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March 20, 2024 12:44
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撮影高速化試行
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import cv2 | |
import os | |
import time | |
import RPi.GPIO as GPIO | |
import sys | |
from picamera2 import Picamera2 | |
import libcamera | |
import numpy as np | |
timelog = time.time() | |
# raw_width = 640 #2304 | |
# raw_height = 480 #1296 | |
rec_width = 320 | |
rec_height = 240 | |
time_log = [] | |
time_log2 = [] | |
time_log3 = [] | |
frame_list = [] | |
meta_data_list = [] | |
# exposure_time = 5000 # 1000-100000 defo:5000 | |
exposure_time = 1000 # 物理シャッターとの干渉を徹底的に避ける | |
analogue_gain = 16 # 1.0-20.0 defo:2.0 | |
buffers = 1 | |
queue_control = False | |
# Bolex | |
pin_shutter = 25 # shutter timing picup | |
# GPIO設定 | |
GPIO.setmode(GPIO.BCM) | |
GPIO.setup(pin_shutter, GPIO.IN, pull_up_down = GPIO.PUD_UP) | |
number_max_frame = 32 #連続撮影可能な最大フレーム数 とりあえず16FPS x 60sec = 960フレーム | |
record_fps = 16 #MP4へ変換する際のFPS設定値 | |
share_folder_path = os.path.expanduser("~/share/") | |
device_name = "bolex" | |
codec = cv2.VideoWriter_fourcc(*'avc1') | |
camera = Picamera2() | |
# 撮影モードに応じてpicameraのconfigを設定する | |
def set_camera_mode(): | |
global rec_width, rec_height, raw_width, raw_height | |
camera.stop() | |
config = camera.create_still_configuration( | |
main = { | |
"format" : "BGR888", | |
"size" : (rec_width, rec_height) | |
}, | |
# raw = { | |
# "format" : "SBGGR10_CSI2P", | |
# "size" : (raw_width, raw_height) | |
# }, | |
buffer_count = buffers, | |
queue = queue_control, | |
controls = { | |
"ExposureTime" : exposure_time, | |
"AnalogueGain" : analogue_gain, | |
# "FrameDurationLimits" : (100, 100000) | |
"FrameDurationLimits" : (10000, 10000) # 10ms固定にして可変要素を排除する | |
}, | |
# transform = libcamera.Transform(hflip=1, vflip=1) # 切り分けのため、処理をスキップする | |
) | |
camera.configure(config) | |
camera.start() | |
# timerを受けて画像を取得する関数 | |
def shutter(text): | |
global time_log, time_log2, time_log3, frame_list, meta_data_list | |
if len(frame_list) < number_max_frame: | |
time_log.append(time.time()) | |
request = camera.capture_request() | |
time_log2.append(time.time()) | |
frame_list.append(request.make_image("main")) | |
meta_data_list.append(request.get_metadata()) | |
request.release() | |
time_log3.append(time.time()) | |
else: | |
movie_save() | |
# ムービー撮影後、画像を連結してムービーファイルを保存する。 | |
def movie_save(): | |
global recording_completed, frame_list, meta_data_list | |
recording_completed = False | |
print("save movie") | |
movie_file_path = share_folder_path + device_name + ".mp4" | |
video = cv2.VideoWriter(movie_file_path, codec, record_fps, (rec_width, rec_height)) | |
if not video.isOpened(): | |
print("video writer can't be opened") | |
sys.exit() | |
for i in range(len(frame_list)): | |
frame = np.array(frame_list[i]) | |
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB) | |
