Decouple display and recording in recv_raw_rolling.py
- Add --record-fps parameter for independent recording frame rate control - Separate display and recording buffers (display_buffer_obj, record_buffer_obj) - Enable recording without display and vice versa - Independent throttling for display and recording operations - Improve code organization and cleanup handling
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yair
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d3ee5d998e
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743bfb8323
@ -29,12 +29,15 @@ parser.add_argument('--no-display', action='store_true',
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parser.add_argument('--display-fps', type=int, default=0,
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help='Limit display refresh rate (0=every frame, 60=60fps, etc). Reduces cv2.imshow() overhead while receiving all frames')
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parser.add_argument('--save-mjpeg', type=str, default=None,
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help='Save rolling display to MJPEG video file (e.g., output.avi). Uses display-fps if set, otherwise 30 fps')
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help='Save rolling display to MJPEG video file (e.g., output.avi). Works independently of display')
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parser.add_argument('--record-fps', type=int, default=30,
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help='Recording frame rate for --save-mjpeg (default: 30 fps). Independent of display-fps')
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args = parser.parse_args()
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# Import OpenCV only if display is enabled
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# Import OpenCV only if display or recording is enabled
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ENABLE_DISPLAY = not args.no_display
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if ENABLE_DISPLAY:
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ENABLE_RECORDING = args.save_mjpeg is not None
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if ENABLE_DISPLAY or ENABLE_RECORDING:
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import cv2
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# Debug flag - set to True to see frame reception details
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@ -75,33 +78,45 @@ if ENABLE_DISPLAY:
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else:
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print(f"Display: ENABLED - Rolling display ({DISPLAY_WIDTH}x{DISPLAY_HEIGHT}) @ full rate")
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else:
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print(f"Display: DISABLED - Stats only mode (max performance)")
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print(f"Display: DISABLED")
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if ENABLE_RECORDING:
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print(f"Recording: ENABLED - {args.save_mjpeg} @ {args.record_fps} fps")
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else:
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print(f"Recording: DISABLED")
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if DEBUG:
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print(f"Expected frame size: {FRAME_SIZE} bytes")
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# Initialize display if enabled
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display_buffer_obj = None
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display_current_column = 0
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last_display_time = 0
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display_interval = 0
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if ENABLE_DISPLAY:
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cv2.namedWindow("Rolling Column Stream", cv2.WINDOW_NORMAL)
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rolling_buffer = np.zeros((DISPLAY_HEIGHT, DISPLAY_WIDTH, CHANNELS), dtype=np.uint8)
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current_column = 0
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display_buffer_obj = np.zeros((DISPLAY_HEIGHT, DISPLAY_WIDTH, CHANNELS), dtype=np.uint8)
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# Display throttling support
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if args.display_fps > 0:
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display_interval = 1.0 / args.display_fps # seconds between display updates
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last_display_time = 0
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else:
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display_interval = 0 # Update every frame
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last_display_time = 0
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# Initialize recording if enabled (independent of display)
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record_buffer_obj = None
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record_current_column = 0
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last_record_time = 0
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record_interval = 0
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video_writer = None
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if ENABLE_RECORDING:
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record_buffer_obj = np.zeros((DISPLAY_HEIGHT, DISPLAY_WIDTH, CHANNELS), dtype=np.uint8)
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record_interval = 1.0 / args.record_fps if args.record_fps > 0 else 0
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# MJPEG video writer setup
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video_writer = None
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if args.save_mjpeg:
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# Use display-fps if set, otherwise default to 30 fps for video
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video_fps = args.display_fps if args.display_fps > 0 else 30
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fourcc = cv2.VideoWriter_fourcc(*'MJPG')
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video_writer = cv2.VideoWriter(args.save_mjpeg, fourcc, video_fps,
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(DISPLAY_WIDTH, DISPLAY_HEIGHT))
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print(f"Recording to: {args.save_mjpeg} @ {video_fps} fps")
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fourcc = cv2.VideoWriter_fourcc(*'MJPG')
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video_writer = cv2.VideoWriter(args.save_mjpeg, fourcc, args.record_fps,
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(DISPLAY_WIDTH, DISPLAY_HEIGHT))
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print(f"Recording initialized: {args.save_mjpeg} @ {args.record_fps} fps")
