Fix camera capture reliability and rewrite tracking for available mediapipe/hardware

source/UI/SetupPageWidget.py

@@ -1,7 +1,7 @@
 import cv2, numpy as np
 import os
 
-from Tbd.helper import CameraObject, DShowMJPGCapture
+from Tbd.helper import CameraObject
 from UI.UILogger import UILogger
 
 from PySide6.QtCore import Qt, QTimer
@@ -90,39 +90,31 @@ class SetupPage(QWidget):
         else:
             self.logger.log("Path not found")
 
-            
-        indexToAdd =  [0, 3]
-        #self.cameraObject = CameraObject(
-        #    capture=None,
-        #    index=None
-        #)
+        indexToAdd = [1, 2, 3, 4, 5, 6]
+
+        # Cameras are verified one at a time and left closed afterwards - this
+        # hardware can't sustain many concurrent capture graphs (confirmed via
+        # both CAP_DSHOW and a raw DirectShow graph), so callers open a camera
+        # right before they need it (CameraSetupWidget.Start, calibration capture)
+        # and close it right after, instead of keeping all 6 open simultaneously.
         for index in indexToAdd:
-            try:
-                capture = DShowMJPGCapture(index, 2592, 1944, fourcc_substr="MJPG")
-            except RuntimeError as e:
-                self.logger.log(str(e))
-                print(str(e))
+            camera = CameraObject(capture=None, index=index)
+
+            if not camera.open():
+                self.logger.log(f"cam{index}: failed to open, skipping.")
                 continue
 
-            self.logger.log(f"Selected format: {capture.selected_format}")
-            print(f"Selected format: {capture.selected_format}")
-
-            ret, frame = capture.read()
+            ret, frame = camera.capture.read()
             if ret:
-                self.logger.log(f"Actual frame shape: {frame.shape}")
-                print(f"Actual frame shape: {frame.shape}")
+                self.logger.log(f"cam{index}: verified, frame shape={frame.shape}")
             else:
-                self.logger.log("Failed to read a frame after configuring camera")
-                print("Failed to read a frame after configuring camera")
+                self.logger.log(f"cam{index}: opened but failed to read a frame.")
 
-            #self.logger.log("Initial frame:", w, "x", h)
-            self.cameraList.append(CameraObject(
-                capture=capture,
-                index=index
-            ))
+            camera.close()
+
+            self.cameraList.append(camera)
             self._cameraList_changed()
 
-        
         return
 
         
@@ -177,15 +169,16 @@ class SetupPage(QWidget):
         index = int(self.cameraIndex.text())
 
         self.release_camera()
-        self.cameraObject.capture = cv2.VideoCapture(index, cv2.CAP_DSHOW)
-        self.cameraObject.index = index
 
-        if not self.cameraObject.capture.isOpened():
-            self.cameraObject.capture = None
-            self.cameraObject.index = None
+        # Reuse the CameraObject from cameraList (if this index is already known)
+        # instead of opening a second handle to the same physical device.
+        existing = next((cam for cam in self.cameraList if cam.index == index), None)
+        self.cameraObject = existing if existing is not None else CameraObject(capture=None, index=index)
+
+        if not self.cameraObject.open():
             self.camera_preview.setText(f"Failed to open camera {index}")
             return False
-        
+
         self.camera_preview.setText("")
 
         return True
@@ -193,10 +186,8 @@ class SetupPage(QWidget):
     def release_camera(self):
         if self.cameraObject.capture is not None:
             self.timer.stop()
-            self.cameraObject.capture.release()
-            self.cameraObject.capture = None
-            self.cameraObject.index = None
-            
+            self.cameraObject.close()
+
     def closeEvent(self, event):
         self.release_camera()
         event.accept()