video.write(frame) | |
print("movie rec finished") | |
video.release() | |
print_log() | |
def print_log(): | |
global time_log, time_log2, frame_list, meta_data_list | |
print(" frame interval / camera interval // capture request / extract data (msec)" ) | |
for i in range(len(time_log)-1): | |
t1 = (time_log[i + 1] - time_log[i]) * 1000 | |
t2 = (meta_data_list[i + 1]["SensorTimestamp"] - meta_data_list[i]["SensorTimestamp"]) / 1000000 | |
t3 = (time_log2[i] - time_log[i]) * 1000 | |
t4 = (time_log3[i] - time_log2[i]) * 1000 | |
print(f'{t1:16.3f}' + ' / ' + f'{t2:15.3f}' + ' // ' + f'{t3:15.3f}' + ' / ' + f'{t4:12.3f}') | |
time_log = [] | |
time_log2 = [] | |
frame_list = [] | |
meta_data_list = [] | |
# メイン | |
if __name__ == "__main__": | |
set_camera_mode() | |
# シャッター動作検出時のコールバック関数 | |
GPIO.add_event_detect(pin_shutter, GPIO.RISING, callback = shutter, bouncetime = 1) | |
while(True): | |
time.sleep(10) |
システムパフォーマンスは、下記の通り。低負荷、Zero2でも問題ないと想定。
pi@RKT-0001:~ $ vmstat 1
procs -----------memory---------- ---swap-- -----io---- -system-- ------cpu-----
r b swpd free buff cache si so bi bo in cs us sy id wa st
1 0 0 1015416 77176 2623808 0 0 6 20 26 22 3 0 97 0 0
0 0 0 1014912 77176 2623808 0 0 0 68 1509 1852 3 2 95 0 0
0 0 0 1014660 77176 2623808 0 0 0 0 1446 1763 4 2 95 0 0
0 0 0 1014408 77176 2623808 0 0 0 0 1589 1690 4 2 94 0 0
0 0 0 1013652 77176 2623808 0 0 0 0 1651 1697 5 3 92 0 0
0 0 0 1013400 77176 2623808 0 0 0 0 1601 1681 4 3 93 0 0
こんなかんじですね。t2安定しています。
frame interval / camera interval // capture request / extract data (msec)
74.599 / 39.929 // 68.925 / 5.552
35.257 / 39.932 // 29.620 / 5.516
39.286 / 39.930 // 34.231 / 4.931
39.943 / 39.931 // 34.962 / 4.858
39.925 / 39.931 // 34.945 / 4.854
39.901 / 39.932 // 34.876 / 4.902
39.721 / 39.931 // 34.727 / 4.868
39.851 / 39.931 // 34.904 / 4.769
39.987 / 39.932 // 35.043 / 4.737
40.007 / 39.931 // 35.035 / 4.779
40.000 / 39.931 // 34.985 / 4.844
39.958 / 39.932 // 35.034 / 4.740
39.763 / 39.930 // 34.829 / 4.811
39.922 / 39.932 // 34.974 / 4.826
39.896 / 39.933 // 34.984 / 4.789
39.916 / 39.930 // 35.005 / 4.789
39.959 / 39.931 // 35.015 / 4.824
40.045 / 39.931 // 35.123 / 4.803
39.853 / 39.929 // 34.881 / 4.851
39.865 / 39.935 // 34.925 / 4.818
39.934 / 39.929 // 35.025 / 4.791
39.895 / 39.931 // 35.010 / 4.762
40.291 / 39.931 // 35.344 / 4.830
39.627 / 39.931 // 34.708 / 4.799
39.956 / 39.931 // 35.019 / 4.821
39.971 / 39.931 // 34.982 / 4.870
39.884 / 39.931 // 34.966 / 4.800
39.885 / 39.931 // 34.980 / 4.785
41.559 / 39.932 // 35.683 / 5.746
38.312 / 39.931 // 33.442 / 4.750
39.906 / 39.930 // 35.061 / 4.721
33
34
35
36
37
38
39
40
41
42
43
44
45
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47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
frame interval / camera interval // capture request / extract data (msec)
31.764 / 39.929 // 26.574 / -1267.390
39.462 / 39.933 // 34.656 / -1271.980
