Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-09 22:49:53 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

update clipping of image intensity

Browse Source
This commit is contained in:
kirkscheper
2016-11-02 19:31:24 +01:00
parent d64675e486
commit f99ee0fc51
7 changed files with 21 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/modules/video_rtp_stream.xml
+2 -4
View File
@@ -5,10 +5,7 @@
<description>
Video streaming for Linux based devices.
Works e.g. in conjunction with Parrot Drones where the autopilot is the Paparazzi autopilot.
Features:
- Sends a RTP/UDP stream of the camera image, a.k.a. live video
- Possibility to save an image(shot) on internal or external storage space even in full size, best quality
Example to add to ARdrone2 airframe with extra USB stick plugger in:
Sends a RTP/UDP stream of the camera image, a.k.a. live video
</description>
<configure name="VIEWVIDEO_USE_NETCAT" value="FALSE|TRUE" description="Use netcat for transferring images instead of RTP stream (default: FALSE)"/>
<configure name="VIEWVIDEO_HOST" value="192.168.1.255" description="GCS IP (default: MODEM_HOST)"/>
@@ -20,6 +17,7 @@
<define name="VIEWVIDEO_CAMERA2" value="front_camera|bottom_camera" description="Video device to use"/>
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="4" description="Reduction factor of the video stream, the image width and height should be divisible by this factor"/>
<define name="VIEWVIDEO_QUALITY_FACTOR" value="50" description="JPEG encoding compression factor [0-99]"/>
<define name="VIEWVIDEO_FPS" value="5" description="Image frequency for the RTP viewer (recommended >=5Hz)"/>
<define name="VIEWVIDEO_USE_RTP" value="TRUE|FALSE" description="Enable RTP at startup for transferring images (default: TRUE)"/>
</doc>
<settings>
sw/airborne/modules/computer_vision/cv.c
+1
View File
@@ -115,6 +115,7 @@ int8_t cv_async_function(struct cv_async *async, struct image_t *img)
}
// Copy image
// TODO:this takes time causing some thread lag, should be replaced with gpu operation
image_copy(img, &async->img_copy);
// Inform thread of new image
sw/airborne/modules/computer_vision/cv_ae_awb.c
+14 -16
View File
@@ -28,7 +28,7 @@
#include "boards/bebop/mt9f002.h"
#include "lib/isp/libisp.h"
#define MAX_HIST_Y (256-10)
#define MAX_HIST_Y 255
#define sgn(x) (float)((x < 0) ? -1 : (x > 0))
@@ -59,30 +59,27 @@ void cv_ae_awb_periodic(void)
}
// Calculate bright and saturated pixels
uint32_t bright_pixels = cdf[MAX_HIST_Y - 1] - cdf[MAX_HIST_Y - 21]; // Top 20 bins
uint32_t bright_pixels = cdf[MAX_HIST_Y - 1] - cdf[MAX_HIST_Y - 26]; // Top 25 bins
uint32_t saturated_pixels = cdf[MAX_HIST_Y - 1] - cdf[MAX_HIST_Y - 6]; // top 5 bins
uint32_t target_bright_pixels = yuv_stats.nb_valid_Y / 10; // 10%
uint32_t max_saturated_pixels = yuv_stats.nb_valid_Y / 400; // 0.25%
uint32_t target_bright_pixels = yuv_stats.nb_valid_Y / 20; // 5%
uint32_t max_saturated_pixels = yuv_stats.nb_valid_Y / 100; // 1%
float adjustment = 1.0f;
printf("%d %d\n", bright_pixels, target_bright_pixels);
// Fix saturated pixels
if (saturated_pixels > max_saturated_pixels) {
adjustment = 1.0f - ((float)(saturated_pixels - max_saturated_pixels)) / yuv_stats.nb_valid_Y;
} else if (bright_pixels + target_bright_pixels / 10 <
target_bright_pixels) { // Fix bright pixels if outside of 10% of target
if (saturated_pixels + max_saturated_pixels / 10 > max_saturated_pixels) {
// Fix saturated pixels
adjustment = 1.0f - (float)saturated_pixels / yuv_stats.nb_valid_Y;
adjustment *= adjustment * adjustment; // speed up
} else if (bright_pixels + target_bright_pixels / 10 < target_bright_pixels) {
// increase brightness to try and hit the desired number of well exposed pixels
int l = MAX_HIST_Y - 11;
int l = MAX_HIST_Y - 1;
while (bright_pixels < target_bright_pixels && l > 0) {
bright_pixels += cdf[l];
bright_pixels -= cdf[l - 1];
l--;
}
adjustment = (float)(MAX_HIST_Y - 11 + 1) / (l + 1);
} else if (bright_pixels - target_bright_pixels / 10 >
target_bright_pixels) { // Fix bright pixels if outside of 10% of target
adjustment = (float)MAX_HIST_Y / (l + 1);
} else if (bright_pixels - target_bright_pixels / 10 > target_bright_pixels) {
// decrease brightness to try and hit the desired number of well exposed pixels
int l = MAX_HIST_Y - 20;
while (bright_pixels > target_bright_pixels && l < MAX_HIST_Y) {
@@ -102,11 +99,12 @@ void cv_ae_awb_periodic(void)
#endif
#if CV_AUTO_WHITE_BALANCE
// It is very important that the auto exposure converges faster than the color correction
// Calculate AWB and project from original scale [0,255] onto more typical scale[-0.5,0.5]
float avgU = ((float) yuv_stats.awb_sum_U / (float) yuv_stats.awb_nb_grey_pixels) / 256. - 0.5;
float avgV = ((float) yuv_stats.awb_sum_V / (float) yuv_stats.awb_nb_grey_pixels) / 256. - 0.5;
float threshold = 0.002f;
float gain = 1.;
float gain = 0.5;
bool changed = false;
if (fabs(avgU) > threshold) {
sw/airborne/modules/computer_vision/lib/encoding/rtp.c
+2 -1
View File
@@ -92,7 +92,8 @@ void rtp_frame_test(struct UdpSocket *udp)
* @param[in] format_code 0 for YUV422 and 1 for YUV421
* @param[in] quality_code The JPEG encoding quality
* @param[in] has_dri_header Whether we have an DRI header or not
* @param[in] delta_t Time between images in usec (if set to 0 or less it is calculated)
* @param[in] frame_time Time image was taken in usec (if set to 0 or less it is calculated)
* @param[in] packet_number The frame number of the rtp stream
*/
void rtp_frame_send(struct UdpSocket *udp, struct image_t *img, uint8_t format_code,
uint8_t quality_code, uint8_t has_dri_header, uint32_t frame_time, uint32_t *packet_number)
sw/airborne/modules/computer_vision/lib/isp/libisp.c
-6
View File
@@ -182,12 +182,6 @@ int configure_isp(struct v4l2_device *dev)
avi_isp_lens_shading_correction_blue_coeff_mem_set_registers(&isp_ctx, &isp_config.lsc_blue_coeffs);
avi_isp_bayer_set_registers(&isp_ctx, &isp_config.bayer);
avi_isp_color_correction_set_registers(&isp_ctx, &isp_config.color_correction);
// printf("cc coeff_01_00: %d %d\r\n", isp_config.color_correction.coeff_01_00.coeff_00, isp_config.color_correction.coeff_01_00.coeff_01);
// printf("cc coeff_10_02: %d %d\r\n", isp_config.color_correction.coeff_10_02.coeff_02, isp_config.color_correction.coeff_10_02.coeff_10);
// printf("cc coeff_12_11: %d %d\r\n", isp_config.color_correction.coeff_12_11.coeff_11, isp_config.color_correction.coeff_12_11.coeff_12);
// printf("cc coeff_21_20: %d %d\r\n", isp_config.color_correction.coeff_21_20.coeff_20, isp_config.color_correction.coeff_21_20.coeff_21);
// printf("cc coeff_22: %d\r\n", isp_config.color_correction.coeff_22.coeff_22);
// printf("cc clip_ry: %8X\r\n", isp_config.color_correction.clip_ry._register);
avi_isp_vlformat_40to32_set_registers(&isp_ctx, &isp_config.vlformat_40to32);
avi_isp_gamma_corrector_set_registers(&isp_ctx, &isp_config.gamma_corrector);
avi_isp_gamma_corrector_ry_lut_set_registers(&isp_ctx, &isp_config.gc_ry_lut);
sw/airborne/modules/computer_vision/lib/isp/libisp_config.h
+1 -1
View File
@@ -422,7 +422,7 @@ struct libisp_config isp_config = {
.coeff_21_20 = {{ 1260, 15392 }},
.coeff_22 = {{ 16179 }},
.offset_ry = {{ 0, 16 }},
.clip_ry = {{ 16, 235 }},
.clip_ry = {{ 16, 255 }},
.offset_gu = {{ 0, 128 }},
.clip_gu = {{ 16, 240 }},
.offset_bv = {{ 0, 128 }},
sw/tools/rtp_viewer/rtp_viewer.py
+1 -2
View File
@@ -3,7 +3,6 @@
import cv2
import sys
import argparse
import re
from os import path, getenv
PPRZ_SRC = getenv("PAPARAZZI_SRC", path.normpath(path.join(path.dirname(path.abspath(__file__)), '../../../')))
@@ -78,7 +77,7 @@ class RtpViewer:
self.mouse['start'] = None
def on_mouse(self, event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONDOWN and self.rotate == 0 and False:
if event == cv2.EVENT_LBUTTONDOWN and self.rotate == 0:
self.mouse['start'] = (x, y)
if event == cv2.EVENT_RBUTTONDOWN: