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-rw-r--r--src/camera/icamera.h6
-rw-r--r--src/camera/veyeimx287m.cpp163
-rw-r--r--src/camera/veyeimx287m.h20
3 files changed, 98 insertions, 91 deletions
diff --git a/src/camera/icamera.h b/src/camera/icamera.h
index 545daf9..310e709 100644
--- a/src/camera/icamera.h
+++ b/src/camera/icamera.h
@@ -49,8 +49,10 @@ public:
[[nodiscard]] virtual bool set_gain(const float value) = 0;
[[nodiscard]] virtual std::optional<float> get_gain() = 0;
- [[nodiscard]] virtual bool getImage(Image *image) = 0;
- [[nodiscard]] virtual std::shared_ptr<Image> getImage() = 0;
+ // [[nodiscard]] virtual bool getImage(Image *image) = 0;
+ // [[nodiscard]] virtual std::shared_ptr<Image> getImage() = 0;
+ // [[nodiscard]] virtual std::optional<Image &> getImage() = 0;
+ [[nodiscard]] virtual Image *getImage() = 0;
public:
[[nodiscard]] virtual bool startStream() = 0;
diff --git a/src/camera/veyeimx287m.cpp b/src/camera/veyeimx287m.cpp
index 54bb47e..c36caaa 100644
--- a/src/camera/veyeimx287m.cpp
+++ b/src/camera/veyeimx287m.cpp
@@ -572,30 +572,26 @@ void VeyeIMX287m::getFramesLoop(std::stop_token stopToken)
const uint8_t i = threadIdx % futures.size();
futures[i].waitForFinished();
+ m_images[i].reset();
{
t.start();
const auto &src = *(Image::radxa_data_t *) m_rawBuffers[bufferIdx].mem;
- // const auto image = std::make_shared<Image>();
- // const auto &image = m_rawBuffers[i].image;
- auto &dst = m_rawBuffers[i].image->data;
+ auto &dst = m_images[i].data;
Image::copy(dst, src);
- // image->rotate();
- // const auto pixels = image->sharedPixels();
-
get_elapsed_ns += t.nsecsElapsed();
- // m_sync.rawSemQueue.enqueue(image);
}
- futures[i] = QtConcurrent::run(&threadPool,
- [this, i]() {
- const auto image = m_rawBuffers[i].image;
- image->rotate();
- const auto pixels = image->sharedPixels();
- return i;
- }) /*.then(&threadPool, [this](const uint8_t i) {
- const auto image = m_rawBuffers[i].image;
- const auto pixels = image->sharedPixels();
+ futures[i] = QtConcurrent::run(/*&threadPool, */ [this, i]() {
+ auto &image = m_images[i];
+ image.rotate();
+ // const auto pixels = image.sharedPixels();
+ const auto &pixels = image.getPixels();
+ m_lastImageIdx = i;
+ return i;
+ }) /*.then([this](const uint8_t i) {
+ auto &image = m_images[i];
+ const auto pixels = image.sharedPixels();
return i;
})*/
;
@@ -712,83 +708,88 @@ bool VeyeIMX287m::dequeueImageBuffer(size_t &imageIndex)
return true;
}
-bool VeyeIMX287m::getImage(Image *image)
-{
- return false;
- // if (!image) {
- // std::cerr << __func__ << ": image is nullptr" << std::endl;
+// bool VeyeIMX287m::getImage(Image *image)
+// {
+// return false;
+// if (!image) {
+// std::cerr << __func__ << ": image is nullptr" << std::endl;
- // return false;
- // }
+// return false;
+// }
- // size_t bufferIdx{};
+// size_t bufferIdx{};
- // if (!dequeueImageBuffer(bufferIdx)) {
- // return false;
- // }
+// if (!dequeueImageBuffer(bufferIdx)) {
+// return false;
+// }
- // // TODO: remove this bullshit. return ptr to image or copy image metainfo
- // // only, then copy data
- // // *image = std::move(m_images[bufferIdx]);
- // *image = std::move(*m_rawBuffers[bufferIdx].image);
- // {
- // QElapsedTimer t;
- // t.start();
- // std::lock_guard lock{m_imageMutexes[bufferIdx]};
+// // TODO: remove this bullshit. return ptr to image or copy image metainfo
+// // only, then copy data
+// // *image = std::move(m_images[bufferIdx]);
+// *image = std::move(*m_rawBuffers[bufferIdx].image);
+// {
+// QElapsedTimer t;
+// t.start();
+// std::lock_guard lock{m_imageMutexes[bufferIdx]};
- // auto &src = *(Image::radxa_data_t *) m_rawBuffers[bufferIdx].mem;
- // auto &dst = image->data;
- // Image::copy(dst, src);
- // get_elapsed_ns += t.nsecsElapsed();
- // }
+// auto &src = *(Image::radxa_data_t *) m_rawBuffers[bufferIdx].mem;
+// auto &dst = image->data;
+// Image::copy(dst, src);
+// get_elapsed_ns += t.nsecsElapsed();
+// }
- // return true;
-}
+// return true;
+// }
-std::shared_ptr<Image> VeyeIMX287m::getImage()
+Image *VeyeIMX287m::getImage()
{
- std::shared_ptr<Image> result;
- // std::shared_ptr<Image> result = std::make_shared<Image>();
+ return m_lastImageIdx.has_value() ? &m_images[*m_lastImageIdx] : nullptr;
