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280 | #include "CameraSettingsV5Manager.h"
#include <thread>
#include <chrono>
extern "C"
{
#include <linux/videodev2.h>
#include <sys/ioctl.h>
#include <unistd.h>
}
//Custom V4L control variables
#define V4L2_CID_EXPOSURE_ALGORITHM (V4L2_CID_CAMERA_CLASS_BASE + 17)
#define V4L2_MT9M114_FADE_TO_BLACK (V4L2_CID_PRIVATE_BASE) //boolean, enable or disable fade to black feature
#define V4L2_MT9M114_BRIGHTNESS_DARK (V4L2_CID_PRIVATE_BASE + 1)
#define V4L2_MT9M114_AE_TARGET_GAIN (V4L2_CID_PRIVATE_BASE + 2)
#define V4L2_MT9M114_AE_MIN_VIRT_AGAIN (V4L2_CID_PRIVATE_BASE + 3)
#define V4L2_MT9M114_AE_MAX_VIRT_AGAIN (V4L2_CID_PRIVATE_BASE + 4)
#define V4L2_MT9M114_AE_MIN_VIRT_DGAIN (V4L2_CID_PRIVATE_BASE + 5)
#define V4L2_MT9M114_AE_MAX_VIRT_DGAIN (V4L2_CID_PRIVATE_BASE + 6)
CameraSettingsV5Manager::CameraSettingsV5Manager()
: initialized(false)
{
}
void CameraSettingsV5Manager::query(int cameraFd, const std::string& cameraName, naoth::CameraSettings &settings)
{
settings.autoExposition = getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_EXPOSURE_AUTO) == 0 ? false : true;
settings.exposure = getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_EXPOSURE);
settings.saturation = getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_SATURATION);
settings.autoWhiteBalancing = getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_AUTO_WHITE_BALANCE) == 0 ? false : true;
settings.v5.whiteBalanceTemperature = getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_WHITE_BALANCE_TEMPERATURE);
settings.gain = Math::fromFixPoint<5>(static_cast<std::int32_t>(getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_GAIN)));
settings.verticalFlip = getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_VFLIP) == 0 ? false : true;
settings.horizontalFlip = getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_HFLIP) == 0 ? false : true;
settings.brightness = getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_BRIGHTNESS);
settings.contrast = Math::fromFixPoint<5>(getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_CONTRAST));
settings.sharpness = getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_SHARPNESS);
settings.hue = getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_HUE);
settings.backlightCompensation = getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_BACKLIGHT_COMPENSATION) == 0 ? false : true;
settings.v5.targetGain = Math::fromFixPoint<5>(getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_MT9M114_AE_TARGET_GAIN));
settings.v5.minAnalogGain = Math::fromFixPoint<5>(getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_MT9M114_AE_MIN_VIRT_AGAIN));
settings.v5.maxAnalogGain = Math::fromFixPoint<5>(getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_MT9M114_AE_MAX_VIRT_AGAIN));
settings.v5.fadeToBlack = getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_MT9M114_FADE_TO_BLACK) == 0 ? false : true;
settings.v5.powerlineFrequency = getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_POWER_LINE_FREQUENCY) == 2 ? 60 : 50;
settings.v5.gammaCorrection = getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_GAMMA);
// get the autoexposure grid parameters
for (std::size_t i = 0; i < naoth::CameraSettings::AUTOEXPOSURE_GRID_SIZE; i++)
{
for (std::size_t j = 0; j < naoth::CameraSettings::AUTOEXPOSURE_GRID_SIZE; j++)
{
settings.autoExposureWeights[i][j] = static_cast<uint8_t>(getSingleCameraParameterRaw(cameraFd, cameraName, getAutoExposureGridID(i, j)));
}
}
settings.v5.autoExpositionAlgorithm = getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_EXPOSURE_ALGORITHM);
current = settings;
}
void CameraSettingsV5Manager::apply(int cameraFd, const std::string& cameraName, const naoth::CameraSettings &settings, bool force)
{
if (!initialized)
{
// HACK: disable autoexposure to make sure that the manual exposure is set correctly
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_EXPOSURE_AUTO, "AutoExposure", 0);
std::this_thread::sleep_for(std::chrono::milliseconds(100));
current.autoExposition = false;
// HACK: change exposure to some arbitrary value, to make sure that the actual value is actually applied later
current.exposure = (current.exposure == 40) ? 41 : 40;
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_EXPOSURE, "Exposure", current.exposure);
initialized = true;
return;
}
// Convert each paramter to a raw setting and clamp values according to the driver documentation
// (https://github.com/bhuman/BKernel#information-about-the-camera-driver).
