Refactor and simplify how picamera settings work
This commit is contained in:
Julian Stirling
parent
df8a9d0e93
commit
35d6e45892
2 changed files with 162 additions and 206 deletions
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@ -16,7 +16,7 @@ https://datasheets.raspberrypi.com/camera/raspberry-pi-camera-guide.pdf
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"""
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from __future__ import annotations
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from typing import Annotated, Any, Iterator, Literal, Mapping, Optional
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from typing import Annotated, Iterator, Literal, Mapping, Optional
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from datetime import datetime
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import json
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import logging
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@ -28,35 +28,18 @@ from threading import RLock
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from pydantic import BaseModel, BeforeValidator
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import piexif
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import picamera2
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import numpy as np
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from picamera2 import Picamera2
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from picamera2.encoders import MJPEGEncoder
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from picamera2.outputs import Output
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import labthings_fastapi as lt
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from labthings_fastapi.exceptions import NotConnectedToServerError
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from . import picamera_recalibrate_utils as recalibrate_utils
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from . import BaseCamera, JPEGBlob, ArrayModel
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class PicameraControl(lt.ThingProperty):
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def __init__(
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self, control_name: str, model: type = float, description: Optional[str] = None
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):
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"""A property descriptor controlling a picamera control"""
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super().__init__(model, observable=False, description=description)
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self.control_name = control_name
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def _getter(self, obj: StreamingPiCamera2):
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with obj.picamera() as cam:
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return cam.capture_metadata()[self.control_name]
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def _setter(self, obj: StreamingPiCamera2, value: Any):
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with obj.picamera() as cam:
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cam.set_controls({self.control_name: value})
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class PicameraStreamOutput(Output):
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"""An Output class that sends frames to a stream"""
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@ -126,84 +109,23 @@ class StreamingPiCamera2(BaseCamera):
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"""A Thing that represents an OpenCV camera"""
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def __init__(self, camera_num: int = 0):
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self._setting_save_in_progress = False
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self.camera_num = camera_num
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self.camera_configs: dict[str, dict] = {}
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# Note persistent controls will be updated with settings, in __enter__.
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self.persistent_controls = {
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"AeEnable": False,
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"AnalogueGain": 1.0,
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"AwbEnable": False,
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"Brightness": 0,
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"ColourGains": (1, 1),
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"Contrast": 1,
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"ExposureTime": 0,
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"Saturation": 1,
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"Sharpness": 1,
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}
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self.persistent_control_tolerances = {
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"ExposureTime": 30,
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}
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def update_persistent_controls(self, discard_frames: int = 1):
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"""Update the persistent controls dict from the camera
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Query the camera and update the value of `persistent_controls` to
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match the current state of the camera.
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There is a work-around here, that will suppress small updates. There
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appears to be a bug in the camera code that causes a slight drift in
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`ExposureTime` each time the camera is reinitialised: this can
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add up over time, particularly if the camera is reconfigured many
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times. To get around this, we look in `self.persistent_control_tolerances`
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and only update `self.persistent_controls` if the change is greater than
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this tolerance.
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"""
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with self._streaming_picamera() as cam:
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for i in range(discard_frames):
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# Discard frames, so data is fresh
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cam.capture_metadata()
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for key, value in cam.capture_metadata().items():
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if key not in self.persistent_controls:
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# Skip keys that are not persistent controls
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continue
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if self._control_value_within_tolerance(key, value):
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logging.debug(
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"Ignoring a small change in persistent control %s from %s to "
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"%s while updating persistent controls.",
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key,
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self.persistent_controls[key],
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value,
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)
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else:
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self.persistent_controls[key] = value
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self.thing_settings.update(self.persistent_controls)
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def _control_value_within_tolerance(self, key: str, value: float) -> bool:
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"""Return True if the updated value for a persistent control is within
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tolerance of current value. This allows ignoring small changes
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"""
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if key not in self.persistent_control_tolerances:
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# Not tolerance range set, so it is not within tolerance
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return False
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difference = np.abs(self.persistent_controls[key] - value)
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return difference < self.persistent_control_tolerances[key]
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def settings_to_persistent_controls(self):
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"""Update the persistent controls dict from the settings dict
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NB this must be called **after** self.thing_settings is initialised,
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i.e. during or after `__enter__`.
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"""
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self._picamera_lock = None
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self._picamera = None
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logging.info("Starting & reconfiguring camera to populate sensor_modes.")
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with Picamera2(camera_num=self.camera_num) as cam:
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self.default_tuning = recalibrate_utils.load_default_tuning(cam)
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logging.info("Done reading sensor modes & default tuning.")
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# Set tuning to default tuning. This will be overwritten when the Thing is
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# connects to the server if tuning is saved to disk.
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try:
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pc = self.thing_settings["persistent_controls"]
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except KeyError:
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return # If there are no saved settings, use defaults
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for k in self.persistent_controls:
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try:
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self.persistent_controls[k] = pc[k]
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except KeyError:
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pass # If controls are missing, leave at default
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self.tuning = self.default_tuning
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except NotConnectedToServerError:
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# This will throw an error after setting as we are not connected to
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# a server. But we know this, so we ignore the error.
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pass
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stream_resolution = lt.ThingProperty(
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tuple[int, int],
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@ -225,27 +147,100 @@ class StreamingPiCamera2(BaseCamera):
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readonly=True,
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)
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analogue_gain = PicameraControl("AnalogueGain", float)
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colour_gains = PicameraControl("ColourGains", tuple[float, float])
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def save_settings(self):
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"""Override save_settings to ensure that camera properties don't recurse.
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exposure_time = PicameraControl(
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"ExposureTime", int, description="The exposure time in microseconds"
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)
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This method is run by any Thing when a ThingSetting is saved. However, the
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method reads the thing_setting. As reading the thing setting talks to the
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camera and calls save_settings if the value is not as expected, this could
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cause recursion. Aslo this means that saving one setting causes all others
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to be read each time.
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"""
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try:
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self._setting_save_in_progress = True
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super().save_settings()
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finally:
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self._setting_save_in_progress = False
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## Persistent controls! These are settings
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_analogue_gain: float = 1.0
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@lt.thing_setting
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def analogue_gain(self) -> float:
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if not self._setting_save_in_progress and self.streaming:
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with self._streaming_picamera() as cam:
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cam_value = cam.capture_metadata()["AnalogueGain"]
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if cam_value != self._analogue_gain:
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self._analogue_gain = cam_value
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self.save_settings()
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return self._analogue_gain
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@analogue_gain.setter
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def analogue_gain(self, value: float):
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self._analogue_gain = value
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if self.streaming:
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with self._streaming_picamera() as cam:
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cam.set_controls({"AnalogueGain": value})
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_colour_gains: tuple[float, float] = (1.0, 1.0)
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@lt.thing_setting
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def colour_gains(self) -> tuple[float, float]:
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if not self._setting_save_in_progress and self.streaming:
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with self._streaming_picamera() as cam:
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cam_value = cam.capture_metadata()["ColourGains"]
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if cam_value != self._colour_gains:
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self._colour_gains = cam_value
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self.save_settings()
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return self._colour_gains
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@colour_gains.setter
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def colour_gains(self, value: tuple[float, float]):
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self._colour_gains = value
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if self.streaming:
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with self._streaming_picamera() as cam:
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cam.set_controls({"ColourGains": value})
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_exposure_time: int = 0
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@lt.thing_setting
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def exposure_time(self) -> int:
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if not self._setting_save_in_progress and self.streaming:
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with self._streaming_picamera() as cam:
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cam_value = cam.capture_metadata()["ExposureTime"]
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if cam_value != self._exposure_time:
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self._exposure_time = cam_value
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self.save_settings()
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return self._exposure_time
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@exposure_time.setter
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def exposure_time(self, value: int):
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"""
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Custom setter for the above exposure_time PicameraControl.
