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fakeFrameGrabber enhancements #2594

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Jun 11, 2021
Merged

fakeFrameGrabber enhancements #2594

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aefac3d
fakeFrameGrabber: Do not block caller on getImage()
drdanz May 28, 2021
9acd6a8
fakeFrameGrabber: Add topIsLow option and set_topIsLow command
drdanz Jun 4, 2021
f478135
fakeFrameGrabber: Remove 'nois' mode and add a '--noise' option
drdanz Jun 7, 2021
21645ce
fakeFrameGrabber: Add debug message when hardware crop is requested
drdanz Jun 7, 2021
7f2373e
dev/CameraConfig: Remove constructor to enable struct initialization
drdanz Jun 8, 2021
8f69f98
Update release notes
drdanz Jun 7, 2021
6f8041d
Regenerate dox
drdanz Jun 10, 2021
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5 changes: 4 additions & 1 deletion doc/device_invocation/fakeFrameGrabber_basic.dox
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,8 @@ So this is just an example
<tr><td>horizontalFov</td><td>desired horizontal fov of test image</td><td>1.0</td></tr>
<tr><td>verticalFov</td><td>desired vertical fov of test image</td><td>2.0</td></tr>
<tr><td>mirror</td><td>mirroring disabled by default</td><td>0</td></tr>
<tr><td>syncro</td><td>syncronize producer and consumer, so that all images are used once and only once</td><td>0</td></tr>
<tr><td>topIsLow</td><td>explicitly set the topIsLow field in the images</td><td>1</td></tr>
<tr><td>physFocalLength</td><td>Physical focal length of the fakeFrameGrabber</td><td>3.0</td></tr>
<tr><td>focalLengthX</td><td>Horizontal component of the focal length of the fakeFrameGrabber</td><td>4.0</td></tr>
<tr><td>focalLengthY</td><td>Vertical component of the focal length of the fakeFrameGrabber</td><td>5.0</td></tr>
Expand All @@ -52,9 +54,10 @@ So this is just an example
<tr><td>t2</td><td>Tangential distortion of the lens(fake)</td><td>12.0</td></tr>
<tr><td>freq</td><td>rate of test images in Hz</td><td></td></tr>
<tr><td>period</td><td>period of test images in seconds</td><td></td></tr>
<tr><td>mode</td><td>bouncy [ball], scrolly [line], grid [grid], grid multisize [size], random [rand], noise [nois], none [none], time test[time]</td><td>line</td></tr>
<tr><td>mode</td><td>bouncy [ball], scrolly [line], grid [grid], grid multisize [size], random [rand], none [none], time test[time]</td><td>line</td></tr>
<tr><td>src</td><td></td><td></td></tr>
<tr><td>timestamp</td><td>should write the timestamp in the first bytes of the image</td><td></td></tr>
<tr><td>noise</td><td>Should add noise to the image (uses snr)</td><td></td></tr>
<tr><td>snr</td><td>Signal noise ratio ([0.0-1.0] default 0.5)</td><td>0.5</td></tr>
<tr><td>bayer</td><td>should emit bayer test image?</td><td></td></tr>
<tr><td>mono</td><td>should emit a monochrome image?</td><td></td></tr>
Expand Down
5 changes: 4 additions & 1 deletion doc/device_invocation/group_basic.dox
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Expand Up @@ -64,6 +64,8 @@ So this is just an example
<tr><td>mycam.horizontalFov</td><td>desired horizontal fov of test image</td><td>1.0</td></tr>
<tr><td>mycam.verticalFov</td><td>desired vertical fov of test image</td><td>2.0</td></tr>
<tr><td>mycam.mirror</td><td>mirroring disabled by default</td><td>0</td></tr>
<tr><td>mycam.syncro</td><td>syncronize producer and consumer, so that all images are used once and only once</td><td>0</td></tr>
<tr><td>mycam.topIsLow</td><td>explicitly set the topIsLow field in the images</td><td>1</td></tr>
<tr><td>mycam.physFocalLength</td><td>Physical focal length of the fakeFrameGrabber</td><td>3.0</td></tr>
<tr><td>mycam.focalLengthX</td><td>Horizontal component of the focal length of the fakeFrameGrabber</td><td>4.0</td></tr>
<tr><td>mycam.focalLengthY</td><td>Vertical component of the focal length of the fakeFrameGrabber</td><td>5.0</td></tr>
Expand All @@ -78,9 +80,10 @@ So this is just an example
<tr><td>mycam.t2</td><td>Tangential distortion of the lens(fake)</td><td>12.0</td></tr>
<tr><td>mycam.freq</td><td>rate of test images in Hz</td><td></td></tr>
<tr><td>mycam.period</td><td>period of test images in seconds</td><td></td></tr>
<tr><td>mycam.mode</td><td>bouncy [ball], scrolly [line], grid [grid], grid multisize [size], random [rand], noise [nois], none [none], time test[time]</td><td>line</td></tr>
<tr><td>mycam.mode</td><td>bouncy [ball], scrolly [line], grid [grid], grid multisize [size], random [rand], none [none], time test[time]</td><td>line</td></tr>
<tr><td>mycam.src</td><td></td><td></td></tr>
<tr><td>mycam.timestamp</td><td>should write the timestamp in the first bytes of the image</td><td></td></tr>
<tr><td>mycam.noise</td><td>Should add noise to the image (uses snr)</td><td></td></tr>
<tr><td>mycam.snr</td><td>Signal noise ratio ([0.0-1.0] default 0.5)</td><td>0.5</td></tr>
<tr><td>mycam.bayer</td><td>should emit bayer test image?</td><td></td></tr>
<tr><td>mycam.mono</td><td>should emit a monochrome image?</td><td></td></tr>
Expand Down
16 changes: 16 additions & 0 deletions doc/release/master/fakeFrameGrabber_enh2.md
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Original file line number Diff line number Diff line change
@@ -0,0 +1,16 @@
fakeFrameGrabber_enh2 {#master}
---------------------

