820 lines
33 KiB
Python
820 lines
33 KiB
Python
import os
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import time
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import json
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import argparse
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from datetime import datetime
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import cv2
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import numpy as np
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from multispectral_service import MultiSpectralService
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from stream_receiver import StreamReceiver
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from pi.raw_processor_core import RawProcessorCore
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from pi.raw_processor_preview import RawProcessorPreview
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STREAM_PORT = 6001
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PI_HOST = "192.168.105.6"
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PC_HOST = "192.168.105.5"
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# =========================
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# Helpers gerais
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# =========================
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def ts_name() -> str:
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return datetime.now().strftime("%Y%m%d_%H%M%S_%f")[:-3]
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def overlay_hud(
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img_bgr: np.ndarray,
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lines: list[str],
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base_h: int = 720,
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base_font_scale: float = 0.75,
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base_line_step: int = 28,
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):
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h, w = img_bgr.shape[:2]
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scale = h / float(base_h)
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scale = max(scale, 0.4)
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font_scale = base_font_scale * scale
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line_step = int(base_line_step * scale)
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thick_outline = max(1, int(3 * scale))
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thick_text = max(1, int(2 * scale))
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y = int(24 * scale)
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x = int(12 * scale)
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for s in lines:
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cv2.putText(img_bgr, s, (x, y), cv2.FONT_HERSHEY_SIMPLEX, font_scale, (0, 0, 0), thick_outline, cv2.LINE_AA)
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cv2.putText(img_bgr, s, (x, y), cv2.FONT_HERSHEY_SIMPLEX, font_scale, (255, 255, 255), thick_text, cv2.LINE_AA)
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y += line_step
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def save_sample(
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base_dir: str,
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frame_type: str,
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preview_bgr: np.ndarray,
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meta: dict,
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raw_payload: np.ndarray | None = None,
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packed_raw: np.ndarray | None = None,
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packed_raw_by_camera: dict | None = None,
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):
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os.makedirs(base_dir, exist_ok=True)
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name = ts_name()
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png_path = os.path.join(base_dir, f"{name}.png")
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json_path = os.path.join(base_dir, f"{name}.json")
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if frame_type in ("RGB", "MULTISPEC"):
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if raw_payload is None:
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raise ValueError(f"raw_payload não pode ser None quando frame_type='{frame_type}'")
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payload_path = os.path.join(base_dir, f"{name}.raw")
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raw_payload.astype(np.float32).tofile(payload_path)
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meta["saved_payload_type"] = frame_type.lower()
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meta["saved_payload_path"] = os.path.basename(payload_path)
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meta["saved_payload_dtype"] = "float32"
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meta["saved_payload_shape"] = list(raw_payload.shape)
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elif frame_type == "RAW_BRUTO":
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if packed_raw_by_camera is not None:
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payload_files = {}
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payload_shapes = {}
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payload_dtypes = {}
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for cam_id, arr in packed_raw_by_camera.items():
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path = os.path.join(base_dir, f"{name}_{cam_id}.bin")
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arr.tofile(path)
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payload_files[cam_id] = os.path.basename(path)
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payload_shapes[cam_id] = list(arr.shape)
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payload_dtypes[cam_id] = str(arr.dtype)
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meta["saved_payload_type"] = "raw_native_multi"
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meta["saved_payload_paths"] = payload_files
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meta["saved_payload_shapes"] = payload_shapes
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meta["saved_payload_dtypes"] = payload_dtypes
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else:
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if packed_raw is None:
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raise ValueError("packed_raw não pode ser None quando frame_type='RAW_BRUTO'")
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payload_path = os.path.join(base_dir, f"{name}.bin")
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packed_raw.tofile(payload_path)
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meta["saved_payload_type"] = "raw_native_single"
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meta["saved_payload_path"] = os.path.basename(payload_path)
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meta["saved_payload_dtype"] = str(packed_raw.dtype)
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meta["saved_payload_shape"] = list(packed_raw.shape)
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else:
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raise ValueError(f"frame_type não suportado para save: {frame_type}")
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cv2.imwrite(png_path, preview_bgr)
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with open(json_path, "w", encoding="utf-8") as f:
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json.dump(meta, f, ensure_ascii=False, indent=2)
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return png_path, json_path
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def get_camera_map_from_status(status: dict) -> dict:
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result = {}
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for cam in status.get("cameras", []):
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result[cam.get("id")] = cam
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return result
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def validate_module_ready(status: dict, frame_type: str, raw_policy: str, capture_mode: str):
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if not status.get("ok", True):
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raise RuntimeError(f"Status inválido retornado pelo módulo: {status}")
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active_ids = list(status.get("active_camera_ids", []))
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active_count = int(status.get("camera_count_active", 0))
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if frame_type == "RGB":
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if "cam2" not in active_ids:
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raise RuntimeError(
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"Modo RGB requer cam2 ativa (USB RGB), mas o módulo não reportou cam2 como ativa."
