diff --git a/b b/b
index f357a09457a5acd2704bffe3d9b0de6e2d73f7b2..ae17fc6dacf86b63b3f2ef65f819145c0fc3b94c 160000
--- a/b
+++ b/b
@@ -1 +1 @@
-Subproject commit f357a09457a5acd2704bffe3d9b0de6e2d73f7b2
+Subproject commit ae17fc6dacf86b63b3f2ef65f819145c0fc3b94c
diff --git a/dox/Screenshot_camtron1_ip.png b/dox/Screenshot_camtron1_ip.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe4c891310e1dbc0c429bf15e68a6de97f045199
Binary files /dev/null and b/dox/Screenshot_camtron1_ip.png differ
diff --git a/dox/general_questions b/dox/general_questions
deleted file mode 100644
index 6caacafb9d14487f471efdde0fc1b2c0117ca2f9..0000000000000000000000000000000000000000
--- a/dox/general_questions
+++ /dev/null
@@ -1,9 +0,0 @@
-> !! if beetle runs in circle it is in "escape/panic mode" which doesn't represent "natural" behaviour (explore, forage, quick move from a to b)
- -> think about different setup. Bigger Arena?
---> ! beetle needs to be small enough to not be limited by constrained size of the arena
-
-> how much time for beetle to calm down / aclimatize? 10mins?
-> 10 minutes is enough to analyze movement
-> 8 fps could be enough to reduce mean error
-
-
diff --git a/dox/misc2 b/dox/misc2
index cfbef0425eee563e012a5b9b0d0cd2e6075031e9..0aa41073fce1a7b663bd30eb18be4e470ea465e4 100644
--- a/dox/misc2
+++ b/dox/misc2
@@ -39,10 +39,14 @@ check:
## Emilio general critique
###############################
- > !! if beetle runs in circle it is in "escape mode" which doesnt represent "natural" behaviour (explore, quick move from a to b)
- -> think about different setup. Bigger Arena?
- > fps can be low. Try 3!
+> !! if beetle runs in circle it is in "escape/panic mode" which doesn't represent "natural" behaviour (explore, forage, quick move from a to b)
+ -> think about different setup. Bigger Arena?
+--> ! beetle needs to be small enough to not be limited by constrained size of the arena
+
+> how much time for beetle to calm down / aclimatize? 10mins?
+> 10 minutes is enough to analyze movement
+> 8 fps could be enough to reduce mean error
Depends on movement speed and estimated error
calc error by comparing distance of 40fps with 3fps
- > duration of video can be short. eg 10 minutes.
- -> no need for many fridges
+
+
diff --git a/dox/notes_b b/dox/notes_b
index a703a4d9abe3444563bd0a17f0691531a7a4ad81..2cde7a482a1d497600b5053c4e82e8f7b57dd39f 100644
--- a/dox/notes_b
+++ b/dox/notes_b
@@ -9,6 +9,9 @@ Does
use opencv to convert raw cam images into JPEG pixel format
###############################
+convert timestamp in ns
+date +%F_%T -d @$(echo 2246782775624200 / 1000000000 | bc)
+
VmbSystem::RegisterCameraListObserver
diff --git a/dox/scrap b/dox/scrap
index 2ab804b197acedab18995487fc63c7417ea858c0..655c459a733682d5b7d87dacae61835cfd84f844 100644
--- a/dox/scrap
+++ b/dox/scrap
@@ -1,273 +1,22 @@
-use as cali?
