28400fbfb8
- Updated CameraStreamer to configure streaming settings from config.json, including manual exposure, gain, image quality, noise reduction, and color settings. - Added new methods in CameraStreamer for configuring image quality, noise reduction, color settings, and advanced settings. - Extended CameraConfig to include manual white balance RGB gains. - Improved AutoRecordingManager to handle camera status updates and ensure proper recording starts/stops based on machine state changes. - Created detailed configuration documentation for blower and conveyor cameras, outlining settings and their mappings to config.json. - Implemented a comprehensive test script for auto-recording functionality with simulated MQTT messages, verifying correct behavior on machine state changes.
908 lines
38 KiB
Python
908 lines
38 KiB
Python
"""
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Camera Recorder for the USDA Vision Camera System.
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This module handles video recording from GigE cameras using the camera SDK library (mvsdk).
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"""
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import sys
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import os
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import threading
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import time
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import logging
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import cv2
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import numpy as np
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import contextlib
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from typing import Optional, Dict, Any
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from datetime import datetime
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from pathlib import Path
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# Add camera SDK to path
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sys.path.append(os.path.join(os.path.dirname(__file__), "..", "..", "camera_sdk"))
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import mvsdk
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from ..core.config import CameraConfig
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from ..core.state_manager import StateManager
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from ..core.events import EventSystem, publish_recording_started, publish_recording_stopped, publish_recording_error
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from ..core.timezone_utils import now_atlanta, format_filename_timestamp
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from .sdk_config import ensure_sdk_initialized
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@contextlib.contextmanager
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def suppress_camera_errors():
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"""Context manager to temporarily suppress camera SDK error output"""
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# Save original file descriptors
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original_stderr = os.dup(2)
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original_stdout = os.dup(1)
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try:
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# Redirect stderr and stdout to devnull
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devnull = os.open(os.devnull, os.O_WRONLY)
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os.dup2(devnull, 2) # stderr
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os.dup2(devnull, 1) # stdout (in case SDK uses stdout)
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os.close(devnull)
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yield
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finally:
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# Restore original file descriptors
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os.dup2(original_stderr, 2)
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os.dup2(original_stdout, 1)
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os.close(original_stderr)
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os.close(original_stdout)
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class CameraRecorder:
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"""Handles video recording for a single camera"""
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def __init__(self, camera_config: CameraConfig, device_info: Any, state_manager: StateManager, event_system: EventSystem, storage_manager=None):
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self.camera_config = camera_config
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self.device_info = device_info
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self.state_manager = state_manager
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self.event_system = event_system
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self.storage_manager = storage_manager
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self.logger = logging.getLogger(f"{__name__}.{camera_config.name}")
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# Camera handle and properties
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self.hCamera: Optional[int] = None
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self.cap = None
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self.monoCamera = False
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self.frame_buffer = None
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self.frame_buffer_size = 0
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# Recording state
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self.recording = False
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self.video_writer: Optional[cv2.VideoWriter] = None
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self.output_filename: Optional[str] = None
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self.frame_count = 0
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self.start_time: Optional[datetime] = None
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# Threading
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self._recording_thread: Optional[threading.Thread] = None
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self._stop_recording_event = threading.Event()
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self._lock = threading.RLock()
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# Don't initialize camera immediately - use lazy initialization
