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-rw-r--r--src/calibration.cpp174
-rw-r--r--src/camera/ov9281.cpp25
-rw-r--r--src/image.cpp5
-rw-r--r--src/laser.cpp70
-rw-r--r--src/laser.h33
-rw-r--r--src/pixels.cpp63
6 files changed, 218 insertions, 152 deletions
diff --git a/src/calibration.cpp b/src/calibration.cpp
index ff37e73..7fcdbcc 100644
--- a/src/calibration.cpp
+++ b/src/calibration.cpp
@@ -13,7 +13,8 @@
#include "imagealgos.h"
-bool openCalibrationTable(const QString& filename, CalibrationTablePtr& table)
+bool openCalibrationTable(
+ const QString& filename, CalibrationTablePtr& table)
{
QFile f(filename);
@@ -46,7 +47,8 @@ bool openCalibrationTable(const QString& filename, CalibrationTablePtr& table)
return true;
}
-bool dump(const CalibrationTablePtr& table, const QString& filename)
+bool dump(
+ const CalibrationTablePtr& table, const QString& filename)
{
qDebug() << Q_FUNC_INFO << "size is" << sizeof(CalibrationTable);
@@ -71,7 +73,8 @@ bool dump(const CalibrationTablePtr& table, const QString& filename)
return true;
}
-void interpolate(CalibrationTablePtr& table)
+void interpolate(
+ CalibrationTablePtr& table)
{
std::for_each(std::execution::par,
table->begin(),
@@ -105,7 +108,8 @@ void interpolate(CalibrationTablePtr& table)
// }
}
-void interpolate(CalibrationColumn& column)
+void interpolate(
+ CalibrationColumn& column)
{
size_t start{0};
auto& c = column;
@@ -147,7 +151,8 @@ void interpolate(CalibrationColumn& column)
}
}
-QImage calibrationTableToImage(const CalibrationTablePtr& calibrationTable)
+QImage calibrationTableToImage(
+ const CalibrationTablePtr& calibrationTable)
{
QImage result(QSize(calibrationTable->size(),
calibrationTable->at(0).size()),
@@ -185,28 +190,27 @@ QImage calibrationTableToImage(const CalibrationTablePtr& calibrationTable)
}
qDebug() << "not null count" << notNull << "of"
- << sizeof(CalibrationTable)
- / sizeof(calibrationTable->at(0).at(0));
+ << sizeof(CalibrationTable) /
+ sizeof(calibrationTable->at(0).at(0));
return result;
}
-QList<Pixels> filter(const QList<Pixels>& rawProfiles)
+QList<Pixels> filter(
+ const QList<Pixels>& rawProfiles)
{
QList<Pixels> result;
QList<Pixels>::const_iterator it = rawProfiles.constBegin();
- while (it != rawProfiles.constEnd())
- {
+ while (it != rawProfiles.constEnd()) {
Pixels sum = *it;
size_t count{1};
++it;
while (it != rawProfiles.constEnd() &&
- it->counters.encoderPosition == sum.counters.encoderPosition)
- {
+ it->counters.encoderPosition == sum.counters.encoderPosition) {
sum += *it;
++count;
++it;
@@ -219,127 +223,79 @@ QList<Pixels> filter(const QList<Pixels>& rawProfiles)
return result;
}
-CalibrationTablePtr calibrateZ(const QList<Pixels>& rawProfiles,
- const uint32_t& stepsPerMm)
+CalibrationTablePtr calibrateZ(
+ const QList<Pixels>& rawProfiles, const uint32_t& stepsPerMm)
{
CalibrationTablePtr result{new CalibrationTable{{0}}};
for (const auto& rawProfile : rawProfiles) {
- // std::cout << "calibration: pos is "
- // << rawProfile.counters.encoderPosition << std::endl;
- const float positionMm{float(rawProfile.counters.encoderPosition)
- / float(stepsPerMm)};
-
- if (positionMm >= 200) {
- qWarning() << "got invalid calibration distance:" << positionMm;
- qWarning() << "encoder position:"
- << rawProfile.counters.encoderPosition;
- exit(EXIT_FAILURE);
- }
+ const float positionMm{float(rawProfile.counters.encoderPosition) /
+ float(stepsPerMm)};
const auto& pixels = rawProfile.pixels;
- // printPixels(pixels);
- // static size_t counter { 0 };
- // qDebug() << "calibrated" << counter++;
- const float pos = rawProfile.counters.encoderPosition;
- const float divider = stepsPerMm;
- // std::cout << pos << " " << divider << " " << pos / divider <<
- // std::endl; std::cout << std::setw(5) <<
- // rawProfile.counters.encoderPosition
- // << std::setw(5) << requested_params.stepsPerMm
- // << std::setw(8) << positionMm
- // << std::setw(8) <<
- // float(rawProfile.counters.encoderPosition) /
- // float(requested_params.stepsPerMm)
- // << ": ";
for (size_t columnIdx = 0; columnIdx < pixels.size(); ++columnIdx) {
const auto& pixelValue = pixels.at(columnIdx);
-
- // float[0, img_height] -> uint16_t[0, calibrationColumnHeight]
const uint16_t discretePixelValue{
uint16_t(pixelValue * discretesInRage / img_height)};
- Q_ASSERT_X(discretePixelValue > 0
- && discretePixelValue < calibrationColumnHeight,
- Q_FUNC_INFO,
- ("got ivalid discrete value "
- + QString::number(discretePixelValue)
- + ". pixelValues is " + QString::number(pixelValue)
- + ". calc result is "
- + QString::number(pixelValue * discretesInRage
- / img_height))
- .toStdString()
- .c_str());
+ // TODO: move this validation to some better place
+ if (Q_UNLIKELY(discretePixelValue >= calibrationColumnHeight)) {
+ std::cerr << __func__
+ << ":/tinvalid discrete value. col: " << columnIdx
+ << ", val: " << pixelValue << std::endl;
- // auto& calibrationColumn = result[columnIdx];
- auto& calibrationColumn = (*result)[columnIdx];
+ return {};
+ }
+ auto& calibrationColumn = (*result)[columnIdx];
calibrationColumn[discretePixelValue] = positionMm;
-
- // if (columnIdx >= ((img_width - 10) / 2) &&
- // columnIdx < img_width - ((img_width - 10) / 2))
- // {
- // std::cout << discretePixelValue << ";";
- // }
}
-
- // std::cout << std::endl << std::flush;
}
return result;
- // TODO: try something interesting
- // return {};
}
-CalibrationTablePtr calibrateX(const QList<Pixels>& rawProfiles)
+CalibrationTablePtr calibrateX(
+ const QList<Pixels>& rawProfiles)
{
+ // TODO: move to settings
+ constexpr double triangleBaseMm{8.};
CalibrationTablePtr result{new CalibrationTable{{0}}};
- static size_t tmp_counter = 0;
-
for (const auto& rawProfile : rawProfiles) {
const auto& pixels = rawProfile.pixels;
auto lines = pixelsToLines(rawProfile);
- tmp_counter++;
-
- Q_ASSERT_X(lines.count() > 2, Q_FUNC_INFO, "no lines");
-
- if (tmp_counter == 9471) {
- for (const auto& l : lines) {
- qDebug() << "line:" << l;
- }
+ if (lines.count() < 2) {
+ continue;
}
+ // x coords of line endings - [l1.p1.x; lN.p2.x]
QList<double> xAnchors(lines.size() + 1);
-
std::transform(std::execution::par_unseq,
lines.constBegin(),
lines.constEnd(),
xAnchors.begin(),
[](const auto& l) { return l.x1(); });
-
xAnchors.last() = lines.last().x2();
- constexpr double triangleHeightMm{5.};
- constexpr double triangleBaseMm{8.};
-
- auto nearestAnchorToX0 = std::min_element(std::execution::par_unseq,
- xAnchors.constBegin(),
- xAnchors.constEnd(),
- [](const auto& a,
- const auto& b) {
- return std::abs(a)
- < std::abs(b);
- });
+ auto centralAnchorIt = std::min_element(std::execution::par_unseq,
+ xAnchors.constBegin(),
+ xAnchors.constEnd(),
+ [](const auto& a,
+ const auto& b) {
+ return std::abs(a) <
+ std::abs(b);
+ });
- int nearestAnchorToX0Idx = nearestAnchorToX0 - xAnchors.constBegin();
+ int centralAnchorIdx = centralAnchorIt - xAnchors.constBegin();
+ // convert line image coords to mm coords
QList<double> xAnchorsMm(xAnchors.count());
for (int i = 0; i < xAnchors.size(); ++i) {
- xAnchorsMm[i] = (i - nearestAnchorToX0Idx) * triangleBaseMm / 2.;
+ xAnchorsMm[i] = (i - centralAnchorIdx) * triangleBaseMm / 2.;
}
auto xAnchorIt = xAnchors.constBegin() + 1;
@@ -349,17 +305,23 @@ CalibrationTablePtr calibrateX(const QList<Pixels>& rawProfiles)
// skip points with to the left from left line and to the right from
// right line
const auto columnX = int(columnIdx) - int(img_width / 2);
+
if (columnX < xAnchors.first() || columnX > xAnchors.last()) {
continue;
}
- if (columnX > *xAnchorIt) {
+ // if [...(anchor-1)...(anchor)...(column)...]
+ // then use next anchor to have [...(anchor-1)...(column)...anchor...]
+ if (*xAnchorIt < columnX) {
++xAnchorIt;
++xAnchorMmIt;
}
const auto xLeft = *(xAnchorIt - 1);
const auto xRight = *(xAnchorIt);
+ // there could be points which don't belong to any lines, because
+ // some real lines can be too short and will be ignored by
+ // `pixelsToLines`. e.g. the most left/right lines. skip such points
if (columnX < xLeft || columnX > xRight) {
if (rawProfile.counters.encoderPosition >= 0) {
qWarning()
@@ -372,37 +334,29 @@ CalibrationTablePtr calibrateX(const QList<Pixels>& rawProfiles)
const uint16_t discretePixelValue{
uint16_t(pixelValue * discretesInRage / img_height)};
- Q_ASSERT_X(discretePixelValue > 0
- && discretePixelValue < calibrationColumnHeight,
- Q_FUNC_INFO,
- ("got ivalid discrete value "
- + QString::number(discretePixelValue)
- + ". pixelValues is " + QString::number(pixelValue)
- + ". calc result is "
- + QString::number(pixelValue * discretesInRage
- / img_height))
- .toStdString()
- .c_str());
+ // TODO: move this validation to some better place
+ if (Q_UNLIKELY(discretePixelValue >= calibrationColumnHeight)) {
+ std::cerr << __func__
+ << ":/tinvalid discrete value. col: " << columnIdx
+ << ", val: " << pixelValue << std::endl;
+ return {};
+ }
+ // use value interpolated between line endings (anchors)
const auto xLineLen = xRight - xLeft;
const auto xLeftMm = *(xAnchorMmIt - 1);
const auto xRelative = float(columnX - xLeft) / xLineLen;
const auto xMmValue = xLeftMm + xRelative * (triangleBaseMm / 2.);
- auto& calibrationColumn = (*result)[columnIdx];
-
- if (tmp_counter == 9471) {
- qDebug() << "calibration value" << columnIdx
- << discretePixelValue << xMmValue;
- }
- calibrationColumn[discretePixelValue] = xMmValue;
+ (*result)[columnIdx][discretePixelValue] = xMmValue;
}
}
return result;
}
-void dumpCalibrationPixels(std::vector<Pixels>&& calibrationPixels)
+void dumpCalibrationPixels(
+ std::vector<Pixels>&& calibrationPixels)
{
std::vector<Pixels> rawProfiles;
diff --git a/src/camera/ov9281.cpp b/src/camera/ov9281.cpp
index bdb9f89..4d393a0 100644
--- a/src/camera/ov9281.cpp
+++ b/src/camera/ov9281.cpp
@@ -56,14 +56,6 @@ bool OV9281::init()
m_config->orientation = libcamera::Orientation::Rotate90;
- if (m_config->empty())
- {
- std::cerr << __func__ << ": " << m_camera->id() << ": config is empty"
- << std::endl;
-
- return false;
- }
-
libcamera::StreamConfiguration &streamConfig = m_config->at(0);
streamConfig.pixelFormat = OV9281::pixelFormat;
@@ -71,9 +63,10 @@ bool OV9281::init()
if (!validateConfig())
{
- std::cerr << __func__ << ": " << m_camera->id()
- << ": cannot apply default config" << std::endl;
+ return false;
+ }
+ if (!applyConfig()) {
return false;
}
@@ -135,6 +128,11 @@ bool OV9281::applyConfig()
return true;
}
+/*
+ * Signals operate in the libcamera CameraManager thread context, so it is
+ * important not to block the thread for a long time, as this blocks internal
+ * processing of the camera pipelines, and can affect realtime performance.
+ */
void OV9281::onRequestCompleted(libcamera::Request *completed_request)
{
using namespace libcamera;
@@ -184,6 +182,9 @@ void OV9281::onRequestCompleted(libcamera::Request *completed_request)
auto pixels = img->pixels();
#ifdef emit
#undef emit
+ if (!pixels) {
+ std::cerr << "emit empty pixels" << std::endl;
+ }
newPixels.emit(pixels);
#define emit
#endif
@@ -225,7 +226,9 @@ std::vector<std::shared_ptr<OV9281>> OV9281::search(
for (const auto &camera : manager->cameras())
{
- auto ov9281 = std::shared_ptr<OV9281>(new OV9281(camera));
+ auto id = camera->id();
+ auto c = manager->get(id);
+ auto ov9281 = std::shared_ptr<OV9281>(new OV9281(c));
if (!ov9281->init())
{
diff --git a/src/image.cpp b/src/image.cpp
index a9280a4..7d1c824 100644
--- a/src/image.cpp
+++ b/src/image.cpp
@@ -104,6 +104,11 @@ std::shared_ptr<Pixels> Image::pixels() const
result->pixels[i] = process_column(rotated_cw[i]);
}
+ // for (size_t i = 640 - 5; i < 640 + 5; ++i) {
+ // std::cout << result->pixels[i] << ' ';
+ // }
+ // std::cout << std::endl;
+
stop_timer(process_columns);
return result;
diff --git a/src/laser.cpp b/src/laser.cpp
new file mode 100644
index 0000000..f23faab
--- /dev/null
+++ b/src/laser.cpp
@@ -0,0 +1,70 @@
+#include "laser.h"
+
+#include <filesystem>
+#include <fstream>
+#include <iostream>
+
+#include "macro.h"
+
+PwmLaser::PwmLaser(const std::string &pwmChip, const std::string &pwm)
+ : INIT_FIELD(pwmChip)
+ , INIT_FIELD(pwm)
+{}
+
+bool PwmLaser::init()
+{
+ if (m_pwmChip.empty() || m_pwm.empty()) {
+ std::cerr << __func__ << ":\tinvalid pwm config: pwmChip == '"
+ << m_pwmChip << "', pwm == '" << m_pwm << "'" << std::endl;
+ return false;
+ }
+
+ auto writeToFile = [](const auto &path, const auto &value) -> bool {
+ if (!std::filesystem::exists(path)) {
+ std::cerr << __func__ << "\tno such file: " << path << std::endl;
+
+ return false;
+ }
+
+ std::ofstream ofs(path, std::ios::out | std::ios::trunc);
+
+ if (!ofs) {
+ std::cerr << __func__ << "\tcannot open" << path << "for writing"
+ << std::endl;
+
+ return false;
+ }
+
+ ofs << value;
+
+ return true;
+ };
+
+ const std::filesystem::path pwmSystemRoot{"/sys/class/pwm"};
+ const auto pwmChipRoot = pwmSystemRoot / m_pwmChip;
+ const auto pwmExportFile = pwmChipRoot / "export";
+
+ if (!writeToFile(pwmExportFile, m_pwm))
+ return false;
+
+ const auto pwmRoot = pwmChipRoot / m_pwm;
+ const auto periodFilename = pwmRoot / "period";
+ constexpr unsigned periodHz{50'000};
+
+ if (!writeToFile(periodFilename, periodHz))
+ return false;
+
+ const auto dutyCycleFilename = pwmRoot / "duty_cycle";
+ const unsigned dutyCycle{3'000};
+
+ if (!writeToFile(dutyCycleFilename, dutyCycle))
+ return false;
+
+ const auto enableFilename = pwmRoot / "enable";
+ const int enable{1};
+
+ if (!writeToFile(enableFilename, enable))
+ return false;
+
+ return true;
+}
diff --git a/src/laser.h b/src/laser.h
new file mode 100644
index 0000000..31fe7e3
--- /dev/null
+++ b/src/laser.h
@@ -0,0 +1,33 @@
+#pragma once
+
+#include <string>
+
+class ILaser
+{
+public:
+ virtual ~ILaser() = default;
+
+public:
+ virtual bool init() = 0;
+ virtual bool setEnabled(bool enabled) = 0;
+ virtual bool setLaserLevel(std::size_t level) = 0;
+
+public:
+ bool enable() { return setEnabled(true); }
+ bool disable() { return setEnabled(false); }
+};
+
+class PwmLaser : public ILaser
+{
+public:
+ explicit PwmLaser(const std::string& pwmChip, const std::string& pwm);
+ ~PwmLaser() override = default;
+
+ // ILaser
+public:
+ bool init() override;
+
+private:
+ std::string m_pwmChip;
+ std::string m_pwm;
+};
diff --git a/src/pixels.cpp b/src/pixels.cpp
index 5aac4a6..fcdfac7 100644
--- a/src/pixels.cpp
+++ b/src/pixels.cpp
@@ -5,39 +5,37 @@
#include <fstream>
#include <iostream>
-Pixels& Pixels::operator+=(const Pixels& other)
+Pixels& Pixels::operator+=(
+ const Pixels& other)
{
- std::transform(
- std::execution::par,
- pixels.begin(),
- pixels.end(),
- other.pixels.begin(),
- pixels.begin(),
- // [](auto& toAdd) { return dst += src; });
- std::plus<>()
- );
+ std::transform(std::execution::par,
+ pixels.begin(),
+ pixels.end(),
+ other.pixels.begin(),
+ pixels.begin(),
+ // [](auto& toAdd) { return dst += src; });
+ std::plus<>());
return *this;
}
-Pixels& Pixels::operator/=(const float divider)
+Pixels& Pixels::operator/=(
+ const float divider)
{
- std::for_each(
- std::execution::par_unseq,
- pixels.begin(),
- pixels.end(),
- [divider](auto& pixel) { pixel /= divider; }
- );
+ std::for_each(std::execution::par_unseq,
+ pixels.begin(),
+ pixels.end(),
+ [divider](auto& pixel) { pixel /= divider; });
return *this;
}
-std::optional<Pixels> Pixels::load(const QString& filename)
+std::optional<Pixels> Pixels::load(
+ const QString& filename)
{
const std::filesystem::path filepath{filename.toStdString()};
- if (!std::filesystem::exists(filepath))
- {
+ if (!std::filesystem::exists(filepath)) {
std::cerr << "no such file: " << filepath << std::endl;
return {};
@@ -52,8 +50,7 @@ std::optional<Pixels> Pixels::load(const QString& filename)
ifs.read(reinterpret_cast<char*>(&result), sizeof(Pixels));
ifs.close();
- if (!ifs)
- {
+ if (!ifs) {
std::cerr << "cannot read " << filepath << std::endl;
return {};
@@ -62,14 +59,14 @@ std::optional<Pixels> Pixels::load(const QString& filename)
return result;
}
-bool Pixels::save(const QString& filename)
+bool Pixels::save(
+ const QString& filename)
{
const std::filesystem::path filepath{filename.toStdString()};
const auto parent_path = filepath.parent_path();
- if (!std::filesystem::exists(parent_path) &&
- !std::filesystem::create_directories(parent_path))
- {
+ if (!std::filesystem::exists(parent_path)
+ && !std::filesystem::create_directories(parent_path)) {
std::cerr << "cannot create parent directory for file " << filepath
<< std::endl;
@@ -84,8 +81,7 @@ bool Pixels::save(const QString& filename)
ofs.write(reinterpret_cast<const char*>(this), sizeof(Pixels));
ofs.close();
- if (!ofs)
- {
+ if (!ofs) {
std::cerr << "cannot write " << filepath << std::endl;
return false;
@@ -96,7 +92,12 @@ bool Pixels::save(const QString& filename)
Pixels::operator bool() const
{
- return std::find_if(pixels.cbegin(), pixels.cend(), [](const auto& p) {
- return !qFuzzyIsNull(p) && !std::isnan(p);
- }) != pixels.cend();
+ bool result = std::find_if(pixels.cbegin(),
+ pixels.cend(),
+ [](const auto& p) {
+ return !qFuzzyIsNull(p) && !std::isnan(p);
+ })
+ != pixels.cend();
+ // std::cout << __func__ << ":\t" << (result ? "true" : "false") << std::endl;
+ return result;
}
generated by cgit v1.2.3-70-g09d2 (git 2.52.0) at 2025-12-08 12:46:04 +0000