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frame_count = 0
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@ -157,24 +172,22 @@ while True:
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print(status)
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if ENABLE_DISPLAY:
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# Parse the incoming data - ALWAYS process every frame
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# Parse the incoming data - process for display and/or recording
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if ENABLE_DISPLAY or ENABLE_RECORDING:
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# Receiving 2456x1 line directly - reshape as a vertical column
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# Input is 2456 pixels wide x 1 pixel tall, we want it as 2456 tall x 1 wide
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frame = np.frombuffer(data, dtype=np.uint8).reshape((COLUMN_HEIGHT, COLUMN_WIDTH, CHANNELS))
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# Transpose to vertical and flip to correct 180-degree rotation: (1, 2456, 3) -> (2456, 1, 3) flipped
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column = frame.transpose(1, 0, 2)[::-1]
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# Insert the single column into the rolling buffer at the current position
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# Rolling from right to left to correct horizontal flip
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rolling_buffer[:, current_column:current_column+1, :] = column
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# Move to the next column position (right to left), wrapping around when reaching the start
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current_column = (current_column - 1) % DISPLAY_WIDTH
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# Update display buffer and show if enabled
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if ENABLE_DISPLAY:
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# Insert the single column into the display rolling buffer
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display_buffer_obj[:, display_current_column:display_current_column+1, :] = column
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display_current_column = (display_current_column - 1) % DISPLAY_WIDTH
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# Display throttling: only refresh display at specified rate
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# This reduces cv2.imshow() / cv2.waitKey() overhead while keeping all data
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should_display = True
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if args.display_fps > 0:
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if current_time - last_display_time >= display_interval:
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@ -185,23 +198,40 @@ while True:
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if should_display:
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# Flip horizontally for display to correct orientation (using efficient slicing)
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display_buffer = rolling_buffer[:, ::-1]
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# Display the rolling buffer (clean, no overlays)
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cv2.imshow("Rolling Column Stream", display_buffer)
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# Write frame to video if recording
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if video_writer is not None:
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video_writer.write(display_buffer)
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display_frame = display_buffer_obj[:, ::-1]
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cv2.imshow("Rolling Column Stream", display_frame)
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if cv2.waitKey(1) == 27: # ESC to quit
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break
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else:
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# No display mode - just validate the data can be reshaped
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# Update recording buffer and write if enabled (independent of display)
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if ENABLE_RECORDING:
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# Insert the single column into the recording rolling buffer
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record_buffer_obj[:, record_current_column:record_current_column+1, :] = column
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record_current_column = (record_current_column - 1) % DISPLAY_WIDTH
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# Recording throttling: only write frames at specified rate
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should_record = True
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if record_interval > 0:
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if current_time - last_record_time >= record_interval:
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last_record_time = current_time
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should_record = True
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else:
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should_record = False
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if should_record and video_writer is not None:
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# Flip horizontally for recording to correct orientation
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record_frame = record_buffer_obj[:, ::-1]
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video_writer.write(record_frame)
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# For stats-only mode, just validate the data can be reshaped
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if not ENABLE_DISPLAY and not ENABLE_RECORDING:
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frame = np.frombuffer(data, dtype=np.uint8).reshape((COLUMN_HEIGHT, COLUMN_WIDTH, CHANNELS))
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# Cleanup
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if video_writer is not None:
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video_writer.release()
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print(f"Video saved: {args.save_mjpeg}")
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if ENABLE_DISPLAY:
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if video_writer is not None:
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video_writer.release()
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print(f"Video saved: {args.save_mjpeg}")
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cv2.destroyAllWindows()
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