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# Camera will be initialized when recording starts
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self.logger.info(f"Camera recorder created for: {self.camera_config.name} (lazy initialization)")
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def _initialize_camera(self) -> bool:
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"""Initialize the camera with configured settings"""
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try:
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self.logger.info(f"Initializing camera: {self.camera_config.name}")
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# Ensure SDK is initialized
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ensure_sdk_initialized()
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# Check if device_info is valid
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if self.device_info is None:
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self.logger.error("No device info provided for camera initialization")
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return False
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# Initialize camera (suppress output to avoid MVCAMAPI error messages)
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with suppress_camera_errors():
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self.hCamera = mvsdk.CameraInit(self.device_info, -1, -1)
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self.logger.info("Camera initialized successfully")
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# Get camera capabilities
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self.cap = mvsdk.CameraGetCapability(self.hCamera)
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self.monoCamera = self.cap.sIspCapacity.bMonoSensor != 0
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self.logger.info(f"Camera type: {'Monochrome' if self.monoCamera else 'Color'}")
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# Set output format based on bit depth configuration
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if self.monoCamera:
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if self.camera_config.bit_depth == 16:
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mvsdk.CameraSetIspOutFormat(self.hCamera, mvsdk.CAMERA_MEDIA_TYPE_MONO16)
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elif self.camera_config.bit_depth == 12:
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mvsdk.CameraSetIspOutFormat(self.hCamera, mvsdk.CAMERA_MEDIA_TYPE_MONO12)
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elif self.camera_config.bit_depth == 10:
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mvsdk.CameraSetIspOutFormat(self.hCamera, mvsdk.CAMERA_MEDIA_TYPE_MONO10)
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else: # Default to 8-bit
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mvsdk.CameraSetIspOutFormat(self.hCamera, mvsdk.CAMERA_MEDIA_TYPE_MONO8)
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else:
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if self.camera_config.bit_depth == 16:
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mvsdk.CameraSetIspOutFormat(self.hCamera, mvsdk.CAMERA_MEDIA_TYPE_RGB16)
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elif self.camera_config.bit_depth == 12:
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mvsdk.CameraSetIspOutFormat(self.hCamera, mvsdk.CAMERA_MEDIA_TYPE_BGR12)
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elif self.camera_config.bit_depth == 10:
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mvsdk.CameraSetIspOutFormat(self.hCamera, mvsdk.CAMERA_MEDIA_TYPE_BGR10)
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else: # Default to 8-bit
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mvsdk.CameraSetIspOutFormat(self.hCamera, mvsdk.CAMERA_MEDIA_TYPE_BGR8)
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self.logger.info(f"Output format set to {self.camera_config.bit_depth}-bit {'mono' if self.monoCamera else 'color'}")
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# Configure camera settings
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self._configure_camera_settings()
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# Allocate frame buffer based on bit depth
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bytes_per_pixel = self._get_bytes_per_pixel()
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self.frame_buffer_size = self.cap.sResolutionRange.iWidthMax * self.cap.sResolutionRange.iHeightMax * bytes_per_pixel
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self.frame_buffer = mvsdk.CameraAlignMalloc(self.frame_buffer_size, 16)
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# Start camera
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mvsdk.CameraPlay(self.hCamera)
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self.logger.info("Camera started successfully")
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return True
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except mvsdk.CameraException as e:
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error_msg = f"Camera initialization failed({e.error_code}): {e.message}"
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if e.error_code == 32774:
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error_msg += " - This may indicate the camera is already in use by another process or there's a resource conflict"
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self.logger.error(error_msg)
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return False
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except Exception as e:
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self.logger.error(f"Unexpected error during camera initialization: {e}")
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return False
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def _get_bytes_per_pixel(self) -> int:
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"""Calculate bytes per pixel based on camera type and bit depth"""
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if self.monoCamera:
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# Monochrome camera
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if self.camera_config.bit_depth >= 16:
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return 2 # 16-bit mono
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elif self.camera_config.bit_depth >= 12:
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return 2 # 12-bit mono (stored in 16-bit)
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elif self.camera_config.bit_depth >= 10:
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return 2 # 10-bit mono (stored in 16-bit)
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else:
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return 1 # 8-bit mono
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else:
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# Color camera
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if self.camera_config.bit_depth >= 16:
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return 6 # 16-bit RGB (2 bytes × 3 channels)
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elif self.camera_config.bit_depth >= 12:
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return 6 # 12-bit RGB (stored as 16-bit)
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elif self.camera_config.bit_depth >= 10:
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return 6 # 10-bit RGB (stored as 16-bit)
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else:
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return 3 # 8-bit RGB
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def _configure_camera_settings(self) -> None:
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"""Configure camera settings from config"""
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try:
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# Set trigger mode (continuous acquisition)
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mvsdk.CameraSetTriggerMode(self.hCamera, 0)
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# Set manual exposure
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mvsdk.CameraSetAeState(self.hCamera, 0) # Disable auto exposure
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exposure_us = int(self.camera_config.exposure_ms * 1000) # Convert ms to microseconds
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mvsdk.CameraSetExposureTime(self.hCamera, exposure_us)
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# Set analog gain
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gain_value = int(self.camera_config.gain * 100) # Convert to camera units
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mvsdk.CameraSetAnalogGain(self.hCamera, gain_value)
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# Configure image quality settings
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self._configure_image_quality()
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# Configure noise reduction
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self._configure_noise_reduction()
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# Configure color settings (for color cameras)
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if not self.monoCamera:
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self._configure_color_settings()
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# Configure advanced settings
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self._configure_advanced_settings()
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self.logger.info(f"Camera settings configured - Exposure: {exposure_us}μs, Gain: {gain_value}")
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except Exception as e:
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self.logger.warning(f"Error configuring camera settings: {e}")
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def _configure_image_quality(self) -> None:
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"""Configure image quality settings"""
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try:
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# Set sharpness (0-200, default 100)
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mvsdk.CameraSetSharpness(self.hCamera, self.camera_config.sharpness)
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# Set contrast (0-200, default 100)
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mvsdk.CameraSetContrast(self.hCamera, self.camera_config.contrast)
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# Set gamma (0-300, default 100)
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mvsdk.CameraSetGamma(self.hCamera, self.camera_config.gamma)
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# Set saturation for color cameras (0-200, default 100)
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if not self.monoCamera:
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mvsdk.CameraSetSaturation(self.hCamera, self.camera_config.saturation)
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self.logger.info(f"Image quality configured - Sharpness: {self.camera_config.sharpness}, " f"Contrast: {self.camera_config.contrast}, Gamma: {self.camera_config.gamma}")
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except Exception as e:
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self.logger.warning(f"Error configuring image quality: {e}")
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def _configure_noise_reduction(self) -> None:
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"""Configure noise reduction settings"""
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try:
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# Enable/disable basic noise filter
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mvsdk.CameraSetNoiseFilter(self.hCamera, self.camera_config.noise_filter_enabled)
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# Configure 3D denoising if enabled
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if self.camera_config.denoise_3d_enabled:
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# Enable 3D denoising with default parameters (3 frames, equal weights)
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mvsdk.CameraSetDenoise3DParams(self.hCamera, True, 3, None)
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self.logger.info("3D denoising enabled")
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else:
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mvsdk.CameraSetDenoise3DParams(self.hCamera, False, 2, None)
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self.logger.info(f"Noise reduction configured - Filter: {self.camera_config.noise_filter_enabled}, " f"3D Denoise: {self.camera_config.denoise_3d_enabled}")
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except Exception as e:
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self.logger.warning(f"Error configuring noise reduction: {e}")
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def _configure_color_settings(self) -> None:
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"""Configure color settings for color cameras"""
