C++ code to follow up inter-frame delays

tcam_demo.cpp

#include <gst/gst.h>

#include <iostream>
#include <memory>
#include <ctime>
#include <chrono>


#include "unistd.h"

#include "tcamcamera.h"

using namespace gsttcam;
using namespace std::chrono;


int framecount = 0;

GstFlowReturn new_frame_cb(GstAppSink *appsink, gpointer data)
{
    static int64_t last_frame_time_ms = 0;
    static double inter_frame_time_avg = 0;
    static int print_after_x_frames = 30;
    static float max_delay = 0.060;

    GstSample *sample = gst_app_sink_pull_sample(appsink);
    if(sample)
    {
        int64_t cur_time_ms = duration_cast<milliseconds>(system_clock::now().time_since_epoch()).count();
        if (last_frame_time_ms != 0)
        {
            double inter_frame_time = (double)(cur_time_ms - last_frame_time_ms) / 1000;
            inter_frame_time_avg = (inter_frame_time_avg * framecount + inter_frame_time) / (framecount + 1);
            if (framecount % print_after_x_frames == 0) {
                std::cout << 1 / inter_frame_time_avg << std::endl;
            }
            if (inter_frame_time > max_delay) {
                std::cout << "----------------- LATE frame: " << inter_frame_time * 1000 << " ms" << std::endl;
            } else {
                std::cout << "good frame: " << inter_frame_time * 1000 << " ms" << std::endl;
            }
        }
        last_frame_time_ms = cur_time_ms;

        framecount++;
        GstBuffer *buffer = gst_sample_get_buffer(sample);
        GstCaps *caps = gst_sample_get_caps(sample);
        GstClockTime timestamp = GST_BUFFER_PTS(buffer);
//        std::cout << "new frame" << std::endl;
        g_print("Captured frame %d, Timestamp=%" GST_TIME_FORMAT "            \r",
                framecount,
                GST_TIME_ARGS(timestamp));
        GstMapInfo info;
        if (gst_buffer_map(buffer, &info, GST_MAP_READ))
        {
            unsigned char* data = info.data;
            // 'data' now contains a pointer to readable image data

            // unmap after use
            gst_buffer_unmap(buffer, &info);
        }
    }

    gst_sample_unref(sample);

    return GST_FLOW_OK;
}

int main(int argc, char **argv)
{
    // Call to gst_init is required before using any gsttcam functions
    gst_init(&argc, &argv);

    // List all connected devices
    auto devices = get_device_list();
    if (devices.empty())
    {
        std::cout << "No cameras found." << std::endl;
        exit(0);
    }
    std::cout << "Connected cameras:" << std::endl;
    for(auto &device : devices)
    {
        std::cout << "'" << device.name << "' " << "Serial No.: " << device.serial << std::endl;
    }

    // If a serial number is given on the command line, use this for the device to work with,
    // otherwise use the first device found
    std::string serial;
    if (argc > 1)
    {
        serial = argv[1];
    }
    else
    {
        serial = devices[0].serial;
    }

    // Create a new camera instance for a given serial number
    TcamCamera cam(serial);

    // Get a list of all suported video formats and print it out
    auto formats = cam.get_format_list();
    std::cout << "Video Formats:" << std::endl;
    for(VideoFormatCaps &fmt : formats)
    {
        std::cout << fmt.to_string() << std::endl;
    }

    // Get a list of all supported properties and print it out
    auto properties = cam.get_camera_property_list();
    std::cout << "Properties:" << std::endl;
    for(auto &prop : properties)
    {
        std::cout << prop->to_string() << std::endl;
    }

    // Get the property with the name "Gain". This only works for cameras
    // which have a Gain property of "double" type. For devices without a
    // "Gain" property, this will throw an exception
    std::shared_ptr<Property> prop = cam.get_property("Gain");
    // Cast to correct type. If the property is of a different type (ie. "integer"), the
    // cast will yield a nullptr
    std::shared_ptr<DoubleProperty> dp = std::dynamic_pointer_cast<DoubleProperty>(prop);
    double gain;
    if (dp)
    {
        std::cout << "Gain Value: " << dp->value << std::endl;
        // Get the current value for gain
        prop->get(cam, gain);
        std::cout << "Gain Value (2): " << gain << std::endl;
        gain /= 2;
        // Set a new gain value
        prop->set(cam, gain);
    }
    else {
        exit(1);
    }

    // Register a callback to be called for each new frame
    cam.set_new_frame_callback(new_frame_cb, NULL);

//    // Create a GStreamer video sink element and attach it to the capture pipeline.
//    // The "ximagesink" Element will open a new window and display the video image
    cam.enable_video_display(gst_element_factory_make("ximagesink", NULL));

