Changeset 4076 for trunk/MagicSoft/Cosy/videodev

Timestamp:

05/15/04 16:46:27 (21 years ago)

Author:

tbretz

Message:

*** empty log message ***

Location:

trunk/MagicSoft/Cosy/videodev

Files:

• Camera.cc (modified) (11 diffs)
• Camera.h (modified) (4 diffs)
• FilterLed.cc (modified) (9 diffs)
• FilterLed.h (modified) (3 diffs)
• PixGetter.h (modified) (1 diff)

trunk/MagicSoft/Cosy/videodev/Camera.cc

@@ -17 +17 @@
 inline int Camera::Ioctl(int req, void *opt, const char *str)
 {
-    int rc = ioctl(fd, req, opt);
-
-    if (rc==-1)
-    {
-        cout << "Error! Ioctl " << req << ": ";
+    while (1)
+    {
+        const int rc = ioctl(fd, req, opt);
+        if (rc>=0)
+            return rc;
+
+        // errno== 4: Interrupted system call
+        // errno==16: Device or resource busy
+        if (errno==4 || errno==16)
+        {
+            cout << "Camera: ioctl returned rc=" << rc << " '";
+            cout << (str?str:strerror(errno)) << "' (errno = " << errno << ")" << endl;
+            usleep(10);
+            continue;
+        }
+
+        cout << "Error! Ioctl " << hex << req << ": errno=" << dec << errno << " - ";
         cout << (str?str:strerror(errno)) << " (rc=" << rc << ")" << endl;
-    }
-
-    return rc;
+        return rc;
+    }
+    return -1;
 }
 
 void Camera::Error(const char *str, int fatal)
 {
-    cout << endl
-        << (fatal?"Fatal ":"") << "Error! " << str << ": " << strerror(errno)
-        << endl;
+    cout << endl;
+    cout << (fatal?"Fatal ":"") << "Error! " << str << ": " << strerror(errno);
+    cout << endl;
 
     if (fatal)
@@ -39 +51 @@
 void Camera::SigInit()
 {
-    return;
-    struct sigaction act, old;
-
-    memset(&act, 0, sizeof(act));
-
-    act.sa_handler = SigAlarm;
-
-    sigemptyset(&act. sa_mask);
-    sigaction(SIGALRM, &act, &old);
-
-    // signal(SIGINT, ctrlc);
+    /*
+     struct sigaction act, old;
+
+     memset(&act, 0, sizeof(act));
+
+     act.sa_handler = SigAlarm;
+
+     sigemptyset(&act. sa_mask);
+     sigaction(SIGALRM, &act, &old);
+
+     // signal(SIGINT, ctrlc);
+     */
 }
 
@@ -74 +87 @@
 int Camera::StartGrab(unsigned int frame)
 {
+    // We could also get RGB555, RGB565 and RGB32. But we want
+    // RGB24 because we have a 8bit DAC which gives us 8bit per
+    // color ==> RGB24 which is in the following the most simple
+    // to process.
     static struct video_mmap gb =
     {
-        0,                     // frame
-        rows, cols,            // height, width
-        VIDEO_PALETTE_RGB24    // palette
+        0,                  // frame
+        rows, cols,         // height, width
+        VIDEO_PALETTE_RGB24 // palette
     };
 
@@ -95 +112 @@
 }
 
-Camera::Camera(PixClient &client) : fd(-1), iBufferSize(0), fClient(client), fMutex(), fCond(&fMutex)
-{
-    cout << "Starting thread..." << flush;
-    //pthread_cond_init(&fCond, NULL);
-    //pthread_mutex_init(&fMux, NULL);
-    //pthread_mutex_lock(&fMux);
-    fMutex.Lock();
-    pthread_create(&fThread, NULL, MapThread, this);
-    cout << "done." << endl;
-
-    cout << "/dev/video: opening..." << flush;
+Camera::Camera(PixClient &client, Int_t nch) : fd(-1), iBufferSize(0), fClient(client), fCond(), fMutex(fCond.GetMutex())
+{
+    cout << "Camera: " << this << " /dev/video: opening..." << flush;
 
     //
@@ -126 +135 @@
     // get input channel 0 information
     //
+
     struct video_channel ch;
-    ch.channel = 0;
+    ch.channel = nch;
     Ioctl(VIDIOCGCHAN, &ch);
 
@@ -160 +170 @@
     cout << "Buffer Size: " << (void*)iBufferSize << endl;
     cout << "grab: use: 768x576 24 bit TrueColor (LE: bgr) = " << (void*)(768*576*3) << "b" << endl;
+
+//    if (fMutex->UnLock()==13)
+//        cout << "Camera::Camera - tried to unlock mutex locked by other thread." << endl;
+
+    cout << "Starting thread..." << flush;
+    //pthread_cond_init(&fCond, NULL);
+    //pthread_mutex_init(&fMux, NULL);
+    //pthread_mutex_lock(&fMux);
+//    if (fMutex->Lock()==13)
+//        cout << "Camera::Camera - mutex is already locked by this thread" << endl;
+    pthread_create(&fThread, NULL, MapThread, this);
+    cout << "done." << endl;
+
 }
 
 Camera::~Camera()
 {
-    cout << "Stopping thread..." << flush;
     pthread_cancel(fThread);
-    //pthread_mutex_destroy(&fMux);
-    //pthread_cond_destroy(&fCond);
+
+    cout << "/dev/video: closing... " << flush;
+    if (fd != -1)
+    {
+        close(fd);
+        fd = -1;
+    }
     cout << "done." << endl;
-
-    cout << "/dev/video: closing... " << flush;
 
     // unmap device memory
     if ((int)pMapBuffer != -1)
         munmap(pMapBuffer, iBufferSize);
-
-    if (fd != -1)
-    {
-        close(fd);
-        fd = -1;
-    }
-
-    cout << " Done." << endl;
-}
-
+}
 
 void *Camera::MapThread(void *arg)
@@ -198 +214 @@
 }
 
+void Camera::ExitLoop()
+{
+    //    cout << "ExitLoop..." << endl;
+    fStop = 1;
+    while (IsRunning())
+        usleep(1);
+    //    cout << "Loop exited." << endl;
+}
+
+//
+// flag if the execution is running or not
+//
+int Camera::IsRunning() const
+{
+    const Int_t rc = fMutex->TryLock();
+    if (rc==0)
+        return false;
+
+    if (rc==13)
+        return false;
+
+    fMutex->UnLock();
+    return true;
+}
+
 void Camera::LoopStep(const unsigned long n)
 {
@@ -217 +258 @@
 {
 #define IsOdd(i) (2*(i/2)!=i)
+    cout << "Camera::Thread started..." << endl;
     while (1)
     {
-        //pthread_cond_wait(&fCond, &fMux);
+        //cout << "Wait..." << flush;
         fCond.Wait();
+        //cout << "done." << endl;
+        if (fd==-1)
+            break;
 
         MStopwatch t;
@@ -259 +304 @@
         t.Stop();
         t.Print(i);
-
-        fRunning = 0;
-    }
+    }
+
+    fMutex->UnLock();
+
+    cout << "Camera::Thread.. stopped." << endl;
 }
 
@@ -272 +319 @@
     }
 
-    //
-    // Stop running loop
-    //
-    fStop = 1;
-
-    //
-    // Wait until loop is stopped (pthread_cond_wait is executing)
-    // set new number of frames to process
-    //
-    fMutex.Lock();
-    //pthread_mutex_lock(&fMux);
-    fNum     = nof;
-    fStop    = 0;
-    fRunning = 1;
-    fMutex.UnLock();
-    //pthread_mutex_unlock(&fMux);
+    cout << "Loop..." << endl;
+    ExitLoop();
+
+    fNum  = nof;
+    fStop = 0;
 
     //
@@ -293 +329 @@
     //
     fCond.Broadcast();
-    //pthread_cond_signal(&fCond);
 }
 

trunk/MagicSoft/Cosy/videodev/Camera.h

@@ -45 +45 @@
 
     int fStop;
-    int fRunning;
+//    int fRunning;
 
     char fImg[cols*rows];
@@ -53 +53 @@
 
     pthread_t  fThread;
-    TMutex     fMutex;
     TCondition fCond;
+    TMutex    *fMutex;
     //pthread_mutex_t fMux;
     //pthread_cond_t  fCond;
@@ -81 +81 @@
 
 public:
-    Camera(PixClient &client);
+    Camera(PixClient &client, Int_t ch=0);
     virtual ~Camera();
 
@@ -88 +88 @@
     //
     void Loop(const unsigned long nof=0);
-    void ExitLoop()
-    {
-        fStop = 1;
-        while (IsRunning())
-            usleep(1);
-    }
-
-    //
-    // flag if the execution is running or not
-    //
-    int IsRunning() const { return fRunning; }
+    void ExitLoop();
+    int  IsRunning() const;
 