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try:
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# Set white balance mode
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mvsdk.CameraSetWbMode(self.hCamera, self.camera_config.auto_white_balance)
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# Set color temperature preset if not using auto white balance
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if not self.camera_config.auto_white_balance:
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mvsdk.CameraSetPresetClrTemp(self.hCamera, self.camera_config.color_temperature_preset)
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# Set manual RGB gains for manual white balance
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red_gain = int(self.camera_config.wb_red_gain * 100) # Convert to camera units
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green_gain = int(self.camera_config.wb_green_gain * 100)
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blue_gain = int(self.camera_config.wb_blue_gain * 100)
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mvsdk.CameraSetUserClrTempGain(self.hCamera, red_gain, green_gain, blue_gain)
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self.logger.info(f"Color settings configured - Auto WB: {self.camera_config.auto_white_balance}, " f"Color Temp Preset: {self.camera_config.color_temperature_preset}, " f"RGB Gains: R={self.camera_config.wb_red_gain}, G={self.camera_config.wb_green_gain}, B={self.camera_config.wb_blue_gain}")
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except Exception as e:
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self.logger.warning(f"Error configuring color settings: {e}")
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def _configure_advanced_settings(self) -> None:
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"""Configure advanced camera settings"""
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try:
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# Set anti-flicker
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mvsdk.CameraSetAntiFlick(self.hCamera, self.camera_config.anti_flicker_enabled)
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# Set light frequency (0=50Hz, 1=60Hz)
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mvsdk.CameraSetLightFrequency(self.hCamera, self.camera_config.light_frequency)
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# Configure HDR if enabled (check if HDR functions are available)
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try:
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if self.camera_config.hdr_enabled:
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mvsdk.CameraSetHDR(self.hCamera, 1) # Enable HDR
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mvsdk.CameraSetHDRGainMode(self.hCamera, self.camera_config.hdr_gain_mode)
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self.logger.info(f"HDR enabled with gain mode: {self.camera_config.hdr_gain_mode}")
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else:
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mvsdk.CameraSetHDR(self.hCamera, 0) # Disable HDR
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except AttributeError:
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self.logger.info("HDR functions not available in this SDK version, skipping HDR configuration")
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self.logger.info(f"Advanced settings configured - Anti-flicker: {self.camera_config.anti_flicker_enabled}, " f"Light Freq: {self.camera_config.light_frequency}Hz, HDR: {self.camera_config.hdr_enabled}")
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except Exception as e:
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self.logger.warning(f"Error configuring advanced settings: {e}")
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def update_camera_settings(self, exposure_ms: Optional[float] = None, gain: Optional[float] = None, target_fps: Optional[float] = None) -> bool:
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"""Update camera settings dynamically"""
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if not self.hCamera:
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self.logger.error("Camera not initialized")
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return False
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try:
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settings_updated = False
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# Update exposure if provided
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if exposure_ms is not None:
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mvsdk.CameraSetAeState(self.hCamera, 0) # Disable auto exposure
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exposure_us = int(exposure_ms * 1000) # Convert ms to microseconds
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mvsdk.CameraSetExposureTime(self.hCamera, exposure_us)
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self.camera_config.exposure_ms = exposure_ms
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self.logger.info(f"Updated exposure time: {exposure_ms}ms")
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settings_updated = True
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# Update gain if provided
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if gain is not None:
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gain_value = int(gain * 100) # Convert to camera units
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mvsdk.CameraSetAnalogGain(self.hCamera, gain_value)
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self.camera_config.gain = gain
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self.logger.info(f"Updated gain: {gain}x")
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settings_updated = True
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# Update target FPS if provided
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if target_fps is not None:
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self.camera_config.target_fps = target_fps
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self.logger.info(f"Updated target FPS: {target_fps}")
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settings_updated = True
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return settings_updated
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except Exception as e:
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self.logger.error(f"Error updating camera settings: {e}")
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return False
