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This commit is contained in:
Edward Emelianov
2025-05-14 09:04:11 +03:00
parent fd2508c667
commit 3f7b5081ea
10 changed files with 168 additions and 81 deletions
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97
LocCorr_new/cameracapture.c
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@@ -21,6 +21,7 @@
#include <pthread.h>
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include "cameracapture.h"
#include "cmdlnopts.h"
@@ -42,6 +43,15 @@ static frameformat curformat;
static frameformat maxformat;
static frameformat stepformat;
// statistics of last image
typedef struct{
Imtype minval, maxval, bkg;
float avg, xc, yc;
ptstat_t stat;
} imdata_t;
static imdata_t lastimdata = {0};
static void changeformat(){
if(!theCam) return;
if(maxformat.h < 1 || maxformat.w < 1){
@@ -190,7 +200,7 @@ static int needs_exposure_adjustment(const Image *I, float curr_x, float curr_y)
float avg = I->avg_intensity;
float dx = fabsf(curr_x - last_centroid_x);
float dy = fabsf(curr_y - last_centroid_y);
LOGDBG("avg: %g, curr_x: %g, curr_y: %g", avg, curr_x, curr_y);
//LOGDBG("avg: %g, curr_x: %g, curr_y: %g", avg, curr_x, curr_y);
// don't change brightness if average value in 5..50
if(avg > 5.f && avg < 50.f){
last_avg_intensity = avg;
@@ -231,25 +241,13 @@ static void *procthread(void* v){
double t0 = sl_dtime();
#endif
while(!stopwork){
while(iCaptured < 0) usleep(1000);
DBG("===== iCaptured=%d", iCaptured);
pthread_mutex_lock(&capt_mutex);
if(Icap[iCaptured]){
DBG("---- got image #%d @ %g", iCaptured, sl_dtime() - t0);
DBG("===== got image #%d @ %g", iCaptured, sl_dtime() - t0);
Image *oIma = Icap[iCaptured]; // take image here and free buffer
Icap[iCaptured] = NULL;
pthread_mutex_unlock(&capt_mutex);
if(theconf.expmethod == EXPAUTO){
float xc, yc;
getcenter(&xc, &yc);
if(needs_exposure_adjustment(oIma, xc, yc)) recalcexp(oIma);
}else{
if(fabs(theconf.fixedexp - exptime) > FLT_EPSILON)
exptime = theconf.fixedexp;
if(fabs(theconf.gain - gain) > FLT_EPSILON)
gain = theconf.gain;
if(fabs(theconf.brightness - brightness) > FLT_EPSILON)
brightness = theconf.brightness;
}
if(process){
if(theconf.medfilt){
Image *X = get_median(oIma, theconf.medseed);
@@ -259,12 +257,38 @@ static void *procthread(void* v){
oIma = X;
}
}
DBG("===== process");
process(oIma);
DBG("===== done");
lastimdata.avg = oIma->avg_intensity;
lastimdata.bkg = oIma->background;
lastimdata.minval = oIma->minval;
lastimdata.maxval = oIma->maxval;
lastimdata.stat = oIma->stat;
getcenter(&lastimdata.xc, &lastimdata.yc);
}
if(theconf.expmethod == EXPAUTO){
DBG("test");
if(needs_exposure_adjustment(oIma, lastimdata.xc, lastimdata.yc)) recalcexp(oIma);
DBG("done");
}else{
if(fabs(theconf.fixedexp - exptime) > FLT_EPSILON)
exptime = theconf.fixedexp;
if(fabs(theconf.gain - gain) > FLT_EPSILON)
gain = theconf.gain;
if(fabs(theconf.brightness - brightness) > FLT_EPSILON)
brightness = theconf.brightness;
}
//Icap[iCaptured] = NULL;
//pthread_mutex_unlock(&capt_mutex);
FREE(oIma->data);
FREE(oIma);
DBG("---- cleared image data @ %g", sl_dtime() - t0);
}else pthread_mutex_unlock(&capt_mutex);
}else{
DBG("NO image data");
pthread_mutex_unlock(&capt_mutex);
}
DBG("NEXT!");
usleep(1000);
}
return NULL;
@@ -274,7 +298,7 @@ int camcapture(void (*process)(Image*)){
FNAME();
static float oldexptime = 0.;
static float oldgain = -1.;
static float oldbrightness = -1.;
static float oldbrightness = 0.;
Image *oIma = NULL;
pthread_t proc_thread;
if(pthread_create(&proc_thread, NULL, procthread, (void*)process)){
@@ -282,6 +306,7 @@ int camcapture(void (*process)(Image*)){
ERR("pthread_create()");
}
while(1){
double t0 = sl_dtime();
if(stopwork){
DBG("STOP");
break;
