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Revert cam test to before merge
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Matevz Morato committed Jul 31, 2023
1 parent 51bb170 commit e699274
Showing 1 changed file with 50 additions and 117 deletions.
167 changes: 50 additions & 117 deletions utilities/cam_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,8 +30,6 @@
For the 'Select control: ...' options, use these keys to modify the value:
'-' or '_' to decrease
'+' or '=' to increase
'/' to toggle printing camera settings: exposure, ISO, lens position, color temperature
"""

import os
Expand All @@ -40,28 +38,22 @@
import cv2
import numpy as np
import argparse
import depthai as dai
import collections
import time
from itertools import cycle
from pathlib import Path
import sys
import signal


def socket_type_pair(arg):
socket, type = arg.split(',')
if not (socket in ['rgb', 'left', 'right', 'camd', 'came', 'camf']): raise ValueError("")
if not (type in ['m', 'mono', 'c', 'color']): raise ValueError("")
is_color = True if type in ['c', 'color'] else False
is_tof = True if type in ['t', 'tof'] else False
return [socket, is_color, is_tof]

return [socket, is_color]

parser = argparse.ArgumentParser()
parser.add_argument('-cams', '--cameras', type=socket_type_pair, nargs='+',
default=[['rgb', True, False], ['left', False, False],
['right', False, False], ['camd', True, False]],
help="Which camera sockets to enable, and type: c[olor] / m[ono] / t[of]. "
default=[['rgb', True], ['left', False], ['right', False], ['camd', True]],
help="Which camera sockets to enable, and type: c[olor] / m[ono]. "
"E.g: -cams rgb,m right,c . Default: rgb,c left,m right,m camd,c")
parser.add_argument('-mres', '--mono-resolution', type=int, default=800, choices={480, 400, 720, 800},
help="Select mono camera resolution (height). Default: %(default)s")
Expand All @@ -71,8 +63,6 @@ def socket_type_pair(arg):
help="Which cameras to rotate 180 degrees. All if not filtered")
parser.add_argument('-fps', '--fps', type=float, default=30,
help="FPS to set for all cameras")
parser.add_argument('-isp3afps', '--isp3afps', type=int, default=0,
help="3A FPS to set for all cameras")
parser.add_argument('-ds', '--isp-downscale', default=1, type=int,
help="Downscale the ISP output by this factor")
parser.add_argument('-rs', '--resizable-windows', action='store_true',
Expand All @@ -81,24 +71,13 @@ def socket_type_pair(arg):
help='Enable the RAW camera streams')
args = parser.parse_args()

# Set timeouts before importing depthai
os.environ["DEPTHAI_CONNECTION_TIMEOUT"] = str(args.connection_timeout)
os.environ["DEPTHAI_BOOT_TIMEOUT"] = str(args.boot_timeout)
import depthai as dai

if len(sys.argv) == 1:
import cam_test_gui
cam_test_gui.main()

cam_list = []
cam_type_color = {}
cam_type_tof = {}
print("Enabled cameras:")
for socket, is_color, is_tof in args.cameras:
for socket, is_color in args.cameras:
cam_list.append(socket)
cam_type_color[socket] = is_color
cam_type_tof[socket] = is_tof
print(socket.rjust(7), ':', 'tof' if is_tof else 'color' if is_color else 'mono')
print(socket.rjust(7), ':', 'color' if is_color else 'mono')

print("DepthAI version:", dai.__version__)
print("DepthAI path:", dai.__file__)
Expand All @@ -107,9 +86,6 @@ def socket_type_pair(arg):
'rgb' : dai.CameraBoardSocket.CAM_A,
'left' : dai.CameraBoardSocket.CAM_B,
'right': dai.CameraBoardSocket.CAM_C,
'cama' : dai.CameraBoardSocket.CAM_A,
'camb' : dai.CameraBoardSocket.CAM_B,
'camc' : dai.CameraBoardSocket.CAM_C,
'camd' : dai.CameraBoardSocket.CAM_D,
'came' : dai.CameraBoardSocket.CAM_E,
'camf' : dai.CameraBoardSocket.CAM_F,
Expand All @@ -119,14 +95,17 @@ def socket_type_pair(arg):
'RGB' : 'rgb',
'LEFT' : 'left',
'RIGHT': 'right',
'CAM_A': 'rgb',
'CAM_B': 'left',
'CAM_C': 'right',
'CAM_D': 'camd',
'CAM_E': 'came',
'CAM_F': 'camf',
}

rotate = {
'rgb': args.rotate in ['all', 'rgb'],
'left': args.rotate in ['all', 'mono'],
'rgb' : args.rotate in ['all', 'rgb'],
'left' : args.rotate in ['all', 'mono'],
'right': args.rotate in ['all', 'mono'],
'camd' : args.rotate in ['all', 'rgb'],
'came' : args.rotate in ['all', 'rgb'],
Expand All @@ -153,7 +132,6 @@ def socket_type_pair(arg):
'4k': dai.ColorCameraProperties.SensorResolution.THE_4_K,
'5mp': dai.ColorCameraProperties.SensorResolution.THE_5_MP,
'12mp': dai.ColorCameraProperties.SensorResolution.THE_12_MP,
'13mp': dai.ColorCameraProperties.SensorResolution.THE_13_MP,
'48mp': dai.ColorCameraProperties.SensorResolution.THE_48_MP,
}

Expand All @@ -167,11 +145,9 @@ def __init__(self, window_size=30):
self.fps = 0

def update(self, timestamp=None):
if timestamp == None:
timestamp = time.monotonic()
if timestamp == None: timestamp = time.monotonic()
count = len(self.dq)
if count > 0:
self.fps = count / (timestamp - self.dq[0])
if count > 0: self.fps = count / (timestamp - self.dq[0])
self.dq.append(timestamp)

def get(self):
Expand All @@ -180,44 +156,36 @@ def get(self):
# Start defining a pipeline
pipeline = dai.Pipeline()
# Uncomment to get better throughput
# pipeline.setXLinkChunkSize(0)
#pipeline.setXLinkChunkSize(0)

control = pipeline.createXLinkIn()
control.setStreamName('control')

xinTofConfig = pipeline.createXLinkIn()
xinTofConfig.setStreamName('tofConfig')

cam = {}
tof = {}
xout = {}
xout_raw = {}
streams = []
for c in cam_list:
tofEnableRaw = False
xout[c] = pipeline.createXLinkOut()
xout[c].setStreamName(c)
streams.append(c)
if cam_type_color[c]:
cam[c] = pipeline.createColorCamera()
cam[c].setResolution(color_res_opts[args.color_resolution])
cam[c].setIspScale(1, args.isp_downscale)
# cam[c].initialControl.setManualFocus(85) # TODO
if args.rgb_preview:
cam[c].preview.link(xout[c].input)
else:
cam[c].isp.link(xout[c].input)
#cam[c].initialControl.setManualFocus(85) # TODO
cam[c].isp.link(xout[c].input)
else:
cam[c] = pipeline.createMonoCamera()
cam[c].setResolution(mono_res_opts[args.mono_resolution])
cam[c].out.link(xout[c].input)
cam[c].setBoardSocket(cam_socket_opts[c])
# Num frames to capture on trigger, with first to be discarded (due to degraded quality)
# cam[c].initialControl.setExternalTrigger(2, 1)
# cam[c].initialControl.setStrobeExternal(48, 1)
# cam[c].initialControl.setFrameSyncMode(dai.CameraControl.FrameSyncMode.INPUT)
#cam[c].initialControl.setExternalTrigger(2, 1)
#cam[c].initialControl.setStrobeExternal(48, 1)
#cam[c].initialControl.setFrameSyncMode(dai.CameraControl.FrameSyncMode.INPUT)

# cam[c].initialControl.setManualExposure(15000, 400) # exposure [us], iso
#cam[c].initialControl.setManualExposure(15000, 400) # exposure [us], iso
# When set, takes effect after the first 2 frames
#cam[c].initialControl.setManualWhiteBalance(4000) # light temperature in K, 1000..12000
# cam[c].initialControl.setMisc("stride-align", 1)
Expand All @@ -234,15 +202,19 @@ def get(self):
streams.append(raw_name)
cam[c].raw.link(xout_raw[c].input)

if 0:
print("=== Using custom camera tuning, and limiting RGB FPS to 10")
pipeline.setCameraTuningBlobPath("/home/user/Downloads/tuning_color_low_light.bin")
# TODO: change sensor driver to make FPS automatic (based on requested exposure time)
cam['rgb'].setFps(10)

# Pipeline is defined, now we can connect to the device
with dai.Device() as device:
#print('Connected cameras:', [c.name for c in device.getConnectedCameras()])
print('Connected cameras:', device.getConnectedCameraFeatures())
cam_name = {}
for p in device.getConnectedCameraFeatures():
print(
f' -socket {p.socket.name:6}: {p.sensorName:6} {p.width:4} x {p.height:4} focus:', end='')
print(f' -socket {p.socket.name:6}: {p.sensorName:6} {p.width:4} x {p.height:4} focus:', end='')
print('auto ' if p.hasAutofocus else 'fixed', '- ', end='')
print(*[type.name for type in p.supportedTypes])
socket_name = cam_socket_to_name[p.socket.name]
Expand All @@ -269,7 +241,6 @@ def get(self):
fps_capt[c] = FPS()

controlQueue = device.getInputQueue('control')
tofCfgQueue = device.getInputQueue('tofConfig')

# Manual exposure/focus set step
EXP_STEP = 500 # us
Expand All @@ -296,12 +267,9 @@ def get(self):
dotIntensity = 0
floodIntensity = 0

awb_mode = cycle([item for name, item in vars(
dai.CameraControl.AutoWhiteBalanceMode).items() if name.isupper()])
anti_banding_mode = cycle([item for name, item in vars(
dai.CameraControl.AntiBandingMode).items() if name.isupper()])
effect_mode = cycle([item for name, item in vars(
dai.CameraControl.EffectMode).items() if name.isupper()])
awb_mode = cycle([item for name, item in vars(dai.CameraControl.AutoWhiteBalanceMode).items() if name.isupper()])
anti_banding_mode = cycle([item for name, item in vars(dai.CameraControl.AntiBandingMode).items() if name.isupper()])
effect_mode = cycle([item for name, item in vars(dai.CameraControl.EffectMode).items() if name.isupper()])

ae_comp = 0
ae_lock = False
Expand All @@ -313,13 +281,8 @@ def get(self):
luma_denoise = 0
chroma_denoise = 0
control = 'none'
show = False

jet_custom = cv2.applyColorMap(np.arange(256, dtype=np.uint8), cv2.COLORMAP_JET)
jet_custom[0] = [0, 0, 0]

print("Cam:", *[' ' + c.ljust(8)
for c in cam_list], "[host | capture timestamp]")
print("Cam:", *[' ' + c.ljust(8) for c in cam_list], "[host | capture timestamp]")

capture_list = []
while True:
Expand Down Expand Up @@ -379,10 +342,6 @@ def get(self):
key = cv2.waitKey(1)
if key == ord('q'):
break
elif key == ord('/'):
show = not show
# Print empty string as FPS status new-line separator
print("" if show else "Printing camera settings: OFF")
elif key == ord('c'):
capture_list = streams.copy()
capture_time = time.strftime('%Y%m%d_%H%M%S')
Expand All @@ -404,33 +363,26 @@ def get(self):
elif key == ord('f'):
print("Autofocus enable, continuous")
ctrl = dai.CameraControl()
ctrl.setAutoFocusMode(
dai.CameraControl.AutoFocusMode.CONTINUOUS_VIDEO)
ctrl.setAutoFocusMode(dai.CameraControl.AutoFocusMode.CONTINUOUS_VIDEO)
controlQueue.send(ctrl)
elif key == ord('e'):
print("Autoexposure enable")
ctrl = dai.CameraControl()
ctrl.setAutoExposureEnable()
controlQueue.send(ctrl)
elif key in [ord(','), ord('.')]:
if key == ord(','):
lensPos -= LENS_STEP
if key == ord('.'):
lensPos += LENS_STEP
if key == ord(','): lensPos -= LENS_STEP
if key == ord('.'): lensPos += LENS_STEP
lensPos = clamp(lensPos, lensMin, lensMax)
print("Setting manual focus, lens position: ", lensPos)
ctrl = dai.CameraControl()
ctrl.setManualFocus(lensPos)
controlQueue.send(ctrl)
elif key in [ord('i'), ord('o'), ord('k'), ord('l')]:
if key == ord('i'):
expTime -= EXP_STEP
if key == ord('o'):
expTime += EXP_STEP
if key == ord('k'):
sensIso -= ISO_STEP
if key == ord('l'):
sensIso += ISO_STEP
if key == ord('i'): expTime -= EXP_STEP
if key == ord('o'): expTime += EXP_STEP
if key == ord('k'): sensIso -= ISO_STEP
if key == ord('l'): sensIso += ISO_STEP
expTime = clamp(expTime, expMin, expMax)
sensIso = clamp(sensIso, sensMin, sensMax)
print("Setting manual exposure, time: ", expTime, "iso: ", sensIso)
Expand Down Expand Up @@ -469,36 +421,22 @@ def get(self):
if floodIntensity < 0:
floodIntensity = 0
device.setIrFloodLightBrightness(floodIntensity)
elif key >= 0 and chr(key) in '34567890[]p':
if key == ord('3'):
control = 'awb_mode'
elif key == ord('4'):
control = 'ae_comp'
elif key == ord('5'):
control = 'anti_banding_mode'
elif key == ord('6'):
control = 'effect_mode'
elif key == ord('7'):
control = 'brightness'
elif key == ord('8'):
control = 'contrast'
elif key == ord('9'):
control = 'saturation'
elif key == ord('0'):
control = 'sharpness'
elif key == ord('['):
control = 'luma_denoise'
elif key == ord(']'):
control = 'chroma_denoise'
elif key == ord('p'):
control = 'tof_amplitude_min'
elif key >= 0 and chr(key) in '34567890[]':
if key == ord('3'): control = 'awb_mode'
elif key == ord('4'): control = 'ae_comp'
elif key == ord('5'): control = 'anti_banding_mode'
elif key == ord('6'): control = 'effect_mode'
elif key == ord('7'): control = 'brightness'
elif key == ord('8'): control = 'contrast'
elif key == ord('9'): control = 'saturation'
elif key == ord('0'): control = 'sharpness'
elif key == ord('['): control = 'luma_denoise'
elif key == ord(']'): control = 'chroma_denoise'
print("Selected control:", control)
elif key in [ord('-'), ord('_'), ord('+'), ord('=')]:
change = 0
if key in [ord('-'), ord('_')]:
change = -1
if key in [ord('+'), ord('=')]:
change = 1
if key in [ord('-'), ord('_')]: change = -1
if key in [ord('+'), ord('=')]: change = 1
ctrl = dai.CameraControl()
if control == 'none':
print("Please select a control first using keys 3..9 0 [ ]")
Expand Down Expand Up @@ -542,9 +480,4 @@ def get(self):
chroma_denoise = clamp(chroma_denoise + change, 0, 4)
print("Chroma denoise:", chroma_denoise)
ctrl.setChromaDenoise(chroma_denoise)
elif control == 'tof_amplitude_min' and tof:
amp_min = clamp(tofConfig.depthParams.minimumAmplitude + change, 0, 50)
print("Setting min amplitude(confidence) to:", amp_min)
tofConfig.depthParams.minimumAmplitude = amp_min
tofCfgQueue.send(tofConfig)
controlQueue.send(ctrl)

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