// The V4L controller might later adjust these values by the ranges reported by driver, but these
// might be inaccurate or less restricted. Also, for fixed point real numbers the clipping should
// be performed for the real number range, not the byte-representation.
if ((force || current.verticalFlip != settings.verticalFlip) &&
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_VFLIP, "VerticalFlip", settings.verticalFlip ? 1 : 0))
{
current.verticalFlip = settings.verticalFlip;
return;
}
if ((force || current.horizontalFlip != settings.horizontalFlip) &&
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_HFLIP, "HorizontalFlip", settings.horizontalFlip ? 1 : 0))
{
current.horizontalFlip = settings.horizontalFlip;
return;
}
if ((force || current.autoExposition != settings.autoExposition) &&
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_EXPOSURE_AUTO, "AutoExposure", settings.autoExposition ? 1 : 0))
{
// allways wait a little bit after setting the auto exposure
std::this_thread::sleep_for(std::chrono::milliseconds(100));
if (settings.autoExposition == false)
{
// read back values set by the now deactivated auto exposure
current.exposure = getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_EXPOSURE);
current.gain = Math::fromFixPoint<5>(static_cast<std::int32_t>(getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_GAIN)));
}
current.autoExposition = settings.autoExposition;
return;
}
if (setRawIfChanged(cameraFd, cameraName, V4L2_CID_EXPOSURE_ALGORITHM, "AutoExposureAlgorithm",
Math::clamp(settings.v5.autoExpositionAlgorithm, 0, 3), current.v5.autoExpositionAlgorithm, force))
{
return;
}
if (current.brightness != settings.brightness &&
setRawIfChanged(cameraFd, cameraName, V4L2_CID_BRIGHTNESS, "Brightness", Math::clamp(settings.brightness, 0, 255), current.brightness, force))
{
return;
}
if (current.v5.minAnalogGain != settings.v5.minAnalogGain &&
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_MT9M114_AE_MIN_VIRT_AGAIN, "MinAnalogGain",
Math::clamp(Math::toFixPoint<5>(static_cast<float>(settings.v5.minAnalogGain)), 0, 65535)))
{
current.v5.minAnalogGain = settings.v5.minAnalogGain;
return;
}
if (current.v5.maxAnalogGain != settings.v5.maxAnalogGain &&
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_MT9M114_AE_MAX_VIRT_AGAIN, "MaxAnalogGain",
Math::clamp(Math::toFixPoint<5>(static_cast<float>(settings.v5.maxAnalogGain)), 0, 65535)))
{
current.v5.maxAnalogGain = settings.v5.maxAnalogGain;
return;
}
if (current.v5.targetGain != settings.v5.targetGain &&
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_MT9M114_AE_TARGET_GAIN, "TargetGain",
Math::clamp(Math::toFixPoint<5>(static_cast<float>(settings.v5.targetGain)), 0, 65535)))
{
current.v5.targetGain = settings.v5.targetGain;
return;
}
if (current.autoWhiteBalancing != settings.autoWhiteBalancing &&
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_AUTO_WHITE_BALANCE, "AutoWhiteBalance",
settings.autoWhiteBalancing ? 1 : 0))
{
if (settings.autoWhiteBalancing == false)
{
std::this_thread::sleep_for(std::chrono::milliseconds(100));
// read back white balanche values set by the now deactivated auto exposure
current.v5.whiteBalanceTemperature = getSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_WHITE_BALANCE_TEMPERATURE);
}
current.autoWhiteBalancing = settings.autoWhiteBalancing;
return;
}
// use 50 Hz (val = 1) if 60 Hz (val = 2) is not explicitly requested
if (current.v5.powerlineFrequency != settings.v5.powerlineFrequency &&
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_POWER_LINE_FREQUENCY, "PowerlineFrequency", settings.v5.powerlineFrequency == 60 ? 2 : 1))
{
current.v5.powerlineFrequency = settings.v5.powerlineFrequency;
return;
}
if (current.contrast != settings.contrast &&
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_CONTRAST, "Contrast", Math::toFixPoint<5>(Math::clamp(static_cast<float>(settings.contrast), 0.5f, 2.0f))))