40.079 / 39.929 // 35.254 / -1272.756
39.894 / 39.932 // 35.070 / -1272.708
40.053 / 39.931 // 35.127 / -1272.737
39.957 / 39.931 // 34.982 / -1272.740
39.778 / 39.931 // 34.961 / -1272.957
40.010 / 39.931 // 35.191 / -1273.165
39.786 / 39.932 // 34.976 / -1273.003
40.312 / 39.931 // 35.477 / -1273.270
39.575 / 39.931 // 34.782 / -1272.866
39.999 / 39.931 // 35.175 / -1272.889
39.999 / 39.931 // 35.186 / -1273.075
39.829 / 39.932 // 35.023 / -1272.988
39.975 / 39.931 // 35.145 / -1273.042
39.927 / 39.931 // 35.114 / -1273.071
40.705 / 39.930 // 35.868 / -1273.791
39.169 / 39.932 // 34.334 / -1272.917
39.957 / 39.931 // 35.091 / -1272.990
39.927 / 39.931 // 35.081 / -1273.073
39.866 / 39.932 // 35.014 / -1272.995
40.230 / 39.930 // 35.364 / -1273.320
39.664 / 39.932 // 34.747 / -1272.636
39.962 / 39.931 // 35.029 / -1272.957
39.937 / 39.932 // 35.023 / -1272.955
39.941 / 39.931 // 35.026 / -1272.926
39.875 / 39.931 // 34.929 / -1272.883
39.943 / 39.930 // 35.033 / -1272.982
40.046 / 39.932 // 35.109 / -1271.452
40.241 / 39.932 // 35.257 / -1273.324
39.784 / 39.931 // 34.836 / -1273.241
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
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97
98
frame interval / camera interval // capture request / extract data (msec)
32.177 / 39.929 // 26.941 / -2545.336
43.001 / 39.935 // 36.058 / -2551.373
37.711 / 39.929 // 32.720 / -2551.753
38.528 / 39.930 // 33.683 / -2550.483
39.969 / 39.932 // 35.099 / -2550.505
39.899 / 39.932 // 35.040 / -2550.512
40.154 / 39.930 // 35.240 / -2550.893
39.738 / 39.931 // 34.866 / -2550.874
39.835 / 39.933 // 34.989 / -2550.777
39.987 / 39.930 // 35.126 / -2550.729
39.968 / 39.931 // 35.093 / -2550.661
39.963 / 39.930 // 35.083 / -2550.673
40.732 / 39.933 // 35.775 / -2551.505
39.197 / 39.929 // 34.314 / -2550.853
39.847 / 39.933 // 34.961 / -2550.802
39.911 / 39.930 // 35.044 / -2550.816
40.072 / 39.933 // 35.189 / -2550.910
40.416 / 39.930 // 35.535 / -2551.282
39.336 / 39.931 // 34.435 / -2550.747
39.932 / 39.931 // 35.027 / -2550.810
43.170 / 39.936 // 36.904 / -2552.681
40.795 / 39.932 // 34.536 / -2553.593
39.230 / 39.930 // 32.804 / -2552.360
39.895 / 39.931 // 33.527 / -2552.688
39.810 / 39.932 // 33.531 / -2552.629
40.276 / 39.931 // 33.834 / -2552.773
40.200 / 39.928 // 33.393 / -2552.722
39.637 / 39.932 // 33.189 / -2552.837
39.863 / 39.933 // 33.434 / -2551.171
41.199 / 39.928 // 33.608 / -2552.885
39.862 / 39.932 // 32.318 / -2552.892
99
以下のコードで、事象再現出来た。割り込みコールバックから、libcameraを呼び出すと、queueの挙動がおかしくなる。
import cv2
import os
import time
import RPi.GPIO as GPIO
import sys
from picamera2 import Picamera2
import libcamera
import numpy as np
from threading import Thread
import gpiozero
timelog = time.time()
# raw_width = 640 #2304
# raw_height = 480 #1296
rec_width = 320
rec_height = 240
time_log = []
time_log2 = []
time_log3 = []
frame_list = []
meta_data_list = []
