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https://github.com/eddyem/astrovideoguide_v3.git
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Add LocCorr_new: another variant of LocCorr (instead of pusirobot used multistepper; some errors fixed); I hope, sometimes I will finish loccorrNG
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275
LocCorr_new/cameracapture.c
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275
LocCorr_new/cameracapture.c
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/*
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* This file is part of the loccorr project.
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* Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <float.h> // FLT_EPSILON
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#include <math.h>
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#include <stdio.h>
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#include <string.h>
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#include "cmdlnopts.h"
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#include "config.h"
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#include "debug.h"
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#include "fits.h"
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#include "grasshopper.h"
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#include "imagefile.h"
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#include "improc.h"
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#include "median.h"
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// pointer to selected camera
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static camera *theCam = NULL;
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static float gain = 0., gainmax = 0.;
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static float exptime = 100.;
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static float brightness = 0.;
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static int connected = FALSE;
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static frameformat curformat;
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static frameformat maxformat;
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static frameformat stepformat;
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static void changeformat(){
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if(!theCam) return;
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if(maxformat.h < 1 || maxformat.w < 1){
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WARNX("Bad max format data");
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return;
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}
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if(stepformat.h < 1 || stepformat.w < 1){
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WARNX("Bad step format data");
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LOGWARN("Bad step format data");
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return;
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}
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if(stepformat.xoff < 1) stepformat.xoff = 1;
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if(stepformat.yoff < 1) stepformat.yoff = 1;
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curformat.h = (theconf.height < maxformat.h) ? theconf.height : maxformat.h;
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curformat.h -= curformat.h % stepformat.h;
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curformat.w = (theconf.width < maxformat.w) ? theconf.width : maxformat.w;
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curformat.w -= curformat.w % stepformat.w;
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curformat.xoff = (theconf.xoff + curformat.w <= maxformat.w) ? theconf.xoff : maxformat.w - curformat.w;
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curformat.xoff -= curformat.xoff % stepformat.xoff;
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curformat.yoff = (theconf.yoff + curformat.h <= maxformat.h) ? theconf.yoff : maxformat.h - curformat.h;
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curformat.yoff -= curformat.yoff % stepformat.yoff;
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if(theCam->setgeometry(&curformat)){ // now we can change config values to real
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theconf.height = curformat.h;
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theconf.width = curformat.w;
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theconf.xoff = curformat.xoff;
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theconf.yoff = curformat.yoff;
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}
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}
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/**
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* @brief setCamera - set active camera & initialize it
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* @param cptr - pointer to new camera
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* @return FALSE if failed
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*/
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int setCamera(camera *cptr){
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camdisconnect();
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theCam = cptr;
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connected = theCam->connect();
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if(!connected) return FALSE;
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gainmax = theCam->getmaxgain();
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gain = theconf.gain;
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brightness = theconf.brightness;
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if(!theCam->getgeomlimits(&maxformat, &stepformat)){
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WARNX("Can't detect camera format limits");
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LOGWARN("Can't detect camera format limits");
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return TRUE;
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}
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changeformat();
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LOGMSG("Camera connected, max gain: %.1f, max (W,H): (%d,%d)", gainmax, maxformat.w, maxformat.h);
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return TRUE;
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}
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void camdisconnect(){
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if(!connected) return;
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connected = FALSE;
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if(theCam) theCam->disconnect();
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}
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static void calcexpgain(float newexp){
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DBG("recalculate exposition: oldexp=%g, oldgain=%g, newexp=%g", exptime, gain, newexp);
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while(newexp*1.25 > theconf.minexp){ // increase gain first
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if(gain < gainmax - 0.9999){
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gain += 1.;
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newexp /= 1.25;
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}else break;
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}
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while(newexp < theconf.minexp){
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if(1.25*newexp < theconf.maxexp && gain > 0.9999){
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gain -= 1.;
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newexp *= 1.25;
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}else break;
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}
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if(newexp < theconf.minexp) newexp = theconf.minexp;
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else if(newexp > theconf.maxexp) newexp = theconf.maxexp;
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exptime = newexp;
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DBG("New values: exp=%g, gain=%g", exptime, gain);
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}
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//convertedImage.pData, convertedImage.cols, convertedImage.rows, convertedImage.stride
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static void recalcexp(Image *I){
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// check if user changed exposition values
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if(exptime < theconf.minexp){
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exptime = theconf.minexp;
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return;
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}
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else if(exptime > theconf.maxexp){
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exptime = theconf.maxexp;
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return;
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}
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size_t *histogram = get_histogram(I);
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if(!histogram){
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WARNX("Can't calculate histogram");
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return;
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}
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int idx100;
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size_t sum100 = 0;
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for(idx100 = 255; idx100 >= 0; --idx100){
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sum100 += histogram[idx100];
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if(sum100 > 100) break;
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}
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FREE(histogram);
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DBG("Sum100=%zd, idx100=%d", sum100, idx100);
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if(idx100 > 230 && idx100 < 253) return; // good values
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if(idx100 > 253){ // exposure too long
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calcexpgain(0.7*exptime);
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}else{ // exposure too short
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if(idx100 > 5)
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calcexpgain(exptime * 230. / (float)idx100);
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else
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calcexpgain(exptime * 50.);
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}
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}
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int camcapture(void (*process)(Image*)){
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FNAME();
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static float oldexptime = 0.;
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static float oldgain = -1.;
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static float oldbrightness = -1.;
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Image *oIma = NULL;
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while(1){
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if(stopwork){
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DBG("STOP");
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break;
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}
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if(!theCam){ // wait until camera be powered on
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LOGERR("camcapture(): camera not initialized");
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ERRX("Not initialized");
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}
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if(!connected){
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DBG("Disconnected");
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connected = theCam->connect();
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sleep(1);
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changeformat();
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continue;
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}
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if(fabsf(oldbrightness - brightness) > FLT_EPSILON){ // new brightness
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DBG("Change brightness to %g", brightness);
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if(theCam->setbrightness(brightness)){
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oldbrightness = brightness;
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}else{
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WARNX("Can't change brightness to %g", brightness);
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}
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}
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if(exptime > theconf.maxexp) exptime = theconf.maxexp;
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else if(exptime < theconf.minexp) exptime = theconf.minexp;
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if(fabsf(oldexptime - exptime) > FLT_EPSILON){ // new exsposition value
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DBG("Change exptime to %.2fms\n", exptime);
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if(theCam->setexp(exptime)){
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oldexptime = exptime;
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}else{
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WARNX("Can't change exposition time to %gms", exptime);
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}
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}
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if(gain > gainmax) gain = gainmax;
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if(fabsf(oldgain - gain) > FLT_EPSILON){ // change gain
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DBG("Change gain to %g\n", gain);
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if(theCam->setgain(gain)){
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oldgain = gain;
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}else{
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WARNX("Can't change gain to %g", gain);
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}
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}
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// change format
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if(abs(curformat.h - theconf.height) || abs(curformat.w - theconf.width) || abs(curformat.xoff - theconf.xoff) || abs(curformat.yoff - theconf.yoff)){
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changeformat();
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}
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if(!(oIma = theCam->capture())){
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WARNX("Can't grab image");
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camdisconnect();
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continue;
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}
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if(theconf.expmethod == EXPAUTO) recalcexp(oIma);
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else{
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if(fabs(theconf.fixedexp - exptime) > FLT_EPSILON)
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exptime = theconf.fixedexp;
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if(fabs(theconf.gain - gain) > FLT_EPSILON)
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gain = theconf.gain;
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if(fabs(theconf.brightness - brightness) > FLT_EPSILON)
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brightness = theconf.brightness;
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}
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if(process){
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if(theconf.medfilt){
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Image *X = get_median(oIma, theconf.medseed);
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if(X){
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FREE(oIma->data);
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FREE(oIma);
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oIma = X;
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}
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}
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process(oIma);
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}
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FREE(oIma->data);
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FREE(oIma);
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}
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if(oIma){
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FREE(oIma->data);
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FREE(oIma);
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}
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camdisconnect();
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DBG("CAMCAPTURE: out");
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return 1;
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}
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/**
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* @brief camstatus - return JSON with image status
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* @param messageid - value of "messageid"
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* @param buf - buffer for string
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* @param buflen - length of `buf`
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* @return buf
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*/
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char *camstatus(const char *messageid, char *buf, int buflen){
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if(!buf || buflen < 2) return NULL;
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if(!messageid) messageid = "unknown";
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static char *impath = NULL;
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if(!impath){
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if(!(impath = realpath(GP->outputjpg, impath))){
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WARN("realpath() (%s)", impath);
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impath = strdup(GP->outputjpg);
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}
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DBG("path: %s", impath);
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}
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float xc, yc;
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getcenter(&xc, &yc);
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snprintf(buf, buflen, "{ \"%s\": \"%s\", \"camstatus\": \"%sconnected\", \"impath\": \"%s\", \"imctr\": %llu, "
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"\"fps\": %.3f, \"expmethod\": \"%s\", \"exposition\": %g, \"gain\": %g, \"brightness\": %g, "
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"\"xcenter\": %.1f, \"ycenter\": %.1f }\n",
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MESSAGEID, messageid, connected ? "" : "dis", impath, ImNumber, getFramesPerS(),
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(theconf.expmethod == EXPAUTO) ? "auto" : "manual", exptime, gain, brightness,
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xc, yc);
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return buf;
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}
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