speedup; add some i2c commands

12 files changed, 409 insertions, 73 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8826e5e..f5f0579 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,10 +20,10 @@ set(CMAKE_LIBRARY_PATH ${CMAKE_SYSROOT}/usr/lib/aarch64-linux-gnu)
 set(ENV{PKG_CONFIG_PATH} $PKG_CONFIG_PATH:/usr/lib/aarch64-linux-gnu/pkgconfig)
 # gentoo:
 # set(ENV{PKG_CONFIG_PATH} $PKG_CONFIG_PATH:/usr/lib/aarch64-rpi5-linux-gnu/pkgconfig)
-set(ENV{PKG_CONFIG_LIBDIR} /usr/lib/pkgconfig:/usr/share/pkgconfig/:${TARGET_SYSROOT}/usr/lib/aarch64-linux-gnu/pkgconfig:${TARGET_SYSROOT}/usr/lib/pkgconfig)
+set(ENV{PKG_CONFIG_LIBDIR} /usr/lib/pkgconfig:/usr/share/pkgconfig/:${CMAKE_SYSROOT}/usr/lib/aarch64-linux-gnu/pkgconfig:${CMAKE_SYSROOT}/usr/lib/pkgconfig)
 set(ENV{PKG_CONFIG_SYSROOT_DIR} ${CMAKE_SYSROOT})
 
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -I${TARGET_SYSROOT}/usr/include")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -I${CMAKE_SYSROOT}/usr/include")
 set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}")
 
 
@@ -42,13 +42,16 @@ set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}")
 # NOTE: to be able to run orpheus remotely from QtCreator, run this on your RPI:
 # $ sudo chown -R user:adm /usr/local/bin/
 # NOTE: to use rotary encoder you'll need WiringPi which is not in rpi repos, so
+# $ sudo apt install git
 # $ git clone https://github.com/WiringPi/WiringPi.git
 # check README.md for installation instructions. You may get this while installing
 # .deb package, but it's ok:
 # N: Download is performed unsandboxed as root as file
 # '/home/user/git/third_party/WiringPi/wiringpi_3.12_arm64.deb' couldn't be
 # accessed by user '_apt'. - pkgAcquire::Run (13: Permission denied)
-
+# $ ./build debian
+# $ mv debian-template/*.deb .
+# $ sudo apt install ./*.deb
 
 # NOTE: I've added ld symlink on host to be able to run moc
 # arch:
@@ -70,7 +73,7 @@ set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
 set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
 set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
 set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
-set(CMAKE_BUILD_RPATH ${TARGET_SYSROOT})
+set(CMAKE_BUILD_RPATH ${CMAKE_SYSROOT})
 
 find_package(PkgConfig REQUIRED)
 pkg_check_modules(LIBCAMERA REQUIRED IMPORTED_TARGET libcamera)
@@ -104,7 +107,7 @@ qt_standard_project_setup(REQUIRES 6.4)
 include_directories("${CAMERA_INCLUDE_DIRS}" src)
 
 # libpistache
-pkg_check_modules(Pistache REQUIRED IMPORTED_TARGET libpistache)
+# pkg_check_modules(Pistache REQUIRED IMPORTED_TARGET libpistache)
 
 # add_executable(${PROJECT_NAME}
 file(GLOB_RECURSE SOURCES src/*.h src/*.cpp src/*.c src/*.qrc)
@@ -113,7 +116,7 @@ qt_add_executable(apporpheus ${SOURCES})
 target_link_libraries(app${PROJECT_NAME}
     PRIVATE
     "${LIBCAMERA_LIBRARIES}"
-    PkgConfig::Pistache
+    # PkgConfig::Pistache
     Qt6::Gui
     Qt6::HttpServer
     Qt6::SerialPort
diff --git a/src/calibration.cpp b/src/calibration.cpp
index 3bc0ba5..6cc85a1 100644
--- a/src/calibration.cpp
+++ b/src/calibration.cpp
@@ -209,8 +209,8 @@ QList<Pixels> filter(
         size_t count{1};
         ++it;
 