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_exposure_time = value
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if self.streaming:
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with self._streaming_picamera() as cam:
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# Note: This set a value 1 higher than requested as picamera2 always
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# sets a lower value than requested, even if the requested is allowed
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cam.set_controls({"ExposureTime": value + 1})
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This is overriding the standard setter for a PicameraControl, as
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the value needs to be adjusted before setting to behave as expected.
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See comment within the function for more detail.
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"""
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with self._streaming_picamera() as cam:
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# Note: This set a value 1 higher than requested as picamera2 always sets
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# a lower value than requested, even if the requested is allowed
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cam.set_controls({"ExposureTime": value + 1})
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def _get_persistent_controls(self) -> dict:
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discard_frames: int = 1
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if self.streaming:
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with self._streaming_picamera() as cam:
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# Discard frames, so data is fresh
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for i in range(discard_frames):
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cam.capture_metadata()
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return {
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"AeEnable": False,
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"AnalogueGain": self.analogue_gain,
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"AwbEnable": False,
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"Brightness": 0,
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"ColourGains": self.colour_gains,
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"Contrast": 1,
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"ExposureTime": self.exposure_time,
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"Saturation": 1,
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"Sharpness": 1,
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}
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_sensor_modes = None
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@ -259,7 +254,7 @@ class StreamingPiCamera2(BaseCamera):
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_sensor_mode: Optional[dict] = None
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@lt.thing_setting
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@lt.thing_property
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def sensor_mode(self) -> Optional[SensorModeSelector]:
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"""The intended sensor mode of the camera"""
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if self._sensor_mode is None:
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@ -277,74 +272,64 @@ class StreamingPiCamera2(BaseCamera):
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elif isinstance(new_mode, dict):
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self._sensor_mode = new_mode
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if isinstance(new_mode, SensorModeSelector):
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new_mode = new_mode.model_dump()
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# By pausing the stream on when accessing, streaming_picamera
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# self._sensor_mode will be read and set when the stream restarts
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# after the context manager closes.
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with self._streaming_picamera(pause_stream=True):
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self.thing_settings["sensor_mode"] = new_mode
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pass
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@lt.thing_setting
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def sensor_resolution(self) -> tuple[int, int]:
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@lt.thing_property
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def sensor_resolution(self) -> Optional[tuple[int, int]]:
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"""The native resolution of the camera's sensor"""
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with self._streaming_picamera() as cam:
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return cam.sensor_resolution
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tuning = lt.ThingSetting(Optional[dict], None, readonly=True)
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def initialise_tuning(self):
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"""Read the tuning from the settings, or load default tuning
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def _initialise_picamera(self):
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"""Acquire the picamera device and store it as `self._picamera`.
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NB this relies on `self.thing_settings` and `self.default_tuning`
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so will fail if it's run before those are populated in `__enter__`.
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This duplicates logic in `Picamera2.__init__` to provide a tuning file that
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will be read when the camera system initialises.
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"""
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if "tuning" in self.thing_settings:
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self.tuning = self.thing_settings["tuning"].dict
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else:
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logging.info("Did not find tuning in settings, reading from camera...")
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self.tuning = self.default_tuning
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def initialise_picamera(self):
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"""Acquire the picamera device and store it as `self._picamera`"""
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if hasattr(self, "_picamera_lock"):
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if self._picamera_lock is not None:
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# Don't close the camera if it's in use
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self._picamera_lock.acquire()
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with tempfile.NamedTemporaryFile("w") as tuning_file:
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# This duplicates logic in `Picamera2.__init__` to provide a tuning file
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# that will be read when the camera system initialises.
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# This is a necessary work-around until `picamera2` better supports
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# reinitialisation of the camera with new tuning.
