240 lines
8.9 KiB
Python
240 lines
8.9 KiB
Python
import time
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import threading
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import base64
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class FrameService:
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def __init__(self, state, trigger_manager, camera_manager):
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self.state = state
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self.trigger = trigger_manager
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self.camera = camera_manager
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self._capture_lock = threading.RLock()
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self._ensure_raw_processor()
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def _ensure_raw_processor(self):
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if (
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not hasattr(self, "raw_processor") or
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self.raw_processor.sensor_width != self.state.width or
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self.raw_processor.sensor_height != self.state.height or
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self.raw_processor.bayer_pattern.upper() != self.state.source_bayer_pattern.upper()
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):
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from raw_processor_core import RawProcessorCore
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self.raw_processor = RawProcessorCore(
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sensor_width=self.state.width,
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sensor_height=self.state.height,
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bayer_pattern=self.state.source_bayer_pattern,
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)
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def _capture_with_retry(self, max_attempts=10, retry_delay_s=0.02):
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last_info = None
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for _ in range(max_attempts):
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info = self.camera.capture_raw_frame()
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if (
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info is not None and
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info.get("frame") is not None and
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info.get("width", 0) > 0 and
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info.get("height", 0) > 0 and
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info.get("channels", 0) > 0
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):
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return info
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last_info = info
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time.sleep(retry_delay_s)
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if last_info is None:
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raise RuntimeError(f"Capture retornou frame vazio após {max_attempts} tentativas")
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raise RuntimeError(
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f"Capture retornou frame vazio após {max_attempts} tentativas: "
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f"width={last_info.get('width')}, "
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f"height={last_info.get('height')}, "
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f"channels={last_info.get('channels')}, "
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f"camera_frame_id={last_info.get('frame_id')}, "
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f"camera_frame_ts={last_info.get('timestamp')}"
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)
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def capture_frame_raw(self):
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with self._capture_lock:
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if not self.state.initialized:
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raise RuntimeError("Módulo não inicializado")
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t0_perf = time.perf_counter()
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t0_unix = time.time()
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dt_trigger = 0.0
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dt_settle = 0.0
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dt_capture = 0.0
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dt_process = 0.0
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try:
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if self.state.trigger_enabled:
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trig_start = time.perf_counter()
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self.trigger.pulse()
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trig_end = time.perf_counter()
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dt_trigger = trig_end - trig_start
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settle_ms = float(getattr(self.state, "trigger_settle_delay_ms", 0.0) or 0.0)
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if settle_ms > 0:
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settle_start = time.perf_counter()
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time.sleep(settle_ms / 1000.0)
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settle_end = time.perf_counter()
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dt_settle = settle_end - settle_start
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cap_start = time.perf_counter()
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raw_frame_info = self._capture_with_retry()
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cap_end = time.perf_counter()
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dt_capture = cap_end - cap_start
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proc_start = time.perf_counter()
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if self.state.frame_type != "RAW_BRUTO":
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self._ensure_raw_processor()
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frame_out, meta_extra = self._build_output_frame(raw_frame_info)
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proc_end = time.perf_counter()
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dt_process = proc_end - proc_start
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except Exception as e:
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raise RuntimeError(f"Falha durante captura/processamento de frame: {e}") from e
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if frame_out is None:
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raise RuntimeError("Frame processado retornou nulo")
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total_end = time.perf_counter()
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self.state.stream_frame_id += 1
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frame_id = self.state.stream_frame_id
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meta = {
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"frame_id": frame_id,
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"camera_frame_id": int(raw_frame_info["frame_id"]),
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"camera_frame_ts": raw_frame_info["timestamp"],
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"ts_pi": t0_unix,
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"ts_pi_monotonic": t0_perf,
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"dt_trigger": dt_trigger,
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"dt_settle": dt_settle,
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"dt_capture": dt_capture,
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"dt_process": dt_process,
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"dt_total_pi": total_end - t0_perf,
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"source_bayer_pattern": self.state.source_bayer_pattern,
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"source_bit_depth": self.state.source_bit_depth,
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}
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meta.update(meta_extra)
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return frame_out, meta
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def capture_frame_base64(self):
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frame, meta = self.capture_frame_raw()
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frame_bytes = frame.tobytes()
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meta["encoding"] = "base64"
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meta["size"] = len(frame_bytes)
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meta["data"] = base64.b64encode(frame_bytes).decode("ascii")
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return meta
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def _build_output_frame(self, raw_frame_info):
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if self.state.frame_type == "RAW_BRUTO":
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return self._process_raw_bruto(raw_frame_info)
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if self.state.frame_type == "RGB":
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return self._process_rgb(raw_frame_info)
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if self.state.frame_type == "RGBNIR":
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return self._process_rgbnir(raw_frame_info)
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raise RuntimeError(f"frame_type inválido: {self.state.frame_type}")
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def _convert_output_dtype(self, arr):
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max_sensor_value = (1 << int(self.state.source_bit_depth)) - 1
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if self.state.output_dtype == "uint8":
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if arr.dtype == "uint8":
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return arr
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if arr.dtype == "float32":
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return (arr * 255.0).clip(0, 255).astype("uint8")
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if arr.dtype.kind in ("u", "i"):
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# assume 10-bit/16-bit vindo do pipeline
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max_val = arr.max() if arr.size > 0 else 0
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if max_val <= 255:
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return arr.astype("uint8")
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return ((arr.astype("float32") / max_sensor_value) * 255.0).clip(0, 255).astype("uint8")
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raise RuntimeError(f"dtype não suportado para uint8: {arr.dtype}")
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elif self.state.output_dtype == "float32":
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if arr.dtype == "float32":
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return arr
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if arr.dtype == "uint8":
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return arr.astype("float32") / 255.0
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if arr.dtype.kind in ("u", "i"):
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max_val = arr.max() if arr.size > 0 else 0
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if max_val <= 255:
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return arr.astype("float32") / 255.0
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return arr.astype("float32") / max_sensor_value
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raise RuntimeError(f"dtype não suportado para float32: {arr.dtype}")
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raise RuntimeError(f"output_dtype inválido: {self.state.output_dtype}")
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def _process_raw_bruto(self, raw_frame_info):
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frame = raw_frame_info["frame"]
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meta_extra = {
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"frame_type": self.state.frame_type,
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"payload_format_version": self.state.payload_format_version,
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"output_dtype": str(frame.dtype),
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"dtype": str(frame.dtype),
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"output_layout": "HW",
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"output_channels": 1,
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"output_channel_names": ["RAW10_PACKED"],
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"output_width": int(raw_frame_info["width"]),
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"output_height": int(raw_frame_info["height"]),
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"source_width": int(self.state.width),
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"source_height": int(self.state.height),
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"packed_width": int(raw_frame_info["width"]),
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"packed_height": int(raw_frame_info["height"]),
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"width": int(raw_frame_info["width"]),
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"height": int(raw_frame_info["height"]),
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"channels": 1,
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}
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return frame, meta_extra
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def _process_rgb(self, raw_frame_info):
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packed = raw_frame_info["frame"]
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b_depth = self.state.source_bit_depth
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if packed.ndim == 3 and packed.shape[2] == 1:
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packed = packed[:, :, 0]
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raw16 = self.raw_processor.unpack_raw10_packed(packed)
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rgb_chw = self.raw_processor.build_training_rgb(raw16, bit_depth=b_depth)
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rgb_chw = self._convert_output_dtype(rgb_chw)
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meta_extra = {
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"frame_type": self.state.frame_type,
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"payload_format_version": self.state.payload_format_version,
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"output_dtype": self.state.output_dtype,
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"dtype": str(rgb_chw.dtype),
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"output_layout": "CHW",
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"output_channels": 3,
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"output_channel_names": ["R", "G", "B"],
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"output_width": int(rgb_chw.shape[2]),
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"output_height": int(rgb_chw.shape[1]),
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"source_width": int(self.state.width),
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"source_height": int(self.state.height),
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"width": int(rgb_chw.shape[2]),
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"height": int(rgb_chw.shape[1]),
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"channels": 3,
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"packed_width": int(raw_frame_info["width"]),
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"packed_height": int(raw_frame_info["height"]),
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}
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return rgb_chw, meta_extra
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def _process_rgbnir(self, raw_frame_info):
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raise NotImplementedError("RGBNIR ainda não implementado")
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