# exposure_time = 5000 # 1000-100000 defo:5000
exposure_time = 1000 # \u7269\u7406\u30b7\u30e3\u30c3\u30bf\u30fc\u3068\u306e\u5e72\u6e09\u3092\u5fb9\u5e95\u7684\u306b\u907f\u3051\u308b
analogue_gain = 16 # 1.0-20.0 defo:2.0
buffers = 1
queue_control = False
# Bolex
pin_shutter = 25 # shutter timing picup
pin_trigger = 21
trigger = gpiozero.LED(pin_trigger)
# GPIO\u8a2d\u5b9a
GPIO.setmode(GPIO.BCM)
GPIO.setup(pin_shutter, GPIO.IN, pull_up_down = GPIO.PUD_UP)
number_max_frame = 32 #\u9023\u7d9a\u64ae\u5f71\u53ef\u80fd\u306a\u6700\u5927\u30d5\u30ec\u30fc\u30e0\u6570\u3000\u3068\u308a\u3042\u3048\u305a16FPS x 60sec = 960\u30d5\u30ec\u30fc\u30e0
record_fps = 16 #MP4\u3078\u5909\u63db\u3059\u308b\u969b\u306eFPS\u8a2d\u5b9a\u5024
#share_folder_path = os.path.expanduser("~/share/")
device_name = "bolex"
codec = cv2.VideoWriter_fourcc(*'avc1')
camera = Picamera2()
# \u64ae\u5f71\u30e2\u30fc\u30c9\u306b\u5fdc\u3058\u3066picamera\u306econfig\u3092\u8a2d\u5b9a\u3059\u308b
def set_camera_mode():
global rec_width, rec_height, raw_width, raw_height
camera.stop()
config = camera.create_still_configuration(
main = {
"format" : "BGR888",
"size" : (rec_width, rec_height)
},
# raw = {
# "format" : "SBGGR10_CSI2P",
# "size" : (raw_width, raw_height)
# },
buffer_count = buffers,
queue = queue_control,
controls = {
"ExposureTime" : exposure_time,
"AnalogueGain" : analogue_gain,
# "FrameDurationLimits" : (100, 100000)
"FrameDurationLimits" : (10000, 10000) # 10ms\u56fa\u5b9a\u306b\u3057\u3066\u53ef\u5909\u8981\u7d20\u3092\u6392\u9664\u3059\u308b
},
# transform = libcamera.Transform(hflip=1, vflip=1) # \u5207\u308a\u5206\u3051\u306e\u305f\u3081\u3001\u51e6\u7406\u3092\u30b9\u30ad\u30c3\u30d7\u3059\u308b
)
camera.configure(config)
camera.start()
# timer\u3092\u53d7\u3051\u3066\u753b\u50cf\u3092\u53d6\u5f97\u3059\u308b\u95a2\u6570
def shutter(text):
global time_log, time_log2, time_log3, frame_list, meta_data_list
if len(frame_list) < number_max_frame:
time_log.append(time.time())
request = camera.capture_request()
time_log2.append(time.time())
frame_list.append(request.make_image("main"))
meta_data_list.append(request.get_metadata())
request.release()
time_log3.append(time.time())
else:
movie_save()
# \u30e0\u30fc\u30d3\u30fc\u64ae\u5f71\u5f8c\u3001\u753b\u50cf\u3092\u9023\u7d50\u3057\u3066\u30e0\u30fc\u30d3\u30fc\u30d5\u30a1\u30a4\u30eb\u3092\u4fdd\u5b58\u3059\u308b\u3002
def movie_save():
#global recording_completed, frame_list, meta_data_list
#recording_completed = False
#print("save movie")
#movie_file_path = share_folder_path + device_name + ".mp4"
#video = cv2.VideoWriter(movie_file_path, codec, record_fps, (rec_width, rec_height))
#if not video.isOpened():
# print("video writer can't be opened")
# sys.exit()
#for i in range(len(frame_list)):
# frame = np.array(frame_list[i])
# frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
# video.write(frame)
#print("movie rec finished")
#video.release()
print_log()
def print_log():
global time_log, time_log2, frame_list, meta_data_list
print(" frame interval / camera interval // capture request / extract data (msec)" )
for i in range(len(time_log)-1):
t1 = (time_log[i + 1] - time_log[i]) * 1000
t2 = (meta_data_list[i + 1]["SensorTimestamp"] - meta_data_list[i]["SensorTimestamp"]) / 1000000
t3 = (time_log2[i] - time_log[i]) * 1000
t4 = (time_log3[i] - time_log2[i]) * 1000
print(f'{t1:16.3f}' + ' / ' + f'{t2:15.3f}' + ' // ' + f'{t3:15.3f}' + ' / ' + f'{t4:12.3f}')
time_log = []
time_log2 = []
frame_list = []
meta_data_list = []
# \u30e1\u30a4\u30f3
if __name__ == "__main__":
set_camera_mode()
# \u30b7\u30e3\u30c3\u30bf\u30fc\u52d5\u4f5c\u691c\u51fa\u6642\u306e\u30b3\u30fc\u30eb\u30d0\u30c3\u30af\u95a2\u6570
GPIO.add_event_detect(pin_shutter, GPIO.RISING, callback = shutter, bouncetime = 1)
while True:
trigger.on()
time.sleep(0.01)
trigger.off()
time.sleep(0.05)
割り込みコールバックを使わない検証用コード→安定しているように見える。
import cv2
import os
import time
import RPi.GPIO as GPIO
import sys
from picamera2 import Picamera2
import libcamera
import numpy as np
from threading import Thread
import gpiozero
timelog = time.time()
# raw_width = 640 #2304
# raw_height = 480 #1296
rec_width = 320
rec_height = 240
time_log = []
time_log2 = []
time_log3 = []
frame_list = []
meta_data_list = []
# exposure_time = 5000 # 1000-100000 defo:5000
exposure_time = 1000 # \u7269\u7406\u30b7\u30e3\u30c3\u30bf\u30fc\u3068\u306e\u5e72\u6e09\u3092\u5fb9\u5e95\u7684\u306b\u907f\u3051\u308b
analogue_gain = 16 # 1.0-20.0 defo:2.0
buffers = 1
queue_control = False
# Bolex
pin_shutter = 25 # shutter timing picup
pin_trigger = 21
trigger = gpiozero.LED(pin_trigger)
button = gpiozero.Button(pin_shutter, pull_up=True)
# GPIO\u8a2d\u5b9a
#GPIO.setmode(GPIO.BCM)
#GPIO.setup(pin_shutter, GPIO.IN, pull_up_down = GPIO.PUD_UP)
number_max_frame = 32 #\u9023\u7d9a\u64ae\u5f71\u53ef\u80fd\u306a\u6700\u5927\u30d5\u30ec\u30fc\u30e0\u6570\u3000\u3068\u308a\u3042\u3048\u305a16FPS x 60sec = 960\u30d5\u30ec\u30fc\u30e0
record_fps = 16 #MP4\u3078\u5909\u63db\u3059\u308b\u969b\u306eFPS\u8a2d\u5b9a\u5024
#share_folder_path = os.path.expanduser("~/share/")
device_name = "bolex"
codec = cv2.VideoWriter_fourcc(*'avc1')
camera = Picamera2()
# \u64ae\u5f71\u30e2\u30fc\u30c9\u306b\u5fdc\u3058\u3066picamera\u306econfig\u3092\u8a2d\u5b9a\u3059\u308b
def set_camera_mode():
global rec_width, rec_height, raw_width, raw_height
camera.stop()
config = camera.create_still_configuration(
main = {
"format" : "BGR888",
"size" : (rec_width, rec_height)
},
# raw = {
# "format" : "SBGGR10_CSI2P",
# "size" : (raw_width, raw_height)
# },
buffer_count = buffers,
queue = queue_control,
controls = {
"ExposureTime" : exposure_time,
"AnalogueGain" : analogue_gain,
# "FrameDurationLimits" : (100, 100000)
"FrameDurationLimits" : (10000, 10000) # 10ms\u56fa\u5b9a\u306b\u3057\u3066\u53ef\u5909\u8981\u7d20\u3092\u6392\u9664\u3059\u308b
