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Exposure for indoors #86

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merged 4 commits into from
Aug 15, 2017
Merged

Exposure for indoors #86

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ee88862
Improve performance for indoors and auto exposure/gain, add more params.
jgoppert Sep 6, 2016
66c6be9
Allow gcc 5.4.1
jgoppert Nov 9, 2016
1b2904f
Lower exposure max and increase desired brightness.
jgoppert Mar 4, 2017
0f8f974
increase flow feature threshold to avoid having a high quality all th…
ChristophTobler Aug 15, 2017
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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -46,3 +46,4 @@ xcode
src/platforms/posix/px4_messages/
src/platforms/posix-arm/px4_messages/
src/platforms/qurt/px4_messages/
*.ipynb_checkpoints
5 changes: 3 additions & 2 deletions makefiles/baremetal/toolchain_gnu-arm-eabi.mk
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Expand Up @@ -50,7 +50,7 @@ OBJDUMP = $(CROSSDEV)objdump

# Check if the right version of the toolchain is available
#
CROSSDEV_VER_SUPPORTED = 4.7.4 4.7.5 4.7.6 4.8.4 4.9.3
CROSSDEV_VER_SUPPORTED = 4.7.4 4.7.5 4.7.6 4.8.4 4.9.3 5.4.1
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This supports the latest gcc, so I included it here.

CROSSDEV_VER_FOUND = $(shell $(CC) -dumpversion)

ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
Expand Down Expand Up @@ -276,4 +276,5 @@ define SYM_TO_BIN
@$(ECHO) "BIN: $2"
@$(MKDIR) -p $(dir $2)
$(Q) $(OBJCOPY) -O binary $1 $2
endef
endef

78 changes: 78 additions & 0 deletions notebooks/flow_analysis.ipynb
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@@ -0,0 +1,78 @@
{
"cells": [
{
"cell_type": "code",
"execution_count": 1,
"metadata": {
"collapsed": false
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Using matplotlib backend: Qt5Agg\n",
"Populating the interactive namespace from numpy and matplotlib\n"
]
}
],
"source": [
"%pylab"
]
},
{
"cell_type": "code",
"execution_count": 20,
"metadata": {
"collapsed": false
},
"outputs": [
{
"data": {
"text/plain": [
"183.23012438744959"
]
},
"execution_count": 20,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"s = 64 # image size\n",
"win = 4 # search area, pixels\n",
"vel = 1 # velocity\n",
"d = 1 # distance above ground\n",
"rate = 100 # hz\n",
"\n",
"fov = np.deg2rad(5)\n",
"f = s/(2*(tan(fov/2))) # focal length, pixels\n",
"x = win * d/f\n",
"rate = vel/x #rate, hz\n",
"rate"
]
}
],
"metadata": {
"anaconda-cloud": {},
"kernelspec": {
"display_name": "Python [default]",
"language": "python",
"name": "python3"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.5.2"
}
},
"nbformat": 4,
"nbformat_minor": 1
}
13 changes: 11 additions & 2 deletions src/include/settings.h
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Expand Up @@ -40,7 +40,7 @@
#define ONBOARD_PARAM_NAME_LENGTH 15
#define BOTTOM_FLOW_IMAGE_HEIGHT 64
#define BOTTOM_FLOW_IMAGE_WIDTH 64
#define BOTTOM_FLOW_SEARCH_WINDOW_SIZE 4
#define BOTTOM_FLOW_SEARCH_WINDOW_SIZE 8
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You can play with this, but this makes it possible for it to see a large max velocity, but you have to watch the update rate and make sure the cpu isn't maxing out.


/******************************************************************
* ALL TYPE DEFINITIONS
Expand Down Expand Up @@ -139,9 +139,18 @@ enum global_param_id_t
PARAM_BOTTOM_FLOW_GYRO_COMPENSATION,
PARAM_BOTTOM_FLOW_LP_FILTERED,
PARAM_BOTTOM_FLOW_WEIGHT_NEW,
PARAM_BOTTOM_FLOW_SERIAL_THROTTLE_FACTOR,
PARAM_BOTTOM_FLOW_PUB_RATE,

PARAM_SENSOR_POSITION,
PARAM_GAIN_MAX,
PARAM_EXPOSURE_MAX,
PARAM_SHTR_W_1,
PARAM_SHTR_W_2,
PARAM_SHTR_W_TOT,
PARAM_HDR,
PARAM_AEC,
PARAM_AGC,
PARAM_BRIGHT,
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Here I exposed settings that were hard coded in the firmware.

