73 lines
2.3 KiB
C++
73 lines
2.3 KiB
C++
#pragma once
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#include "fgc/ICameraSource.h"
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#include "fgc/IControlChannel.h"
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#include <atomic>
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#include <condition_variable>
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#include <functional>
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#include <mutex>
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#include <queue>
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#include <string>
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#include <thread>
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#include <vector>
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namespace fgc {
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// Gimbal orientation in degrees, stamped onto each CamEvent.
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struct Orientation {
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float yaw_deg = 0.f;
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float pitch_deg = 0.f;
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};
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// Consumes captured frames and turns them into stored artifacts: rotate 90 deg
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// CCW, encode to JPEG XL, write to <output_dir>/<label>/<timestamp>.jxl, and
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// publish a CamEvent. Runs a background worker so encoding never blocks
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// acquisition. Split out of the old VimbaHandler::SaveImage so any camera
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// source (real or mock) can feed it.
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class ImagePipeline {
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public:
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struct Params {
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std::string output_dir;
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std::vector<std::string> labels = {"RGB", "ACR", "NIR"}; // by camera index
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std::string tower;
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double jxl_distance = 2.0; // 0 = lossless
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int jxl_effort = 3;
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bool demo = false; // copy demo_image instead of encoding
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std::string demo_image = "test_smoke.jxl";
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bool display = false; // show an OpenCV preview window
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};
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// orientation: returns the current gimbal yaw+pitch (degrees) for CamEvent.
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ImagePipeline(IControlChannel& channel, std::function<Orientation()> orientation, Params params);
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~ImagePipeline();
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void start();
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void stop();
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// Enqueue a frame for processing (thread-safe; copies the frame).
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void submit(const Frame& frame);
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// Runtime-adjustable encoder settings (console "set camera ..." commands).
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void setDistance(double d) { params_.jxl_distance = d; }
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void setEffort(int e) { params_.jxl_effort = e; }
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void setDisplay(bool on) { params_.display = on; }
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private:
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void run();
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void process(const Frame& frame);
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std::string labelFor(int cam_id) const;
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IControlChannel& channel_;
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std::function<Orientation()> orientation_;
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Params params_;
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std::queue<Frame> queue_;
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std::mutex mutex_;
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std::condition_variable cv_;
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std::atomic<bool> running_{false};
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std::thread worker_;
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};
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} // namespace fgc
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