-sightcalibrator/jammy 21.0.0-4 amd64
- Camera calibration software
- ###############################console non block input + read user input
- // // Non-blocking input
-#include <unistd.h>
-#include <fcntl.h>
-void setNonBlockingMode() {
- int flags = fcntl(STDIN_FILENO, F_GETFL, 0);
- if (flags != -1) {
- fcntl(STDIN_FILENO, F_SETFL, flags | O_NONBLOCK);
- }
-}
-void restoreBlockingMode() {
- int flags = fcntl(STDIN_FILENO, F_GETFL, 0);
- if (flags != -1) {
- fcntl(STDIN_FILENO, F_SETFL, flags & ~O_NONBLOCK);
- }
-}
-////would need to change
-setNonBlockingMode();
-std::string input;
-char c;
-bool hasInput = false;
-
-while (running) {
- // Check if there's any input available
- if (read(STDIN_FILENO, &c, 1) > 0) {
- // Append the character to the input string
- input.push_back(c);
- hasInput = true;
- } else if (hasInput) {
- // If there was previous input and no more input available,
- // process the input
- if (input == "q\n") { // Check for 'q' followed by newline
- qDebug() << "User requested exit";
- running = false;
- QMetaObject::invokeMethod(qApp, "quit", Qt::QueuedConnection);
- break;
- } else if (!input.empty()) {
- // Process the input here
- qDebug() << "Received input:" << QString::fromStdString(input);
- }
- input.clear(); // Clear the input buffer
- hasInput = false;
- }
- // Add a small delay to avoid busy-waiting
- QThread::msleep(100);
- }
-
- restoreBlockingMode(); // Revert back to blocking mode before exiting
-
-###############################
-QString randomString()
-{
- QStringList list{"a", "b", "c", "d", "e", "f", "g"};
- //, "h", "i", "j", "k", "l", "m"};
- std::random_device rd;
- std::mt19937 g(rd());
- std::shuffle(list.begin(), list.end(), g);
- QString randomString = list.join("");
- qDebug() << "Random string:" << randomString;
- return randomString;
-}
-
-bool maybeCreateDir(QDir out_dir)
-{
- if( !out_dir.exists() )
- {
- qDebug() << "out_dir (" << out_dir.absolutePath() << ") doesn't exist. Should I Create it? ['y'-yes, '?'-no]";
- char c='y';
- std::cin >> c;
- if( c == 'y' )
- {
- qDebug() << "u pressed yes";
- if( out_dir.mkpath(out_dir.absolutePath())) {
- qDebug() << "created out_dir";
- }
- else
- {
- std::cerr << "failed to create out_dir '" << out_dir.absolutePath().toStdString() << "'" << std::endl;
- return false;
- }
- }
- else
- {
- qDebug() << "u pressed no";
- return false;
- }
- }
- qDebug() << "out_dir: " << out_dir.dirName();
- return true;
-}
###############################
-updateCameras()
- // CameraPtrVector vmbCameras;
- // if ( f(_sys.GetCameras( vmbCameras ), "update cameras") )
- // return;
-
- // if( (int)vmbCameras.size() != ncam() ) //update number of cameras
- // error(QString("Expected %1 cams!").arg(ncam()),errLessCamsThanExpected); //XXX warning
-
- // // vector< shared_ptr<Camera> > vmbCameras
- // // vector< shared_ptr<Cam> > _cameras
-
- // // Add new cameras
- // for (const auto& vcam : vmbCameras)
- // {
- // bool found = false;
- // for (const auto& cam : _cameras)
- // {
- // if (cam->getCameraPtr() == vcam)
- // {
- // found = true;
- // break;
- // }
- // }
- // if (!found)
- // {
- // _cameras.push_back(std::make_shared<Cam>(vcam)); //create Cam() from CameraPtr vcam
- // print(QString("cam connected: %1").arg(_cameras.back()->id()));
- // }
- // }
-
- // // Remove cameras that are no longer present
- // auto it = _cameras.begin();
- // while (it != _cameras.end())
- // {
- // // qDebug() << "check " << (*it)->id();
-
- // bool found = false;
- // for (const auto& vcam : vmbCameras)
- // {
- // if ((*it)->getCameraPtr() == vcam)
- // {
- // found = true;
- // ++it;
- // break;
- // }
- // }
-
- // if (!found)
- // {
- // qDebug() << __LINE__ << "-" << __PRETTY_FUNCTION__ << " !!! ";
- // print({"cam disconnected",(*it)->id()});
- // it = _cameras.erase(it);
- // }
- // }
-} // now ~Camera() should be called on removed cams. >> triggers camObserver
-
-//###############################
-//
-// We create a FrameProcessor class that subclasses QObject and defines a slot processFrame() to handle frame processing.
-// We create a FrameObserver class that subclasses IFrameObserver. In its constructor, we create an instance of FrameProcessor and move it to a worker thread.
-// We connect the FrameObserver::frameReceived signal to the FrameProcessor::processFrame slot, so frame processing happens asynchronously in the worker thread.
-// In the FrameObserver::FrameReceived function, we emit the frameReceived signal with the received frame, triggering asynchronous frame processing.
-//
-// This way, frame processing occurs asynchronously in another thread, separate from the GUI thread. Adjust the code as needed to fit your application's requirements.
-//
-//###############################
-#include <QtCore>
-#include <VimbaCPP/Include/VimbaCPP.h>
-#include <opencv2/opencv.hpp>
-
-using namespace AVT::VmbAPI;
-
-class FrameProcessor : public QObject
-{
- Q_OBJECT
-
-public slots:
- void processFrame(FramePtr pFrame)
- {
- VmbUint64_t timestamp;
- if (VmbErrorSuccess == pFrame->GetTimestamp(timestamp))
- {
- // Convert timestamp to QDateTime for better handling with Qt
- QDateTime dateTime = QDateTime::fromMSecsSinceEpoch(timestamp / 1000);
-
- // Convert QDateTime to a string format
- QString timestampStr = dateTime.toString("yyyy-MM-dd_HH-mm-ss");
-
- // Process the frame
- VmbUchar_t *buffer;
- if (VmbErrorSuccess == pFrame->GetImage(buffer))
- {
- int width, height;
- VmbUint32_t imageSize;
- pFrame->GetWidth(width);
- pFrame->GetHeight(height);
- pFrame->GetImageSize(imageSize);
-
- cv::Mat image(height, width, CV_8UC1, buffer);
-
- // Save the frame with timestamp using Qt functions
- QString filename = "camera_image_" + timestampStr + ".jpg";
- cv::imwrite(filename.toStdString(), image);
- }
- }
- }
-};
-
-class FrameObserver : public IFrameObserver
-{
-public:
- FrameObserver(CameraPtr pCamera, QObject *parent = nullptr) : IFrameObserver(pCamera), m_processor(new FrameProcessor), m_thread(new QThread(parent))
- {
- m_processor->moveToThread(m_thread);
- connect(this, &FrameObserver::frameReceived, m_processor, &FrameProcessor::processFrame);
- m_thread->start();
- }
-
- ~FrameObserver()
- {
- m_thread->quit();
- m_thread->wait();
- delete m_thread;
- }
-
- void FrameReceived(const FramePtr pFrame) override
- {
- emit frameReceived(pFrame);
- }
-
-signals:
- void frameReceived(FramePtr pFrame);
-
-private:
- FrameProcessor *m_processor;
- QThread *m_thread;
-};
+## unplanned termination (ctrl-c, kill)
+// std::signal(SIGINT, signalHandler);
+// std::signal(SIGTERM, signalHandler);
###############################
-## FrameReceived with storing images along with timestamps
-#include <QtCore>
-#include <VimbaCPP/Include/VimbaCPP.h>
-#include <opencv2/opencv.hpp>
-
-using namespace AVT::VmbAPI;
-
-void FrameObserver::FrameReceived(const FramePtr pFrame)
-{
- VmbUint64_t timestamp;
- if (VmbErrorSuccess == pFrame->GetTimestamp(timestamp))
- {
- // Convert timestamp to QDateTime for better handling with Qt
- QDateTime dateTime = QDateTime::fromMSecsSinceEpoch(timestamp / 1000);
-
- // Convert QDateTime to a string format
- QString timestampStr = dateTime.toString("yyyy-MM-dd_HH-mm-ss");
-
- // Process the frame
- VmbUchar_t *buffer;
- if (VmbErrorSuccess == pFrame->GetImage(buffer))
- {
- int width, height;
- VmbUint32_t imageSize;
- pFrame->GetWidth(width);
- pFrame->GetHeight(height);
- pFrame->GetImageSize(imageSize);
-
- cv::Mat image(height, width, CV_8UC1, buffer);
-
- // Save the frame with timestamp using Qt functions
- QString filename = "camera_image_" + timestampStr + ".jpg";
- cv::imwrite(filename.toStdString(), image);
- }
- }
-}
+## limit THREADS
+//use tools to analyze
+// gdb -p <pid>
+// or
+// info threads
+// strace -f -p <pid>
+// int idealThreadCount = QThread::idealThreadCount();
+// int threadPoolMaxCount = QThreadPool::globalInstance()->maxThreadCount();
+// QThreadPool::globalInstance()->setMaxThreadCount(idealThreadCount);
+
+// qDebug() << "Ideal Thread Count:" << idealThreadCount;
+// qDebug() << "Thread Pool Max Count:" << threadPoolMaxCount;
###############################
## IsCommandDone
@@ -284,342 +33,3 @@ err = feature->RunCommand();
} while (commandDone == false);
}
###############################
-
-#include <VimbaC/Include/VimbaC.h>
-#include <iostream>
-#include <chrono>
-
-using namespace std;
-using namespace chrono;
-
-class Camera {
-public:
- Camera();
- ~Camera();
-
- bool initialize();
- bool open();
- void close();
- bool startCapture();
- void stopCapture();
- bool captureFrame();
-
-private:
- VmbHandle_t cameraHandle;
-};
-
-Camera::Camera() : cameraHandle(nullptr) {}
-
-Camera::~Camera() {
- close();
-}
-
-bool Camera::initialize() {
- return VmbErrorSuccess == VmbStartup();
-}
-
-bool Camera::open() {
- VmbError_t err;
-
- VmbCameraInfo_t* pCameraList = nullptr;
- VmbUint32_t nCount = 0;
-
- err = VmbCamerasList(nullptr, 0, &nCount, sizeof(VmbCameraInfo_t));
- if (err != VmbErrorSuccess || nCount == 0) {
- cout << "No cameras found or error listing cameras" << endl;
- return false;
- }
-
- pCameraList = new VmbCameraInfo_t[nCount];
- err = VmbCamerasList(pCameraList, nCount, &nCount, sizeof(VmbCameraInfo_t));
- if (err != VmbErrorSuccess) {
- cout << "Error retrieving camera list" << endl;
- delete[] pCameraList;
- return false;
- }
-
- if (nCount == 0) {
- cout << "No cameras found" << endl;
- delete[] pCameraList;
- return false;
- }
-
- err = VmbCameraOpen(pCameraList[0].cameraIdString, VmbAccessModeFull, &cameraHandle);
- delete[] pCameraList;
-
- return err == VmbErrorSuccess;
-}
-
-void Camera::close() {
- if (cameraHandle != nullptr) {
- VmbCameraClose(cameraHandle);
- cameraHandle = nullptr;
- }
-}
-
-bool Camera::startCapture() {
- return VmbErrorSuccess == VmbCaptureStart(cameraHandle);
-}
-
-void Camera::stopCapture() {
- VmbCaptureEnd(cameraHandle);
-}
-
-bool Camera::captureFrame() {
- VmbError_t err;
-
- VmbFrame_t frame;
- err = VmbFrameAnnounce(cameraHandle, &frame, sizeof(VmbFrame_t));
- if (err != VmbErrorSuccess) {
- cout << "Error announcing frame" << endl;
- return false;
- }
-
- err = VmbCaptureFrameQueue(cameraHandle, &frame, nullptr);
- if (err != VmbErrorSuccess) {
- cout << "Error queuing frame" << endl;
- return false;
- }
-
- err = VmbCaptureFrameWait(cameraHandle, &frame, VMB_INFINITE);
- if (err != VmbErrorSuccess) {
- cout << "Error waiting for frame" << endl;
- return false;
- }
-
- // Get timestamp
- VmbUint64_t timestamp;
- err = VmbFrameGetTimestamp(cameraHandle, frame, ×tamp);
- if (err == VmbErrorSuccess) {
- auto duration = duration_cast<milliseconds>(nanoseconds(timestamp));
- cout << "Frame captured at timestamp: " << duration.count() << "ms" << endl;
- }
-
- err = VmbFrameRevoke(cameraHandle, &frame);
- if (err != VmbErrorSuccess) {
- cout << "Error revoking frame" << endl;
- return false;
- }
-
- return true;
-}
-
-int main() {
- Camera camera;
-
- if (!camera.initialize()) {
- cout << "Failed to initialize Vimba" << endl;
- return -1;
- }
-
- if (!camera.open()) {
- cout << "Failed to open camera" << endl;
- return -1;
- }
-
- if (!camera.startCapture()) {
- cout << "Failed to start capture" << endl;
- return -1;
- }
-
- // Capture frames and perform processing
-
- // For demonstration purposes, let's capture 10 frames
- for (int i = 0; i < 10; ++i) {
- if (!camera.captureFrame()) {
- cout << "Error capturing frame" << endl;
- break;
- }
- // Add your processing logic here
- }
-
- camera.stopCapture();
- camera.close();
-
- VmbShutdown();
-
- return 0;
-}
-
-###############################
-#include <QCoreApplication>
-#include <QDebug>
-#include <QString>
-#include <QDateTime>
-#include <QThread>
-#include <VimbaC/Include/VimbaC.h>
-#include <opencv2/opencv.hpp>
-
-class VimbaCamera : public QObject {
- Q_OBJECT
-
-public:
- VimbaCamera(QObject *parent = nullptr);
- ~VimbaCamera();
-
- bool initialize();
- bool open();
- void close();
- bool startCapture();
- void stopCapture();
- bool captureFrame();
-
-signals:
- void frameCaptured(const QString ×tamp, const cv::Mat &image);
-
-private:
- VmbHandle_t cameraHandle;
- VmbFrame_t frame;
- // Add other camera-related members here
-};
-
-VimbaCamera::VimbaCamera(QObject *parent) : QObject(parent), cameraHandle(nullptr) {}
-
-VimbaCamera::~VimbaCamera() {
- close();
-}
-
-bool VimbaCamera::initialize() {
- return VmbErrorSuccess == VmbStartup();
-}
-
-bool VimbaCamera::open() {
- VmbError_t err;
-
- // Add code to list and open the Vimba camera
- // ...
