为采集帧绑定主机时间与来源信息
采集时间随图像穿过处理队列，并修正未读帧的丢帧计数。通过采集与流水线针对性测试。
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ykcheungab
@@ -16,6 +16,7 @@ from .discovery import (
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pick_default_camera,
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)
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from .source import (
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CapturedFrame,
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CaptureSource,
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CaptureWorker,
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is_live_camera,
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@@ -31,6 +32,7 @@ __all__ = [
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"CameraFilter",
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"CameraInfo",
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"CaptureConfig",
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"CapturedFrame",
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"CaptureHealth",
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"CaptureSource",
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"CaptureStatus",
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@@ -7,6 +7,8 @@ import os
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import sys
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import threading
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import time
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from dataclasses import dataclass
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from math import isfinite
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from typing import Any, Protocol, runtime_checkable
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import cv2
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@@ -23,6 +25,21 @@ from .config import (
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logger = logging.getLogger(__name__)
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@dataclass(frozen=True)
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class CapturedFrame:
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"""One image and the host clocks sampled when its capture read completed.
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``sequence`` belongs to this source instance. ``media_time_ms`` is advisory
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file metadata and is never substituted for the host acquisition clocks.
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"""
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image: np.ndarray
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sequence: int
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host_mono_ns: int
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host_utc_ns: int
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media_time_ms: float | None = None
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@runtime_checkable
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class VideoCaptureLike(Protocol):
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"""Minimal protocol so tests can inject fake captures."""
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@@ -223,7 +240,10 @@ class CaptureSource:
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self._frame_lock = threading.Lock()
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self._frame_cond = threading.Condition(self._frame_lock)
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self._latest_frame: np.ndarray | None = None
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self._latest_captured: CapturedFrame | None = None
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self._latest_seq = 0
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self._read_seq = 0
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self._last_delivered_seq = 0
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self._thread: threading.Thread | None = None
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self._background_running = False
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@@ -338,6 +358,7 @@ class CaptureSource:
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self._cap = None
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with self._frame_cond:
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self._latest_frame = None
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self._latest_captured = None
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self._latest_seq = 0
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def _refresh_stream_meta_unlocked(self) -> None:
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@@ -363,28 +384,80 @@ class CaptureSource:
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for _ in range(max(0, int(count))):
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self.read_raw()
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def read_raw(self) -> tuple[bool, np.ndarray | None]:
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"""Read one frame directly from the underlying capture (no reconnect)."""
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def read_raw_stamped(self) -> CapturedFrame | None:
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"""Read a frame and bind its identity and clocks before another read."""
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cap = self._cap
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if cap is None:
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return False, None
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return None
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try:
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ok, frame = cap.read()
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except Exception as exc:
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with self._lock:
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self._status.consecutive_failures += 1
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self._status.last_error = str(exc)
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return False, None
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return None
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if not ok or frame is None:
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with self._lock:
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self._status.consecutive_failures += 1
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return False, None
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return None
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host_mono_ns = time.perf_counter_ns()
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host_utc_ns = time.time_ns()
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media_time_ms = None
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if not is_live_camera(self._status.source):
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try:
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value = float(cap.get(cv2.CAP_PROP_POS_MSEC))
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if isfinite(value) and value >= 0:
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media_time_ms = value
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except Exception as exc: # noqa: BLE001 - metadata must not stop capture
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logger.debug("capture: media timestamp unavailable: %s", exc)
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with self._lock:
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self._read_seq += 1
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sequence = self._read_seq
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self._status.consecutive_failures = 0
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self._status.last_frame_time = time.perf_counter()
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self._status.last_frame_time = host_mono_ns / 1e9
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if self._status.health != CaptureHealth.CONNECTED:
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self._status.health = CaptureHealth.CONNECTED
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return True, frame
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return CapturedFrame(frame, sequence, host_mono_ns, host_utc_ns, media_time_ms)
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def read_raw(self) -> tuple[bool, np.ndarray | None]:
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"""Compatibility read without capture metadata."""
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captured = self.read_raw_stamped()
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return (captured is not None, None if captured is None else captured.image)
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def read_latest_stamped(
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self, *, copy: bool = True, wait_s: float = 0.0
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) -> CapturedFrame | None:
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"""Return a frame and its own stamp atomically from the background slot."""
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if not self._background_running:
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captured = self.read_raw_stamped()
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if captured is not None and copy:
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return CapturedFrame(
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captured.image.copy(),
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captured.sequence,
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captured.host_mono_ns,
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captured.host_utc_ns,
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captured.media_time_ms,
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)
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return captured
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deadline = time.perf_counter() + max(0.0, wait_s)
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with self._frame_cond:
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while self._latest_captured is None:
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remaining = deadline - time.perf_counter()
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if remaining <= 0:
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return None
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self._frame_cond.wait(timeout=remaining)
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captured = self._latest_captured
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self._last_delivered_seq = captured.sequence
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if copy:
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return CapturedFrame(
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captured.image.copy(),
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captured.sequence,
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captured.host_mono_ns,
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captured.host_utc_ns,
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captured.media_time_ms,
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)
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return captured
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def read_latest(
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self,
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@@ -393,21 +466,8 @@ class CaptureSource:
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wait_s: float = 0.0,
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) -> tuple[bool, np.ndarray | None]:
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"""Return the newest frame from the background thread, or read sync."""
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if not self._background_running:
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ok, frame = self.read_raw()
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if ok and copy and frame is not None:
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return ok, frame.copy()
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return ok, frame
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deadline = time.perf_counter() + max(0.0, wait_s)
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with self._frame_cond:
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while self._latest_frame is None:
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remaining = deadline - time.perf_counter()
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if remaining <= 0:
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return False, None
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self._frame_cond.wait(timeout=remaining)
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frame = self._latest_frame.copy() if copy else self._latest_frame
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return True, frame
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captured = self.read_latest_stamped(copy=copy, wait_s=wait_s)
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return (captured is not None, None if captured is None else captured.image)
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def read(self, *, copy: bool = True, wait_s: float = 1.0) -> tuple[bool, np.ndarray | None]:
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"""Compat alias used by finger runtime and older worker callers."""
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@@ -441,6 +501,7 @@ class CaptureSource:
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self._thread = None
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with self._frame_cond:
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self._latest_frame = None
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self._latest_captured = None
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def stop(self, timeout: float = 1.0) -> None:
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"""Compat alias for ``stop_background``."""
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@@ -455,19 +516,23 @@ class CaptureSource:
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time.sleep(0.2)
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continue
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ok, frame = self.read_raw()
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if not ok or frame is None:
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captured = self.read_raw_stamped()
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if captured is None:
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if self.should_reconnect():
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continue
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time.sleep(0.001)
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continue
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with self._frame_cond:
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if self._latest_frame is not None:
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if (
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self._latest_captured is not None
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and self._latest_captured.sequence > self._last_delivered_seq
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):
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with self._lock:
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self._status.dropped_frames += 1
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self._latest_seq += 1
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self._latest_frame = frame
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self._latest_seq = captured.sequence
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self._latest_frame = captured.image
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self._latest_captured = captured
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with self._lock:
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self._status.last_seq = self._latest_seq
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self._frame_cond.notify_all()
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