Menu(label='Camera Settings')
cameras = uvc.device_list()
camera_names = ['Fake Capture'] + [c['name'] for c in cameras]
camera_ids = [None] + [c['uid'] for c in cameras]
self.menu.append(
ui.Selector('uid',
self,
selection=camera_ids,
labels=camera_names,
label='Capture Device',
setter=gui_init_cam_by_uid))
sensor_control = ui.Growing_Menu(label='Sensor Settings')
sensor_control.append(
ui.Info_Text(
"Do not change these during calibration or recording!"))
sensor_control.collapsed = False
image_processing = ui.Growing_Menu(label='Image Post Processing')
image_processing.collapsed = True
sensor_control.append(
ui.Selector('frame_size',
self,
setter=set_size,
selection=self.capture.frame_sizes,
label='Resolution'))
sensor_control.append(
ui.Selector('frame_rate',
self,
selection=self.capture.frame_rates,
label='Framerate'))
for control in self.capture.controls:
c = None
ctl_name = control.display_name
#now we add controls
if control.d_type == bool:
c = ui.Switch('value',
control,
label=ctl_name,
on_val=control.max_val,
off_val=control.min_val)
elif control.d_type == int:
c = ui.Slider('value',
control,
label=ctl_name,
min=control.min_val,
max=control.max_val,
step=control.step)
elif type(control.d_type) == dict:
selection = [
value for name, value in control.d_type.iteritems()
]
labels = [name for name, value in control.d_type.iteritems()]
c = ui.Selector('value',
control,
label=ctl_name,
selection=selection,
labels=labels)
else:
pass
# if control['disabled']:
# c.read_only = True
# if ctl_name == 'Exposure, Auto Priority':
# # the controll should always be off. we set it to 0 on init (see above)
# c.read_only = True
if c is not None:
if control.unit == 'processing_unit':
image_processing.append(c)
else:
sensor_control.append(c)
self.menu.append(sensor_control)
if image_processing.elements:
self.menu.append(image_processing)
self.menu.append(ui.Button("refresh", gui_update_from_device))
self.menu.append(ui.Button("load defaults", gui_load_defaults))
self.sidebar = sidebar
#add below geneal settings
self.sidebar.insert(1, self.menu)
def deinit_gui(self):
if self.menu:
self.sidebar.remove(self.menu)
self.menu = None
def close(self):
self.deinit_gui()
# self.capture.close()
del self.capture
logger.info("Capture released")
class Camera_Capture(object):
"""
Camera Capture is a class that encapsualtes uvc.Capture:
- adds UI elements
- adds timestamping sanitization fns.
"""
def __init__(self,uid,timebase=None):
if timebase == None:
logger.debug("Capture will run with default system timebase")
self.timebase = c_double(0)
elif hasattr(timebase,'value'):
logger.debug("Capture will run with app wide adjustable timebase")
self.timebase = timebase
else:
logger.error("Invalid timebase variable type. Will use default system timebase")
self.timebase = c_double(0)
self.sidebar = None
self.menu = None
self.init_capture(uid)
def re_init_capture(self,uid):
current_size = self.capture.frame_size
current_fps = self.capture.frame_rate
self.capture = None
if self.menu:
#recreate the bar with new values
menu_conf = self.menu.configuration
else:
menu_conf = None
self.deinit_gui()
self.init_capture(uid)
self.frame_size = current_size
self.frame_rate = current_fps
if menu_conf:
self.init_gui(self.sidebar)
self.menu.configuration = menu_conf
def _re_init_capture_by_name(self,name):
for x in range(4):
devices = device_list()
for d in devices:
if d['name'] == name:
logger.info("Found device.%s."%name)
self.re_init_capture(d['uid'])
return
logger.warning('Could not find Camera %s during re initilization.'%name)
sleep(1.5)
raise CameraCaptureError('Could not find Camera %s during re initilization.'%name)
def init_capture(self,uid):
self.uid = uid
if uid is None:
self.capture = Fake_Capture()
else:
self.capture = uvc.Capture(uid)
if 'C930e' in self.capture.name:
logger.debug('Timestamp offset for c930 applied: -0.1sec')
self.ts_offset = -0.1
else:
self.ts_offset = 0.0
#UVC setting quirks:
controls_dict = dict([(c.display_name,c) for c in self.capture.controls])
try:
controls_dict['Auto Focus'].value = 0
except KeyError:
pass
if "Pupil Cam1" in self.capture.name or "USB2.0 Camera" in self.capture.name:
self.capture.bandwidth_factor = 1.8
if "ID0" in self.capture.name or "ID1" in self.capture.name:
self.capture.bandwidth_factor = 1.3
try:
controls_dict['Auto Exposure Priority'].value = 0
except KeyError:
pass
try:
# print controls_dict['Auto Exposure Mode'].value
controls_dict['Auto Exposure Mode'].value = 1
except KeyError as e:
pass
try:
controls_dict['Saturation'].value = 0
except KeyError:
pass
try:
controls_dict['Absolute Exposure Time'].value = 63
except KeyError:
pass
try:
controls_dict['Backlight Compensation'].value = 2
except KeyError:
pass
try:
controls_dict['Gamma'].value = 100
except KeyError:
pass
else:
self.capture.bandwidth_factor = 1.8
try:
controls_dict['Auto Exposure Priority'].value = 1
except KeyError:
pass
if "C525" in self.capture.name or "B525" in self.capture.name or "C920" in self.capture.name:
self.capture.bandwidth_factor = 4.0
try:
controls_dict['Auto Focus'].value = 0
except KeyError:
pass
def get_frame(self):
try:
frame = self.capture.get_frame_robust()
except uvc.CaptureError as e:
try:
self._re_init_capture_by_name(self.capture.name)
frame = self.capture.get_frame_robust()
except uvc.CaptureError as e:
raise CameraCaptureError("Could not get frame from %s"%self.uid)
timestamp = self.get_now()+self.ts_offset
timestamp -= self.timebase.value
frame.timestamp = timestamp
return frame
def get_now(self):
return uvc.get_time_monotonic()
def get_timestamp(self):
return self.get_now()-self.timebase.value
@property
def frame_rate(self):
return self.capture.frame_rate
@frame_rate.setter
def frame_rate(self,new_rate):
#closest match for rate
rates = [ abs(r-new_rate) for r in self.capture.frame_rates ]
best_rate_idx = rates.index(min(rates))
rate = self.capture.frame_rates[best_rate_idx]
if rate != new_rate:
logger.warning("%sfps capture mode not available at (%s) on '%s'. Selected %sfps. "%(new_rate,self.capture.frame_size,self.capture.name,rate))
self.capture.frame_rate = rate
@property
def settings(self):
settings = {}
settings['name'] = self.capture.name
settings['frame_rate'] = self.frame_rate
settings['frame_size'] = self.frame_size
settings['uvc_controls'] = {}
for c in self.capture.controls:
settings['uvc_controls'][c.display_name] = c.value
return settings
@settings.setter
def settings(self,settings):
self.frame_size = settings['frame_size']
self.frame_rate = settings['frame_rate']
for c in self.capture.controls:
try:
c.value = settings['uvc_controls'][c.display_name]
except KeyError as e:
logger.debug('No UVC setting "%s" found from settings.'%c.display_name)
@property
def frame_size(self):
return self.capture.frame_size
@frame_size.setter
def frame_size(self,new_size):
#closest match for size
sizes = [ abs(r[0]-new_size[0]) for r in self.capture.frame_sizes ]
best_size_idx = sizes.index(min(sizes))
size = self.capture.frame_sizes[best_size_idx]
if size != new_size:
logger.warning("%s resolution capture mode not available. Selected %s."%(new_size,size))
self.capture.frame_size = size
if hasattr(self,'on_frame_size_change'):
self.on_frame_size_change(size)
@property
def name(self):
return self.capture.name
@property
def jpeg_support(self):
if self.capture.__class__ is Fake_Capture:
return False
else:
return True
def init_gui(self,sidebar):
#lets define some helper functions:
def gui_load_defaults():
for c in self.capture.controls:
try:
c.value = c.def_val
except:
pass
def set_size(new_size):
self.frame_size = new_size
menu_conf = self.menu.configuration
self.deinit_gui()
self.init_gui(self.sidebar)
self.menu.configuration = menu_conf
def gui_update_from_device():
for c in self.capture.controls:
c.refresh()
def gui_init_cam_by_uid(requested_id):
if requested_id is None:
self.re_init_capture(None)
else:
for cam in uvc.device_list():
if cam['uid'] == requested_id:
if is_accessible(requested_id):
self.re_init_capture(requested_id)
else:
logger.error("The selected Camera is already in use or blocked.")
