orisys-app/apps/studio/tools/camera_probe.py

"""Ask each camera what it can actually deliver, without the app in the way.

The studio's sensor configs pin the capture at 1920x1080 @ 30 fps (the tile grid
depends on it), and nothing downstream can raise a frame rate the driver never
offered. When a session runs at 16.7 fps, the question is which of these it is:

* the camera cannot do 1080p30 at all — then the config has to change, and the
  tile geometry with it;
* it can, but only in a particular pixel format or backend — then the SDK's
  request sequence/format is what to fix;
* it can, and the rate really is ~30 — then the frames are being lost after the
  capture, and the rail's camera rate will say so.

Run it with the venv interpreter, from anywhere::

    python apps/studio/tools/camera_probe.py            # every camera, every combo
    python apps/studio/tools/camera_probe.py --index 0   # just one

Each row is what OpenCV/the driver negotiated for that request, plus the rate
measured from 60 grabs (so "negotiated 30" and "actually delivers 30" are two
separate facts).
"""

from __future__ import annotations

import argparse
import sys
import time

import cv2

#: What the sensor bundles ask for, and the alternatives worth trying when the
#: negotiated rate falls short of the requested one.
REQUESTS: tuple[tuple[str, int, int, float], ...] = (
    ("MJPG", 1920, 1080, 30.0),
    ("MJPG", 1920, 1080, 0.0),  # "whatever the driver prefers at this size"
    ("MJPG", 1280, 720, 30.0),
    ("YUYV", 1920, 1080, 30.0),
    ("YUYV", 1280, 720, 30.0),
)

BACKENDS: tuple[tuple[str, int], ...] = (
    ("DSHOW", cv2.CAP_DSHOW),
    ("MSMF", cv2.CAP_MSMF),
)

SAMPLES = 60


def _fourcc_code(text: str) -> int:
    return cv2.VideoWriter_fourcc(*text)


def _decode(code: float) -> str:
    value = int(code)
    if value <= 0:
        return "-"
    letters = "".join(chr((value >> (8 * index)) & 0xFF) for index in range(4))
    return letters if letters.isprintable() else f"0x{value:08x}"


def probe(index: int, backend_name: str, backend: int, request) -> str | None:
    fourcc, width, height, fps = request
    cap = cv2.VideoCapture(index, backend)
    if not cap.isOpened():
        cap.release()
        return None
    try:
        cap.set(cv2.CAP_PROP_FOURCC, _fourcc_code(fourcc))
        cap.set(cv2.CAP_PROP_FRAME_WIDTH, float(width))
        cap.set(cv2.CAP_PROP_FRAME_HEIGHT, float(height))
        if fps > 0:
            cap.set(cv2.CAP_PROP_FPS, float(fps))
        cap.set(cv2.CAP_PROP_FOURCC, _fourcc_code(fourcc))
        for _ in range(5):  # let the format settle before believing anything
            cap.grab()
        started = time.perf_counter()
        taken = 0
        for _ in range(SAMPLES):
            ok, frame = cap.read()
            if not ok or frame is None:
                break
            taken += 1
        span = time.perf_counter() - started
        rate = taken / span if span > 0 else 0.0
        got_w = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
        got_h = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
        got_fps = cap.get(cv2.CAP_PROP_FPS)
        got_cc = _decode(cap.get(cv2.CAP_PROP_FOURCC))
    finally:
        cap.release()
    asked = f"{fourcc} {width}x{height}" + (f"@{fps:g}" if fps else "@auto")
    return (
        f"  {asked:<20} -> {got_cc} {got_w}x{got_h} @{got_fps:5.1f}  "
        f"measured {rate:5.1f} fps ({taken}/{SAMPLES})  [{backend_name}]"
    )


def main(argv: list[str] | None = None) -> int:
    parser = argparse.ArgumentParser(description=__doc__.splitlines()[0])
    parser.add_argument("--index", type=int, default=None, help="camera index to probe")
    parser.add_argument("--max-index", type=int, default=4, help="highest index to try")
    args = parser.parse_args(argv)

    indices = [args.index] if args.index is not None else list(range(args.max_index + 1))
    found = 0
    for index in indices:
        header = False
        for backend_name, backend in BACKENDS:
            for request in REQUESTS:
                line = probe(index, backend_name, backend, request)
                if line is None:
                    continue
                if not header:
                    print(f"\ncamera {index}:")
                    header = True
                print(line)
        if header:
            found += 1
    if not found:
        print("No camera answered on indices 0..%d." % args.max_index)
        print(
            "That is expected on a machine with no camera attached. On the machine "
            "with the sensor, run it with the app closed: two processes cannot own "
            "the same camera."
        )
        return 1
    print(
        "\nRead it this way: a row whose measured rate tracks its negotiated rate "
        "is the truth about that camera; a row that negotiates 30 and measures ~17 "
        "is dropping frames, and the request sequence is what to fix."
    )
    return 0


if __name__ == "__main__":
    sys.exit(main())