    // Start the video capture process
    cam.set_capture_format("GRAY8", {1920,1080}, {30,1});
    cam.start();

    std::time_t start_time = std::time(nullptr);
    const int max_seconds = 60;
    int last_framecount = 0;
    while(std::time(nullptr) < start_time + max_seconds) {
        if (last_framecount < framecount and 0) {
            if (framecount > 90 && framecount <= 120) {
                cam.get_camera_property_list();
                std::cout << "--- read params" << std::endl;
            }

            if (framecount > 180 && framecount <= 210) {
                prop->get(cam, gain);
                std::cout << "--- read gain" << std::endl;
            }

            if (framecount > 270 && framecount <= 300) {
                gain = gain * 0.90;
                prop->set(cam, gain);
                std::cout << "--- set gain: " << gain << std::endl;
            }

            last_framecount = framecount;
        }
    }

//    int a;
//    std::cin >> a;

    // Disable the video display after two seconds. The new frame callback will still be called
    cam.disable_video_display();

    sleep(2);

    // Stop the capture process after two more seconds.
    cam.stop();
    std::cout << std::endl;

    return 0;
}

terminal_result.txt

/home/joel/tiny_inspektor_misc/tis/tiscamera-v-release-candidate-0_9_1-1/examples/cpp/cmake-build-debug/examples/tcam_demo
Connected cameras:
'DMK Z12GX236' Serial No.: 20810358
Video Formats:
size = 480 x 4 color formats = {GRAY8,} frame rates = {515625/21952,33/1,43/1,53/1,63/1,73/1,83/1,93/1,103/1,153/1,203/1,253/1,303/1,353/1,403/1,453/1,503/1,553/1,603/1,653/1,703/1,753/1,803/1,853/1,903/1,953/1,1003/1,1103/1,1203/1,1303/1,1403/1,1503/1,7425000/4753,}
size = 544 x 480 color formats = {GRAY8,} frame rates = {6875/3136,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,30/1,40/1,50/1,60/1,70/1,80/1,90/1,100/1,99000/679,}
size = 640 x 480 color formats = {GRAY8,} frame rates = {6875/3136,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,30/1,40/1,50/1,60/1,70/1,80/1,90/1,100/1,99000/679,}
size = 576 x 480 color formats = {GRAY8,} frame rates = {6875/3136,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,30/1,40/1,50/1,60/1,70/1,80/1,90/1,100/1,99000/679,}
size = 720 x 480 color formats = {GRAY8,} frame rates = {6875/3136,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,30/1,40/1,50/1,60/1,70/1,80/1,90/1,100/1,99000/679,}
size = 960 x 720 color formats = {GRAY8,} frame rates = {34375/22848,2/1,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,30/1,40/1,50/1,60/1,70/1,80/1,90/1,100/1,165000/1649,}
size = 1280 x 720 color formats = {GRAY8,} frame rates = {34375/22848,2/1,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,30/1,40/1,50/1,60/1,70/1,80/1,90/1,100/1,165000/1649,}
size = 1440 x 1080 color formats = {GRAY8,} frame rates = {1375/1344,2/1,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,30/1,40/1,50/1,60/1,184/3,}
size = 1920 x 1080 color formats = {GRAY8,} frame rates = {1375/1344,2/1,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,30/1,40/1,46/1,}
size = 1920 x 1140 color formats = {GRAY8,} frame rates = {34375/35392,2/1,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,30/1,40/1,828/19,}
size range = [480 x 4, 1920 x 1140] color formats = {GRAY8,} frame rate range = [34375/35392,0/0]
size = 480 x 4 color formats = {GRAY16_LE,} frame rates = {515625/21952,33/1,43/1,53/1,63/1,73/1,83/1,93/1,103/1,153/1,203/1,253/1,303/1,353/1,403/1,453/1,503/1,553/1,603/1,653/1,703/1,753/1,3712500/4753,}
size = 544 x 480 color formats = {GRAY16_LE,} frame rates = {6875/3136,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,30/1,40/1,50/1,60/1,70/1,49500/679,}
size = 640 x 480 color formats = {GRAY16_LE,} frame rates = {6875/3136,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,30/1,40/1,50/1,60/1,70/1,49500/679,}
size = 576 x 480 color formats = {GRAY16_LE,} frame rates = {6875/3136,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,30/1,40/1,50/1,60/1,70/1,49500/679,}
size = 720 x 480 color formats = {GRAY16_LE,} frame rates = {6875/3136,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,30/1,40/1,50/1,60/1,70/1,49500/679,}
size = 960 x 720 color formats = {GRAY16_LE,} frame rates = {34375/22848,2/1,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,30/1,40/1,50/1,82500/1649,}
size = 1280 x 720 color formats = {GRAY16_LE,} frame rates = {34375/22848,2/1,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,30/1,40/1,50/1,82500/1649,}