return
logger.warning("could not reinit capture, src_id not valid anymore")
return
#create the menu entry
self.menu = ui.Growing_Menu(label='Camera Settings')
cameras = uvc.device_list()
camera_names = ['Fake Capture']+[c['name'] for c in cameras]
camera_ids = [None]+[c['uid'] for c in cameras]
self.menu.append(ui.Selector('uid',self,selection=camera_ids,labels=camera_names,label='Capture device', setter=gui_init_cam_by_uid) )
sensor_control = ui.Growing_Menu(label='Sensor Settings')
sensor_control.append(ui.Info_Text("Do not change these during calibration or recording!"))
sensor_control.collapsed=False
image_processing = ui.Growing_Menu(label='Image Post Processing')
image_processing.collapsed=True
sensor_control.append(ui.Selector('frame_size',self,setter=set_size, selection=self.capture.frame_sizes,label='Resolution' ) )
sensor_control.append(ui.Selector('frame_rate',self, selection=self.capture.frame_rates,label='Frame rate' ) )
for control in self.capture.controls:
c = None
ctl_name = control.display_name
#now we add controls
if control.d_type == bool :
c = ui.Switch('value',control,label=ctl_name, on_val=control.max_val, off_val=control.min_val)
elif control.d_type == int:
c = ui.Slider('value',control,label=ctl_name,min=control.min_val,max=control.max_val,step=control.step)
elif type(control.d_type) == dict:
selection = [value for name,value in control.d_type.iteritems()]
labels = [name for name,value in control.d_type.iteritems()]
c = ui.Selector('value',control, label = ctl_name, selection=selection,labels = labels)
else:
pass
# if control['disabled']:
# c.read_only = True
# if ctl_name == 'Exposure, Auto Priority':
# # the controll should always be off. we set it to 0 on init (see above)
# c.read_only = True
if c is not None:
if control.unit == 'processing_unit':
image_processing.append(c)
else:
sensor_control.append(c)
self.menu.append(sensor_control)
if image_processing.elements:
self.menu.append(image_processing)
self.menu.append(ui.Button("refresh",gui_update_from_device))
self.menu.append(ui.Button("load defaults",gui_load_defaults))
self.sidebar = sidebar
#add below geneal settings
self.sidebar.insert(1,self.menu)
def deinit_gui(self):
if self.menu:
self.sidebar.remove(self.menu)
self.menu = None
def close(self):
self.deinit_gui()
# self.capture.close()
del self.capture
class Camera_Capture(object):
"""
Camera Capture encapsulates the videoInput class
"""
deviceSettings = None
captureSettings = None
device = None
stream = None
menu = None
sidebar = None
width = 640
height = 480
preferred_fps = 30
fps_mediatype_map = None # list of tuples in form of: (fps, media_type_index)
readSetting = None
_frame = None
_is_initialized = False
_failed_inits = 0
@property
def settings(self):
settings = {}
settings['name'] = self.name
settings['frame_rate'] = self.frame_rate
settings['frame_size'] = self.frame_size
return settings
@settings.setter
def settings(self,settings):
self.frame_size = settings['frame_size']
self.frame_rate = settings['frame_rate']
@property
def name(self):
if self.uid is not None:
return str(self.device['name'])
else:
return "Fake Capture"
@property
def actual_width(self):
if self.uid is not None:
return self.stream.listMediaType[self.deviceSettings.indexMediaType].width
else:
return self.width
@property
def actual_height(self):
if self.uid is not None:
return self.stream.listMediaType[self.deviceSettings.indexMediaType].height
else:
return self.height
@property
def src_id(self):
return self.uid
def __init__(self, uid, size=(640,480), fps=None, timebase=None):
self.init_capture(uid, size, fps)
def re_init_capture(self, uid, size=(640,480), fps=None):
if self.sidebar is None:
self._close_device()
self.init_capture(uid, size, fps)
else:
self.deinit_gui()
self._close_device()
self.init_capture(uid, size, fps)
self.init_gui(self.sidebar)
self.menu.collapsed = False
def init_capture(self, uid, size=(640,480), fps=None, timebase=None):
self.uid = uid
if uid is not None:
# validate parameter UID
devices = device_list() # TODO: read list only once (initially) to save runtime
for device in devices:
print
if device['uid'] == uid:
break
if device['uid'] != uid:
msg = ERR_INIT_FAIL + "UID of camera was not found."
