Add UDP control protocol and IDS camera scripts
- Added UDP_CONTROL_PROTOCOL.md documenting the UDP control interface - Added launch-ids.py for IDS camera control - Added test_exposure_control.py for testing exposure settings - Added udp_backup.reg for UDP configuration backup - Added visualize_line_realtime.py for real-time visualization - Updated .gitignore and ROLLINGSUM_GUIDE.md - Removed ini/200fps-2456x4pix-cw.ini configuration file
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yair
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scripts/visualize_line_realtime.py
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206
scripts/visualize_line_realtime.py
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#!/usr/bin/env python3
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# /// script
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# requires-python = ">=3.8"
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# dependencies = [
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# "numpy>=1.24.0",
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# "matplotlib>=3.7.0",
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# ]
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# ///
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"""
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Real-time Line Visualization for Camera Data
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Displays RGB/BGR channel values across the line width in real-time
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Usage: uv run visualize_line_realtime.py [--format BGR|RGB] [--port 5000]
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"""
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import socket
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import numpy as np
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import matplotlib.pyplot as plt
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import matplotlib.animation as animation
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import argparse
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from collections import deque
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# Parse arguments
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parser = argparse.ArgumentParser(description='Real-time line channel visualization')
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parser.add_argument('--format', type=str, default='BGR', choices=['BGR', 'RGB'],
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help='Input format (default: BGR)')
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parser.add_argument('--port', type=int, default=5000,
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help='UDP port (default: 5000)')
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parser.add_argument('--width', type=int, default=2456,
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help='Line width in pixels (default: 2456)')
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parser.add_argument('--fps-limit', type=int, default=30,
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help='Maximum display fps (default: 30)')
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args = parser.parse_args()
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# Stream parameters
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LINE_WIDTH = args.width
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LINE_HEIGHT = 1
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CHANNELS = 3
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FRAME_SIZE = LINE_WIDTH * LINE_HEIGHT * CHANNELS
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UDP_IP = "0.0.0.0"
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UDP_PORT = args.port
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# Create UDP socket with minimal buffer to avoid buffering old packets
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sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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sock.setsockopt(socket.SOL_SOCKET, socket.SO_RCVBUF, 65536) # Minimal buffer (64KB)
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sock.setblocking(False) # Non-blocking for animation
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sock.bind((UDP_IP, UDP_PORT))
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print(f"Receiving {LINE_WIDTH}x{LINE_HEIGHT} {args.format} on UDP port {UDP_PORT}")
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print(f"Display update rate: {args.fps_limit} fps max")
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print("Close the plot window to exit")
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# Initialize plot
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fig, axes = plt.subplots(2, 1, figsize=(15, 8))
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fig.suptitle(f'Real-time {args.format} Channel Visualization - Line Sensor',
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fontsize=14, fontweight='bold')
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# Channel order based on format
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if args.format == 'BGR':
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channel_names = ['Blue', 'Green', 'Red']
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channel_colors = ['b', 'g', 'r']
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channel_indices = [0, 1, 2] # BGR order
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else: # RGB
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channel_names = ['Red', 'Green', 'Blue']
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channel_colors = ['r', 'g', 'b']
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channel_indices = [0, 1, 2] # RGB order
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# Initialize line data
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x_data = np.arange(LINE_WIDTH)
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y_data = [np.zeros(LINE_WIDTH) for _ in range(CHANNELS)]
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y_grayscale = np.zeros(LINE_WIDTH) # Combined grayscale
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# Top plot - GRAYSCALE ONLY
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line_gray, = axes[0].plot(x_data, y_grayscale, 'k-', linewidth=1.0)
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axes[0].set_xlim(0, LINE_WIDTH)
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axes[0].set_ylim(0, 255)
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axes[0].set_xlabel('Pixel Position')
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axes[0].set_ylabel('Grayscale Value')
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axes[0].set_title('Grayscale (Luminance-weighted)')
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axes[0].grid(True, alpha=0.3)
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# Bottom plot - RGB/BGR channels with color
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lines_separate = []
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for i in range(CHANNELS):
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line, = axes[1].plot(x_data, y_data[i], channel_colors[i] + '-',
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label=channel_names[i], alpha=0.7, linewidth=0.8)
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lines_separate.append(line)
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axes[1].set_xlim(0, LINE_WIDTH)
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axes[1].set_ylim(0, 255)
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axes[1].set_xlabel('Pixel Position')
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axes[1].set_ylabel('Pixel Value')