     //

trunk/MagicSoft/Cosy/videodev/FilterLed.cc

@@ -15 +15 @@
         return;
 
-    for (int dx=-(int)(rpix*0.7); dx<(int)(rpix*0.7); dx++)
+    for (int dx=-(int)(rpix*0.7); dx<(int)(rpix*0.7); dx+=2)
     {
         const int dy = (int)sqrt(rpix*rpix-dx*dx);
@@ -64 +64 @@
     DrawBox(x+5, y, x+8, y, m);
     DrawBox(x, y-8, x, y-5, m);
-    return;
 }
 
@@ -76 +75 @@
 
     //
-    // calculate mean value
+    // calculate mean value (speed optimized)
     //
     while (s<e0)
@@ -104 +103 @@
 
 int FilterLed::GetMeanPosition(const int x, const int y,
-                               const int box, float &mx, float &my) const
+                               const int box, float &mx, float &my, unsigned int &sum) const
 {
     unsigned int sumx=0;
     unsigned int sumy=0;
-    unsigned int sum =0;
-
+
+    sum=0;
     for (int dx=x-box; dx<x+box+1; dx++)
         for (int dy=y-box; dy<y+box+1; dy++)
@@ -129 +128 @@
 {
     float mx, my;
-    return GetMeanPosition(x, y, box, mx, my);
+    unsigned int sum;
+    return GetMeanPosition(x, y, box, mx, my, sum);
 }
 /*
@@ -252 +252 @@
 void FilterLed::Execute(Leds &leds, int xc, int yc) const
 {
-    int x0 = xc-fBoxW;
-    int x1 = xc+fBoxW;
-    int y0 = yc-fBoxH;
-    int y1 = yc+fBoxH;
+    int x0 = xc-fBox;
+    int x1 = xc+fBox;
+    int y0 = yc-fBox;
+    int y1 = yc+fBox;
 
     if (x0<0) x0=0;
@@ -280 +280 @@
     sq  /= wx*hy;
 
+    // 254 because b<=max and not b<max
     const double sdev = sqrt(sq-sum*sum);
     const byte   max  = sum+fCut*sdev>254 ? 254 : (byte)(sum+fCut*sdev);
@@ -348 +349 @@
 
         Float_t mx, my;
-        GetMeanPosition(pos[i]%fW, pos[i]/fW, 5, mx, my);
+        unsigned int sum;
+        GetMeanPosition(pos[i]%fW, pos[i]/fW, 5, mx, my, sum);
 