logger.error(msg)
self.init_capture(None, size, fps, timebase)
return
# validate parameter SIZE
if not len(size) == 2:
msg = ERR_INIT_FAIL + "Parameter 'size' must have length 2."
logger.error(msg)
self.init_capture(None, size, fps, timebase)
return
# setting up device
self.device = device
self.deviceSettings = vi.DeviceSettings()
self.deviceSettings.symbolicLink = self.device['uid']
self.deviceSettings.indexStream = 0
self.deviceSettings.indexMediaType = 0
self.captureSettings = vi.CaptureSettings()
self.captureSettings.readMode = vi.ReadMode.SYNC
self.captureSettings.videoFormat = vi.CaptureVideoFormat.RGB32
self.stream = self.device['handle'].listStream[self.deviceSettings.indexStream]
# set timebase
if timebase == None:
logger.debug("Capture will run with default system timebase")
self.timebase = 0
else:
logger.debug("Capture will run with app wide adjustable timebase")
self.timebase = timebase
# set properties
self.width = size[0]
self.height = size[1]
self.preferred_fps = fps
self._initFrameRates()
self._initMediaTypeId()
# robust camera initialization
self.context = _getVideoInputInstance()
while True:
res = self.context.setupDevice(self.deviceSettings, self.captureSettings)
if res != vi.ResultCode.OK:
self._failed_inits += 1
msg = ERR_INIT_FAIL + "Fall back to Fake Capture. Error code: %d" %(res)
if self._failed_inits < MAX_RETRY_INIT_CAMERA:
logger.warning("Retry initializing camera: {0}/{1}: ".format(self._failed_inits, MAX_RETRY_INIT_CAMERA) + msg)
else:
logger.error(msg)
self._failed_inits = 0
self.init_capture(None, size, fps, timebase)
return
sleep(0.25)
else:
break
# creating frame buffer and initializing capture settings
frame = np.empty((self.actual_height * self.actual_width * 4), dtype=np.uint8)
self.readSetting = vi.ReadSetting()
self.readSetting.symbolicLink = self.deviceSettings.symbolicLink
self.readSetting.setNumpyArray(frame)
frame.shape = (self.actual_height, self.actual_width, -1)
self._frame = frame
logger.debug("Successfully set up device: %s @ %dx%dpx %dfps (mediatype %d)" %(self.name, self.actual_height, self.actual_width, self.frame_rate, self.deviceSettings.indexMediaType))
else:
self.device = Fake_Capture()
self.width = size[0]
self.height = size[1]
self.preferred_fps = fps
self._is_initialized = True
self._failed_inits = 0
def get_frame(self):
if self.uid is not None:
res = self.context.readPixels(self.readSetting)
if res == vi.ResultCode.READINGPIXELS_REJECTED_TIMEOUT:
for n in range(MAX_RETRY_GRABBING_FRAMES):
logger.warning("Retry reading frame: {0}/{1}. Error code: {2}".format(n+1, MAX_RETRY_GRABBING_FRAMES, res))
res = self.context.readPixels(self.readSetting)
if res == vi.ResultCode.READINGPIXELS_DONE:
break
if res != vi.ResultCode.READINGPIXELS_DONE:
msg = "Could not read frame. Fall back to Fake Capture. Error code: %d" %(res)
logger.error(msg)
self.re_init_capture(None, self.frame_size, self.preferred_fps)
return self.get_frame()
frame = Frame(self.get_now() - self.timebase, self._frame)
return frame
else:
return self.device.get_frame_robust()
@property
def frame_rate(self):
if self.uid is not None:
return self.stream.listMediaType[self.deviceSettings.indexMediaType].MF_MT_FRAME_RATE
else:
return self.preferred_fps
