diff options
Diffstat (limited to 'plugins/motion_capture/tracker.py')
| -rw-r--r-- | plugins/motion_capture/tracker.py | 104 |
1 files changed, 93 insertions, 11 deletions
diff --git a/plugins/motion_capture/tracker.py b/plugins/motion_capture/tracker.py index 8dc89f1..2e189ad 100644 --- a/plugins/motion_capture/tracker.py +++ b/plugins/motion_capture/tracker.py @@ -17,13 +17,27 @@ from __future__ import annotations import math import threading import time -from typing import Optional, Tuple +from typing import Callable, Optional, Tuple import numpy as np # ── Simulation constants ────────────────────────────────────────────────────── _SIM_W, _SIM_H = 640, 480 + +# Caps how often _run_real processes a captured frame, independent of the +# camera's configured capture fps (camera_panel.py allows up to 120 fps at +# 2560x1440 with no validation) — otherwise cvtColor + matchTemplate/CSRT +# update on every frame at high settings saturates a CPU core and starves +# the GUI thread's ability to service the Qt event loop (sluggish/unresponsive +# controls app-wide, not just in the camera window). +_MAX_TRACK_HZ = 20 + +# Consecutive failed cap.read() calls before giving up on a real camera and +# falling back to simulation — ~1.5s at the 50ms failed-read retry spacing +# below. Some backends (Windows MSMF/obsensor observed) report a camera as +# opened even when the stream never actually delivers frames. +_MAX_READ_FAILURES = 30 _BG_COLOR = (17, 22, 40) _GRID_COLOR = (42, 53, 88) _DOT_COLOR = (0, 212, 255) @@ -129,7 +143,17 @@ class CameraTracker: def start(self, camera_index: int = 0, resolution: Optional[Tuple[int, int]] = None, - fps: Optional[int] = None) -> bool: + fps: Optional[int] = None, + on_result: Optional[Callable[[bool], None]] = None) -> bool: + """Start capture. Returns True immediately — always non-blocking. + + cv2.VideoCapture(camera_index) can block for seconds (driver/backend + enumeration, especially on Windows), so opening the camera happens + on the background thread, not here — calling this synchronously + during e.g. profile load used to freeze the whole app. `on_result`, + if given, is called from that thread once the outcome is known: + on_result(True) for simulated/fallback, on_result(False) for a real + camera that opened successfully.""" self.stop() self._running = True @@ -138,8 +162,24 @@ class CameraTracker: self._simulated = True self._thread = threading.Thread(target=self._run_sim, daemon=True) self._thread.start() + if on_result: + on_result(True) return True + self._thread = threading.Thread( + target=self._open_and_run, + args=(camera_index, resolution, fps, on_result), + daemon=True, + ) + self._thread.start() + return True + + def _open_and_run(self, camera_index: int, + resolution: Optional[Tuple[int, int]], + fps: Optional[int], + on_result: Optional[Callable[[bool], None]]): + """Runs on the background thread: opens the camera (the slow part), + then falls into the real or simulated read loop in place.""" try: import cv2 cap = cv2.VideoCapture(camera_index) @@ -148,7 +188,23 @@ class CameraTracker: cap.set(cv2.CAP_PROP_FRAME_HEIGHT, resolution[1]) if fps: cap.set(cv2.CAP_PROP_FPS, fps) + + # isOpened() alone isn't enough — some backends (seen with + # Windows MSMF/obsensor) report a device as open even when it + # can't actually deliver frames, e.g. a stale camera_index from + # a profile saved on a different machine. Confirm with a real + # read before committing, or _run_real would otherwise loop + # forever hammering a broken handle. + opened = False if cap.isOpened(): + for _ in range(5): + ret, _ = cap.read() + if ret: + opened = True + break + time.sleep(0.05) + + if opened: with self._lock: self._cap = cap self._simulated = False @@ -157,18 +213,19 @@ class CameraTracker: self._ot = None self._template_bgr = None self._template_mask = None - self._thread = threading.Thread( - target=self._run_real, daemon=True) - self._thread.start() - return True - except ImportError: + if on_result: + on_result(False) + self._run_real(on_result) + return + cap.release() + except Exception: pass with self._lock: self._simulated = True - self._thread = threading.Thread(target=self._run_sim, daemon=True) - self._thread.start() - return True + if on_result: + on_result(True) + self._run_sim() def stop(self): self._running = False @@ -329,10 +386,13 @@ class CameraTracker: # ── Background loops ────────────────────────────────────────────────── - def _run_real(self): + def _run_real(self, on_result: Optional[Callable[[bool], None]] = None): import cv2 t_prev = time.monotonic() + fail_count = 0 while self._running: + t_iter_start = time.monotonic() + with self._lock: cap = self._cap if cap is None: @@ -340,8 +400,25 @@ class CameraTracker: ret, bgr = cap.read() if not ret: + fail_count += 1 + # The initial test-read in _open_and_run already screens out + # cameras that never work, but a device can also die mid- + # session (unplugged, driver fault) — without this, a broken + # handle gets hammered forever, spamming OpenCV errors and + # burning CPU/GIL time the whole app needs. + if fail_count >= _MAX_READ_FAILURES: + with self._lock: + if self._cap is not None: + self._cap.release() + self._cap = None + self._simulated = True + if on_result: + on_result(True) + self._run_sim() + return time.sleep(0.05) continue + fail_count = 0 rgb = cv2.cvtColor(bgr, cv2.COLOR_BGR2RGB) @@ -383,6 +460,11 @@ class CameraTracker: with self._lock: self._frame = rgb + elapsed = time.monotonic() - t_iter_start + remaining = (1.0 / _MAX_TRACK_HZ) - elapsed + if remaining > 0: + time.sleep(remaining) + def _run_sim(self): t0 = time.monotonic() t_prev = t0 |