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json.dump(self.tuning, tuning_file)
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tuning_file.flush() # but leave it open as closing it will delete it
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os.environ["LIBCAMERA_RPI_TUNING_FILE"] = tuning_file.name
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# NB even though we've put the tuning file in the environment, we will
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# need to specify the filename in the `Picamera2` initialiser as otherwise
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# it will be overwritten with None.
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if hasattr(self, "_picamera") and self._picamera:
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print("Closing picamera object for reinitialisation")
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if self._picamera is not None:
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logging.info("Closing picamera object for reinitialisation")
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logging.info(
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"Camera object already exists, closing for reinitialisation"
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)
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self._picamera.close()
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print("Picamera closed, deleting picamera")
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logging.info("Picamera closed, deleting picamera")
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del self._picamera
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recalibrate_utils.recreate_camera_manager()
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print("Creating new Picamera2 object")
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self._picamera = picamera2.Picamera2(
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logging.info("Creating new Picamera2 object")
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# Specify tuning file otherwise it will be overwritten with None.
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self._picamera = Picamera2(
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camera_num=self.camera_num,
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tuning=self.tuning,
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)
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self._picamera_lock = RLock()
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def __enter__(self):
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self.populate_default_tuning()
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self.initialise_tuning()
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self.initialise_picamera()
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self._initialise_picamera()
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# populate sensor modes by reading the property
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self.sensor_modes
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self.settings_to_persistent_controls()
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self.settings_to_properties()
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self.start_streaming()
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return self
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@property
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def streaming(self) -> bool:
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"""True if the camera is streaming"""
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return self._picamera is not None and self._picamera.started
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@contextmanager
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def _streaming_picamera(self, pause_stream=False) -> Iterator[Picamera2]:
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"""Lock access to picamera and return the underlying `Picamera2` instance.
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@ -356,14 +341,12 @@ class StreamingPiCamera2(BaseCamera):
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* Updated persistent controls
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* Stop the MJPEG Stream
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* Yield the `Picamera2` instance for function calling the context manager to
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make changes. If seetings are changed run `update_persistent_controls()` before
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closing the context manager.
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make changes.
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* On closing of the context manager the stream will restart.
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"""
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already_streaming = self.stream_active
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with self._picamera_lock:
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if pause_stream and already_streaming:
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self.update_persistent_controls()
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self.stop_streaming(stop_web_stream=False)
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try:
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yield self._picamera
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@ -371,24 +354,7 @@ class StreamingPiCamera2(BaseCamera):
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if pause_stream and already_streaming:
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self.start_streaming()
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def populate_default_tuning(self):
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"""Sensor modes are enumerated and stored, once, on start-up (`__enter__`).
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This opens and closes the camera - must be run before the camera is
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initialised.
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"""
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logging.info("Starting & reconfiguring camera to populate sensor_modes.")
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with Picamera2(camera_num=self.camera_num) as cam:
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self.default_tuning = recalibrate_utils.load_default_tuning(cam)
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logging.info("Done reading sensor modes & default tuning.")
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def __exit__(self, exc_type, exc_value, traceback):
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# Allow key controls to persist across restarts
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self.update_persistent_controls()
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self.thing_settings["persistent_controls"] = self.persistent_controls
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self.thing_settings["tuning"] = self.tuning
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self.properties_to_settings()
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self.thing_settings.write_to_file()
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# Shut down the camera
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self.stop_streaming()
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with self._streaming_picamera() as cam:
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@ -400,7 +366,7 @@ class StreamingPiCamera2(BaseCamera):
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self, main_resolution: tuple[int, int] = (820, 616), buffer_count: int = 6
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) -> None:
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"""
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Start the MJPEG stream
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Start the MJPEG stream. This is where persistent controls are sent to camera.
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Sets the camera resolutions based on input parameters, and sets the low-res
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resolution to (320, 240). Note: (320, 240) is a standard from the Pi Camera
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@ -417,7 +383,7 @@ class StreamingPiCamera2(BaseCamera):
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buffer_count: the number of frames to hold in the buffer. Higher uses more memory,
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lower may cause dropped frames. Value must be between 1 and 8, Defaults to 6.