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def update_advanced_camera_settings(self, **kwargs) -> bool:
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"""Update advanced camera settings dynamically"""
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if not self.hCamera:
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self.logger.error("Camera not initialized")
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return False
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try:
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settings_updated = False
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# Update basic settings
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if "exposure_ms" in kwargs and kwargs["exposure_ms"] is not None:
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mvsdk.CameraSetAeState(self.hCamera, 0)
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exposure_us = int(kwargs["exposure_ms"] * 1000)
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mvsdk.CameraSetExposureTime(self.hCamera, exposure_us)
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self.camera_config.exposure_ms = kwargs["exposure_ms"]
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settings_updated = True
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if "gain" in kwargs and kwargs["gain"] is not None:
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gain_value = int(kwargs["gain"] * 100)
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mvsdk.CameraSetAnalogGain(self.hCamera, gain_value)
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self.camera_config.gain = kwargs["gain"]
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settings_updated = True
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if "target_fps" in kwargs and kwargs["target_fps"] is not None:
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self.camera_config.target_fps = kwargs["target_fps"]
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settings_updated = True
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# Update image quality settings
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if "sharpness" in kwargs and kwargs["sharpness"] is not None:
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mvsdk.CameraSetSharpness(self.hCamera, kwargs["sharpness"])
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self.camera_config.sharpness = kwargs["sharpness"]
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settings_updated = True
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if "contrast" in kwargs and kwargs["contrast"] is not None:
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mvsdk.CameraSetContrast(self.hCamera, kwargs["contrast"])
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self.camera_config.contrast = kwargs["contrast"]
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settings_updated = True
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if "gamma" in kwargs and kwargs["gamma"] is not None:
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mvsdk.CameraSetGamma(self.hCamera, kwargs["gamma"])
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self.camera_config.gamma = kwargs["gamma"]
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settings_updated = True
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if "saturation" in kwargs and kwargs["saturation"] is not None and not self.monoCamera:
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mvsdk.CameraSetSaturation(self.hCamera, kwargs["saturation"])
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self.camera_config.saturation = kwargs["saturation"]
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settings_updated = True
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# Update noise reduction settings
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if "noise_filter_enabled" in kwargs and kwargs["noise_filter_enabled"] is not None:
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# Note: Noise filter settings may require camera restart to take effect
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self.camera_config.noise_filter_enabled = kwargs["noise_filter_enabled"]
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settings_updated = True
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if "denoise_3d_enabled" in kwargs and kwargs["denoise_3d_enabled"] is not None:
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# Note: 3D denoise settings may require camera restart to take effect
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self.camera_config.denoise_3d_enabled = kwargs["denoise_3d_enabled"]
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settings_updated = True
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# Update color settings (for color cameras)
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if not self.monoCamera:
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if "auto_white_balance" in kwargs and kwargs["auto_white_balance"] is not None:
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mvsdk.CameraSetWbMode(self.hCamera, kwargs["auto_white_balance"])
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self.camera_config.auto_white_balance = kwargs["auto_white_balance"]
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settings_updated = True
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if "color_temperature_preset" in kwargs and kwargs["color_temperature_preset"] is not None:
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if not self.camera_config.auto_white_balance:
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mvsdk.CameraSetPresetClrTemp(self.hCamera, kwargs["color_temperature_preset"])
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self.camera_config.color_temperature_preset = kwargs["color_temperature_preset"]
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settings_updated = True
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# Update RGB gains for manual white balance
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rgb_gains_updated = False
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if "wb_red_gain" in kwargs and kwargs["wb_red_gain"] is not None:
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self.camera_config.wb_red_gain = kwargs["wb_red_gain"]
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rgb_gains_updated = True
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settings_updated = True
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if "wb_green_gain" in kwargs and kwargs["wb_green_gain"] is not None:
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self.camera_config.wb_green_gain = kwargs["wb_green_gain"]
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rgb_gains_updated = True
