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-rw-r--r--src/calibration.cpp16
-rw-r--r--src/camera/innomakerov9281.cpp79
-rw-r--r--src/constants.h10
-rw-r--r--src/image.cpp1
-rw-r--r--src/main.cpp28
-rw-r--r--src/profile.cpp2
6 files changed, 80 insertions, 56 deletions
diff --git a/src/calibration.cpp b/src/calibration.cpp
index 5caae02..3bc0ba5 100644
--- a/src/calibration.cpp
+++ b/src/calibration.cpp
@@ -81,16 +81,16 @@ void interpolate(
table->end(),
[](auto& column) { interpolate(column); });
- for (size_t i = 9471; i < 9472; i++) {
- std::cout << __func__ << ": row #" << i << ": ";
+ // for (size_t i = 9471; i < 9472; i++) {
+ // std::cout << __func__ << ": row #" << i << ": ";
- for (size_t j = 640 - 5; j < 640 + 5; ++j) {
- const auto& p = table->at(j).at(i);
- std::cout << p << ' ';
- }
+ // for (size_t j = 640 - 5; j < 640 + 5; ++j) {
+ // const auto& p = table->at(j).at(i);
+ // std::cout << p << ' ';
+ // }
- std::cout << std::endl;
- }
+ // std::cout << std::endl;
+ // }
// for (size_t i = 0; i < discretesInRage; i++) {
// std::cout << "row #" << i << ": ";
diff --git a/src/camera/innomakerov9281.cpp b/src/camera/innomakerov9281.cpp
index 79ae0b4..01f485d 100644
--- a/src/camera/innomakerov9281.cpp
+++ b/src/camera/innomakerov9281.cpp
@@ -33,6 +33,7 @@ extern uint64_t corr_elapsed_ns;
extern uint64_t max_elapsed_ns;
extern uint64_t value_elapsed_ns;
extern uint64_t rot_elapsed_ns;
+extern uint64_t dropped_count;
// constexpr char videoDevice[] = "/dev/video0";
@@ -83,7 +84,7 @@ std::vector<std::shared_ptr<ICamera> > InnoMakerOV9281::search()
if (!cam->init())
return {};
- if (!cam->setExposureTimeUs(68000))
+ if (!cam->setExposureTimeUs(30))
return {};
if (!cam->setLaserLevel(1))
@@ -124,7 +125,7 @@ bool InnoMakerOV9281::startStream()
std::cout << "InnoMakerOV9281: start stream" << std::endl;
// Image image;
- std::shared_ptr<Image> imageCopy = std::make_shared<Image>();
+ // std::shared_ptr<Image> imageCopy = std::make_shared<Image>();
while (!stopToken.stop_requested())
{
size_t imageIndex{};
@@ -133,31 +134,33 @@ bool InnoMakerOV9281::startStream()
if (!getImage(imageIndex))
break;
- auto image = m_images[imageIndex];
+ continue;
+
+ // auto image = m_images[imageIndex];
- // // FIXME: backup emit value
- // #ifdef emit
- // #undef emit
- // // std::cout << "emit new image" << std::endl << std::flush;
- // // newImage.emit(image);
- if (newImageCallback) {
- // memcpy(imageCopy.get(), &image, sizeof(Image));
- // newImageCallback(imageCopy);
- newImageCallback(image);
- }
+ // // // FIXME: backup emit value
+ // // #ifdef emit
+ // // #undef emit
+ // // // std::cout << "emit new image" << std::endl << std::flush;
+ // // // newImage.emit(image);
+ // if (newImageCallback) {
+ // // memcpy(imageCopy.get(), &image, sizeof(Image));
+ // // newImageCallback(imageCopy);
+ // newImageCallback(image);
+ // }
+ // // continue;
+ // // // // newPixels.emit(pixels);
+ // // auto &img = *image;
+ // // image->rotate();
+ // // img.rotate();
+ // image.rotate();
+ // // image.rotate();