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"""
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controls = self._get_persistent_controls()
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# Buffer count can't be negative, zero, or too high.
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if buffer_count < 1 or buffer_count > 8:
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# 8 is slightly arbitrary. 6 is the PiCamera default for video
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@ -435,8 +401,8 @@ class StreamingPiCamera2(BaseCamera):
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stream_config = picam.create_video_configuration(
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main={"size": main_resolution},
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lores={"size": (320, 240), "format": "YUV420"},
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sensor=self.thing_settings.get("sensor_mode", None),
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controls=self.persistent_controls,
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sensor=self._sensor_mode,
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controls=controls,
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)
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stream_config["buffer_count"] = buffer_count
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picam.configure(stream_config)
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|
|
@ -634,7 +600,6 @@ class StreamingPiCamera2(BaseCamera):
|
|||
target_white_level=target_white_level,
|
||||
percentile=percentile,
|
||||
)
|
||||
self.update_persistent_controls()
|
||||
|
||||
@lt.thing_action
|
||||
def calibrate_white_balance(
|
||||
|
|
@ -669,7 +634,6 @@ class StreamingPiCamera2(BaseCamera):
|
|||
recalibrate_utils.adjust_white_balance_from_raw(
|
||||
cam, percentile=99, method=method
|
||||
)
|
||||
self.update_persistent_controls()
|
||||
|
||||
@lt.thing_action
|
||||
def calibrate_lens_shading(self) -> None:
|
||||
|
|
@ -687,22 +651,31 @@ class StreamingPiCamera2(BaseCamera):
|
|||
# (Cb).
|
||||
L, Cr, Cb = recalibrate_utils.lst_from_camera(cam) # noqa: N806
|
||||
recalibrate_utils.set_static_lst(self.tuning, L, Cr, Cb)
|
||||
self.initialise_picamera()
|
||||
self._initialise_picamera()
|
||||
|
||||
@lt.thing_property
|
||||
def colour_correction_matrix(
|
||||
self,
|
||||
) -> tuple[float, float, float, float, float, float, float, float, float]:
|
||||
"""An alias for `colour_correction_matrix` to fit the micromanager API"""
|
||||
return self.thing_settings.get(
|
||||
"colour_correction_matrix",
|
||||
tuple(recalibrate_utils.get_static_ccm(self.tuning)[0]["ccm"]),
|
||||
)
|
||||
"""The `colour_correction_matrix` from the tuning file.
|
||||
|
||||
This is broken out into its own property for convenience and compatibility with
|
||||
the micromanager API
|
||||
|
||||
Ir is a 9 value tuple used to specify the 3x3 matrix that the GPU pipeline uses
|
||||
to convert from the camera R,G,B vector to the standard R,G,B.
|
||||
|
||||
See page Raspberry Pi Camera Algorithm and Tuning Guide, page 45.
|
||||
"""
|
||||
return tuple(recalibrate_utils.get_static_ccm(self.tuning)[0]["ccm"])
|
||||
|
||||
@colour_correction_matrix.setter # type: ignore
|
||||
def colour_correction_matrix(self, value) -> None:
|
||||
self.thing_settings["colour_correction_matrix"] = value
|
||||
self.calibrate_colour_correction(value)
|
||||
recalibrate_utils.set_static_ccm(self.tuning, value)
|
||||
|
||||
if self._picamera is not None:
|
||||
with self._streaming_picamera(pause_stream=True):
|
||||
self._initialise_picamera()
|
||||
|
||||
@lt.thing_action
|
||||
def reset_ccm(self):
|
||||
|
|
@ -712,7 +685,7 @@ class StreamingPiCamera2(BaseCamera):
|
|||
These values are from the Raspberry Pi Camera Algorithm and Tuning Guide, page
|
||||
45.