DEBUG_VARIABLE,

ONBOARD_PARAM_COUNT
Expand Down
17 changes: 17 additions & 0 deletions src/modules/flow/communication.c
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Expand Up @@ -273,6 +273,23 @@ void handle_mavlink_message(mavlink_channel_t chan,
l3gd20_config();
}

/* shutter/ exposure params */
else if(i == PARAM_SHTR_W_1 ||
i == PARAM_SHTR_W_2 ||
i == PARAM_SHTR_W_TOT ||
i == PARAM_EXPOSURE_MAX ||
i == PARAM_HDR ||
i == PARAM_AEC ||
i == PARAM_AGC ||
i == PARAM_BRIGHT ||
i == PARAM_GAIN_MAX
)
{
mt9v034_context_configuration();
dma_reconfigure();
buffer_reset();
}

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This is just setting the parameters that you request in QGC.

else
{
debug_int_message_buffer("Parameter received, param id =", i);
Expand Down
34 changes: 17 additions & 17 deletions src/modules/flow/flow.c
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Expand Up @@ -501,23 +501,23 @@ uint8_t compute_flow(uint8_t *image1, uint8_t *image2, float x_rate, float y_rat
/* create flow image if needed (image1 is not needed anymore)
* -> can be used for debugging purpose
*/
// if (global_data.param[PARAM_USB_SEND_VIDEO] )//&& global_data.param[PARAM_VIDEO_USB_MODE] == FLOW_VIDEO)
// {
//
// for (j = pixLo; j < pixHi; j += pixStep)
// {
// for (i = pixLo; i < pixHi; i += pixStep)
// {
//
// uint32_t diff = compute_diff(image1, i, j, (uint16_t) global_data.param[PARAM_IMAGE_WIDTH]);
// if (diff > global_data.param[PARAM_BOTTOM_FLOW_FEATURE_THRESHOLD])
// {
// image1[j * ((uint16_t) global_data.param[PARAM_IMAGE_WIDTH]) + i] = 255;
// }
//
// }
// }
// }
if (global_data.param[PARAM_USB_SEND_VIDEO] )//&& global_data.param[PARAM_VIDEO_USB_MODE] == FLOW_VIDEO)
{

for (j = pixLo; j < pixHi; j += pixStep)
{
for (i = pixLo; i < pixHi; i += pixStep)
{

uint32_t diff = compute_diff(image1, i, j, (uint16_t) global_data.param[PARAM_IMAGE_WIDTH]);
if (diff > global_data.param[PARAM_BOTTOM_FLOW_FEATURE_THRESHOLD])
{
image1[j * ((uint16_t) global_data.param[PARAM_IMAGE_WIDTH]) + i] = 255;
}

}
}
}
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This piece of code was commented out and shows you flow quality indicators for each grid cell.


/* evaluate flow calculation */
if (meancount > 10)
Expand Down
42 changes: 25 additions & 17 deletions src/modules/flow/main.c
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Expand Up @@ -342,6 +342,7 @@ int main(void)
static uint32_t integration_timespan = 0;
static uint32_t lasttime = 0;
uint32_t time_since_last_sonar_update= 0;
uint32_t time_last_pub= 0;

uavcan_start();
/* main loop */
Expand Down Expand Up @@ -438,6 +439,22 @@ int main(void)
float flow_compx = pixel_flow_x / focal_length_px / (get_time_between_images() / 1000000.0f);
float flow_compy = pixel_flow_y / focal_length_px / (get_time_between_images() / 1000000.0f);

if (qual > 0)
{
valid_frame_count++;

uint32_t deltatime = (get_boot_time_us() - lasttime);
integration_timespan += deltatime;
accumulated_flow_x += pixel_flow_y / focal_length_px * 1.0f; //rad axis swapped to align x flow around y axis
accumulated_flow_y += pixel_flow_x / focal_length_px * -1.0f;//rad
accumulated_gyro_x += x_rate * deltatime / 1000000.0f; //rad
accumulated_gyro_y += y_rate * deltatime / 1000000.0f; //rad
accumulated_gyro_z += z_rate * deltatime / 1000000.0f; //rad
accumulated_framecount++;
accumulated_quality += qual;
}


/* integrate velocity and output values only if distance is valid */
if (distance_valid)
{
Expand All @@ -451,17 +468,6 @@ int main(void)
{
velocity_x_sum += new_velocity_x;
velocity_y_sum += new_velocity_y;
valid_frame_count++;

uint32_t deltatime = (get_boot_time_us() - lasttime);
integration_timespan += deltatime;
accumulated_flow_x += pixel_flow_y / focal_length_px * 1.0f; //rad axis swapped to align x flow around y axis
accumulated_flow_y += pixel_flow_x / focal_length_px * -1.0f;//rad
accumulated_gyro_x += x_rate * deltatime / 1000000.0f; //rad
accumulated_gyro_y += y_rate * deltatime / 1000000.0f; //rad
accumulated_gyro_z += z_rate * deltatime / 1000000.0f; //rad
accumulated_framecount++;
accumulated_quality += qual;

/* lowpass velocity output */
velocity_x_lp = global_data.param[PARAM_BOTTOM_FLOW_WEIGHT_NEW] * new_velocity_x +
Expand Down Expand Up @@ -533,8 +539,11 @@ int main(void)
PROBE_3(true);

//serial mavlink + usb mavlink output throttled
if (counter % (uint32_t)global_data.param[PARAM_BOTTOM_FLOW_SERIAL_THROTTLE_FACTOR] == 0)//throttling factor
uint32_t now = get_boot_time_us();
uint32_t time_since_last_pub = now - time_last_pub;
if (time_since_last_pub > (1.0e6f/global_data.param[PARAM_BOTTOM_FLOW_PUB_RATE]))
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This is the logic to publish at a fixed rate instead of based on the exposure setting.

{
time_last_pub = now;

float flow_comp_m_x = 0.0f;
float flow_comp_m_y = 0.0f;
Expand Down Expand Up @@ -577,10 +586,9 @@ int main(void)
lpos.x += ground_distance*accumulated_flow_x;
lpos.y += ground_distance*accumulated_flow_y;
lpos.z = -ground_distance;
/* velocity not directly measured and not important for testing */
lpos.vx = 0;
lpos.vy = 0;
lpos.vz = 0;
lpos.vx = ground_distance*accumulated_flow_x/integration_timespan;
lpos.vy = ground_distance*accumulated_flow_y/integration_timespan;
lpos.vz = 0; // no direct measurement, just ignore
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I included the velocity here for debug.


} else {
/* toggling param allows user reset */
Expand Down Expand Up @@ -699,7 +707,7 @@ int main(void)
uint16_t frame = 0;
for (frame = 0; frame < image_size_send / MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN + 1; frame++)
{
mavlink_msg_encapsulated_data_send(MAVLINK_COMM_2, frame, &((uint8_t *) current_image)[frame * MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN]);
mavlink_msg_encapsulated_data_send(MAVLINK_COMM_2, frame, &((uint8_t *) previous_image)[frame * MAVLINK_MSG_ENCAPSULATED_DATA_FIELD_DATA_LEN]);
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Why did you change this to previous_image?

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so that it gets overlayed with the dots for flow quality

}

send_image_now = false;
Expand Down
59 changes: 23 additions & 36 deletions src/modules/flow/mt9v034.c
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Expand Up @@ -79,7 +79,7 @@ void mt9v034_context_configuration(void)
uint16_t new_height_context_b = FULL_IMAGE_COLUMN_SIZE * 4;

/* blanking settings */
uint16_t new_hor_blanking_context_a = 709 + MINIMUM_HORIZONTAL_BLANKING;// 709 is minimum value without distortions
uint16_t new_hor_blanking_context_a = 425 + MINIMUM_HORIZONTAL_BLANKING;// 709 is minimum value without distortions
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comment needs to be adapted

uint16_t new_ver_blanking_context_a = 10; // this value is the first without image errors (dark lines)
uint16_t new_hor_blanking_context_b = MAX_IMAGE_WIDTH - new_width_context_b + MINIMUM_HORIZONTAL_BLANKING;
if (new_hor_blanking_context_b < 800) {
Expand Down Expand Up @@ -109,51 +109,38 @@ void mt9v034_context_configuration(void)
* so we set max on 64 (lines) = 0x40
*/
uint16_t min_exposure = 0x0001; // default
uint16_t max_exposure = 0x01E0; // default
uint16_t new_max_gain = 64; // VALID RANGE: 16-64 (default)
uint16_t pixel_count = 4096; //64x64 take all pixels to estimate exposure time // VALID RANGE: 1-65535

uint16_t desired_brightness = 58; // default
uint16_t resolution_ctrl = 0x0203; // default
uint16_t hdr_enabled = 0x0100; // default
uint16_t aec_agc_enabled = 0x0003; // default
uint16_t coarse_sw1 = 0x01BB; // default from context A
uint16_t coarse_sw2 = 0x01D9; // default from context A
uint16_t shutter_width_ctrl = 0x0164; // default from context A
uint16_t total_shutter_width = 0x01E0; // default from context A
uint16_t aec_update_freq = 0x02; // default Number of frames to skip between changes in AEC VALID RANGE: 0-15
uint16_t aec_low_pass = 0x01; // default VALID RANGE: 0-2
uint16_t agc_update_freq = 0x02; // default Number of frames to skip between changes in AGC VALID RANGE: 0-15
uint16_t agc_low_pass = 0x02; // default VALID RANGE: 0-2

uint16_t resolution_ctrl = 0x0303; // 12 bit adc for low light
uint16_t max_gain = global_data.param[PARAM_GAIN_MAX];
uint16_t max_exposure = global_data.param[PARAM_EXPOSURE_MAX];
uint16_t coarse_sw1 = global_data.param[PARAM_SHTR_W_1];
uint16_t coarse_sw2 = global_data.param[PARAM_SHTR_W_2];
uint16_t total_shutter_width = global_data.param[PARAM_SHTR_W_TOT];
uint16_t hdr_enabled = 0x0000;
bool hdr_enable_flag = global_data.param[PARAM_HDR] > 0;
if (hdr_enable_flag) {
hdr_enabled = 0x0100;
}

if (FLOAT_AS_BOOL(global_data.param[PARAM_IMAGE_LOW_LIGHT]))
{
min_exposure = 0x0001;
max_exposure = 0x0040;
desired_brightness = 58; // VALID RANGE: 8-64
resolution_ctrl = 0x0202;//10 bit linear
hdr_enabled = 0x0000; // off
aec_agc_enabled = 0x0303; // on
coarse_sw1 = 0x01BB; // default from context A
coarse_sw2 = 0x01D9; // default from context A
shutter_width_ctrl = 0x0164; // default from context A
total_shutter_width = 0x01E0; // default from context A
bool aec_enable_flag = global_data.param[PARAM_AEC] > 0;
uint16_t aec_agc_enabled = 0x0000;
if (aec_enable_flag) {
aec_agc_enabled |= (1 << 0);
}
else
{
min_exposure = 0x0001;
max_exposure = 0x0080;
desired_brightness = 16; // VALID RANGE: 8-64
resolution_ctrl = 0x0202;//10bit linear
hdr_enabled = 0x0000; // off
aec_agc_enabled = 0x0303; // on
coarse_sw1 = 0x01BB; // default from context A
coarse_sw2 = 0x01D9; // default from context A
shutter_width_ctrl = 0x0164; // default from context A
total_shutter_width = 0x01E0; // default from context A

bool agc_enable_flag = global_data.param[PARAM_AGC] > 0;
if (agc_enable_flag) {
aec_agc_enabled |= (1 << 1);
}

uint16_t desired_brightness = global_data.param[PARAM_BRIGHT];

uint16_t row_noise_correction = 0x0000; // default
uint16_t test_data = 0x0000; // default

Expand Down Expand Up @@ -216,7 +203,7 @@ void mt9v034_context_configuration(void)
mt9v034_WriteReg16(MTV_HDR_ENABLE_REG, hdr_enabled); // disable HDR on both contexts
mt9v034_WriteReg16(MTV_MIN_EXPOSURE_REG, min_exposure);
mt9v034_WriteReg16(MTV_MAX_EXPOSURE_REG, max_exposure);
mt9v034_WriteReg16(MTV_MAX_GAIN_REG, new_max_gain);
mt9v034_WriteReg16(MTV_MAX_GAIN_REG, max_gain);
mt9v034_WriteReg16(MTV_AGC_AEC_PIXEL_COUNT_REG, pixel_count);
mt9v034_WriteReg16(MTV_AGC_AEC_DESIRED_BIN_REG, desired_brightness);
mt9v034_WriteReg16(MTV_ADC_RES_CTRL_REG, resolution_ctrl); // here is the way to regulate darkness :)
Expand Down
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