},
# transform = libcamera.Transform(hflip=1, vflip=1) # \u5207\u308a\u5206\u3051\u306e\u305f\u3081\u3001\u51e6\u7406\u3092\u30b9\u30ad\u30c3\u30d7\u3059\u308b
)
camera.configure(config)
camera.start()
# timer\u3092\u53d7\u3051\u3066\u753b\u50cf\u3092\u53d6\u5f97\u3059\u308b\u95a2\u6570
def shutter():
global time_log, time_log2, time_log3, frame_list, meta_data_list
if len(frame_list) < number_max_frame:
time_log.append(time.time())
request = camera.capture_request()
time_log2.append(time.time())
frame_list.append(request.make_image("main"))
meta_data_list.append(request.get_metadata())
request.release()
time_log3.append(time.time())
else:
movie_save()
# \u30e0\u30fc\u30d3\u30fc\u64ae\u5f71\u5f8c\u3001\u753b\u50cf\u3092\u9023\u7d50\u3057\u3066\u30e0\u30fc\u30d3\u30fc\u30d5\u30a1\u30a4\u30eb\u3092\u4fdd\u5b58\u3059\u308b\u3002
def movie_save():
#global recording_completed, frame_list, meta_data_list
#recording_completed = False
#print("save movie")
#movie_file_path = share_folder_path + device_name + ".mp4"
#video = cv2.VideoWriter(movie_file_path, codec, record_fps, (rec_width, rec_height))
#if not video.isOpened():
# print("video writer can't be opened")
# sys.exit()
#for i in range(len(frame_list)):
# frame = np.array(frame_list[i])
# frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
# video.write(frame)
#print("movie rec finished")
#video.release()
print_log()
def print_log():
global time_log, time_log2, frame_list, meta_data_list
print(" frame interval / camera interval // capture request / extract data (msec)" )
for i in range(len(time_log)-1):
t1 = (time_log[i + 1] - time_log[i]) * 1000
t2 = (meta_data_list[i + 1]["SensorTimestamp"] - meta_data_list[i]["SensorTimestamp"]) / 1000000
t3 = (time_log2[i] - time_log[i]) * 1000
t4 = (time_log3[i] - time_log2[i]) * 1000
print(f'{t1:16.3f}' + ' / ' + f'{t2:15.3f}' + ' // ' + f'{t3:15.3f}' + ' / ' + f'{t4:12.3f}')
time_log = []
time_log2 = []
frame_list = []
meta_data_list = []
def trigger_th():
while True:
trigger.on()
time.sleep(0.01)
trigger.off()
time.sleep(0.05)
# \u30e1\u30a4\u30f3
if __name__ == "__main__":
set_camera_mode()
# \u30b7\u30e3\u30c3\u30bf\u30fc\u52d5\u4f5c\u691c\u51fa\u6642\u306e\u30b3\u30fc\u30eb\u30d0\u30c3\u30af\u95a2\u6570
#GPIO.add_event_detect(pin_shutter, GPIO.RISING, callback = shutter, bouncetime = 1)
t = Thread(target=trigger_th, args=[])
t.start()
while True:
if button.value:
shutter()
frame interval / camera interval // capture request / extract data (msec)
43.770 / 29.948 // 41.442 / 2.284
27.449 / 29.949 // 25.534 / 1.874
32.626 / 29.947 // 30.408 / 2.174
27.269 / 29.949 // 25.349 / 1.879
32.143 / 29.947 // 30.265 / 1.837
27.714 / 29.949 // 25.863 / 1.811
32.206 / 29.947 // 30.284 / 1.881
27.604 / 19.965 // 25.760 / 1.804
22.301 / 29.949 // 20.411 / 1.848
33.348 / 29.947 // 25.799 / 1.899
26.864 / 29.949 // 24.936 / 1.888
38.727 / 29.947 // 25.435 / 1.900
結構、安定した感じ!?
検証用コードを踏まえての専用ハードウェア適用版。
import cv2
import os
import time
#import RPi.GPIO as GPIO
import sys
from picamera2 import Picamera2
import libcamera
import numpy as np
import gpiozero
timelog = time.time()
# raw_width = 640 #2304
# raw_height = 480 #1296
rec_width = 320
rec_height = 240
time_log = []
time_log2 = []
time_log3 = []
frame_list = []
meta_data_list = []
# exposure_time = 5000 # 1000-100000 defo:5000
exposure_time = 1000 # 物理シャッターとの干渉を徹底的に避ける
analogue_gain = 16 # 1.0-20.0 defo:2.0
buffers = 1
queue_control = False
# Bolex
pin_shutter = 25 # shutter timing picup
trigger = gpiozero.Button(pin_shutter, pull_up=True)
# GPIO設定
#GPIO.setmode(GPIO.BCM)
#GPIO.setup(pin_shutter, GPIO.IN, pull_up_down = GPIO.PUD_UP)
number_max_frame = 32 #連続撮影可能な最大フレーム数 とりあえず16FPS x 60sec = 960フレーム
record_fps = 16 #MP4へ変換する際のFPS設定値
share_folder_path = os.path.expanduser("~/share/")
device_name = "bolex"
codec = cv2.VideoWriter_fourcc(*'avc1')
camera = Picamera2()
# 撮影モードに応じてpicameraのconfigを設定する
def set_camera_mode():
global rec_width, rec_height, raw_width, raw_height
camera.stop()
config = camera.create_still_configuration(
main = {
"format" : "BGR888",
"size" : (rec_width, rec_height)
},
# raw = {
# "format" : "SBGGR10_CSI2P",
# "size" : (raw_width, raw_height)
# },
buffer_count = buffers,
queue = queue_control,
controls = {
"ExposureTime" : exposure_time,
"AnalogueGain" : analogue_gain,
# "FrameDurationLimits" : (100, 100000)
"FrameDurationLimits" : (10000, 10000) # 10ms固定にして可変要素を排除する
},
# transform = libcamera.Transform(hflip=1, vflip=1) # 切り分けのため、処理をスキップする
)
camera.configure(config)
camera.start()
# timerを受けて画像を取得する関数
def shutter(text):
global time_log, time_log2, time_log3, frame_list, meta_data_list
if len(frame_list) < number_max_frame:
time_log.append(time.time())
request = camera.capture_request()
time_log2.append(time.time())
frame_list.append(request.make_image("main"))
meta_data_list.append(request.get_metadata())
request.release()
time_log3.append(time.time())
else:
movie_save()
# ムービー撮影後、画像を連結してムービーファイルを保存する。
def movie_save():
global recording_completed, frame_list, meta_data_list
recording_completed = False
print("save movie")
movie_file_path = share_folder_path + device_name + ".mp4"
video = cv2.VideoWriter(movie_file_path, codec, record_fps, (rec_width, rec_height))
if not video.isOpened():
print("video writer can't be opened")
sys.exit()
for i in range(len(frame_list)):
frame = np.array(frame_list[i])
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
video.write(frame)
print("movie rec finished")
video.release()
print_log()
def print_log():
global time_log, time_log2, frame_list, meta_data_list
print(" frame interval / camera interval // capture request / extract data (msec)" )
for i in range(len(time_log)-1):
t1 = (time_log[i + 1] - time_log[i]) * 1000
t2 = (meta_data_list[i + 1]["SensorTimestamp"] - meta_data_list[i]["SensorTimestamp"]) / 1000000
t3 = (time_log2[i] - time_log[i]) * 1000
t4 = (time_log3[i] - time_log2[i]) * 1000
print(f'{t1:16.3f}' + ' / ' + f'{t2:15.3f}' + ' // ' + f'{t3:15.3f}' + ' / ' + f'{t4:12.3f}')
time_log = []
time_log2 = []
frame_list = []
meta_data_list = []
# メイン
if __name__ == "__main__":
set_camera_mode()
# シャッター動作検出時のコールバック関数
# GPIO.add_event_detect(pin_shutter, GPIO.RISING, callback = shutter, bouncetime = 1)
#while(True):
# time.sleep(10)
while True:
if trigger.value:
shutter("dummy")
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割り込み無しの検証用コード。
4Bでの実行結果は下記の通り。5ms程度の変動はあるが、比較的安定している。
![Screenshot from 2024-03-20 21-56-11](https://private-user-images.githubusercontent.com/34292976/314506387-d5141320-e34c-40f7-9354-83dddf1ca906.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MTg1NjkyMzMsIm5iZiI6MTcxODU2ODkzMywicGF0aCI6Ii8zNDI5Mjk3Ni8zMTQ1MDYzODctZDUxNDEzMjAtZTM0Yy00MGY3LTkzNTQtODNkZGRmMWNhOTA2LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA2MTYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNjE2VDIwMTUzM1omWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTM1Mzk2YzIxZGY3NmFhMWI1ZGJmNzg2MTQ1YjYwMWQxNWNmOGY5MmVjZWJmMzYzNzU1YzZmNGEyNzJiYjQxZGUmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.fJ49M_uVqs-N-G4ojuGy3pxiMOuj1-dxCAqWeNYteo4)