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settings_updated = True
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if "wb_blue_gain" in kwargs and kwargs["wb_blue_gain"] is not None:
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self.camera_config.wb_blue_gain = kwargs["wb_blue_gain"]
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rgb_gains_updated = True
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settings_updated = True
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# Apply RGB gains if any were updated and we're in manual white balance mode
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if rgb_gains_updated and not self.camera_config.auto_white_balance:
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red_gain = int(self.camera_config.wb_red_gain * 100)
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green_gain = int(self.camera_config.wb_green_gain * 100)
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blue_gain = int(self.camera_config.wb_blue_gain * 100)
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mvsdk.CameraSetUserClrTempGain(self.hCamera, red_gain, green_gain, blue_gain)
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# Update advanced settings
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if "anti_flicker_enabled" in kwargs and kwargs["anti_flicker_enabled"] is not None:
|
||
mvsdk.CameraSetAntiFlick(self.hCamera, kwargs["anti_flicker_enabled"])
|
||
self.camera_config.anti_flicker_enabled = kwargs["anti_flicker_enabled"]
|
||
settings_updated = True
|
||
|
||
if "light_frequency" in kwargs and kwargs["light_frequency"] is not None:
|
||
mvsdk.CameraSetLightFrequency(self.hCamera, kwargs["light_frequency"])
|
||
self.camera_config.light_frequency = kwargs["light_frequency"]
|
||
settings_updated = True
|
||
|
||
# Update HDR settings (if supported)
|
||
if "hdr_enabled" in kwargs and kwargs["hdr_enabled"] is not None:
|
||
try:
|
||
mvsdk.CameraSetHDR(self.hCamera, 1 if kwargs["hdr_enabled"] else 0)
|
||
self.camera_config.hdr_enabled = kwargs["hdr_enabled"]
|
||
settings_updated = True
|
||
except AttributeError:
|
||
self.logger.warning("HDR functions not available in this SDK version")
|
||
|
||
if "hdr_gain_mode" in kwargs and kwargs["hdr_gain_mode"] is not None:
|
||
try:
|
||
if self.camera_config.hdr_enabled:
|
||
mvsdk.CameraSetHDRGainMode(self.hCamera, kwargs["hdr_gain_mode"])
|
||
self.camera_config.hdr_gain_mode = kwargs["hdr_gain_mode"]
|
||
settings_updated = True
|
||
except AttributeError:
|
||
self.logger.warning("HDR gain mode functions not available in this SDK version")
|
||
|
||
if settings_updated:
|
||
updated_settings = [k for k, v in kwargs.items() if v is not None]
|
||
self.logger.info(f"Updated camera settings: {updated_settings}")
|
||
|
||
return settings_updated
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"Error updating advanced camera settings: {e}")
|
||
return False
|
||
|
||
def start_recording(self, filename: str) -> bool:
|
||
"""Start video recording"""
|
||
with self._lock:
|
||
if self.recording:
|
||
self.logger.warning("Already recording!")
|
||
return False
|
||
|
||
# Initialize camera if not already initialized (lazy initialization)
|
||
if not self.hCamera:
|
||
self.logger.info("Camera not initialized, initializing now...")
|
||
if not self._initialize_camera():
|
||
self.logger.error("Failed to initialize camera for recording")
|
||
return False
|
||
|
||
try:
|
||
# Prepare output path
|
||
output_path = os.path.join(self.camera_config.storage_path, filename)
|
||
Path(self.camera_config.storage_path).mkdir(parents=True, exist_ok=True)
|
||
|
||
# Test camera capture before starting recording
|
||
if not self._test_camera_capture():
|
||
self.logger.error("Camera capture test failed")
|
||
return False
|
||
|
||
# Initialize recording state
|
||
self.output_filename = output_path
|
||
self.frame_count = 0
|
||
self.start_time = now_atlanta() # Use Atlanta timezone
|
||
self._stop_recording_event.clear()
|
||
|
||
# Start recording thread
|
||
self._recording_thread = threading.Thread(target=self._recording_loop, daemon=True)
|
||
self._recording_thread.start()
|
||
|
||
# Update state
|
||
self.recording = True
|
||
recording_id = self.state_manager.start_recording(self.camera_config.name, output_path)
|
||
|
||
# Publish event
|
||
publish_recording_started(self.camera_config.name, output_path)
|
||
|
||
self.logger.info(f"Started recording to: {output_path}")
|
||
return True
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"Error starting recording: {e}")
|
||
publish_recording_error(self.camera_config.name, str(e))
|
||
return False
|
||
|
||
def _test_camera_capture(self) -> bool:
|
||
"""Test if camera can capture frames"""
|
||
try:
|
||
# Try to capture one frame
|
||
pRawData, FrameHead = mvsdk.CameraGetImageBuffer(self.hCamera, 1000) # 1 second timeout
|
||
mvsdk.CameraImageProcess(self.hCamera, pRawData, self.frame_buffer, FrameHead)
|
||
mvsdk.CameraReleaseImageBuffer(self.hCamera, pRawData)
|
||
return True
|
||
except Exception as e:
|
||
self.logger.error(f"Camera capture test failed: {e}")
|
||
return False
|
||
|
||
def stop_recording(self) -> bool:
|
||
"""Stop video recording"""
|
||
with self._lock:
|
||
if not self.recording:
|
||
self.logger.warning("Not currently recording")
|
||
return False
|
||
|
||
try:
|
||
# Signal recording thread to stop
|
||
self._stop_recording_event.set()
|
||
|
||
# Wait for recording thread to finish
|
||
if self._recording_thread and self._recording_thread.is_alive():
|
||
self._recording_thread.join(timeout=5)
|
||
|
||
# Update state
|
||
self.recording = False
|
||
|
||
# Calculate duration and file size
|
||
duration = 0
|
||
file_size = 0
|
||
if self.start_time:
|
||
duration = (now_atlanta() - self.start_time).total_seconds()
|
||
|
||
if self.output_filename and os.path.exists(self.output_filename):
|
||
file_size = os.path.getsize(self.output_filename)
|
||
|
||
# Update state manager
|
||
if self.output_filename:
|
||
self.state_manager.stop_recording(self.output_filename, file_size, self.frame_count)
|
||
|
||
# Publish event
|
||
publish_recording_stopped(self.camera_config.name, self.output_filename or "unknown", duration)
|
||
|
||
# Clean up camera resources after recording (lazy cleanup)
|
||
self._cleanup_camera()
|
||
self.logger.info("Camera resources cleaned up after recording")
|
||
|
||
self.logger.info(f"Stopped recording - Duration: {duration:.1f}s, Frames: {self.frame_count}")
|
||
return True
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"Error stopping recording: {e}")
|
||
return False
|
||
|
||
def _recording_loop(self) -> None:
|
||
"""Main recording loop running in separate thread"""
|
||
try:
|
||
# Initialize video writer
|
||
if not self._initialize_video_writer():
|
||
self.logger.error("Failed to initialize video writer")
|
||
return
|
||
|
||
self.logger.info("Recording loop started")
|
||
|
||
while not self._stop_recording_event.is_set():
|
||
try:
|
||
# Capture frame
|
||
pRawData, FrameHead = mvsdk.CameraGetImageBuffer(self.hCamera, 200) # 200ms timeout
|
||
|
||
# Process frame
|
||
mvsdk.CameraImageProcess(self.hCamera, pRawData, self.frame_buffer, FrameHead)
|
||
|
||
# Convert to OpenCV format
|
||
frame = self._convert_frame_to_opencv(FrameHead)
|
||
|
||
# Write frame to video
|
||
if frame is not None and self.video_writer:
|
||
self.video_writer.write(frame)
|
||
self.frame_count += 1
|
||
|
||
# Release buffer
|
||
mvsdk.CameraReleaseImageBuffer(self.hCamera, pRawData)
|
||
|
||
# Control frame rate (skip sleep if target_fps is 0 for maximum speed)
|
||
if self.camera_config.target_fps > 0:
|
||
time.sleep(1.0 / self.camera_config.target_fps)
|
||
|
||
except mvsdk.CameraException as e:
|
||
if e.error_code == mvsdk.CAMERA_STATUS_TIME_OUT:
|
||
continue # Timeout is normal, continue
|
||
else:
|
||
self.logger.error(f"Camera error during recording: {e.message}")
|
||
break
|
||
except Exception as e:
|
||
self.logger.error(f"Error in recording loop: {e}")
|
||
break
|
||
|
||
self.logger.info("Recording loop ended")
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"Fatal error in recording loop: {e}")
|
||
publish_recording_error(self.camera_config.name, str(e))
|
||
finally:
|
||
self._cleanup_recording()
|
||
|
||
def _initialize_video_writer(self) -> bool:
|
||
"""Initialize OpenCV video writer"""
|
||
try:
|
||
# Get frame dimensions by capturing a test frame
|
||
pRawData, FrameHead = mvsdk.CameraGetImageBuffer(self.hCamera, 1000)
|
||
mvsdk.CameraImageProcess(self.hCamera, pRawData, self.frame_buffer, FrameHead)
|
||
mvsdk.CameraReleaseImageBuffer(self.hCamera, pRawData)
|
||
|
||
# Set up video writer
|
||
fourcc = cv2.VideoWriter_fourcc(*"XVID")
|
||
frame_size = (FrameHead.iWidth, FrameHead.iHeight)
|
||
|
||
# Use 30 FPS for video writer if target_fps is 0 (unlimited)
|
||
video_fps = self.camera_config.target_fps if self.camera_config.target_fps > 0 else 30.0
|
||
|
||
self.video_writer = cv2.VideoWriter(self.output_filename, fourcc, video_fps, frame_size)
|
||
|
||
if not self.video_writer.isOpened():
|
||
self.logger.error(f"Failed to open video writer for {self.output_filename}")
|
||
return False
|
||
|
||
self.logger.info(f"Video writer initialized - Size: {frame_size}, FPS: {self.camera_config.target_fps}")
|
||
return True
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"Error initializing video writer: {e}")
|
||
return False
|
||
|
||
def _convert_frame_to_opencv(self, frame_head) -> Optional[np.ndarray]:
|
||
"""Convert camera frame to OpenCV format"""
|
||
try:
|
||
# Convert the frame buffer memory address to a proper buffer
|
||
# that numpy can work with using mvsdk.c_ubyte
|
||
frame_data_buffer = (mvsdk.c_ubyte * frame_head.uBytes).from_address(self.frame_buffer)
|
||
|
||
# Handle different bit depths
|
||
if self.camera_config.bit_depth > 8:
|
||
# For >8-bit, data is stored as 16-bit values
|
||
frame_data = np.frombuffer(frame_data_buffer, dtype=np.uint16)
|
||
|
||
if self.monoCamera:
|
||
# Monochrome camera - convert to 8-bit BGR for video
|
||
frame = frame_data.reshape((frame_head.iHeight, frame_head.iWidth))
|
||
# Scale down to 8-bit (simple right shift)
|
||
frame_8bit = (frame >> (self.camera_config.bit_depth - 8)).astype(np.uint8)
|
||
frame_bgr = cv2.cvtColor(frame_8bit, cv2.COLOR_GRAY2BGR)
|
||
else:
|
||
# Color camera - convert to 8-bit BGR
|
||
frame = frame_data.reshape((frame_head.iHeight, frame_head.iWidth, 3))
|
||
# Scale down to 8-bit
|
||
frame_bgr = (frame >> (self.camera_config.bit_depth - 8)).astype(np.uint8)
|
||
else:
|
||
# 8-bit data
|
||
frame_data = np.frombuffer(frame_data_buffer, dtype=np.uint8)
|
||
|
||
if self.monoCamera:
|
||
# Monochrome camera - convert to BGR
|
||
frame = frame_data.reshape((frame_head.iHeight, frame_head.iWidth))
|
||
frame_bgr = cv2.cvtColor(frame, cv2.COLOR_GRAY2BGR)
|
||
else:
|
||
# Color camera - already in BGR format
|
||
frame_bgr = frame_data.reshape((frame_head.iHeight, frame_head.iWidth, 3))
|
||
|
||
return frame_bgr
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"Error converting frame: {e}")
|
||
return None
|
||
|
||
def _cleanup_recording(self) -> None:
|
||
"""Clean up recording resources"""
|
||
try:
|
||
if self.video_writer:
|
||
self.video_writer.release()
|
||
self.video_writer = None
|
||
|
||
self.recording = False
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"Error during recording cleanup: {e}")
|
||
|
||
def test_connection(self) -> bool:
|
||
"""Test camera connection"""
|
||
try:
|
||
if self.hCamera is None:
|
||
self.logger.error("Camera not initialized")
|
||
return False
|
||
|
||
# Test connection using SDK function
|
||
result = mvsdk.CameraConnectTest(self.hCamera)
|
||
if result == 0: # CAMERA_STATUS_SUCCESS
|
||
self.logger.info("Camera connection test passed")
|
||
return True
|
||
else:
|
||
self.logger.error(f"Camera connection test failed with code: {result}")
|
||
return False
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"Error testing camera connection: {e}")
|
||
return False
|
||
|
||
def reconnect(self) -> bool:
|
||
"""Attempt to reconnect to the camera"""
|
||
try:
|
||
if self.hCamera is None:
|
||
self.logger.error("Camera not initialized, cannot reconnect")
|
||
return False
|
||
|
||
self.logger.info("Attempting to reconnect camera...")
|
||
|
||
# Stop any ongoing operations
|
||
if self.recording:
|
||
self.logger.info("Stopping recording before reconnect")
|
||
self.stop_recording()
|
||
|
||
# Attempt reconnection using SDK function
|
||
result = mvsdk.CameraReConnect(self.hCamera)
|
||
if result == 0: # CAMERA_STATUS_SUCCESS
|
||
self.logger.info("Camera reconnected successfully")
|
||
|
||
# Restart camera if it was playing
|
||
try:
|
||
mvsdk.CameraPlay(self.hCamera)
|
||
self.logger.info("Camera restarted after reconnection")
|
||
except Exception as e:
|
||
self.logger.warning(f"Failed to restart camera after reconnection: {e}")
|
||
|
||
return True
|
||
else:
|
||
self.logger.error(f"Camera reconnection failed with code: {result}")
|
||
return False
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"Error during camera reconnection: {e}")
|
||
return False
|
||
|
||
def restart_grab(self) -> bool:
|
||
"""Restart the camera grab process"""
|
||
try:
|
||
if self.hCamera is None:
|
||
self.logger.error("Camera not initialized")
|
||
return False
|
||
|
||
self.logger.info("Restarting camera grab process...")
|
||
|
||
# Stop any ongoing recording
|
||
if self.recording:
|
||
self.logger.info("Stopping recording before restart")
|
||
self.stop_recording()
|
||
|
||
# Restart grab using SDK function
|
||
result = mvsdk.CameraRestartGrab(self.hCamera)
|
||
if result == 0: # CAMERA_STATUS_SUCCESS
|
||
self.logger.info("Camera grab restarted successfully")
|
||
return True
|
||
else:
|
||
self.logger.error(f"Camera grab restart failed with code: {result}")
|
||
return False
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"Error restarting camera grab: {e}")
|
||
return False
|
||
|
||
def reset_timestamp(self) -> bool:
|
||
"""Reset camera timestamp"""
|
||
try:
|
||
if self.hCamera is None:
|
||
self.logger.error("Camera not initialized")
|
||
return False
|
||
|
||
self.logger.info("Resetting camera timestamp...")
|
||
|
||
result = mvsdk.CameraRstTimeStamp(self.hCamera)
|
||
if result == 0: # CAMERA_STATUS_SUCCESS
|
||
self.logger.info("Camera timestamp reset successfully")
|
||
return True
|
||
else:
|
||
self.logger.error(f"Camera timestamp reset failed with code: {result}")
|
||
return False
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"Error resetting camera timestamp: {e}")
|
||
return False
|
||
|
||
def full_reset(self) -> bool:
|
||
"""Perform a full camera reset (uninitialize and reinitialize)"""
|
||
try:
|
||
self.logger.info("Performing full camera reset...")
|
||
|
||
# Stop any ongoing recording
|
||
if self.recording:
|
||
self.logger.info("Stopping recording before reset")
|
||
self.stop_recording()
|
||
|
||
# Store device info for reinitialization
|
||
device_info = self.device_info
|
||
|
||
# Cleanup current camera
|
||
self._cleanup_camera()
|
||
|
||
# Wait a moment
|
||
time.sleep(1)
|
||
|
||
# Reinitialize camera
|
||
self.device_info = device_info
|
||
success = self._initialize_camera()
|
||
|
||
if success:
|
||
self.logger.info("Full camera reset completed successfully")
|
||
return True
|
||
else:
|
||
self.logger.error("Full camera reset failed during reinitialization")
|
||
return False
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"Error during full camera reset: {e}")
|
||
return False
|
||
|
||
def _cleanup_camera(self) -> None:
|
||
"""Clean up camera resources"""
|
||
try:
|
||
# Stop camera if running
|
||
if self.hCamera is not None:
|
||
try:
|
||
mvsdk.CameraStop(self.hCamera)
|
||
except:
|
||
pass # Ignore errors during stop
|
||
|
||
# Uninitialize camera
|
||
try:
|
||
mvsdk.CameraUnInit(self.hCamera)
|
||
except:
|
||
pass # Ignore errors during uninit
|
||
|
||
self.hCamera = None
|
||
|
||
# Free frame buffer
|
||
if self.frame_buffer is not None:
|
||
try:
|
||
mvsdk.CameraAlignFree(self.frame_buffer)
|
||
except:
|
||
pass # Ignore errors during free
|
||
|
||
self.frame_buffer = None
|
||
|
||
self.logger.info("Camera resources cleaned up")
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"Error during camera cleanup: {e}")
|
||
|
||
def cleanup(self) -> None:
|
||
"""Clean up camera resources"""
|
||
try:
|
||
# Stop recording if active
|
||
if self.recording:
|
||
self.stop_recording()
|
||
|
||
# Clean up camera
|
||
if self.hCamera:
|
||
mvsdk.CameraUnInit(self.hCamera)
|
||
self.hCamera = None
|
||
|
||
# Free frame buffer
|
||
if self.frame_buffer:
|
||
mvsdk.CameraAlignFree(self.frame_buffer)
|
||
self.frame_buffer = None
|
||
|
||
self.logger.info("Camera resources cleaned up")
|
||
|
||
except Exception as e:
|
||
self.logger.error(f"Error during cleanup: {e}")
|
||
|
||
def is_recording(self) -> bool:
|
||
"""Check if currently recording"""
|
||
return self.recording
|
||
|
||
def get_status(self) -> Dict[str, Any]:
|
||
"""Get recorder status"""
|
||
return {"camera_name": self.camera_config.name, "is_recording": self.recording, "current_file": self.output_filename, "frame_count": self.frame_count, "start_time": self.start_time.isoformat() if self.start_time else None, "camera_initialized": self.hCamera is not None, "storage_path": self.camera_config.storage_path}
|