-        while (it != rawProfiles.constEnd() &&
-               it->counters.encoderPosition == sum.counters.encoderPosition) {
+        while (it != rawProfiles.constEnd()
+               && it->counters.encoderPosition == sum.counters.encoderPosition) {
             sum += *it;
             ++count;
             ++it;
diff --git a/src/camera/veye_i2c.cpp b/src/camera/veye_i2c.cpp
new file mode 100644
index 0000000..9d04d9b
--- /dev/null
+++ b/src/camera/veye_i2c.cpp
@@ -0,0 +1,106 @@
+#include "veye_i2c.h"
+
+#include <arpa/inet.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <iostream>
+#include <linux/i2c-dev.h>
+#include <linux/i2c.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+#include "veyeimx287m_types.h"
+
+bool veye::imx287m::i2cRead(int fd, uint8_t i2c_addr, uint16_t reg, uint32_t &value)
+{
+    int err;
+    int i = 0;
+    uint8_t buf[2] = {reg >> 8, reg & 0xff};
+    uint8_t bufout[4] = {0};
+    struct i2c_msg msgs[2] = {
+        {.addr = i2c_addr,
+         .flags = 0,
+         .len = 2,
+         // .buf = (uint8_t *) (&reg),
+         .buf = buf},
+        {
+            .addr = i2c_addr,
+            .flags = I2C_M_RD,
+            .len = 4,
+            .buf = bufout,
+        },
+    };
+
+    struct i2c_rdwr_ioctl_data msgset;
+    msgset.msgs = msgs;
+    msgset.nmsgs = 2;
+
+    err = ioctl(fd, I2C_RDWR, &msgset);
+    //printf("Read i2c addr %02X\n", i2c_addr);
+    if (err != msgset.nmsgs) {
+        std::cerr << "Read i2c err " << err << std::endl;
+        return false;
+    }
+
+    value = ntohl(*(uint32_t *) bufout);
+    // fprintf(stderr, "addr %04x : value %08x \n", reg + i, value);
+
+    return true;
+}
+
+bool veye::imx287m::test(uint32_t value)
+{
+    const std::string i2cDevName{"/dev/i2c-10"};
+    constexpr uint32_t i2cDevAddr{0x3b};
+    int fd = open(i2cDevName.c_str(), O_RDWR);
+
+    if (!fd) {
+        std::cerr << "cannot open i2c device " << i2cDevName << ", error: " << strerror(errno)
+                  << std::endl;
+        return false;
+    }
+
+    if (ioctl(fd, I2C_SLAVE_FORCE, i2cDevAddr) < 0) {
+        std::cerr << "cannot set i2c slave. dev: " << i2cDevName << ", addr: " << i2cDevAddr
+                  << ", error: " << strerror(errno) << std::endl;
+
+        return false;
+    }
+
+    uint32_t expTime{0};
+    // if (!i2cRead(fd, i2cDevAddr, (uint16_t) veye::imx287m::Register::ME_Time, expTime)) {
+    //     return false;
+    // }
+
+    // std::cout << "exp time is: " << expTime << std::endl;
+    std::cout << "set exp time to " << value;
+
+    if (!i2cWrite(fd, (uint16_t) veye::imx287m::Register::ME_Time, value)) {
+        return false;
+    }
+
+    if (!i2cRead(fd, i2cDevAddr, (uint16_t) veye::imx287m::Register::ME_Time, expTime)) {
+        return false;
+    }
+    std::cout << "\texp time is: " << expTime << std::endl;
+
+    return true;
+}
+
+bool veye::imx287m::i2cWrite(int fd, uint16_t reg, const uint32_t value)
+{
+    uint8_t msg[] = {reg >> 8, reg & 0xff, value >> 24, value >> 16, value >> 8, value >> 0};
+    int len = sizeof(msg) / sizeof(msg[0]);
+
+    if (write(fd, msg, len) != len) {
+        std::cerr << "cannot write value. reg: " << reg << ", error: " << strerror(errno)
+                  << std::endl;
+        return false;
+    }
+
+    // TODO: find a best way to get up-to-date values
+    usleep(100);
+
+    return true;
+}
diff --git a/src/camera/veye_i2c.h b/src/camera/veye_i2c.h
new file mode 100644
index 0000000..1638976
--- /dev/null
+++ b/src/camera/veye_i2c.h
@@ -0,0 +1,12 @@
+#pragma once
+
+#include <cstdint>
+
+namespace veye {
+namespace imx287m {
+bool i2cRead(int fd, uint8_t i2c_addr, uint16_t reg, uint32_t &value);
+bool i2cWrite(int fd, uint16_t reg, const uint32_t value);
+
+bool test(uint32_t value);
+} // namespace imx287m
+} // namespace veye
diff --git a/src/camera/veyeimx287m.cpp b/src/camera/veyeimx287m.cpp
index dee3c6a..c7e519a 100644
--- a/src/camera/veyeimx287m.cpp
+++ b/src/camera/veyeimx287m.cpp
@@ -15,6 +15,7 @@
 #include <QElapsedTimer>
 
