[BUG] {setAutoExposureLimit is not limiting exposure on OAK-1 W PoE}
matkok opened this issue · 3 comments
matkok commented
#!/usr/bin/env python3
import time
import numpy as np
import cv2
import depthai as dai
import threading
import queue
import logging
class Camera:
def __init__(self):
self.controlIn = None
self.name = None
self.frame = None
self.thread = None
self.xout_video = None
self.videoEncoder = None
self.qRgb = None
self.cam = None
self.running = False
self.q_list = None
self.image = None
self.videoIn = None
self.xoutVideo = None
self.cam = None
self.dai_device = None
self.ctrl = None
self.video = None
self.device = None
self.pipeline = None
self.control = None
self.controlQueue = None
self.retriving_image = False
self.connected = False
self.last_image_time = time.time() # Track the time of the last image retrieval
self.timeout_for_disconected = 5 # Track the time of the last image retrieval
self.timeout_for_last_image = 1 # Set a timeout duration in seconds
def create_rgb_cam_pipeline(self):
print("Creating pipeline: RGB CAM -> XLINK OUT")
self.pipeline = dai.Pipeline()
self.cam = self.pipeline.create(dai.node.ColorCamera)
# self.xout_preview = self.pipeline.create(dai.node.XLinkOut)
self.xout_video = self.pipeline.create(dai.node.XLinkOut)
self.videoEncoder = self.pipeline.createVideoEncoder()
self.ctrl = dai.CameraControl()
self.pipeline.setXLinkChunkSize(0)
self.xout_video.setStreamName("video")
self.cam.setResolution(dai.ColorCameraProperties.SensorResolution.THE_4_K)
self.cam.setInterleaved(False)
self.cam.setBoardSocket(dai.CameraBoardSocket.CAM_A)
self.cam.initialControl.setAutoExposureLimit(maxExposureTimeUs=5000) ##############################################
self.cam.setFps(15)
self.cam.setIsp3aFps(15)
self.controlIn = self.pipeline.create(dai.node.XLinkIn)
self.videoEncoder.setDefaultProfilePreset(self.cam.getVideoSize(), self.cam.getFps(), dai.VideoEncoderProperties.Profile.MJPEG)
self.xout_video.input.setBlocking(False)
self.xout_video.input.setQueueSize(1)
self.controlIn.setStreamName('control')
self.cam.video.link(self.videoEncoder.input)
self.videoEncoder.bitstream.link(self.xout_video.input)
self.controlIn.out.link(self.cam.inputControl)
return self.pipeline
def grab_image(self):
return self.frame
def get_camera_resolution(self):
return self.self.cam.getIspSize()
def set_camera_settings(self):
self.ctrl.setAutoExposureLimit(maxExposureTimeUs=5000) ##############################################
self.controlQueue.send(self.ctrl)
pass
def open(self):
stopwatch = time.time_ns()
self.thread = threading.Thread(target=self.start_pipeline, daemon=True)
self.thread.start()
elapsed_sec = (time.time_ns() - stopwatch) / 1e9
print("Time to initialize camera: ", elapsed_sec)
def start_pipeline(self):
end_time = time.time()
print("Creating DepthAI device")
self.device = None
cv2.namedWindow("Resized Image", cv2.WINDOW_NORMAL)
cv2.resizeWindow("Resized Image", 640, 480)
while True:
if self.device is None:
try:
pipeline = self.create_rgb_cam_pipeline()
with dai.Device(pipeline) as self.device:
print("Starting pipeline")
self.controlQueue = self.device.getInputQueue('control')
self.qRgb = self.device.getOutputQueue(name="video", maxSize=1, blocking=False)
self.running = True
self.connected = True
while self.running:
self.set_camera_settings()
inRgbs = self.qRgb.tryGetAll() # blocking call, will wait until a new data has arrived
for inRgb in inRgbs:
self.frame = cv2.imdecode(inRgb.getData(), cv2.IMREAD_UNCHANGED)
print(f"Exposure: {inRgb.getExposureTime().total_seconds()*1000:.3f} ms, ")
#print(f"ISO: {inRgb.getSensitivity()}, ")
cv2.imshow("Resized Image", self.frame)
end_time = time.time()
if cv2.waitKey(1) == ord('q'):
break
time.sleep(0.3)
except Exception as e:
logging.error("Exception occurred in start_pipeline", exc_info=True)
self.device = None
self.frame = None
self.connected = False
self.running = False
else:
logging.info("Device already initialized, waiting for the next iteration")
self.device = None
self.frame = None
self.connected = False
self.running = False
@staticmethod
def test():
camera = Camera()
camera.open()
while(1):
pass
if __name__ == "__main__":
Camera.test()
Hi, I have just bought OAK-1 W PoE camera that I tried to use but setting setAutoExposureLimit in initial control and in control mode is not limiting my exposure. This is the output of the running code:
Starting pipeline
Exposure: 29.995 ms,
Exposure: 4.996 ms,
Exposure: 4.996 ms,
Exposure: 4.996 ms,
Exposure: 29.995 ms,
Exposure: 29.995 ms,
Exposure: 29.995 ms,
Exposure: 29.995 ms,
Exposure: 29.995 ms,
Exposure: 29.995 ms,
Exposure: 29.995 ms,
Exposure: 29.995 ms,
Exposure: 4.996 ms,
Exposure: 4.996 ms,
Do you have any idea what the problem might be?
Thank you in advance 🙂
MartinMotycka commented
@themarpe ^^
alex-luxonis commented
matkok commented
yes, that solved my problem. Thank you!
(actually I was starting my app with python and not python3 where the last version was installed).