hotfix/camera not connected error
This commit is contained in:
ykcheungab
+49
-31
@@ -31,7 +31,7 @@ from .signal_processing import (
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)
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from .capture import (
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CaptureConfig,
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CaptureWorker,
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CaptureSource,
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ReconnectPolicy,
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is_live_camera,
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normalize_source,
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@@ -76,7 +76,8 @@ class Sensor:
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config_name="prototype", cal_path=None, override=False, box=None, mirror=True,
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backend='auto', capture_config: Optional[CaptureConfig] = None,
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auto_reconnect: bool = False, capture_mode: str = "latest",
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capture_queue_size: int = 1, capture_overflow: str = "drop_oldest"):
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capture_queue_size: int = 1, capture_overflow: str = "drop_oldest",
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**_deprecated_capture_kwargs):
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"""
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Initialize Sensor with video source and configuration.
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@@ -96,9 +97,9 @@ class Sensor:
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"cpu": Use CPU for computation
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capture_config: Optional ``CaptureConfig`` overriding capture kwargs below.
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auto_reconnect: Enable USB disconnect auto-reconnect for live cameras.
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capture_mode: ``"latest"`` (low latency, default) or ``"queue"``.
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capture_queue_size: Bounded queue size for queue mode (1..10).
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capture_overflow: ``drop_oldest`` | ``drop_newest`` | ``block``.
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capture_mode: Deprecated; ignored (latest-frame capture only).
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capture_queue_size: Deprecated; ignored.
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capture_overflow: Deprecated; ignored.
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"""
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self.CUPY_AVAILABLE = check_cupy_available()
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@@ -120,9 +121,6 @@ class Sensor:
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self.mirror = mirror
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self._capture_config_override = capture_config
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self._auto_reconnect = bool(auto_reconnect)
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self._capture_mode = capture_mode
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self._capture_queue_size = int(capture_queue_size)
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self._capture_overflow = capture_overflow
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# Load configuration
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self.__config_cam = None
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@@ -231,7 +229,7 @@ class Sensor:
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# self._av_stream = None
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# self._av_decoder = None
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self.cap = None # compat alias for _capture_worker.source.cap
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self._capture_worker: Optional[CaptureWorker] = None
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self._capture_source: Optional[CaptureSource] = None
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self._is_live_camera = (
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is_live_camera(self.vid_src) and not self._external_only
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)
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@@ -705,9 +703,9 @@ class Sensor:
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def disconnect(self):
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"""Release resources and stop async threads."""
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if self._capture_worker is not None:
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self._capture_worker.close()
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self._capture_worker = None
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if self._capture_source is not None:
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self._capture_source.close()
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self._capture_source = None
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self.cap = None
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if self.verbose:
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print("Sensor disconnected.")
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@@ -934,25 +932,23 @@ class Sensor:
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capture_config = CaptureConfig.from_camera_dict(
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self.vid_src,
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self.__config_cam,
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mode=self._capture_mode,
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queue_size=self._capture_queue_size,
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overflow=self._capture_overflow,
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reconnect=ReconnectPolicy(enabled=self._auto_reconnect),
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verbose=self.verbose,
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start_worker=False,
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background=False,
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)
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try:
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self._capture_worker = open_capture(capture_config, start_worker=False)
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self._capture_source = open_capture(capture_config, start_background=False)
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except Exception as exc:
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raise Exception("Failed to open video source.") from exc
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self.cap = self._capture_worker.source.cap
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# self._use_pyav = False
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self.cap = self._capture_source.cap
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if not self._is_source_open():
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raise Exception("Failed to open video source.")
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self._capture_source.warmup_frames(3)
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# Wait for first valid frame
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frame = None
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while frame is None:
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@@ -967,16 +963,24 @@ class Sensor:
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if box is not None:
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self.stitcher.isstitch = self.isstitch = False
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self.stitcher.boxes = box
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self.stitch_valid = bool(self.isstitch)
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img = self.frame_processor.process(frame)
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self.initial_img = self._make_initial_gray(img)
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else:
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print("Override=True but no box provided.")
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else:
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self._find_stitch_boxes(frame)
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if not self.stitch_valid:
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raise RuntimeError(
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f"Failed to detect {self._config_units} vision tiles for stitching. "
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"Check camera index, lighting, and that MJPG 1080p is negotiated."
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)
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img = self.frame_processor.process(frame)
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self.initial_img = self._make_initial_gray(img)
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# For live cameras, start a capture worker to avoid latency buildup.
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if self._is_live_camera and self._capture_worker is not None:
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self._capture_worker.start()
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# For live cameras, start background capture to avoid latency buildup.
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if self._is_live_camera and self._capture_source is not None:
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self._capture_source.start_background()
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def _make_initial_gray(self, img_bgr):
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gray = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2GRAY)
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@@ -990,6 +994,9 @@ class Sensor:
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def _find_stitch_boxes(self, img_src, show=False):
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"""Detect vision tile boxes with camera stabilization."""
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n_boxes, v_mean0, timeout = 0, 0, 5
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boxes = []
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best_n_boxes = 0
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best_boxes = []
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start_time = cv2.getTickCount()
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while n_boxes < self._config_units:
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@@ -1000,12 +1007,18 @@ class Sensor:
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if abs(v_mean - v_mean0) < 5:
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n_boxes, boxes = self.stitcher.find_stitch_boxes(frame, show=show)
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if n_boxes > best_n_boxes:
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best_n_boxes = n_boxes
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best_boxes = boxes
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if (cv2.getTickCount() - start_time) / cv2.getTickFrequency() > timeout:
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print("Timeout finding vision units.")
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self.stitcher.isstitch = self.isstitch = False
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break
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v_mean0 = v_mean
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if n_boxes < self._config_units and best_n_boxes >= self._config_units:
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n_boxes = best_n_boxes
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boxes = best_boxes
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self.n_boxes = n_boxes
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self.boxes = boxes
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@@ -1023,8 +1036,8 @@ class Sensor:
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# return True
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def _is_source_open(self):
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if self._capture_worker is not None:
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return self._capture_worker.source.is_open()
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if self._capture_source is not None:
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return self._capture_source.is_open()
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return False
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# Legacy PyAV / direct-cap fallbacks (unused after orisys.capture refactor).
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# if self._use_pyav:
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@@ -1032,13 +1045,13 @@ class Sensor:
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# return self.cap is not None and self.cap.isOpened()
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def _read_frame(self):
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if self._capture_worker is not None and self._capture_worker.running:
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return self._capture_worker.read(copy=True, wait_s=1.0)
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if self._capture_source is not None and self._capture_source.running:
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return self._capture_source.read_latest(copy=True, wait_s=1.0)
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return self._read_frame_raw()
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def _read_frame_raw(self):
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if self._capture_worker is not None:
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return self._capture_worker.source.read_raw()
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if self._capture_source is not None:
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return self._capture_source.read_raw()
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return False, None
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# Legacy PyAV / direct-cap fallbacks (unused after orisys.capture refactor).
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# if self._use_pyav:
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@@ -1058,9 +1071,14 @@ class Sensor:
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@property
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def capture_status(self):
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"""Return capture health snapshot, or None in external-frame mode."""
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if self._capture_worker is None:
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if self._capture_source is None:
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return None
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return self._capture_worker.source.status
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return self._capture_source.status
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@property
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def _capture_worker(self):
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"""Deprecated alias for ``_capture_source``."""
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return self._capture_source
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# =========================================================================
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