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)
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return
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if frame_type == "MULTISPEC":
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if capture_mode == "TRIPLE":
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missing = [cid for cid in ("cam0", "cam1", "cam2") if cid not in active_ids]
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if missing:
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raise RuntimeError(
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f"Modo MULTISPEC/TRIPLE requer cam0, cam1 e cam2 ativas. "
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f"Faltando: {missing}. Ativas atuais: {active_ids}"
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)
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return
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if capture_mode == "DOUBLE":
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has_rgb = "cam2" in active_ids
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has_spec = ("cam0" in active_ids) or ("cam1" in active_ids)
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if not has_rgb or not has_spec:
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raise RuntimeError(
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f"Modo MULTISPEC/DOUBLE requer cam2 + (cam0 ou cam1). "
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f"Ativas atuais: {active_ids}"
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)
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return
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# AUTO ou outros casos
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has_rgb = "cam2" in active_ids
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has_spec = ("cam0" in active_ids) or ("cam1" in active_ids)
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if not (has_rgb and has_spec):
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raise RuntimeError(
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f"Modo MULTISPEC requer pelo menos RGB + 1 canal espectral. "
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f"Ativas atuais: {active_ids}"
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)
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return
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if frame_type == "RAW_BRUTO":
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if raw_policy == "require_triple":
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missing = [cid for cid in ("cam0", "cam1", "cam2") if cid not in active_ids]
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if missing:
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raise RuntimeError(
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f"RAW_BRUTO com política require_triple exige três câmeras ativas. "
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f"Faltando: {missing}. Ativas atuais: {active_ids}"
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)
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else:
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if active_count < 1:
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raise RuntimeError("RAW_BRUTO requer ao menos uma câmera ativa, mas nenhuma foi detectada.")
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return
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raise RuntimeError(f"frame_type desconhecido para validação: {frame_type}")
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def build_preview_from_raw_payload(
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frame,
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meta: dict,
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processor_core: RawProcessorCore,
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processor_preview: RawProcessorPreview,
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):
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"""
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Gera preview priorizando a câmera RGB (cam2).
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Se cam2 não estiver presente, cai para fallback usando a primeira câmera mono disponível.
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Retorna:
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preview_bgr
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payload_float_preview
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preview_source_id
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"""
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payload_sources = meta.get("payload_sources", []) or []
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# Caso multi-payload: tenta usar cam2 primeiro
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if isinstance(frame, dict):
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if "cam2" in frame:
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rgb_frame = frame["cam2"]
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if rgb_frame.ndim != 3 or rgb_frame.shape[2] != 3:
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raise RuntimeError(f"cam2 recebida mas inválida para preview RGB: shape={rgb_frame.shape}")
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preview_bgr = rgb_frame.copy()
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payload_float = rgb_frame[:, :, ::-1].astype(np.float32) / 255.0
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payload_float = np.transpose(payload_float, (2, 0, 1))
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return preview_bgr, payload_float, "cam2"
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# fallback: usa a primeira câmera mono disponível
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fallback_id = None
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for cid in ("cam0", "cam1"):
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if cid in frame:
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fallback_id = cid
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break
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if fallback_id is None:
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raise RuntimeError("Nenhuma câmera disponível no payload para gerar preview")
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packed = frame[fallback_id]
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if packed.ndim == 3 and packed.shape[2] == 1:
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packed = packed[:, :, 0]
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cam_frames = meta.get("camera_frames", {}) or {}
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cam_meta = cam_frames.get(fallback_id, {})
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bit_depth = int(cam_meta.get("bit_depth", 10))
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raw16 = processor_core.unpack_raw10_packed(packed)
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preview_bgr = processor_preview.raw16_to_preview_bgr(raw16, bit_depth=bit_depth)