-
- return err == VmbErrorSuccess;
-}
-
-void VimbaCamera::close() {
- if (cameraHandle != nullptr) {
- // Add code to close the Vimba camera
- // ...
- cameraHandle = nullptr;
- }
-}
-
-bool VimbaCamera::startCapture() {
- VmbError_t err;
-
- // Add code to configure camera settings for capturing
- // ...
-
- // Announce the frame
- err = VmbFrameAnnounce(cameraHandle, &frame, sizeof(VmbFrame_t));
- if (err != VmbErrorSuccess) {
- qDebug() << "Error announcing frame";
- return false;
- }
-
- // Add code to start capturing frames using Vimba API
- // ...
-
- return true;
-}
-
-void VimbaCamera::stopCapture() {
- // Add code to stop capturing frames using Vimba API
- // ...
-
- // Revoke the frame
- VmbError_t err = VmbFrameRevoke(cameraHandle, &frame);
- if (err != VmbErrorSuccess) {
- qDebug() << "Error revoking frame";
- }
-}
-
-bool VimbaCamera::captureFrame() {
- VmbError_t err;
-
- // Add code to capture a frame with timestamp using Vimba API
- // ...
-
- err = VmbCaptureFrameWait(cameraHandle, &frame, VMB_INFINITE);
- if (err != VmbErrorSuccess) {
- qDebug() << "Error waiting for frame";
- return false;
- }
-
- // Get timestamp
- VmbUint64_t timestamp;
- err = VmbFrameGetTimestamp(cameraHandle, frame, ×tamp);
- if (err == VmbErrorSuccess) {
- auto duration = QDateTime::fromMSecsSinceEpoch(timestamp / 1000000); // Convert microseconds to milliseconds
- qDebug() << "Frame captured at timestamp:" << duration.toString("yyyy-MM-dd hh:mm:ss.zzz");
-
- // Convert the frame to a QImage and emit the signal
- cv::Mat image(frame.height, frame.width, CV_8UC1, frame.buffer);
- emit frameCaptured(duration.toString("yyyy-MM-dd_hhmmsszzz"), image.clone());
- }
-
- // Revoke the frame
- err = VmbFrameRevoke(cameraHandle, &frame);
- if (err != VmbErrorSuccess) {
- qDebug() << "Error revoking frame";
- return false;
- }
-
- return true;
-}
-
-class CameraThread : public QThread {
- Q_OBJECT
-
-public:
- CameraThread(int cameraIndex, QObject *parent = nullptr) : QThread(parent), cameraIndex(cameraIndex) {}
-
-protected:
- void run() override {
- VimbaCamera camera;
- connect(&camera, &VimbaCamera::frameCaptured, this, &CameraThread::handleFrameCaptured);
-
- if (!camera.initialize()) {
- qDebug() << "Camera" << cameraIndex << "Failed to initialize Vimba";
- return;
- }
-
- if (!camera.open()) {
- qDebug() << "Camera" << cameraIndex << "Failed to open Vimba camera";
- return;
- }
-
- if (!camera.startCapture()) {
- qDebug() << "Camera" << cameraIndex << "Failed to start capturing frames";
- return;
- }
-
- exec(); // Start the thread event loop
- }
-
-private:
- int cameraIndex;
-
-private slots:
- void handleFrameCaptured(const QString ×tamp, const cv::Mat &image) {
- // Handle the captured frame (e.g., save as JPEG)
- QString filename = "camera" + QString::number(cameraIndex) + "_" + timestamp + ".jpg";
- cv::imwrite(filename.toStdString(), image);
- qDebug() << "Camera" << cameraIndex << "Frame saved as:" << filename;
- }
-};
-
-int main(int argc, char *argv[]) {
- QCoreApplication a(argc, argv);
-
- // For demonstration purposes, create two camera threads
- CameraThread cameraThread1(1);
- CameraThread cameraThread2(2);