         leds.Add(mx, my, 0, 0, mag[i]);
@@ -354 +356 @@
 
     RemoveTwinsInterpol(leds, first, 5);
+}
+
+void FilterLed::FindStar(Leds &leds, int xc, int yc) const
+{
+    // fBox: radius of the inner (signal) box
+    // Radius of the outer box is fBox*sqrt(2)
+
+    //
+    // Define inner box in which to search the signal
+    //
+    int x0 = xc-fBox;
+    int x1 = xc+fBox;
+    int y0 = yc-fBox;
+    int y1 = yc+fBox;
+
+    if (x0<0) x0=0;
+    if (y0<0) y0=0;
+    if (x1>fW) x1=fW;
+    if (y1>fH) y1=fH;
+
+    //
+    // Define outer box (excluding inner box) having almost
+    // the same nuymber of pixels in which the background
+    // is calculated
+    //
+    const double sqrt2 = sqrt(2.);
+
+    int xa = xc-(int)rint(fBox*sqrt2);
+    int xb = xc+(int)rint(fBox*sqrt2);
+    int ya = yc-(int)rint(fBox*sqrt2);
+    int yb = yc+(int)rint(fBox*sqrt2);
+
+    if (xa<0) xa=0;
+    if (ya<0) ya=0;
+    if (xb>fW) xb=fW;
+    if (yb>fH) yb=fH;
+
+    //
+    // Calculate average and sdev for a square
+    // excluding the inner part were we expect
+    // the signal to be.
+    //
+    double sum = 0;
+    double sq  = 0;
+
+    int n=0;
+    for (int x=xa; x<xb+1; x++)
+        for (int y=ya; y<yb+1; y++)
+        {
+            if (x>x0 && x<x1 && y>y0 && y<y1)
+                continue;
+
+            byte &b = fImg[y*fW+x];
+
+            sum += b;
+            sq  += b*b;
+            n++;
+        }
+
+    sum /= n;
+    sq  /= n;
+
+    // 254 because b<=max and not b<max
+    const double sdev = sqrt(sq-sum*sum);
+    const byte   max  = sum+fCut*sdev>254 ? 254 : (byte)(sum+fCut*sdev);
+
+    //
+    // clean image from noise
+    // (FIXME: A lookup table could accelerate things...
+    //
+    n=0;
+    for (int x=x0; x<x1; x++)
+        for (int y=y0; y<y1; y++)
+        {
+            byte &b = fImg[y*fW+x];
+            if (b<=max)
+                b = 0;
+            else
+                n++;
+        }
+
+    //
+    // Mark the background region
+    //
+    for (int x=xa; x<xb+1; x+=2)
+    {
+        fImg[ya*fW+x]=0xf0;
+        fImg[yb*fW+x]=0xf0;
+    }
+    for (int y=ya; y<yb+1; y+=2)
+    {
+        fImg[y*fW+xa]=0xf0;
+        fImg[y*fW+xb]=0xf0;
+    }
+
+    //
+    // Check if any pixel found...
+    //
+    if (n<5)
+        return;
+
+    //
+    // Get the mean position of the star
+    //
+    float mx, my;
+    unsigned int mag;
+    int pos = GetMeanPosition(xc, yc, fBox-1, mx, my, mag);
+
+    if (pos<0 || pos>=fW*fH && fImg[pos]<sum+fCut*sdev)
+        return;
+
+    cout << "Mean=" << sum << "  SDev=" << sdev << "  :  ";
+    cout << "Sum/n = " << sum << "/" << n << " = " << (n==0?0:mag/n) << endl;
+
+    leds.Add(mx, my, 0, 0, -2.5*log10((float)mag)+13.7);
 }
 

trunk/MagicSoft/Cosy/videodev/FilterLed.h

@@ -17 +17 @@
     int fW;
     int fH;
-    int fBoxW;
-    int fBoxH;
+    int fBox;
     float fCut;
 
     void GetMinMax(const int offset, byte *min, byte *max) const;
     int  GetMeanPosition(const int x, const int y, const int box) const;
-    int  GetMeanPosition(const int x, const int y, const int box, float &mx, float &my) const;
+    int  GetMeanPosition(const int x, const int y, const int box, float &mx, float &my, unsigned int &sum) const;
     void RemoveTwinsInterpol(Leds &leds, Int_t first, Double_t radius) const;
     void DrawBox(const int x1, const int y1,
@@ -31 +30 @@
 public:
     FilterLed(byte *img, int w, int h, double cut=2.5)
-        : fImg(img), fW(w), fH(h), fBoxW(w/2), fBoxH(h/2), fCut(cut)
+        : fImg(img), fW(w), fH(h), fBox(w>h?w:h), fCut(cut)
     {
     }
 
     FilterLed(byte *img, int w, int h, int box, double cut=2.5)
-        : fImg(img), fW(w), fH(h), fBoxW(box), fBoxH(box), fCut(cut)
+        : fImg(img), fW(w), fH(h), fBox(box), fCut(cut)
     {
     }
 
-    FilterLed(byte *img, int w, int h, int boxw, int boxh, double cut=2.5)
-        : fImg(img), fW(w), fH(h), fBoxW(boxw), fBoxH(boxh), fCut(cut)
-    {
-    }
+    void SetBox(int box)   { fBox = box; }
+    void SetCut(float cut) { fCut = cut; }
+
+    void FindStar(Leds &leds, int xc, int yc) const;
 
     void Execute(Leds &leds, int xc, int yc) const;
@@ -55 +54 @@
     void Stretch() const;
     void DrawCircle(float cx, float cy, float r, byte col=0x40) const;
-    void DrawCircle(float r, byte col=0x40) const { DrawCircle(r, fW/2.+.5, fH/2.+.5, col); }
+    void DrawCircle(float r, byte col=0x40) const { DrawCircle(fW/2, fH/2, r, col); }
     void DrawCircle(const Ring &c, byte col=0x40) const;
     void DrawCircle(const Ring &c, double r, byte col) const;

trunk/MagicSoft/Cosy/videodev/PixGetter.h

@@ -5 +5 @@
 {
 public:
+    virtual ~PixGetter() { }
     virtual void ExitLoop() {}
 };