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payload_float = processor_core.build_training_rgb(
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raw16,
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output_dtype="float32",
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bit_depth=bit_depth,
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)
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return preview_bgr, payload_float, fallback_id
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# Caso single-payload
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if isinstance(frame, np.ndarray):
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# Se vier HWC/3ch, tratamos como RGB USB
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if frame.ndim == 3 and frame.shape[2] == 3:
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preview_bgr = frame.copy()
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payload_float = frame[:, :, ::-1].astype(np.float32) / 255.0
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payload_float = np.transpose(payload_float, (2, 0, 1))
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return preview_bgr, payload_float, "cam2"
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# Se vier mono packed, fallback antigo
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packed = frame
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if packed.ndim == 3 and packed.shape[2] == 1:
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packed = packed[:, :, 0]
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source_camera = meta.get("source_camera") or {}
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bit_depth = int(source_camera.get("bit_depth", meta.get("source_bit_depth", 10)))
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raw16 = processor_core.unpack_raw10_packed(packed)
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preview_bgr = processor_preview.raw16_to_preview_bgr(raw16, bit_depth=bit_depth)
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payload_float = processor_core.build_training_rgb(
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raw16,
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output_dtype="float32",
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bit_depth=bit_depth,
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)
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return preview_bgr, payload_float, source_camera.get("id", "unknown")
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raise RuntimeError(f"Tipo de frame não suportado para preview: {type(frame)}")
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def resolve_effective_capture_mode(frame_type: str, raw_policy: str, requested_mode: str) -> str:
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"""
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Decide o modo real que será pedido ao módulo.
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Nova regra:
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- Se o usuário pediu explicitamente SINGLE/DOUBLE/TRIPLE, respeitamos.
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- Se pediu AUTO, deixamos AUTO ir para o módulo.
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- A única exceção opcional é MULTISPEC + require_triple implícito,
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mas mesmo assim podemos deixar o módulo resolver se preferirmos.
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"""
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if requested_mode in ("SINGLE", "DOUBLE", "TRIPLE"):
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return requested_mode
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# requested_mode == AUTO
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return "AUTO"
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# =========================
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# MAIN
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# =========================
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def main():
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parser = argparse.ArgumentParser(
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description="Captura de dataset usando módulo multispectral Pi + StreamReceiver.",
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formatter_class=argparse.ArgumentDefaultsHelpFormatter,
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)
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parser.add_argument("--cana", required=True, choices=["baixa", "media", "alta"], help="Estado da cana no momento da coleta.")
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parser.add_argument("--horario", required=True, choices=["cedo", "meio_dia", "entardecer", "nublado"], help="Janela de iluminação / horário da coleta.")
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parser.add_argument("--out_root", default="dataset", help="Pasta raiz do dataset.")
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parser.add_argument("--pi_host", default=PI_HOST, help="IP do servidor no Raspberry Pi.")
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parser.add_argument("--pc_host", default=PC_HOST, help="IP local do notebook/PC que receberá o stream.")
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parser.add_argument("--stream_port", type=int, default=STREAM_PORT, help="Porta TCP do receiver de stream.")
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parser.add_argument("--server_port", type=int, default=5000, help="Porta TCP do servidor de comandos no Pi.")
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parser.add_argument("--fps", type=int, default=20, help="FPS desejado.")
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parser.add_argument("--width", type=int, default=640, help="Largura óptica da câmera.")
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parser.add_argument("--height", type=int, default=480, help="Altura óptica da câmera.")
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parser.add_argument("--interval", type=float, default=1.0, help="Intervalo em segundos para auto-save quando ligado.")
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parser.add_argument("--preview_upscale", type=int, default=2, help="Fator de upscale visual do preview.")
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parser.add_argument("--bayer", default="GBRG", choices=["GBRG", "GRBG", "RGGB", "BGGR"], help="Padrão Bayer das câmeras.")
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parser.add_argument("--output_dtype", default="float32", choices=["uint8", "uint16", "float32"], help="Dtype do payload processado no Pi.")
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parser.add_argument("--frame_type", default="RAW_BRUTO", choices=["RAW_BRUTO", "RGB", "MULTISPEC"], help="Tipo de payload pedido ao Pi.")
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parser.add_argument("--capture_mode", default="AUTO", choices=["AUTO", "SINGLE", "DOUBLE", "TRIPLE"], help="Modo de captura desejado no módulo.")