 #include "constants.h"
+#include "imagealgos.h"
 #include "pixels.h"
 // #include "rotaryencoder.h"
 
@@ -141,7 +142,7 @@ bool VeyeIMX287m::init()
 
 bool VeyeIMX287m::setExposureTimeUs(int valueUs)
 {
-    return true;
+    //return true;
     std::cout << __func__ << ": " << valueUs << std::endl << std::flush;
 
     /*
@@ -378,7 +379,15 @@ void VeyeIMX287m::calcFrameLoop(std::stop_token stopToken)
         }
 
         image.rotate();
-        image.pixels();
+        // const auto pixels = image.pixels();
+        const auto pixels = image.sharedPixels();
+#pragma push_macro("emit")
+#undef emit
+        // std::cout << "emit pixels" << std::endl;
+        newPixels.emit(pixels);
+#pragma pop_macro("emit")
+        // const auto lines = pixelsToLines(*pixels);
+        // continue;
 
         // setCamParam(V4L2_CID_EXPOSURE, 18);
     }
diff --git a/src/camera/veyeimx287m.h b/src/camera/veyeimx287m.h
index 9986e59..37da5b0 100644
--- a/src/camera/veyeimx287m.h
+++ b/src/camera/veyeimx287m.h
@@ -42,8 +42,8 @@ public:
     // Image &getImage();
 
 public:
-    libcamera::Signal<std::shared_ptr<Pixels>> newPixels;
-    libcamera::Signal<std::shared_ptr<Image>> newImage;
+    // libcamera::Signal<std::shared_ptr<Pixels>> newPixels;
+    // libcamera::Signal<std::shared_ptr<Image>> newImage;
 