size = 1440 x 1080 color formats = {GRAY16_LE,} frame rates = {1375/1344,2/1,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,30/1,92/3,}
size = 1920 x 1080 color formats = {GRAY16_LE,} frame rates = {1375/1344,2/1,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,23/1,}
size = 1920 x 1140 color formats = {GRAY16_LE,} frame rates = {34375/35392,2/1,3/1,4/1,5/1,6/1,7/1,8/1,9/1,10/1,11/1,12/1,13/1,14/1,15/1,16/1,17/1,18/1,19/1,20/1,414/19,}
size range = [480 x 4, 1920 x 1140] color formats = {GRAY16_LE,} frame rate range = [34375/35392,0/0]
Properties:
boolean property 'WDR': value = false default_value = false
integer property 'Exposure': value = 22323 default = 22323 min = 20 max = 30000000 step_size = 1
enum property 'Trigger Selector': value = 'FrameStart' default_value = 'FrameStart' values = {FrameStart, }
enum property 'Trigger Mode': value = 'Off' default_value = 'Off' values = {Off, On, }
enum property 'Trigger Source': value = 'Any' default_value = 'Any' values = {Any, Line1, Software, }
enum property 'Trigger Activation': value = 'RisingEdge' default_value = 'RisingEdge' values = {FallingEdge, RisingEdge, }
button property 'Software Trigger': value = false default_value = false
double property 'Trigger Delay (us)': value = 4.000000 default = 4.000000 min = 0.000000 max = 1000000.000000 step_size = 0.001000
button property 'TimestampReset': value = false default_value = false
button property 'TimestampLatch': value = false default_value = false
integer property 'TimestampLatchValue': value = 0 default = 0 min = 0 max = -1000 step_size = 1
integer property 'Offset X': value = 0 default = 0 min = 0 max = 1440 step_size = 1
integer property 'Offset Y': value = 60 default = 60 min = 0 max = 1196 step_size = 1
enum property 'Offset Auto Center': value = 'On' default_value = 'On' values = {Off, On, }
boolean property 'Reverse X': value = false default_value = false
boolean property 'Reverse Y': value = false default_value = false
integer property 'Binning Vertical': value = 1 default = 1 min = 1 max = 2 step_size = 1
integer property 'Binning Horizontal': value = 1 default = 1 min = 1 max = 2 step_size = 1
double property 'Gain': value = 0.000000 default = 0.000000 min = 0.000000 max = 48.000000 step_size = 0.001000
double property 'Black Level': value = 60.000000 default = 60.000000 min = 0.000000 max = 511.000000 step_size = 0.001000
integer property 'GPIO': value = 2 default = 2 min = 0 max = 3 step_size = 1
integer property 'GPIn': value = 1 default = 1 min = 0 max = 1 step_size = 1
integer property 'GPOut': value = 0 default = 0 min = 0 max = 1 step_size = 1
enum property 'Strobe Enable': value = 'Off' default_value = 'Off' values = {Off, On, }
enum property 'Strobe Polarity': value = 'ActiveLow' default_value = 'ActiveLow' values = {ActiveHigh, ActiveLow, }
enum property 'Strobe Operation': value = 'Exposure' default_value = 'Exposure' values = {Exposure, FixedDuration, }
integer property 'Strobe Duration': value = 100 default = 100 min = 0 max = 32767 step_size = 1
integer property 'Strobe Delay': value = 0 default = 0 min = 0 max = 32767 step_size = 1
integer property 'Zoom': value = 0 default = 0 min = 0 max = 100 step_size = 1
integer property 'Focus': value = 500 default = 500 min = 0 max = 1000 step_size = 1
integer property 'Iris': value = 1023 default = 1023 min = 0 max = 1023 step_size = 1
boolean property 'IRCutFilterEnableElement': value = true default_value = false
Gain Value: 0
Gain Value (2): 0
good frame: 15 ms
good frame: 33 ms
good frame: 33 ms
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31.6973
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good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
30.0615
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
30.0626
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
30.0637
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
----------------- LATE frame: 234 ms
good frame: 0 ms
good frame: 0 ms
good frame: 0 ms
good frame: 0 ms
good frame: 1 ms
good frame: 31 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
30.0458
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 42 ms
good frame: 24 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
30.0471
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 34 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
good frame: 33 ms
Captured frame 1669, Timestamp=0:00:55.663387693            
Process finished with exit code 15