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parser.add_argument("--raw_policy", default="allow_single", choices=["allow_single", "require_triple"], help="Quando frame_type=RAW_BRUTO, define se o script aceita 1 câmera ou exige 3.")
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args = parser.parse_args()
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effective_capture_mode = resolve_effective_capture_mode(
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frame_type=args.frame_type,
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raw_policy=args.raw_policy,
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requested_mode=args.capture_mode,
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)
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raw_w = args.width
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raw_h = args.height
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session_dir = os.path.join(
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args.out_root,
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"brutas",
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f"cana_{args.cana}",
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args.horario,
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datetime.now().strftime("%Y%m%d"),
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)
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os.makedirs(session_dir, exist_ok=True)
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print("============================================")
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print("Coleta de dataset - Módulo Multiespectral")
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print(f"Cana : {args.cana}")
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print(f"Horário : {args.horario}")
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print(f"Saída : {session_dir}")
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print(f"Sensor : {raw_w}x{raw_h} | Bayer={args.bayer}")
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print(f"FrameType : {args.frame_type}")
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print(f"CaptureMode : {args.capture_mode} -> efetivo={effective_capture_mode}")
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print(f"RAW policy : {args.raw_policy}")
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print("============================================")
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auto_save = False
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last_auto_t = 0.0
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preview_upscale = args.preview_upscale
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t_view_fps = time.time()
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view_frames = 0
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fps_view = 0.0
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t_stream_fps = time.time()
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last_stream_frame_id = None
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stream_frames_accum = 0
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fps_stream = 0.0
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last_msg = ""
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last_msg_t = 0.0
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receiver = StreamReceiver(host="0.0.0.0", port=args.stream_port)
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svc = MultiSpectralService(host=args.pi_host, port=args.server_port, timeout=10)
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print(f"[INFO] Verificando conexão com o módulo em {args.pi_host}:{args.server_port}...")
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if not svc.check_connection(2):
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raise RuntimeError("Módulo não encontrado ou não respondeu ao ping.")
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print("[OK] Módulo conectado e respondendo.")
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window_name = "Dataset Capture (C/SPACE=save | A=auto-save | M=preview scale | Q=quit)"
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cv2.namedWindow(window_name, cv2.WINDOW_NORMAL)