@frame_rate.setter
def frame_rate(self, preferred_fps):
self.re_init_capture(self.uid, (self.width, self.height), preferred_fps)
@property
def available_frame_rates(self):
fps_list = []
for fps, _ in self.fps_mediatype_map:
fps_list.append(fps)
return fps_list
@property
def frame_size(self):
return (self.actual_width, self.actual_height)
@frame_size.setter
def frame_size(self, size):
self.re_init_capture( self.uid, size, self.preferred_fps)
@property
def available_frame_sizes(self):
size_list = []
for size in self.size_mediatype_map:
size_list.append(size)
return size_list
@property
def jpeg_support(self):
return False
def get_now(self):
return time()
def get_timestamp():
return self.get_now()-self.timebase.value
def init_gui(self,sidebar):
def gui_init_cam(uid):
logger.debug("selected new device: " + str(uid))
self.re_init_capture(uid, (self.width, self.height), self.preferred_fps)
def gui_get_cam():
return self.uid
def gui_get_frame_size():
return self.frame_size
def gui_set_frame_size(new_size):
self.frame_size = new_size
def gui_get_frame_rate():
return self.frame_rate
def gui_set_frame_rate(new_fps):
self.frame_rate = new_fps
#create the menu entry
self.menu = ui.Growing_Menu(label='Camera Settings')
self.menu.append(ui.Info_Text("Device: " + self.name))
# TODO: refresh button for capture list. Make properties that refresh on reading...
cams = device_list()
cam_names = ['Fake Capture'] + [str(c["name"]) for c in cams]
cam_devices = [None] + [c["uid"] for c in cams]
self.menu.append(ui.Selector('device',self,selection=cam_devices,labels=cam_names,label='Capture Device', getter=gui_get_cam, setter=gui_init_cam))
#hardware_ts_switch = ui.Switch('use_hw_ts',self,label='use hardware timestamps')
#hardware_ts_switch.read_only = True
#self.menu.append(hardware_ts_switch)
#self.menu.append(ui.Selector('frame_size', selection=self.available_frame_sizes, label='Frame Size', getter=gui_get_frame_size, setter=gui_set_frame_size))
if self.uid is not None:
self.menu.append(ui.Info_Text("Resolution: {0} x {1} pixels".format(self.actual_width, self.actual_height)))
self.menu.append(ui.Selector('frame_rate', selection=self.available_frame_rates, label='Frame Rate', getter=gui_get_frame_rate, setter=gui_set_frame_rate))
# for control in self.controls:
# c = None
# ctl_name = control['name']
# # we use closures as setters and getters for each control element
# def make_setter(control):
# def fn(val):
# self.capture.set_control(control['id'],val)
# control['value'] = self.capture.get_control(control['id'])
# return fn
# def make_getter(control):
# def fn():
# return control['value']
# return fn
# set_ctl = make_setter(control)
# get_ctl = make_getter(control)
# #now we add controls
# if control['type']=='bool':
# c = ui.Switch(ctl_name,getter=get_ctl,setter=set_ctl)
# elif control['type']=='int':
# c = ui.Slider(ctl_name,getter=get_ctl,min=control['min'],max=control['max'],
# step=control['step'], setter=set_ctl)
# elif control['type']=="menu":
# if control['menu'] is None:
# selection = range(control['min'],control['max']+1,control['step'])
# labels = selection
# else:
# selection = [value for name,value in control['menu'].iteritems()]
# labels = [name for name,value in