|
||||
"""
|
||||
# This is flattened 3x3 matrix. See `calibrate_colour_correction`
|
||||
# This is flattened 3x3 matrix. See `colour_correction_matrix`
|
||||
col_corr_matrix = [
|
||||
1.80439,
|
||||
-0.73699,
|
||||
|
|
@ -726,25 +699,6 @@ class StreamingPiCamera2(BaseCamera):
|
|||
]
|
||||
self.colour_correction_matrix = col_corr_matrix
|
||||
|
||||
@lt.thing_action
|
||||
def calibrate_colour_correction(
|
||||
self,
|
||||
col_corr_matrix: tuple[
|
||||
float, float, float, float, float, float, float, float, float
|
||||
],
|
||||
) -> None:
|
||||
"""Overwrite the colour correction matrix in camera tuning
|
||||
|
||||
col_corr_matrix: This is a 9 value tuple used to specify the 3x3
|
||||
matrix that the GPU pipeline uses to convert from the camera R,G,B vector
|
||||
to the standard R,G,B.
|
||||
|
||||
See page Raspberry Pi Camera Algorithm and Tuning Guide, page 45.
|
||||
"""
|
||||
with self._streaming_picamera(pause_stream=True):
|
||||
recalibrate_utils.set_static_ccm(self.tuning, col_corr_matrix)
|
||||
self.initialise_picamera()
|
||||
|
||||
@lt.thing_action
|
||||
def set_static_green_equalisation(self, offset: int = 65535) -> None:
|
||||
"""Set the green equalisation to a static value.
|
||||
|
|
@ -758,7 +712,7 @@ class StreamingPiCamera2(BaseCamera):
|
|||
"""
|
||||
with self._streaming_picamera(pause_stream=True):
|
||||
recalibrate_utils.set_static_geq(self.tuning, offset)
|
||||
self.initialise_picamera()
|
||||
self._initialise_picamera()
|
||||
|
||||
@lt.thing_action
|
||||
def full_auto_calibrate(self) -> None:
|
||||
|
|
@ -795,7 +749,7 @@ class StreamingPiCamera2(BaseCamera):
|
|||
recalibrate_utils.set_static_lst(
|
||||
self.tuning, flat_array, flat_array, flat_array
|
||||
)
|
||||
self.initialise_picamera()
|
||||
self._initialise_picamera()
|
||||
|
||||
@lt.thing_property
|
||||
def lens_shading_tables(self) -> Optional[LensShading]:
|
||||
|
|
@ -841,7 +795,7 @@ class StreamingPiCamera2(BaseCamera):
|
|||
cr=lst.Cr,
|
||||
cb=lst.Cb,
|
||||
)
|
||||
self.initialise_picamera()
|
||||
self._initialise_picamera()
|
||||
|
||||
def correct_colour_gains_for_lens_shading(
|
||||
self, colour_gains: tuple[float, float]
|
||||
|
|
@ -887,7 +841,7 @@ class StreamingPiCamera2(BaseCamera):
|
|||
luminance = alsc["luminance_lut"]
|
||||
flat = np.ones((12, 16))
|
||||
recalibrate_utils.set_static_lst(self.tuning, luminance, flat, flat)
|
||||
self.initialise_picamera()
|
||||
self._initialise_picamera()
|
||||
|
||||
@lt.thing_action
|
||||
def reset_lens_shading(self) -> None:
|
||||
|
|
@ -898,7 +852,7 @@ class StreamingPiCamera2(BaseCamera):
|
|||
"""
|
||||
with self._streaming_picamera(pause_stream=True):
|
||||
recalibrate_utils.copy_alsc_section(self.default_tuning, self.tuning)
|
||||
self.initialise_picamera()
|
||||
self._initialise_picamera()
|
||||
|
||||
@lt.thing_property
|
||||
def lens_shading_is_static(self) -> bool:
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue