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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) |
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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こんなかんじですね。t2安定しています。