control['menu'].iteritems()]
# c = ui.Selector(ctl_name,getter=get_ctl,selection=selection,labels = labels,setter=set_ctl)
# else:
# pass
# if control['disabled']:
# c.read_only = True
# if ctl_name == 'Exposure, Auto Priority':
# # the controll should always be off. we set it to 0 on init (see above)
# c.read_only = True
# if c is not None:
# self.menu.append(c)
# self.menu.append(ui.Button("refresh",gui_update_from_device))
# self.menu.append(ui.Button("load defaults",gui_load_defaults))
self.menu.collapsed = True
self.sidebar = sidebar
#add below geneal settings
self.sidebar.insert(1,self.menu)
def deinit_gui(self):
if self.menu:
self.sidebar.remove(self.menu)
self.menu = None
def close(self):
self.deinit_gui()
self._close_device()
def _close_device(self):
if self.uid is None:
return
if self._is_initialized:
self._is_initialized = False
res = self.context.closeDevice(self.deviceSettings)
if res != vi.ResultCode.OK:
msg = "Error while closing the capture device. Error code: %s" %res
logger.error(msg)
raise CameraCaptureError(msg)
def _initFrameRates(self):
""" Reads out possible frame-rates for a given resolution and stores result as internal frame-rate map. """
self.fps_mediatype_map = []
tmp_fps_values = []
self.size_mediatype_map = []
media_types = self.stream.listMediaType
for mt, i in zip(media_types, range(len(media_types))):
size_tuple = (mt.width, mt.height)
# add distinct resolutions
if not size_tuple in self.size_mediatype_map:
self.size_mediatype_map.append(size_tuple)
if mt.width == self.width and mt.height == self.height:
# add distinct frame-rate options
if not mt.MF_MT_FRAME_RATE in tmp_fps_values:
tmp_fps_values.append(mt.MF_MT_FRAME_RATE)
self.fps_mediatype_map.append((mt.MF_MT_FRAME_RATE, i))
if not self.fps_mediatype_map:
msg = ERR_INIT_FAIL + "Capture device does not support resolution: %d x %d"% (self.width, self.height)
logger.error(msg)
raise CameraCaptureError(msg)
logger.debug("found %d media types for given resolution: %s" %(len(self.fps_mediatype_map), str(self.fps_mediatype_map)))
self.fps_mediatype_map.sort()
def _initMediaTypeId(self):
""" Selects device by setting media-type ID based on previously initialized frame-rate map. """
match = None
# choose highest framerate if none is given
if self.preferred_fps is None:
match = self.fps_mediatype_map[-1]
else:
# choose best match (fps +/- .25 is ok)
for fps, i in self.fps_mediatype_map:
if abs(fps-self.preferred_fps) < .25:
match = (fps, i)
break
# if none is found, choose highest framerate
if match is None:
logger.warn("Capture device does not support preferred frame-rate %d"% (self.preferred_fps))
match = self.fps_mediatype_map[-1]
self.deviceSettings.indexMediaType = match[1]
def init_capture(self, uid, size=(640,480), fps=None, timebase=None):
self.uid = uid
if uid is not None:
# validate parameter UID
devices = device_list() # TODO: read list only once (initially) to save runtime
for device in devices:
print
if device['uid'] == uid:
break
if device['uid'] != uid:
msg = ERR_INIT_FAIL + "UID of camera was not found."
logger.error(msg)
self.init_capture(None, size, fps, timebase)
return
# validate parameter SIZE
if not len(size) == 2:
msg = ERR_INIT_FAIL + "Parameter 'size' must have length 2."