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processor_core_cam0 = RawProcessorCore(
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sensor_width=raw_w,
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sensor_height=raw_h,
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bayer_pattern=args.bayer,
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)
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processor_preview_cam0 = RawProcessorPreview(
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sensor_width=raw_w,
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sensor_height=raw_h,
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bayer_pattern=args.bayer,
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)
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last_frame_id = -1
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last_payload_float = None
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last_packed_raw = None
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last_packed_raw_by_camera = None
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last_preview_bgr = None
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last_meta_stream = None
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try:
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receiver.start()
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time.sleep(0.5)
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svc.connect()
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if args.frame_type in ("RAW_BRUTO", "MULTISPEC"):
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modes_resp = svc.get_sensor_modes()
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if not modes_resp.get("ok"):
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print(f"[WARN] Falha ao obter sensor_modes: {modes_resp}")
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else:
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for mode in modes_resp.get("sensor_modes", []):
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print(
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f"[cam={mode.get('camera_id')} mode={mode.get('mode_index')}] "
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f"size={mode.get('size')} "
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f"format={mode.get('format')} "
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f"bit_depth={mode.get('bit_depth')} "
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f"fps={mode.get('fps')}"
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)
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else:
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print("[INFO] get_sensor_modes pulado para frame_type=RGB")
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print("SET CAM0 RES:", svc.set_camera_resolution(0, raw_w, raw_h))
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print("SET CAM1 RES:", svc.set_camera_resolution(1, raw_w, raw_h))
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print("SET CAM2 RES:", svc.set_camera_resolution(2, raw_w, raw_h))
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print("SET CAM0 BAYER:", svc.set_camera_bayer(0, args.bayer))
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print("SET CAM1 BAYER:", svc.set_camera_bayer(1, args.bayer))
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print("SET FPS:", svc.set_fps(args.fps))
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print("SET CAPTURE MODE:", svc.set_capture_mode(effective_capture_mode))
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print("SET FRAME TYPE:", svc.set_frame_type(args.frame_type))
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print("SET OUTPUT DTYPE:", svc.set_output_dtype(args.output_dtype))
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begin_resp = svc.begin(
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frame_type=args.frame_type,
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output_dtype=args.output_dtype,
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capture_mode=effective_capture_mode,
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)
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print("BEGIN:", begin_resp)
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status = svc.get_status()
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print("STATUS:", json.dumps({
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"status": status.get("status"),
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"detected_mode": status.get("detected_mode"),
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"camera_count_active": status.get("camera_count_active"),
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"active_camera_ids": status.get("active_camera_ids"),
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}, ensure_ascii=False))
|
|
|
|
validate_module_ready(status, args.frame_type, args.raw_policy, effective_capture_mode)
|
|
|
|
print("START STREAM:", svc.start_stream(args.pc_host, args.stream_port, fps=args.fps))
|
|
|
|
camera_ctrl = svc.get_camera_controls()
|
|
|
|
ae_enabled = bool(camera_ctrl.get("ae_enable", True))
|
|
awb_enabled = bool(camera_ctrl.get("awb_enable", True))
|
|
manual_exposure_us = camera_ctrl.get("exposure_time_us", None)
|
|
manual_gain = camera_ctrl.get("analogue_gain", None)
|
|
manual_colour_gains = camera_ctrl.get("colour_gains", None)
|
|
|
|
while True:
|
|
t0 = time.time()
|
|
|
|
meta = receiver.last_meta
|
|
frame = receiver.last_frame
|
|
|
|
if meta is not None and frame is not None and meta.get("frame_id") != last_frame_id:
|
|
last_frame_id = meta["frame_id"]
|
|
|
|
try:
|
|
frame_type = meta.get("frame_type", "RAW_BRUTO")
|
|
dtype_str = meta.get("dtype") or meta.get("output_dtype", "uint8")
|
|
preview_source_id = "cam2"
|
|
|
|
if frame_type == "RAW_BRUTO":
|
|
if isinstance(frame, dict):
|
|
packed_by_camera = frame
|
|
|
|
preview_bgr, raw3_preview, preview_source_id = build_preview_from_raw_payload(
|
|
frame=frame,
|
|
meta=meta,
|
|
processor_core=processor_core_cam0,
|
|
processor_preview=processor_preview_cam0,
|
|
)
|
|
|
|
last_packed_raw = None
|
|
last_packed_raw_by_camera = {cam_id: arr.copy() for cam_id, arr in packed_by_camera.items()}
|
|
last_payload_float = raw3_preview.copy()
|
|
|
|
else:
|
|
preview_bgr, raw3_preview, preview_source_id = build_preview_from_raw_payload(
|
|
frame=frame,
|
|
meta=meta,
|
|
processor_core=processor_core_cam0,
|
|
processor_preview=processor_preview_cam0,
|
|
)
|
|
|
|
last_packed_raw = frame.copy()
|
|
last_packed_raw_by_camera = None
|
|
last_payload_float = raw3_preview.copy()
|
|
|
|
elif frame_type == "RGB":
|
|
rgb_chw = frame
|
|
if not isinstance(rgb_chw, np.ndarray) or rgb_chw.ndim != 3:
|
|
raise RuntimeError(f"Frame RGB inválido: type={type(rgb_chw)}")
|
|
|
|
if dtype_str == "uint8":
|
|
payload_float = rgb_chw.astype(np.float32) / 255.0
|
|
elif dtype_str == "float32":
|
|
payload_float = rgb_chw.astype(np.float32)
|
|
elif dtype_str == "uint16":
|
|
payload_float = rgb_chw.astype(np.float32) / 65535.0
|
|
else:
|
|
raise RuntimeError(f"dtype RGB não suportado: {dtype_str}")
|
|
|
|
preview_rgb = np.transpose(payload_float, (1, 2, 0))
|
|
preview_bgr = cv2.cvtColor(
|
|
np.clip(preview_rgb * 255.0, 0, 255).astype(np.uint8),
|
|
cv2.COLOR_RGB2BGR
|
|
)
|
|
|
|
last_payload_float = payload_float.copy()
|
|
last_packed_raw = None
|
|
last_packed_raw_by_camera = None
|
|
|
|
elif frame_type == "MULTISPEC":
|
|
multispec_chw = frame
|
|
if not isinstance(multispec_chw, np.ndarray) or multispec_chw.ndim != 3 or multispec_chw.shape[0] not in (4, 5):
|
|
raise RuntimeError(f"Frame MULTISPEC inválido: shape={getattr(multispec_chw, 'shape', None)}")
|
|
|
|
if dtype_str == "uint8":
|
|
payload_float = multispec_chw.astype(np.float32) / 255.0
|
|
elif dtype_str == "float32":
|
|
payload_float = multispec_chw.astype(np.float32)
|
|
elif dtype_str == "uint16":
|
|
payload_float = multispec_chw.astype(np.float32) / 65535.0
|
|
else:
|
|
raise RuntimeError(f"dtype MULTISPEC não suportado: {dtype_str}")
|
|
|
|
preview_rgb = np.transpose(payload_float[:3], (1, 2, 0))
|
|
preview_bgr = cv2.cvtColor(
|
|
np.clip(preview_rgb * 255.0, 0, 255).astype(np.uint8),
|
|
cv2.COLOR_RGB2BGR
|
|
)
|
|
|
|
last_payload_float = payload_float.copy()
|
|
last_packed_raw = None
|
|
last_packed_raw_by_camera = None
|
|
|
|
else:
|
|