+}
- // if (m_lastProcessedImage != std::numeric_limits<size_t>::max()) {
- // if (m_lastProcessedImage) {
- // return m_rawBuffers[m_lastProcessedImage].image;
- // }
+// std::shared_ptr<Image> VeyeIMX287m::getImage()
+// {
+// std::shared_ptr<Image> result;
+// std::shared_ptr<Image> result = std::make_shared<Image>();
- {
- std::lock_guard l{m_lastImageMtx};
- // result = m_lastProcessedImage;
- // std::swap(result, m_lastProcessedImage);
- }
- // return {};
- // {
- // return m_lastProcessedImage;
- // result = m_lastProcessedImage;
- // }
- return result;
+// if (m_lastProcessedImage != std::numeric_limits<size_t>::max()) {
+// if (m_lastProcessedImage) {
+// return m_rawBuffers[m_lastProcessedImage].image;
+// }
- // size_t bufferIdx{};
+// {
+// std::lock_guard l{m_lastImageMtx};
+// result = m_lastProcessedImage;
+// std::swap(result, m_lastProcessedImage);
+// }
+// return {};
+// {
+// return m_lastProcessedImage;
+// result = m_lastProcessedImage;
+// }
+// return result;
- // if (!dequeueImageBuffer(bufferIdx)) {
- // std::cerr << "cannot dequeue" << std::endl;
- // return {};
- // }
+// size_t bufferIdx{};
- // // TODO: remove this bullshit. return ptr to image or copy image metainfo
- // // only, then copy data
- // // *image = std::move(m_images[bufferIdx]);
- // // result = m_rawBuffers[bufferIdx].image;
- // {
- // QElapsedTimer t;
- // t.start();
- // std::lock_guard lock{m_imageMutexes[bufferIdx]};
+// if (!dequeueImageBuffer(bufferIdx)) {
+// std::cerr << "cannot dequeue" << std::endl;
+// return {};
+// }
- // auto &src = *(Image::radxa_data_t *) m_rawBuffers[bufferIdx].mem;
- // auto &dst = result->data;
- // Image::copy(dst, src);
- // get_elapsed_ns += t.nsecsElapsed();
- // }
- // // std::cerr << "ok" << std::endl;
+// // TODO: remove this bullshit. return ptr to image or copy image metainfo
+// // only, then copy data
+// // *image = std::move(m_images[bufferIdx]);
+// // result = m_rawBuffers[bufferIdx].image;
+// {
+// QElapsedTimer t;
+// t.start();
+// std::lock_guard lock{m_imageMutexes[bufferIdx]};
- // return result;
-}
+// auto &src = *(Image::radxa_data_t *) m_rawBuffers[bufferIdx].mem;
+// auto &dst = result->data;
+// Image::copy(dst, src);
+// get_elapsed_ns += t.nsecsElapsed();
+// }
+// // std::cerr << "ok" << std::endl;
+
+// return result;
+// }
diff --git a/src/camera/veyeimx287m.h b/src/camera/veyeimx287m.h
index d65b00d..3f591f7 100644
--- a/src/camera/veyeimx287m.h
+++ b/src/camera/veyeimx287m.h
@@ -44,8 +44,9 @@ public:
[[nodiscard]] bool dequeueImageBuffer(size_t &image);
// bool getImage(Image &image);
- [[nodiscard]] bool getImage(Image *image) override;
- [[nodiscard]] std::shared_ptr<Image> getImage() override;
+ // [[nodiscard]] bool getImage(Image *image) override;
+ [[nodiscard]] Image *getImage() override;
+ // [[nodiscard]] std::shared_ptr<Image> getImage() override;
bool init();
@@ -66,7 +67,7 @@ public:
public:
/*!
* \brief processedCounter - count of images processed in current second.
- * Used for performance measurement and bottlenecks analysing
+ * Used for performance measurement and bottlenecks analysis
*/
uint32_t processedCounter{0};
@@ -76,6 +77,11 @@ private:
[[nodiscard]] bool initI2C();
+ /*!
+ * \brief getFramesLoop - get frames from camera and manage futher processing
+ * \note to be started in a soparate thread
+ * \param stopToken - asks to break the loop
+ */
void getFramesLoop(std::stop_token stopToken);
private:
@@ -96,21 +102,19 @@ private:
*/
std::array<std::mutex, BUFFER_COUNT> m_imageMutexes;
- // TODO: split this
- // there should be no chance of changing image by ioctl during futher processing
struct buffer
{
void *mem{nullptr};
- std::shared_ptr<Image> image{std::make_shared<Image>()};
};
std::vector<buffer> m_rawBuffers;
- // std::array<Image, BUFFER_COUNT> m_images;
+ std::array<Image, BUFFER_COUNT> m_images;
+ // std::optional<std::remove_const<decltype(BUFFER_COUNT)>> m_lastImageIdx;
+ std::optional<uint8_t> m_lastImageIdx;
std::mutex m_camMtx;
std::jthread m_streamThread;
std::jthread m_getThreads[1];
- std::mutex m_lastImageMtx;
std::shared_ptr<Image> m_lastProcessedImage{};
std::shared_ptr<veye::imx287m::i2c> m_i2c;
generated by cgit v1.2.3-70-g09d2 (git 2.52.0) at 2025-12-08 12:26:19 +0000