 private:
     bool setCamParam(unsigned int v4l2controlId, int value);
diff --git a/src/camera/veyeimx287m_types.h b/src/camera/veyeimx287m_types.h
new file mode 100644
index 0000000..640a0e1
--- /dev/null
+++ b/src/camera/veyeimx287m_types.h
@@ -0,0 +1,135 @@
+#pragma once
+
+#include <QObject>
+
+namespace veye {
+namespace imx287m {
+
+enum class Register {
+    ImageAcqu = 0x0400,
+    ImageFeature = 0x0800,
+    ImageSigProc = 0x0c00,
+    IOCtrl = 0x1000,
+    FPGACmd = 0x1400,
+    FPGABlock = 0x1800,
+
+    Manufacturer_Name = 0x0000,
+    Model_Name = 0x0004,
+    Sensor_Name = 0x0008,
+    Product_Info = 0x000C,
+    Device_Version = 0x0010,
+    System_reset = 0x0014,
+    Param_save_to_flash = 0x0018,
+    System_reboot = 0x001C,
+    Time_stamp = 0x0020,
+    Error_code = 0x0024,
+    Format_Cap = 0x0028,
+    TriggerMode_Cap = 0x0030,
+    LaneNum_Cap = 0x0034,
+    Temp_K = 0x0058,
+
+    Image_Acquisition = 0x400,
+    Trigger_Mode = 0x404,
+    Trigger_Source = 0x408,
+    Trigger_Num = 0x40C,
+    Trigger_Inerval = 0x410,
+    Trigger_Software = 0x414,
+    Trigger_Count = 0x418,
+    I2C_Addr = 0x41C,
+    I2C_Port_Sel = 0x420,
+
+    User_overlay_enable = 0x428,
+    User_overlay_zone0 = 0x42C,
+    User_overlay_zone1 = 0x430,
+    User_overlay_zone2 = 0x434,
+    User_overlay_zone3 = 0x438,
+    User_define_zone0 = 0x43C,
+    User_define_zone1 = 0x440,
+    User_define_zone2 = 0x444,
+    User_define_zone3 = 0x448,
+    Nondiscontinuous_mode = 0x44C,
+    Sensor_Reg_Addr = 0x0450,
+    Sensor_Reg_Val = 0x454,
+    Slave_mode = 0x460,
+    Sensor_Frame_Count = 0x464,
+    Out_Frame_Count = 0x468,
+    Trigger_Cycle_Min = 0x46C,
+    Trigger_Cycle_Max = 0x470,
+
+    Test_Image_Selector = 0x800,
+    Pixel_Format = 0x804,
+    Sensor_Width = 0x808,
+    Sensor_Height = 0x80C,
+    MaxFrame_Rate = 0x810,
+    Framerate = 0x814,
+    ROI_Width = 0x818,
+    ROI_Height = 0x81C,
+    ROI_Offset_X = 0x820,
+    ROI_Offset_Y = 0x824,
+    Image_Direction = 0x828,
+    Data_shift = 0x82C,
+    Black_Level = 0x830,
+    BLC_Mode = 0x834,
+    ReadOut_Mode = 0x838,
+    Lane_Num = 0x83C,
+    MIPI_DataRate = 0x840,
+    MIN_ROI_Width = 0x844,
+    MIN_ROI_Height = 0x848,
+    FrameRate_Ex = 0x850,
+    OSD_Mode = 0x854,
+
+    ISP_module_ctrl = 0xC00,
+    Exposure_Mode = 0xC04,
+    Target_Brightness = 0xC08,
+    Exposure_Time_Source = 0xC0C,
+    ME_Time = 0xC10,
+    AE_MAX_Time = 0xC14,
+    Exp_Time = 0xC18,
+    Gain_Mode = 0xC1C,
+    Manual_Gain = 0xC20,
+    AG_Max_Gain = 0xC24,
+    Cur_Gain = 0xC28,
+    AAROIOffsetX = 0xC2C,
+    AAROIOffsetY = 0xC30,
+    AAROIWidth = 0xC34,
+    AAROIHeight = 0xC38,
+    WB_Mode = 0xC3C,
+    MWB_Rgain = 0xC40,
+    MWB_Bgain = 0xC44,
+    AWBROIOffsetX = 0xC48,
+    AWBROIOffsetY = 0xC4C,
+    AWBROIWidth = 0xC50,
+    AWBROIHeight = 0xC54,
+    AWB_Rgain = 0xC58,
+    AWB_Bgain = 0xC5C,
+    Gamma = 0xC60,
+    DPC_Start = 0xC64,
+    DPC_Status = 0xC68,
+    DPC_Count = 0xC6C,
+    AAROI_enable = 0xC80,
+    Max_Exp_time = 0xC8C,
+    Min_Exp_time = 0xC90,
+
+    Trigger_Delay = 0x1000,
+    Trigger_Activation = 0x1004,
+    Trigger_Filter_Enable = 0x1008,
+    Trigger_Filter_Width = 0x100C,
+    Trigger_Exp_Delay = 0x1010,
+    GPIOS_Status = 0x1014,
+
+    GPIO1_OutSelect = 0x1020,
+    GPIO1_Useroutput = 0x1024,
+    GPIO1_Reverse = 0x1028,
+
+    GPIO2_OutSelect = 0x1030,
+    GPIO2_Useroutput = 0x1034,
+    GPIO2_Reverse = 0x1038
+};
+
+class Params : public QObject
+{
+    // Q_OBJECT
+};
+
+} // namespace imx287m
+} // namespace veye
diff --git a/src/image.cpp b/src/image.cpp
index f0c16aa..9c258c6 100644
--- a/src/image.cpp
+++ b/src/image.cpp
@@ -24,17 +24,19 @@ uint64_t dropped_count = 0;
 float process_column(const Image::column_t &column)
 {
     // Image::column_t c = column;
-    start_timer(process_column);
-    QElapsedTimer t;
-    t.start();
+    // start_timer(process_column);
+    // QElapsedTimer t;
+    // t.start();
 
     float result = std::numeric_limits<float>::quiet_NaN();
 
     constexpr uint32_t signalThreshold = 900; // = SKO * sqrt(patternSize)
     static constexpr uint32_t patternOffset = patternSize - ((patternSize % 2 == 1) ? 1 : 0);
-    const uint32_t correlationSize = img_height - patternSize + ((patternSize % 2 == 1) ? 1 : 0);
+    constexpr uint32_t correlationSize = img_height - patternSize
+                                         + ((patternSize % 2 == 1) ? 1 : 0);
     // constexpr uint32_t correlationSize = img_height - patternSize;
-    uint32_t correlation[img_height];
+    uint32_t correlation[img_height] = {0};
+    // memset(correlation, 0, img_height * sizeof(correlation[0]));
     uint32_t integralSum[img_height];
     uint32_t maxTripleSum = signalThreshold * 50;
     uint32_t x1 = 0;
@@ -42,90 +44,103 @@ float process_column(const Image::column_t &column)
     int32_t y2 = 0;
 
     static_assert((img_height % patternSize) == 0, "img_height % patternSize should be 0");
-    std::array<uint16_t, img_height / patternSize> sums;
-    uint16_t maxLALASum{0};
-    size_t maxLALAIdx{0};
+    // std::array<uint16_t, img_height / patternSize> sums;
+    // uint16_t maxLALASum{0};
+    // size_t maxLALAIdx{0};
     // uint16_t sum{0};
 
-    for (size_t i = 0; i < img_height; i += patternSize) {
-        // const auto sum = std::accumulate(column.cbegin() + i,
-        //                                  column.cbegin() + i + patternSize,
-        //                                  0,
-        //                                  std::plus<uint16_t>());
-        uint16_t sum{0};
+    // for (size_t i = 0; i < img_height; i += patternSize) {
+    //     // const auto sum = std::accumulate(column.cbegin() + i,
+    //     //                                  column.cbegin() + i + patternSize,
+    //     //                                  0,
+    //     //                                  std::plus<uint16_t>());
+    //     uint16_t sum{0};
 
-        for (size_t j = i; j < i + patternSize; ++j)
-            sum += column[j];
-        // if ((i % patternSize) == 0)
-        //     sum = 0;
-        // sum += column[i];
+    //     for (size_t j = i; j < i + patternSize; ++j)
+    //         sum += column[j];
+    //     // if ((i % patternSize) == 0)
+    //     //     sum = 0;
+    //     // sum += column[i];
 
-        // if (sum > 0xff)
-        // std::cout << sum << ' ';
+    //     // if (sum > 0xff)
+    //     // std::cout << sum << ' ';
 
-        if (sum > maxLALASum) {
-            maxLALASum = sum;
-            maxLALAIdx = i;
-        }
-    }
+    //     if (sum > maxLALASum) {
+    //         maxLALASum = sum;
+    //         maxLALAIdx = i;
+    //     }
+    // }
 
     // maxLALAIdx = patternSize * 32 - 14; // crash
     // maxLALAIdx = patternSize * 32 - 14; // no crash
 
-    maxLALAIdx = std::clamp(uint32_t(maxLALAIdx),
-                            uint32_t(patternSize),
-                            uint32_t(img_height - patternSize * 2 - 14));
+    // maxLALAIdx = std::clamp(uint32_t(maxLALAIdx),
+    //                         uint32_t(patternSize),
+    //                         uint32_t(img_height - patternSize * 2 - 14));
 
     // std::cout << maxLALAIdx << ' ';
-    memset(correlation, 0, img_height * sizeof(correlation[0]));
-    // memset(correlation, 0, patternSize / 2);
-    // integralSum[0] = 0;
+    // memset(correlation, 0, img_height * sizeof(correlation[0]));
+    // memset(correlation, 0, patternSize);
+    // memset(correlation + correlationSize - 1, 0, patternSize);
+    integralSum[0] = 0;
     // integralSum[maxLALAIdx] = 0;
-    memset(integralSum, 0, img_height * sizeof(integralSum[0]));
+    // memset(integralSum, 0, img_height * sizeof(integralSum[0]));
 
-    // for (uint32_t i = 1; i < img_height; ++i) {
-    for (uint32_t i = maxLALAIdx + 1; i < maxLALAIdx + patternSize * 3; ++i) {
+    for (uint32_t i = 1; i < img_height; ++i) {
+        // for (uint32_t i = maxLALAIdx + 1; i < maxLALAIdx + patternSize * 3; ++i) {
         integralSum[i] = column[i] + integralSum[i - 1];
     }
 
-    sum_elapsed_ns += t.nsecsElapsed();
-    t.restart();
+    // sum_elapsed_ns += t.nsecsElapsed();
+    // t.restart();
 
     // pixel * <sum of neighbours>
-    // for (uint32_t i = 0; i < correlationSize; ++i)
-    for (uint32_t i = maxLALAIdx; i < maxLALAIdx + patternSize * 2; ++i)
+    for (uint32_t i = 0; i < correlationSize; ++i)
+        // for (uint32_t i = maxLALAIdx; i < maxLALAIdx + patternSize * 2; ++i)
         correlation[i + patternSize / 2] = column[i + patternSize / 2]
                                            * (integralSum[i + patternOffset] - integralSum[i]);
     // * (integralSum[i + patternSize] - integralSum[i]);
 
-    corr_elapsed_ns += t.nsecsElapsed();
-    t.restart();
+    // corr_elapsed_ns += t.nsecsElapsed();
+    // t.restart();
+
+    uint32_t cPPP = correlation[0];
+    uint32_t cPP = correlation[1];
+    uint32_t cP = correlation[2];
+
+    // uint32_t c = correlation[3];
+    // uint32_t cN = correlation[4];
+    // uint32_t cNN = correlation[5];
 
-    // for (uint32_t i = 3; i < img_height - 2; ++i) {
-    for (uint32_t i = maxLALAIdx + 3; i < maxLALAIdx + patternSize * 3 - 2; ++i) {
+    for (uint32_t i = 3; i < img_height - 2; ++i) {
+        // for (uint32_t i = maxLALAIdx + 3; i < maxLALAIdx + patternSize * 3 - 2; ++i) {
         // p - pixel, n - neighbour
         // P - pixel used in sum, N - neighbour used in sum
         // [N P N]
-        const auto sum = correlation[i - 1] + correlation[i] +
-                         correlation[i + 1];
+        const uint32_t c = correlation[i];
+        const uint32_t cN = correlation[i + 1];
+        const uint32_t cNN = correlation[i + 2];
+        const auto sum = cP + c + cN;
+
+        // const int32_t rioux0 = int32_t(cPPP + cPP) - int32_t(c + cN);
+        // const int32_t rioux1 = int32_t(cPP + cP) - int32_t(cN + cNN);
+
+        // if (sum > maxTripleSum && rioux0 < 0 && rioux1 >= 0) {
+        //     x1 = i - 1;
+        //     y1 = rioux0;
+        //     y2 = rioux1;
+        //     maxTripleSum = sum;
+        // }
 
         if (sum > maxTripleSum) {
             // [N N n p] - [P N]
-            const int32_t rioux0 = int32_t(correlation[i - 2 - 1] +
-                                           correlation[i - 1 - 1]) -
-                                   int32_t(correlation[i + 1 - 1] +
-                                           correlation[i + 2 - 1]);
+            const int32_t rioux0 = int32_t(cPPP + cPP) - int32_t(c + cN);
 
-            if (rioux0 < 0)
-            {
+            if (rioux0 < 0) {
                 // [N N p] - [p N N]
-                const int32_t rioux1 = int32_t(correlation[i - 2] +
-                                               correlation[i - 1]) -
-                                       int32_t(correlation[i + 1] +
-                                               correlation[i + 2]);
+                const int32_t rioux1 = int32_t(cPP + cP) - int32_t(cN + cNN);
 
-                if (rioux1 >= 0)
-                {
+                if (rioux1 >= 0) {
                     x1 = i - 1;
                     y1 = rioux0;
                     y2 = rioux1;
@@ -133,10 +148,17 @@ float process_column(const Image::column_t &column)
                 }
             }
         }
+
+        cPPP = cPP;
+        cPP = cP;
+        cP = c;
+        // c = cN;
+        // cN = cNN;
+        // cNN = correlation[i + 1];
     }
 