-
- // Start the camera threads
- cameraThread1.start();
- cameraThread2.start();
-
- // Wait for the threads to finish (this won't block the main thread event loop)
- cameraThread1.wait();
- cameraThread2.wait();
-
- return a.exec();
-}
-
diff --git a/dox/todo_ct b/dox/todo_ct
index 728debd3d459b0d9e4a8d63724925e2d8e5129c9..d1b771ea2c07c39ead6f49cde9cffa5736c642ab 100644
--- a/dox/todo_ct
+++ b/dox/todo_ct
@@ -1,5 +1,4 @@
-CAMTRON PROCESSING PIPELINE
-###########################
+[###########################
A) setup / preparation
B) recorder
C) background-subtraction
@@ -11,27 +10,31 @@ CAMTRON PROCESSING PIPELINE
A)
###########################
- eval vm performance
- - ‼️ ❺ light
- - day + night + dirt (later)
- - find ecolux hw (Boxes, DMX per unit, DMX splitter/controller, PIs)
- - ‼️ ❶ eval arena 3D-printed + attach camo > if good order 5more
- - camo pattern print+create
+ - light
+ - alban: get ecolux hw from badlauchstaedt (Boxes, DMX per unit, DMX splitter/controller)
+ > ‼️ write mail to angry alban to get lighthw in september!
+ - get 1 PI for ecolux
+ - day + night + dirt
+ - IR leds (later)
+ - tape camo to arenas
- floor: find big white paperrolle in BUG/Storage
B) recorder - camera produces frames and timestamps
###########################
- - ‼️ ❸ BUG occasionaly frames are incomplete -> calling VV once fixes issues. why? maybe PACKSIZE ADjustment?
- - ‼️ ❷ BUG files are not closed, causing OS limit crash (ulimit -n, too many open files...). why?
+ - ‼️ _rec->showProgress(); //xxx string to add to camInfo - ‼️
+ checkDiskSpace() -> when invoked? check how long it takes to get disk
+ size test: checkDiskspace(), stats(), pb(), ... if long: init once if
+ short: before startrecord - ‼️ stats() / progressBar -> invoked: by
+ user,at end of rec,listcameras, ... every 1s timer (toggle by user)
+
+ - settime()
- test with 1 cam
- test with x cams
+ - occasionaly frames are incomplete/dropped
+ - sometimes PacketSize gets changed and then no frames are rcv -> calling VV once fixes issues >> adjust PACKETSIZE
============================
CORE
- - framerate, brightness ...
- - opencv or vimba?
- - app settings:
- - out_dir, threads_per_cam,
- - record duration
- - ‼️ ❹ calibrate
+ - ‼️ calibrate
- see opencv tut + code/bash cali example
- ada-HPC-CALISW
@@ -73,7 +76,7 @@ C) background subtraction
D) process scripts
###########################
- ctd - calculated the mean speed in pixel / millisecond
+ ctd - calculated the mean speed in pixel / millisecond
* can i reduce size of data (reduce length|fps|res)
>- calc D) for test data set (get data from joerdis?)
-- with all frames
@@ -119,4 +122,14 @@ ctb
Done
#######################
+ - set duration for 1 or all cams
+ - info() - dbg
+ - files, threads, settings, dirs, ...
+ - print global vars (dur,,fps,framesize,dir,threads,ncam,...)
+ - record class (extract cam stuff into own class)
+ - BUG files are not closed, causing OS limit crash (ulimit -n, too many open files...). why?
+ open files (-n) 1024
+ - eval arena 3D-printed + attach camo
+ - config: record duration, out_dir, threads_per_cam, ncam
+ - camo pattern print+create