@@ -290,13 +315,15 @@ int camcapture(void (*process)(Image*)){
LOGERR("camcapture(): camera not initialized");
ERRX("Not initialized");
}
DBG("T=%g", sl_dtime() - t0);
if(!connected){
DBG("Disconnected");
DBG("Disconnected, try to connect");
connected = theCam->connect();
sleep(1);
changeformat();
continue;
}
DBG("T=%g", sl_dtime() - t0);
if(fabsf(oldbrightness - brightness) > FLT_EPSILON){ // new brightness
DBG("Change brightness to %g", brightness);
if(theCam->setbrightness(brightness)){
@@ -305,6 +332,7 @@ int camcapture(void (*process)(Image*)){
WARNX("Can't change brightness to %g", brightness);
}
}
DBG("T=%g", sl_dtime() - t0);
if(exptime > theconf.maxexp) exptime = theconf.maxexp;
else if(exptime < theconf.minexp) exptime = theconf.minexp;
if(fabsf(oldexptime - exptime) > FLT_EPSILON){ // new exsposition value
@@ -315,28 +343,41 @@ int camcapture(void (*process)(Image*)){
WARNX("Can't change exposition time to %gms", exptime);
}
}
DBG("T=%g", sl_dtime() - t0);
if(gain > gainmax) gain = gainmax;
if(fabsf(oldgain - gain) > FLT_EPSILON){ // change gain
DBG("Change gain to %g\n", gain);
LOGDBG("Change gain to %g", gain);
if(theCam->setgain(gain)){
oldgain = gain;
}else{
WARNX("Can't change gain to %g", gain);
LOGWARN("Can't change gain to %g", gain);
gain = oldgain;
}
}
DBG("T=%g", sl_dtime() - t0);
// change format
if(abs(curformat.h - theconf.height) || abs(curformat.w - theconf.width) || abs(curformat.xoff - theconf.xoff) || abs(curformat.yoff - theconf.yoff)){
changeformat();
}
DBG("Try to grab (T=%g)", sl_dtime() - t0);
static int errctr = 0;
if(!(oIma = theCam->capture())){
WARNX("Can't grab image");
camdisconnect();
if(++errctr > MAX_CAPT_ERRORS){
LOGERR("camcapture(): too much capture errors; reconnect camera");
camdisconnect();
errctr = 0;
}
continue;
}
}else errctr = 0;
DBG("Grabbed @ %g", sl_dtime() - t0);
pthread_mutex_lock(&capt_mutex);
if(iCaptured < 0) iCaptured = 0;
else iCaptured = !iCaptured;
if(Icap[iCaptured]){ // try current value if previous is still busy
DBG("iCap=%d busy!", iCaptured);
iCaptured = !iCaptured;
}
if(!Icap[iCaptured]){ // previous buffer is free
@@ -344,11 +385,12 @@ int camcapture(void (*process)(Image*)){
Icap[iCaptured] = oIma;
oIma = NULL;
}else{ // clear our image - there's no empty buffers
DBG("---- no free buffers");
DBG("---- no free buffers for iCap=%d", iCaptured);
FREE(oIma->data);
FREE(oIma);
}
pthread_mutex_unlock(&capt_mutex);
DBG("unlocked, T=%g", sl_dtime() - t0);
}
pthread_cancel(proc_thread);
if(oIma){
@@ -388,10 +430,13 @@ char *camstatus(const char *messageid, char *buf, int buflen){
float xc, yc;
getcenter(&xc, &yc);
snprintf(buf, buflen, "{ \"%s\": \"%s\", \"camstatus\": \"%sconnected\", \"impath\": \"%s\", \"imctr\": %llu, "
"\"fps\": %.3f, \"expmethod\": \"%s\", \"exposition\": %g, \"gain\": %g, \"brightness\": %g, "
"\"xcenter\": %.1f, \"ycenter\": %.1f }\n",
MESSAGEID, messageid, connected ? "" : "dis", impath, ImNumber, getFramesPerS(),
(theconf.expmethod == EXPAUTO) ? "auto" : "manual", exptime, gain, brightness,
xc, yc);
"\"fps\": %.3f, \"expmethod\": \"%s\", \"exposition\": %g, \"gain\": %g, \"maxgain\": %g, \"brightness\": %g, "
"\"xcenter\": %.1f, \"ycenter\": %.1f , \"minval\": %d, \"maxval\": %d, \"background\": %d, "
"\"average\": %.1f, \"xc\": %.1f, \"yc\": %.1f, \"xsigma\": %.1f, \"ysigma\": %.1f, \"area\": %d }\n",
MESSAGEID, messageid, connected ? "" : "dis", impath, ImNumber, getFramesPerS(),
(theconf.expmethod == EXPAUTO) ? "auto" : "manual", exptime, gain, gainmax, brightness,
xc, yc, lastimdata.minval, lastimdata.maxval, lastimdata.bkg, lastimdata.avg,
lastimdata.stat.xc, lastimdata.stat.yc, lastimdata.stat.xsigma, lastimdata.stat.ysigma,
lastimdata.stat.area);
return buf;
}