-    value_elapsed_ns += t.nsecsElapsed();
-    t.restart();
+    // value_elapsed_ns += t.nsecsElapsed();
+    // t.restart();
 
     result = (y2 != y1) ? (float(x1) - (float(y1) / (y2 - y1)))
                         : std::numeric_limits<float>::quiet_NaN();
@@ -177,6 +199,19 @@ Pixels Image::pixels()
     return result;
 }
 
+std::shared_ptr<Pixels> Image::sharedPixels()
+{
+    t.start();
+
+    static auto result = std::make_shared<Pixels>();
+    pix_elapsed_ns += t.nsecsElapsed();
+    result->counters = counters;
+
+    std::transform(rotated_cw.cbegin(), rotated_cw.cend(), result->pixels.begin(), process_column);
+
+    return result;
+}
+
 void Image::copyFromData(const void *src, size_t size)
 {
     if (Q_UNLIKELY(size % sizeof(data) != 0 || size < sizeof(data))) {
diff --git a/src/image.h b/src/image.h
index 739c3fb..a3c4476 100644
--- a/src/image.h
+++ b/src/image.h
@@ -42,6 +42,7 @@ struct Image
 
     void rotate();
     Pixels pixels();
+    std::shared_ptr<Pixels> sharedPixels();
     void copyFromData(const void* src, size_t size);
 
 private:
diff --git a/src/main.cpp b/src/main.cpp
index 9548757..ca2da6f 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -12,6 +12,7 @@
 #include "calibration.h"
 #include "camera/innomakerov9281.h"
 #include "camera/ov9281.h"
+#include "camera/veye_i2c.h"
 #include "camera/veyeimx287m.h"
 #include "dumps.h"
 #include "fuck_intel.h"
@@ -139,9 +140,18 @@ int main(int argc, char* argv[])
     auto sigHandler = [](int s) {
         std::cout << "got signal " << s << std::endl;
         std::signal(s, SIG_DFL);
-        qApp->quit();
+        // QTimer::singleShot(0, qApp, &QCoreApplication::quit);
+        // qApp->quit();
     };
 
+    // for (int i = 2000; i >= 0; i -= 50) {
+    // for (int i = 0; i < 2000; i += 50) {
+    //     if (!veye::imx287m::test(i)) {
+    //         return EXIT_FAILURE;
+    //     }
+    // }
+    // return EXIT_SUCCESS;
+
     std::signal(SIGINT, sigHandler);
     std::signal(SIGTERM, sigHandler);
 
@@ -399,7 +409,7 @@ int main(int argc, char* argv[])
 #endif
 
     std::cout << "connect everything" << std::endl;
-    // camera->newPixels.connect(&onNewPixels);
+    camera->newPixels.connect(&onNewPixels);
     // camera->newImage.connect(&onNewImage);
     camera->newImageCallback = &onNewImage;
     camera->newPixelsCallback = &onNewPixels;
diff --git a/src/pixels.cpp b/src/pixels.cpp
index fcdfac7..3b69c99 100644
--- a/src/pixels.cpp
+++ b/src/pixels.cpp
@@ -101,3 +101,8 @@ Pixels::operator bool() const
     // std::cout << __func__ << ":\t" << (result ? "true" : "false") << std::endl;
     return result;
 }
+
+// std::lock_guard<std::mutex> Pixels::lock()
+// {
+//     return std::move(std::lock_guard{m_mtx});
+// }
diff --git a/src/pixels.h b/src/pixels.h
index 1d5effb..06a8654 100644
--- a/src/pixels.h
+++ b/src/pixels.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <array>
+#include <mutex>
 
 #include "fuck_intel.h"
 
@@ -32,4 +33,23 @@ struct Pixels
     [[nodiscard]] bool save(const QString& filename);
 
     operator bool() const;
+
+    // TODO: forbid copying
+    // Pixels() = default;
+    // Pixels(Pixels &&) = default;
+    // Pixels &operator=(Pixels &&) = default;
+
+    // Pixels(Pixels &) = delete;
+    // Pixels(const Pixels &) = delete;
+    // Pixels &operator=(Pixels &) = delete;
+    // Pixels &operator=(const Pixels &) = delete;
+
+    /*!
+     * \brief lock - lock any write operations on this `Pixels`
+     * \return lock guard
+     */
+    // std::lock_guard<std::mutex> lock();
+
+    // private:
+    // std::mutex m_mtx;
 };