+ // if (newPixelsCallback) {
+ // // auto pixels = image->pixels();
+ // auto pixels = image.pixels();
+ // newPixelsCallback(pixels);
+ // }
// continue;
- // // // newPixels.emit(pixels);
- // auto &img = *image;
- // image->rotate();
- // img.rotate();
- image.rotate();
- // image.rotate();
- if (newPixelsCallback) {
- // auto pixels = image->pixels();
- auto pixels = image.pixels();
- newPixelsCallback(pixels);
- }
- continue;
}
// #define emit
// #endif
@@ -184,6 +187,7 @@ bool InnoMakerOV9281::init()
bool InnoMakerOV9281::setExposureTimeUs(int valueUs)
{
+ return true;
std::cout << __func__ << ": " << valueUs << std::endl << std::flush;
/*
@@ -210,21 +214,28 @@ bool InnoMakerOV9281::setGain(int value)
{
std::cout << __func__ << ": " << value << std::endl << std::flush;
- return setCamParam(V4L2_CID_GAIN, value);
+ // return setCamParam(V4L2_CID_GAIN, value);
+ // FIXME: tmp workaround for imx287llr
+ return true;
}
bool InnoMakerOV9281::setLaserLevel(int value)
{
std::cout << __func__ << ": " << value << std::endl << std::flush;
- return setCamParam(V4L2_CID_FLASH_TIMEOUT, value);
+ // return setCamParam(V4L2_CID_FLASH_TIMEOUT, value);
+
+ // FIXME: tmp workaround for imx287llr
+ return true;
}
bool InnoMakerOV9281::setSomething(int value)
{
std::cout << __func__ << ": " << value << std::endl << std::flush;
- return setCamParam(V4L2_CID_FLASH_INTENSITY, value);
+ // return setCamParam(V4L2_CID_FLASH_INTENSITY, value);
+ // FIXME: tmp workaround for imx287llr
+ return true;
}
bool InnoMakerOV9281::setCamParam(unsigned int v4l2controlId, int value)
@@ -415,8 +426,10 @@ bool InnoMakerOV9281::getImage(size_t &imageIndex)
if (elapsedTime > 1000.)
{
fprintf(stderr,
- "fps: %d\tsec: %d\tdq: %d\tget: %d\trot: %d\tsum: %d,\tcorr: %d,\tval: %d\n",
+ "fps: %d\tdropped: %d\tsec: %d\tdq: %d\tget: %d\trot: %d\tsum: %d,\tcorr: "
+ "%d,\tval: %d\n",
counter,
+ dropped_count,
curr.tv_sec % 1000,
dq_elapsed_ns / 1000 / counter,
get_elapsed_ns / 1000 / counter,
@@ -433,6 +446,7 @@ bool InnoMakerOV9281::getImage(size_t &imageIndex)
max_elapsed_ns = 0;
value_elapsed_ns = 0;
rot_elapsed_ns = 0;
+ dropped_count = 0;
counter = 0;
prev = curr;
@@ -472,12 +486,17 @@ bool InnoMakerOV9281::getImage(size_t &imageIndex)
// TODO: fill
// image.counters.encoderPosition = RotaryEncoder::instance()->position();
image.counters.measurementCounter = buffer.sequence;
+
+ static int64_t prevCounter = buffer.sequence;
+ dropped_count += buffer.sequence - prevCounter - 1;
+ prevCounter = buffer.sequence;
+
image.counters.timestampUs = buffer.timestamp.tv_sec * 1000 * 1000 + buffer.timestamp.tv_usec;
{
QElapsedTimer t;
t.start();
- memcpy(&image.data, video_buffer_ptr[buffer.index], img_size);
+ // memcpy(&image.data, video_buffer_ptr[buffer.index], img_size);
// std::cout << (void *) video_buffer_ptr[buffer.index] << std::endl;
get_elapsed_ns += t.nsecsElapsed();
}
diff --git a/src/constants.h b/src/constants.h
index 53e6063..ba17382 100644
--- a/src/constants.h
+++ b/src/constants.h
@@ -6,8 +6,14 @@
// TODO: get rid of qstring
#include <QString>
-constexpr size_t img_width = 1280;
-constexpr size_t img_height = 800;
+// ov9281
+// constexpr size_t img_width = 1280;
+// constexpr size_t img_height = 800;
+
+// imx287llr
+constexpr size_t img_width = 704;
+constexpr size_t img_height = 544;
+
constexpr size_t img_size = img_width * img_height;
constexpr uint32_t patternSize = 10;
diff --git a/src/image.cpp b/src/image.cpp
index befcb2b..c2ee5b4 100644
--- a/src/image.cpp
+++ b/src/image.cpp
@@ -16,6 +16,7 @@ uint64_t corr_elapsed_ns = 0;
uint64_t max_elapsed_ns = 0;
uint64_t value_elapsed_ns = 0;
uint64_t rot_elapsed_ns = 0;
+uint64_t dropped_count = 0;
// float process_column(const uint8_t (&column)[])
// float process_column(const Image::row_t &column)
diff --git a/src/main.cpp b/src/main.cpp
index d986f91..fd5bd79 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -120,10 +120,10 @@ void onNewPixels(std::shared_ptr<Pixels> pixels)
// qDebug() << __func__ << "got empty pixels";
}
- for (size_t i = 640 - 5; i < 640 + 5; i++)
- {
- // std::cout << pixels->pixels[i] << " ";
- }
+ // for (size_t i = 640 - 5; i < 640 + 5; i++)
+ // {
+ // // std::cout << pixels->pixels[i] << " ";
+ // }
// std::cout << std::endl
@@ -144,7 +144,8 @@ int main(int argc, char* argv[])
std::cout << std::boolalpha;
InnoMakerOV9281 innoMakerCam;
qDebug() << "init:" << innoMakerCam.init();
- qDebug() << "set exposure:" << innoMakerCam.setExposureTimeUs(3000000);
+ // qDebug() << "set exposure:" << innoMakerCam.setExposureTimeUs(3000000);
+ qDebug() << "set exposure:" << innoMakerCam.setExposureTimeUs(10000);
qDebug() << "set gain:" << innoMakerCam.setGain(2);
innoMakerCam.startStream();
@@ -167,25 +168,22 @@ int main(int argc, char* argv[])
// if (false)
qDebug() << "size of raw profile" << sizeof(Pixels);
- if (true)
- {
+ if (false) {
// open binary calibration table
if (true)
{
initializers << QtConcurrent::run([&]() {
- if (!openCalibrationTable(
- // "/home/user/dumps/binz.calibration_table",
- "/tmp/binz.calibration_table",
- ::calibrationTableZ)) {
+ if (!openCalibrationTable("/home/user/dumps/binz.calibration_table",
+ // "/tmp/binz.calibration_table",
+ ::calibrationTableZ)) {
exit(EXIT_FAILURE);
}
});
initializers << QtConcurrent::run([&]() {
- if (!openCalibrationTable(
- // "/home/user/dumps/binx.calibration_table",
- "/tmp/binx.calibration_table",
- ::calibrationTableX)) {
+ if (!openCalibrationTable("/home/user/dumps/binx.calibration_table",
+ // "/tmp/binx.calibration_table",
+ ::calibrationTableX)) {
exit(EXIT_FAILURE);
}
});
diff --git a/src/profile.cpp b/src/profile.cpp
index 2c7b9a9..64ba091 100644
--- a/src/profile.cpp
+++ b/src/profile.cpp
@@ -25,7 +25,7 @@ Profile::Profile(
for (size_t i = 9471; i < 9472; i++) {
std::cout << __func__ << ": row #" << i << ": ";
- for (size_t j = 0; j < 1280; ++j) {
+ for (size_t j = 0; j < img_width; ++j) {
const auto& x = calibrationTableX->at(j).at(i);
const auto& z = calibrationTableZ->at(j).at(i);
std::cout << "Profile: table: " << x << ' ' << z << std::endl;
generated by cgit v1.2.3-70-g09d2 (git 2.52.0) at 2025-12-08 11:50:59 +0000