logger.error(msg)
self.init_capture(None, size, fps, timebase)
return
# setting up device
self.device = device
self.deviceSettings = vi.DeviceSettings()
self.deviceSettings.symbolicLink = self.device['uid']
self.deviceSettings.indexStream = 0
self.deviceSettings.indexMediaType = 0
self.captureSettings = vi.CaptureSettings()
self.captureSettings.readMode = vi.ReadMode.SYNC
self.captureSettings.videoFormat = vi.CaptureVideoFormat.RGB32
self.stream = self.device['handle'].listStream[self.deviceSettings.indexStream]
# set timebase
if timebase == None:
logger.debug("Capture will run with default system timebase")
self.timebase = 0
else:
logger.debug("Capture will run with app wide adjustable timebase")
self.timebase = timebase
# set properties
self.width = size[0]
self.height = size[1]
self.preferred_fps = fps
self._initFrameRates()
self._initMediaTypeId()
# robust camera initialization
self.context = _getVideoInputInstance()
while True:
res = self.context.setupDevice(self.deviceSettings, self.captureSettings)
if res != vi.ResultCode.OK:
self._failed_inits += 1
msg = ERR_INIT_FAIL + "Fall back to Fake Capture. Error code: %d" %(res)
if self._failed_inits < MAX_RETRY_INIT_CAMERA:
logger.warning("Retry initializing camera: {0}/{1}: ".format(self._failed_inits, MAX_RETRY_INIT_CAMERA) + msg)
else:
logger.error(msg)
self._failed_inits = 0
self.init_capture(None, size, fps, timebase)
return
sleep(0.25)
else:
break
# creating frame buffer and initializing capture settings
frame = np.empty((self.actual_height * self.actual_width * 4), dtype=np.uint8)
self.readSetting = vi.ReadSetting()
self.readSetting.symbolicLink = self.deviceSettings.symbolicLink
self.readSetting.setNumpyArray(frame)
frame.shape = (self.actual_height, self.actual_width, -1)
self._frame = frame
logger.debug("Successfully set up device: %s @ %dx%dpx %dfps (mediatype %d)" %(self.name, self.actual_height, self.actual_width, self.frame_rate, self.deviceSettings.indexMediaType))
else:
self.device = Fake_Capture()
self.width = size[0]
self.height = size[1]
self.preferred_fps = fps
self._is_initialized = True
self._failed_inits = 0
class Camera_Capture(object):
"""
Camera Capture is a class that encapsualtes uvc.Capture:
- adds UI elements
- adds timestamping sanitization fns.
"""
def __init__(self, uid, timebase=None):
if timebase == None:
logger.debug("Capture will run with default system timebase")
self.timebase = c_double(0)
elif hasattr(timebase, "value"):
logger.debug("Capture will run with app wide adjustable timebase")
self.timebase = timebase
else:
logger.error("Invalid timebase variable type. Will use default system timebase")
self.timebase = c_double(0)
self.sidebar = None
self.menu = None
self.init_capture(uid, size=(1280, 720), fps=30)
def re_init_capture(self, uid):
current_size = self.capture.frame_size
current_fps = self.capture.frame_rate
self.capture = None
# recreate the bar with new values
menu_conf = self.menu.configuration
self.deinit_gui()
self.init_capture(uid, current_size, current_fps)
self.init_gui(self.sidebar)
self.menu.configuration = menu_conf
def init_capture(self, uid, size, fps):
if uid is not None:
self.capture = uvc.Capture(uid)
else:
self.capture = Fake_Capture()
self.uid = uid
self.frame_size = size
self.frame_rate = fps
if "C930e" in self.capture.name:
logger.debug("Timestamp offset for c930 applied: -0.1sec")
self.ts_offset = -0.1
else:
self.ts_offset = 0.0
# UVC setting quirks:
controls_dict = dict([(c.display_name, c) for c in self.capture.controls])
try:
controls_dict["Auto Focus"].value = 0
except KeyError:
pass
if "Pupil Cam1" in self.capture.name or "USB2.0 Camera" in self.capture.name:
self.capture.bandwidth_factor = 1.3
if "ID0" in self.capture.name or "ID1" in self.capture.name:
try:
# Auto Exposure Priority = 1 leads to reduced framerates under low light and corrupt timestamps.
controls_dict["Auto Exposure Priority"].value = 1
except KeyError:
pass
try:
controls_dict["Absolute Exposure Time"].value = 59
except KeyError:
pass
try:
controls_dict["Auto Focus"].value = 0
except KeyError:
pass
def get_frame(self):
try:
frame = self.capture.get_frame_robust()
except:
raise CameraCaptureError("Could not get frame from %s" % self.uid)
timestamp = self.get_now() + self.ts_offset
timestamp -= self.timebase.value
frame.timestamp = timestamp
return frame
def get_now(self):
return time()
def get_timestamp():
return self.get_now() - self.timebase.value
@property
def frame_rate(self):
return self.capture.frame_rate
@frame_rate.setter
def frame_rate(self, new_rate):
# closest match for rate
rates = [abs(r - new_rate) for r in self.capture.frame_rates]
best_rate_idx = rates.index(min(rates))
rate = self.capture.frame_rates[best_rate_idx]
if rate != new_rate:
logger.warning(
"%sfps capture mode not available at (%s) on '%s'. Selected %sfps. "
% (new_rate, self.capture.frame_size, self.capture.name, rate)
)
self.capture.frame_rate = rate
@property
def settings(self):
settings = {}
settings["name"] = self.capture.name
settings["frame_rate"] = self.frame_rate
settings["uvc_controls"] = {}
for c in self.capture.controls:
settings["uvc_controls"][c.display_name] = c.value
return settings
@settings.setter
def settings(self, settings):
try:
self.frame_rate = settings["frame_rate"]
except KeyError:
pass
if settings.get("name", "") == self.capture.name:
for c in self.capture.controls:
try:
c.value = settings["uvc_controls"][c.display_name]
except KeyError as e:
logger.warning('Could not set UVC setting "%s" from last session.' % c.display_name)
@property
def frame_size(self):
return self.capture.frame_size
@frame_size.setter
def frame_size(self, new_size):
self.capture.frame_size = filter_sizes(self.name, new_size)
@property
def name(self):
return self.capture.name
def init_gui(self, sidebar):
# lets define some helper functions:
def gui_load_defaults():
for c in self.capture.controls:
try:
c.value = c.def_val
except:
pass
def gui_update_from_device():
for c in self.capture.controls:
c.refresh()
def gui_init_cam_by_uid(requested_id):
if requested_id is None:
self.re_init_capture(None)
else:
for cam in uvc.device_list():
if cam["uid"] == requested_id:
if is_accessible(requested_id):
self.re_init_capture(requested_id)
else:
logger.error("The selected Camera is already in use or blocked.")
return
logger.warning("could not reinit capture, src_id not valid anymore")
return
# create the menu entry
self.menu = ui.Growing_Menu(label="Camera Settings")
cameras = uvc.device_list()
camera_names = ["Fake Capture"] + [c["name"] for c in cameras]
camera_ids = [None] + [c["uid"] for c in cameras]
self.menu.append(
ui.Selector(
"uid",
self,
selection=camera_ids,
labels=camera_names,
label="Capture Device",
setter=gui_init_cam_by_uid,
)
)
sensor_control = ui.Growing_Menu(label="Sensor Settings")
sensor_control.collapsed = False
image_processing = ui.Growing_Menu(label="Image Post Processing")
image_processing.collapsed = True
sensor_control.append(
ui.Selector("frame_rate", self, selection=self.capture.frame_rates, label="Frames per second")
)
for control in self.capture.controls:
c = None
ctl_name = control.display_name
# now we add controls
if control.d_type == bool:
c = ui.Switch("value", control, label=ctl_name, on_val=control.max_val, off_val=control.min_val)
elif control.d_type == int:
c = ui.Slider(
"value", control, label=ctl_name, min=control.min_val, max=control.max_val, step=control.step
)
elif type(control.d_type) == dict:
selection = [value for name, value in control.d_type.iteritems()]
labels = [name for name, value in control.d_type.iteritems()]
c = ui.Selector("value", control, label=ctl_name, selection=selection, labels=labels)
else:
pass
# if control['disabled']:
# c.read_only = True
# if ctl_name == 'Exposure, Auto Priority':
# # the controll should always be off. we set it to 0 on init (see above)
# c.read_only = True
if c is not None:
if control.unit == "processing_unit":
image_processing.append(c)
else:
sensor_control.append(c)
self.menu.append(sensor_control)
if image_processing.elements:
self.menu.append(image_processing)
self.menu.append(ui.Button("refresh", gui_update_from_device))
self.menu.append(ui.Button("load defaults", gui_load_defaults))
self.sidebar = sidebar
# add below geneal settings
self.sidebar.insert(1, self.menu)
def deinit_gui(self):
if self.menu:
self.sidebar.remove(self.menu)
self.menu = None
def close(self):
self.deinit_gui()
# self.capture.close()
del self.capture
logger.info("Capture released")