{
current.contrast = settings.contrast;
return;
}
if (current.saturation != settings.saturation &&
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_SATURATION, "Saturation", Math::clamp(settings.saturation, 0, 255)))
{
current.saturation = settings.saturation;
return;
}
if (current.hue != settings.hue &&
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_HUE, "Hue", Math::clamp(settings.hue, -22, 22)))
{
current.hue = settings.hue;
return;
}
if (current.sharpness != settings.sharpness &&
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_SHARPNESS, "Sharpness", Math::clamp(settings.sharpness, -7, 7)))
{
current.sharpness = settings.sharpness;
return;
}
if (!current.autoExposition && (force || current.exposure != settings.exposure) &&
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_EXPOSURE, "Exposure", Math::clamp(settings.exposure, 0, 1000)))
{
current.exposure = settings.exposure;
return;
}
if (!current.autoExposition &&
(force || current.gain != settings.gain) &&
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_GAIN, "Gain", Math::toFixPoint<5>(static_cast<float>(Math::clamp(settings.gain, 1.0, 7.9)))))
{
current.gain = settings.gain;
return;
}
if (current.v5.gammaCorrection != settings.v5.gammaCorrection &&
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_GAMMA, "GammaCorrection", Math::clamp(settings.v5.gammaCorrection, 100, 280)))
{
current.v5.gammaCorrection = settings.v5.gammaCorrection;
return;
}
if (current.autoWhiteBalancing == false &&
current.v5.whiteBalanceTemperature != settings.v5.whiteBalanceTemperature &&
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_WHITE_BALANCE_TEMPERATURE, "WhiteBalance", Math::clamp(settings.v5.whiteBalanceTemperature, 2700, 6500)))
{
current.v5.whiteBalanceTemperature = settings.v5.whiteBalanceTemperature;
return;
}
// this throws errors sometimes and slows down the robot, check whats wrong before activating it
// if (
// autoExposition &&
// backlightCompensation != settings.backlightCompensation &&
// setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_CID_BACKLIGHT_COMPENSATION, "BacklightCompensation", settings.backlightCompensation ? 0 : 1))
// {
// backlightCompensation = settings.backlightCompensation;
// return;
// }
if (current.v5.fadeToBlack != settings.v5.fadeToBlack &&
setSingleCameraParameterRaw(cameraFd, cameraName, V4L2_MT9M114_FADE_TO_BLACK, "FadeToBlack", settings.v5.fadeToBlack ? 1 : 0))
{
current.v5.fadeToBlack = settings.v5.fadeToBlack;
return;
}
// set the autoexposure grid parameters
for (std::size_t i = 0; i < naoth::CameraSettings::AUTOEXPOSURE_GRID_SIZE; i++)
{
for (std::size_t j = 0; j < naoth::CameraSettings::AUTOEXPOSURE_GRID_SIZE; j++)
{
if (current.autoExposureWeights[i][j] != settings.autoExposureWeights[i][j])
{
std::stringstream paramName;
paramName << "autoExposureWeights (" << i << "," << j << ")";
if (setSingleCameraParameterRaw(cameraFd, cameraName, getAutoExposureGridID(i, j), paramName.str(), settings.autoExposureWeights[i][j]))
{
current.autoExposureWeights[i][j] = settings.autoExposureWeights[i][j];
return;
}
}
}
}
}
int CameraSettingsV5Manager::getAutoExposureGridID(size_t i, size_t j)<--- Technically the member function 'CameraSettingsV5Manager::getAutoExposureGridID' can be static. [+]The member function 'CameraSettingsV5Manager::getAutoExposureGridID' can be made a static function. Making a function static can bring a performance benefit since no 'this' instance is passed to the function. This change should not cause compiler errors but it does not necessarily make sense conceptually. Think about your design and the task of the function first - is it a function that must not access members of class instances?
{
return V4L2_CID_PRIVATE_BASE + 7 + (i * naoth::CameraSettings::AUTOEXPOSURE_GRID_SIZE) + j;
}
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