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axes[1].set_title(f'{args.format} Channels: {" | ".join(channel_names)}')
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axes[1].legend(loc='upper right')
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axes[1].grid(True, alpha=0.3)
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# Statistics text
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stats_text = axes[0].text(0.02, 0.98, '', transform=axes[0].transAxes,
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verticalalignment='top', fontfamily='monospace',
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fontsize=9, bbox=dict(boxstyle='round', facecolor='wheat', alpha=0.5))
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# Frame counter
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frame_count = [0]
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last_update = [0]
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fps_buffer = deque(maxlen=30)
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# Animation update function
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def update_plot(frame):
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"""Update plot with new UDP data"""
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import time
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current_time = time.time()
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# Rate limiting
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if args.fps_limit > 0:
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min_interval = 1.0 / args.fps_limit
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if current_time - last_update[0] < min_interval:
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return [line_gray] + lines_separate + [stats_text]
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# Drain all buffered packets and only use the latest one
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latest_data = None
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packets_drained = 0
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try:
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# Read all available packets, keep only the last one
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while True:
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try:
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data, addr = sock.recvfrom(65536)
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if len(data) == FRAME_SIZE:
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latest_data = data
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packets_drained += 1
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except BlockingIOError:
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# No more packets available
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break
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# Only process if we got valid data
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if latest_data is None:
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return [line_gray] + lines_separate + [stats_text]
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# Parse frame
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line_data = np.frombuffer(latest_data, dtype=np.uint8).reshape((LINE_HEIGHT, LINE_WIDTH, CHANNELS))
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# Extract channels based on format
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for i in range(CHANNELS):
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y_data[i] = line_data[0, :, channel_indices[i]]
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# Calculate grayscale (luminance using standard weights for RGB)
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# For BGR: weights are [0.114, 0.587, 0.299]
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# For RGB: weights are [0.299, 0.587, 0.114]
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if args.format == 'BGR':
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y_grayscale = (0.114 * y_data[0] + 0.587 * y_data[1] + 0.299 * y_data[2])
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else: # RGB
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y_grayscale = (0.299 * y_data[0] + 0.587 * y_data[1] + 0.114 * y_data[2])
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# Update top plot (grayscale only)
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line_gray.set_ydata(y_grayscale)
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# Update bottom plot (RGB/BGR channels)
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for i, line in enumerate(lines_separate):
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line.set_ydata(y_data[i])
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# Calculate statistics
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stats = []
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for i in range(CHANNELS):
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ch_data = y_data[i]
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stats.append(f"{channel_names[i]:5s}: min={ch_data.min():3d} max={ch_data.max():3d} "
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f"mean={ch_data.mean():6.2f} std={ch_data.std():6.2f}")
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# Add grayscale stats
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stats.append(f"Gray : min={y_grayscale.min():6.2f} max={y_grayscale.max():6.2f} "
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f"mean={y_grayscale.mean():6.2f} std={y_grayscale.std():6.2f}")
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# Calculate FPS
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frame_count[0] += 1
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if last_update[0] > 0:
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fps = 1.0 / (current_time - last_update[0])
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fps_buffer.append(fps)
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avg_fps = np.mean(fps_buffer)
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else:
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avg_fps = 0
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last_update[0] = current_time
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# Update stats text
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stats_str = f"Frame: {frame_count[0]} FPS: {avg_fps:.1f}\n" + "\n".join(stats)
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stats_text.set_text(stats_str)
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except BlockingIOError:
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# No data available
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pass
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except Exception as e:
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print(f"Error: {e}")
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return [line_gray] + lines_separate + [stats_text]
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# Set up animation with blit for better performance
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ani = animation.FuncAnimation(fig, update_plot, interval=10, blit=True, cache_frame_data=False)
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plt.tight_layout()
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plt.show()
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# Cleanup
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sock.close()
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print(f"\nReceived {frame_count[0]} frames total")
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