raise RuntimeError(f"frame_type não suportado neste script: {frame_type}")
|
|
|
|
if preview_upscale and preview_upscale > 1:
|
|
preview_show = cv2.resize(
|
|
preview_bgr,
|
|
(preview_bgr.shape[1] * preview_upscale, preview_bgr.shape[0] * preview_upscale),
|
|
interpolation=cv2.INTER_NEAREST,
|
|
)
|
|
else:
|
|
preview_show = preview_bgr.copy()
|
|
|
|
curr_frame_id = meta.get("frame_id")
|
|
|
|
if curr_frame_id is not None:
|
|
if last_stream_frame_id != curr_frame_id:
|
|
stream_frames_accum += 1
|
|
|
|
last_stream_frame_id = curr_frame_id
|
|
|
|
dt_stream = time.time() - t_stream_fps
|
|
if dt_stream >= 1.0:
|
|
fps_stream = stream_frames_accum / dt_stream
|
|
stream_frames_accum = 0
|
|
t_stream_fps = time.time()
|
|
|
|
view_frames += 1
|
|
dt_view = time.time() - t_view_fps
|
|
if dt_view >= 1.0:
|
|
fps_view = view_frames / dt_view
|
|
view_frames = 0
|
|
t_view_fps = time.time()
|
|
|
|
active_sources = meta.get("payload_sources")
|
|
lines = [
|
|
f"CANA: {args.cana} | HORA: {args.horario} | Pasta: {os.path.basename(session_dir)}",
|
|
f"Type={meta.get('frame_type')} | CaptureMode={effective_capture_mode} | RAW policy={args.raw_policy}",
|
|
f"Sources={active_sources} | FPS_STREAM={fps_stream:.1f} | FPS_VIEW={fps_view:.1f}",
|
|
f"frame_id={meta.get('frame_id')} | layout={meta.get('output_layout')} | dtype={meta.get('dtype') or meta.get('output_dtype')}",
|
|
f"codec={meta.get('codec_name', meta.get('codec_family', '-'))} | comp={meta.get('dt_comp', 0):.4f}s | send={meta.get('dt_send_payload_prev', 0):.4f}s",
|
|
f"AE={'ON' if ae_enabled else 'OFF'} | AWB={'ON' if awb_enabled else 'OFF'} | EXP={manual_exposure_us} | GAIN={manual_gain}",
|
|
"Keys: C/SPACE=save | A=auto-save | E=AE | W=AWB | I/K=exp | O/L=gain | R=reset | M=preview | Q/Esc=quit",
|
|
]
|
|
overlay_hud(preview_show, lines, base_h=raw_h)
|
|
|
|
if last_msg and (time.time() - last_msg_t) < 2.0:
|
|
cv2.putText(preview_show, last_msg, (12, preview_show.shape[0] - 18),
|
|
cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 0), 2, cv2.LINE_AA)
|
|
|
|
cv2.imshow(window_name, preview_show)
|
|
|
|
last_preview_bgr = preview_bgr.copy()
|
|
last_meta_stream = dict(meta)
|
|
|
|
except Exception as e:
|
|
err = np.zeros((500, 1200, 3), dtype=np.uint8)
|
|
cv2.putText(err, f"Erro ao processar frame: {e}", (20, 60),
|
|
cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 0, 255), 2, cv2.LINE_AA)
|
|
cv2.imshow(window_name, err)
|
|
print(f"[ERRO FRAME] {e}")
|
|
|
|
now = time.time()
|
|
can_save = (
|
|
last_meta_stream is not None and
|
|
last_preview_bgr is not None and
|
|
(
|
|
(last_meta_stream.get("frame_type") in ("RGB", "MULTISPEC") and last_payload_float is not None) or
|
|
(last_meta_stream.get("frame_type") == "RAW_BRUTO" and (last_packed_raw is not None or last_packed_raw_by_camera is not None))
|
|
)
|
|
)
|
|
|
|
if auto_save and can_save and (now - last_auto_t) >= args.interval:
|
|
frame_type_save = last_meta_stream.get("frame_type")
|
|
|
|
meta_save = {
|
|
"ts": datetime.now().isoformat(timespec="milliseconds"),
|
|
"cana": args.cana,
|
|
"horario": args.horario,
|
|
"sensor_width": raw_w,
|
|
"sensor_height": raw_h,
|
|
"bayer_pattern": args.bayer,
|
|
"fps_target": args.fps,
|
|
"frame_type": frame_type_save,
|
|
"capture_mode_requested": args.capture_mode,
|
|
"capture_mode_effective": effective_capture_mode,
|
|
"raw_policy": args.raw_policy,
|
|
"stream_meta": last_meta_stream,
|
|
"note": "autosave",
|
|
"raw_preview_reference_camera": preview_source_id,
|
|
}
|
|
|
|
save_sample(
|
|
session_dir,
|
|
frame_type=frame_type_save,
|
|
preview_bgr=last_preview_bgr,
|
|
meta=meta_save,
|
|
raw_payload=last_payload_float,
|
|
packed_raw=last_packed_raw,
|
|
packed_raw_by_camera=last_packed_raw_by_camera,
|
|
)
|
|
|
|
last_msg = "SALVO (auto)"
|
|
last_msg_t = now
|
|
last_auto_t = now
|
|
|
|
k = cv2.waitKey(1) & 0xFF
|
|
if k in (ord("q"), ord("Q"), 27):
|
|
break
|
|
|
|
elif k in (ord("a"), ord("A")):
|
|
auto_save = not auto_save
|
|
last_msg = f"AutoSave -> {'ON' if auto_save else 'OFF'}"
|
|
last_msg_t = time.time()
|
|
|
|
elif k in (ord("m"), ord("M")):
|
|
preview_upscale = 0 if preview_upscale else args.preview_upscale
|
|
last_msg = f"Preview UPSCALE -> {preview_upscale}"
|
|
last_msg_t = time.time()
|
|
|
|
elif k in (ord("e"), ord("E")):
|
|
ae_enabled = not ae_enabled
|
|
resp = svc.set_ae_enable(ae_enabled)
|
|
ae_enabled = bool(resp.get("ae_enable", ae_enabled))
|
|
last_msg = f"AE -> {'ON' if ae_enabled else 'OFF'}"
|
|
last_msg_t = time.time()
|
|
|
|
elif k in (ord("w"), ord("W")):
|
|
awb_enabled = not awb_enabled
|
|
resp = svc.set_awb_enable(awb_enabled)
|
|
awb_enabled = bool(resp.get("awb_enable", awb_enabled))
|
|
last_msg = f"AWB -> {'ON' if awb_enabled else 'OFF'}"
|
|
last_msg_t = time.time()
|
|
|
|
elif k in (ord("i"), ord("I")):
|
|
if manual_exposure_us is None:
|
|
manual_exposure_us = 15000
|
|
else:
|
|
manual_exposure_us = min(int(manual_exposure_us * 1.15), 200000)
|
|
|
|
if ae_enabled:
|
|
ae_enabled = False
|
|
svc.set_ae_enable(False)
|
|
|
|
resp = svc.set_exposure_time(int(manual_exposure_us))
|
|
manual_exposure_us = resp.get("exposure_time_us", manual_exposure_us)
|
|
last_msg = f"ExposureTime -> {manual_exposure_us} us"
|
|
last_msg_t = time.time()
|
|
|
|
elif k in (ord("k"), ord("K")):
|
|
if manual_exposure_us is None:
|
|
manual_exposure_us = 15000
|
|
else:
|
|
manual_exposure_us = max(int(manual_exposure_us / 1.15), 100)
|
|
|
|
if ae_enabled:
|
|
ae_enabled = False
|
|
svc.set_ae_enable(False)
|
|
|
|
resp = svc.set_exposure_time(int(manual_exposure_us))
|
|
manual_exposure_us = resp.get("exposure_time_us", manual_exposure_us)
|
|
last_msg = f"ExposureTime -> {manual_exposure_us} us"
|
|
last_msg_t = time.time()
|
|
|
|
elif k in (ord("o"), ord("O")):
|
|
if manual_gain is None:
|
|
manual_gain = 1.0
|
|
else:
|
|
manual_gain = min(float(manual_gain) * 1.10, 32.0)
|
|
|
|
if ae_enabled:
|
|
ae_enabled = False
|
|
svc.set_ae_enable(False)
|
|
|
|
resp = svc.set_analogue_gain(float(manual_gain))
|
|
manual_gain = resp.get("analogue_gain", manual_gain)
|
|
last_msg = f"AnalogueGain -> {manual_gain:.2f}"
|
|
last_msg_t = time.time()
|
|
|
|
elif k in (ord("l"), ord("L")):
|
|
if manual_gain is None:
|
|
manual_gain = 1.0
|
|
else:
|
|
manual_gain = max(float(manual_gain) / 1.10, 1.0)
|
|
|
|
if ae_enabled:
|
|
ae_enabled = False
|
|
svc.set_ae_enable(False)
|
|
|
|
resp = svc.set_analogue_gain(float(manual_gain))
|
|
manual_gain = resp.get("analogue_gain", manual_gain)
|
|
last_msg = f"AnalogueGain -> {manual_gain:.2f}"
|
|
last_msg_t = time.time()
|
|
|
|
elif k in (ord("r"), ord("R")):
|
|
svc.clear_exposure_time()
|
|
svc.clear_analogue_gain()
|
|
svc.clear_colour_gains()
|
|
|
|
manual_exposure_us = None
|
|
manual_gain = None
|
|
manual_colour_gains = None
|
|
|
|
last_msg = "Manual controls resetados"
|
|
last_msg_t = time.time()
|
|
|
|
elif k in (ord("c"), ord("C"), 32):
|
|
if can_save:
|
|
frame_type_save = last_meta_stream.get("frame_type")
|
|
meta_save = {
|
|
"ts": datetime.now().isoformat(timespec="milliseconds"),
|
|
"cana": args.cana,
|
|
"horario": args.horario,
|
|
"sensor_width": raw_w,
|
|
"sensor_height": raw_h,
|
|
"bayer_pattern": args.bayer,
|
|
"fps_target": args.fps,
|
|
"frame_type": frame_type_save,
|
|
"capture_mode_requested": args.capture_mode,
|
|
"capture_mode_effective": effective_capture_mode,
|
|
"raw_policy": args.raw_policy,
|
|
"stream_meta": last_meta_stream,
|
|
"camera_controls": {
|
|
"ae_enable": ae_enabled,
|
|
"awb_enable": awb_enabled,
|
|
"exposure_time_us": manual_exposure_us,
|
|
"analogue_gain": manual_gain,
|
|
"colour_gains": manual_colour_gains,
|
|
},
|
|
"note": "manual",
|
|
"raw_preview_reference_camera": preview_source_id,
|
|
}
|
|
|
|
save_sample(
|
|
session_dir,
|
|
frame_type=frame_type_save,
|
|
preview_bgr=last_preview_bgr,
|
|
meta=meta_save,
|
|
raw_payload=last_payload_float,
|
|
packed_raw=last_packed_raw,
|
|
packed_raw_by_camera=last_packed_raw_by_camera,
|
|
)
|
|
|
|
last_msg = "SALVO (manual)"
|
|
last_msg_t = time.time()
|
|
|
|
dt_loop = time.time() - t0
|
|
if dt_loop < 0.001:
|
|
time.sleep(0.001)
|
|
|
|
finally:
|
|
try:
|
|
print("STOP STREAM:", svc.stop_stream())
|
|
except Exception:
|
|
pass
|
|
|
|
try:
|
|
print("STOP:", svc.stop())
|
|
except Exception:
|
|
pass
|
|
|
|
svc.disconnect()
|
|
receiver.stop()
|
|
cv2.destroyAllWindows()
|
|
print("Fim da captura.")
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main() |