142 lines
4.8 KiB
C++
142 lines
4.8 KiB
C++
#include "fgc/ImagePipeline.h"
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#include "fgc/JpegXlEncoder.h"
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#include "fgc/Logger.h"
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#include <filesystem>
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#include <opencv2/core.hpp>
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#include <opencv2/imgproc.hpp>
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namespace fs = std::filesystem;
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namespace fgc {
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namespace {
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// Maps a clockwise rotation in degrees to the cv::rotate code. Returns false
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// when there is nothing to do (0 deg, or an unexpected value - ConfigLoader
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// rejects anything but 0/90/180/270 before it reaches here).
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bool rotateCode(int deg, int& code) {
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switch (deg) {
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case 90: code = cv::ROTATE_90_CLOCKWISE; return true;
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case 180: code = cv::ROTATE_180; return true;
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case 270: code = cv::ROTATE_90_COUNTERCLOCKWISE; return true;
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default: return false;
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}
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}
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} // namespace
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ImagePipeline::ImagePipeline(IControlChannel& channel, std::function<Orientation()> orientation,
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Params params)
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: channel_(channel), orientation_(std::move(orientation)), params_(std::move(params)) {}
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ImagePipeline::~ImagePipeline() { stop(); }
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void ImagePipeline::start() {
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if (running_.exchange(true)) return;
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worker_ = std::thread(&ImagePipeline::run, this);
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}
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void ImagePipeline::stop() {
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if (!running_.exchange(false)) return;
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cv_.notify_all();
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if (worker_.joinable()) worker_.join();
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}
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void ImagePipeline::submit(const Frame& frame) {
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// Sample the pose now, while the frame is fresh, and carry it through the
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// queue. Both sources behind this callback are mutex-guarded snapshot reads,
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// so it costs the camera's delivery thread a lock and a copy.
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QueuedFrame q{frame, orientation_ ? orientation_() : Orientation{}};
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{
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std::lock_guard<std::mutex> lock(mutex_);
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queue_.push(std::move(q));
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}
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cv_.notify_one();
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}
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void ImagePipeline::run() {
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while (running_) {
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QueuedFrame queued;
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{
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std::unique_lock<std::mutex> lock(mutex_);
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cv_.wait(lock, [this] { return !queue_.empty() || !running_; });
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if (!running_ && queue_.empty()) break;
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queued = std::move(queue_.front());
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queue_.pop();
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}
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process(queued);
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}
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}
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const ImagePipeline::CameraOutput& ImagePipeline::outputFor(int cam_id) const {
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if (cam_id >= 0 && cam_id < static_cast<int>(params_.cameras.size()))
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return params_.cameras[cam_id];
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// A source delivering an index we were not told about still has to write
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// somewhere identifiable rather than colliding with camera 0.
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static const CameraOutput fallback{"cam?", 0, 0.8, 4};
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return fallback;
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}
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void ImagePipeline::process(const QueuedFrame& queued) {
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const Frame& frame = queued.frame;
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if (frame.channels != 1 && frame.channels != 3) {
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LOG_WARN << "Dropping frame with unsupported channel count " << frame.channels;
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return;
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}
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const CameraOutput& out = outputFor(frame.cam_id);
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const int type = frame.channels == 1 ? CV_8UC1 : CV_8UC3;
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cv::Mat src(frame.height, frame.width, type, const_cast<uint8_t*>(frame.data.data()));
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cv::Mat rotated;
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int code = 0;
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bool rotate = rotateCode(out.rotation_deg, code);
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if (rotate) cv::rotate(src, rotated, code);
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// src only wraps frame.data, so an unrotated frame costs no copy at all.
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const cv::Mat& img = rotate ? rotated : src;
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const std::string label = out.label.empty() ? ("cam" + std::to_string(frame.cam_id))
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: out.label;
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const fs::path dir = fs::path(params_.output_dir) / label;
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std::error_code ec;
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fs::create_directories(dir, ec);
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if (ec) {
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LOG_ERROR << "Cannot create capture dir " << dir.string() << ": " << ec.message();
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return;
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}
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const fs::path file = dir / (std::to_string(frame.timestamp_ms) + ".jxl");
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if (!JpegXlEncoder::encodeToFile(file.string(), img.data, img.cols, img.rows,
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frame.channels, out.jxl_distance, out.jxl_effort)) {
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LOG_ERROR << "Failed to encode " << file.string();
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return;
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}
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// Sampled at submit(), not here: by this point the encode above has run and
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// the gimbal may already be slewing to the next waypoint.
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const Orientation& o = queued.orientation;
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CamEvent ev;
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ev.tower = params_.tower;
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ev.camera = label;
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ev.heading_decideg = static_cast<int>(o.yaw_deg * 10);
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ev.pitch_decideg = static_cast<int>(o.pitch_deg * 10);
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ev.timestamp_ms = frame.timestamp_ms;
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channel_.publishCamEvent(ev);
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{
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std::lock_guard<std::mutex> lock(last_event_mutex_);
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last_event_ = ev;
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}
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saved_.fetch_add(1);
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LOG_DEBUG << "Saved " << file.string() << " (" << img.cols << "x" << img.rows << ")";
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}
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std::optional<CamEvent> ImagePipeline::lastEvent() const {
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std::lock_guard<std::mutex> lock(last_event_mutex_);
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return last_event_;
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}
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} // namespace fgc
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