change img data type to uint8_t, fix loading of bin calibration table

7 files changed, 56 insertions, 16 deletions

diff --git a/imagealgos.cpp b/imagealgos.cpp
index 5936855..80a1c92 100644
--- a/imagealgos.cpp
+++ b/imagealgos.cpp
@@ -65,6 +65,7 @@ size_t pgm_save(std::shared_ptr<Image> img, FILE *outfile, bool really_save)
         }
     }
 
+    std::cout << "written pgm image" << std::endl;
     return n;
 }
 
diff --git a/main.cpp b/main.cpp
index 7bde680..19108d0 100644
--- a/main.cpp
+++ b/main.cpp
@@ -110,6 +110,12 @@ void onNewPixels(
         // qDebug() << __func__ << "got empty pixels";
     }
 
+    for (size_t i = 640 - 5; i < 640 + 5; i++) {
+        // std::cout << pixels->pixels[i] << " ";
+    }
+
+    // std::cout << std::endl
+
     ::pixels = *pixels;
 }
 
@@ -144,7 +150,7 @@ int main(int argc, char* argv[])
 
     // if (false)
     qDebug() << "size of raw profile" << sizeof(Pixels);
-    if (false) {
+    if (true) {
         // open binary calibration table
         if (true) {
             if (!openCalibrationTable("/home/user/dumps/binz.calibration_table",
@@ -294,8 +300,7 @@ int main(int argc, char* argv[])
 
                 interpolate(::calibrationTableX);
 
-                if (!dump(::calibrationTableZ,
-                          "/home/user/dumps/binx.calibration_table")) {
+                if (!dump(::calibrationTableX, "/home/user/dumps/binx.calibration_table")) {
                     qApp->exit(EXIT_FAILURE);
                 }
 
@@ -305,6 +310,14 @@ int main(int argc, char* argv[])
         }
     }
 
+    QCryptographicHash hashZ(QCryptographicHash::Sha256);
+    hashZ.addData(QByteArrayView((char *) ::calibrationTableZ.data(), sizeof(CalibrationTable)));
+    qDebug() << "hash z" << sizeof(::calibrationTableZ) << hashZ.result().toHex();
+
+    QCryptographicHash hashX(QCryptographicHash::Sha256);
+    hashX.addData(QByteArrayView((char *) ::calibrationTableX.data(), sizeof(CalibrationTable)));
+    qDebug() << "hash x" << sizeof(::calibrationTableX) << hashX.result().toHex();
+
     // exit(EXIT_SUCCESS);
 
     // if (!initLaser()) {
@@ -353,7 +366,10 @@ int main(int argc, char* argv[])
     QHttpServer qHttpServer;
     qHttpServer.route("/v1/sensor/image", [&]() {
         std::cout << "http: image" << std::endl << std::flush;
+        // FILE *f = fopen("/tmp/img.pgm", "w");
+        // static bool save = false;
         pgm_save(::img);
+        // save = false;
         std::lock_guard<std::mutex> lg(pgm_image_mtx);
         qDebug() << "mutex locked";
         qDebug() << "image saved to array";
diff --git a/src/calibration.cpp b/src/calibration.cpp
index 33423b3..5caae02 100644
--- a/src/calibration.cpp
+++ b/src/calibration.cpp
@@ -324,8 +324,9 @@ CalibrationTablePtr calibrateX(
             // `pixelsToLines`. e.g. the most left/right lines. skip such points
             if (columnX < xLeft || columnX > xRight) {
                 if (rawProfile.counters.encoderPosition >= 0) {
-                    qWarning()
-                        << "x anchor not found" << xLeft << columnX << xRight;
+                    // FIXME: xRight can be smaller than xLeft
+                    // qWarning()
+                    //     << "x anchor not found" << xLeft << columnX << xRight;
                     continue;
                 }
             }
diff --git a/src/camera/innomakerov9281.h b/src/camera/innomakerov9281.h
index bcafc12..51485cb 100644
--- a/src/camera/innomakerov9281.h
+++ b/src/camera/innomakerov9281.h
@@ -5,7 +5,14 @@
 #include "constants.h"
 #include "image.h"
 
-class InnoMakerOV9281
+class ICamera
+{
+public:
+    virtual bool setExposureTimeMs(int value) = 0;
+    virtual bool setGain(int value) = 0;
+};
+
+class InnoMakerOV9281 : public ICamera
 {
 public:
     using buffer_t = std::array<uint8_t, img_size>;
@@ -17,8 +24,8 @@ public:
 public:
     bool init();
 
-    bool setExposureTimeMs(int value);
-    bool setGain(int value);
+    bool setExposureTimeMs(int value) override;
+    bool setGain(int value) override;
 
     bool getImage(Image &image);
 
diff --git a/src/camera/ov9281.cpp b/src/camera/ov9281.cpp
index b76ecdd..48f445f 100644
--- a/src/camera/ov9281.cpp
+++ b/src/camera/ov9281.cpp
@@ -189,7 +189,7 @@ void OV9281::onRequestCompleted(libcamera::Request *completed_request)
                                                         .planes()[i];
 
             size_t size = std::min(metaplane.bytesused, plane.length);
-            std::cout << "size is: " << size << std::endl;
+            // std::cout << "size is: " << size << std::endl;
             void *data = m_mappedBuffers[plane.fd.get()].first;
 
             auto img = std::make_shared<Image>();
@@ -204,7 +204,8 @@ void OV9281::onRequestCompleted(libcamera::Request *completed_request)
             img->counters.timestampUs = metadata.timestamp / 1000;
             img->counters.encoderPosition = RotaryEncoder::instance()->position();
 
-            memcpy(img->data, data, size);
+            img->copyFromData(data, size);
+            // memcpy(img->data, data, size);
             img->rotate();
 
             auto pixels = img->pixels();
diff --git a/src/camera/ov9281.h b/src/camera/ov9281.h
index e989d96..1f2011a 100644
--- a/src/camera/ov9281.h
+++ b/src/camera/ov9281.h
@@ -65,5 +65,5 @@ private:
     std::unique_ptr<libcamera::FrameBufferAllocator> m_allocator{nullptr};
 
     // TODO: set exposureTime from outside
-    int32_t m_exposureTime{100};
+    int32_t m_exposureTime{3000};
 };
diff --git a/src/image.cpp b/src/image.cpp
index 000ca2d..e4d51c1 100644
--- a/src/image.cpp
+++ b/src/image.cpp
@@ -132,13 +132,27 @@ std::shared_ptr<Pixels> Image::pixels() const
 
 void Image::copyFromData(const void *src, size_t size)
 {
-    if (size > sizeof(data))
-    {
-        // throw std::logic_error(std::format)
+    if (Q_UNLIKELY(size % sizeof(data) != 0 || size < sizeof(data))) {
+        throw std::logic_error(__func__ + std::string(": wrong data size"));
     }
 
-    if (pixelFormat == libcamera::formats::R8)
-    {
+    switch (pixelFormat) {
+    case libcamera::formats::R8: {
+        // std::cout << "R8" << std::endl;
         memcpy(data, src, size);
+        break;
+    }
+    case libcamera::formats::R16: {
+        // std::cout << "R16" << std::endl;
+#pragma omp parallel
+#pragma omp for
+        for (size_t i = 0; i < img_size; i++) {
+            data[i / img_width][i % img_width] = (((uint16_t *) src)[i] & 0xff00) >> 8;
+        }
+        break;
+    }
+    default:
+        throw std::logic_error(__func__ + std::string(": unsupported pixel format"));
+        break;
     }
 }