## Devices

### `fakeFrameGrabber`

* The `getImage()` method no longer blocks the caller.
The `--syncro` option was added to restore the old behavior.

* The `topIsLow` option and the `set_topIsLow` rpc command were added to produce
images with bottom to top scanlines.

* The `nois` mode (introduced in fakeFrameGrabber_enh) was removed in favour of
the `--noise` option and `set_noise` and `set_snr` commands that adds noise
to the generated images.
224 changes: 154 additions & 70 deletions src/devices/fakeFrameGrabber/FakeFrameGrabber.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,6 @@ constexpr yarp::conf::vocab32_t VOCAB_LINE = yarp::os::createVocab('l'
constexpr yarp::conf::vocab32_t VOCAB_BALL = yarp::os::createVocab('b','a','l','l');
constexpr yarp::conf::vocab32_t VOCAB_GRID = yarp::os::createVocab('g','r','i','d');
constexpr yarp::conf::vocab32_t VOCAB_RAND = yarp::os::createVocab('r','a','n','d');
constexpr yarp::conf::vocab32_t VOCAB_NOIS = yarp::os::createVocab('n','o','i','s');
constexpr yarp::conf::vocab32_t VOCAB_NONE = yarp::os::createVocab('n','o','n','e');
constexpr yarp::conf::vocab32_t VOCAB_GRID_MULTISIZE = yarp::os::createVocab('s','i','z','e');
constexpr yarp::conf::vocab32_t VOCAB_TIMETEXT = yarp::os::createVocab('t','i','m','e');
Expand Down Expand Up @@ -137,7 +136,10 @@ bool FakeFrameGrabber::read(yarp::os::ConnectionReader& connection)
reply.addVocab(Vocab::encode("many"));
reply.addString("set_mode <mode>");
reply.addString("set_image <file_name>/off");
reply.addString("available modes: ball, line, grid, size, rand, nois, none, time");
reply.addString("available modes: ball, line, grid, size, rand, none, time");
reply.addString("set_topIsLow on/off");
reply.addString("set_noise on/off");
reply.addString("set_snr <snr>");
reply.addString("");
}
else if (command.get(0).asString() == "set_mode")
Expand Down Expand Up @@ -168,6 +170,35 @@ bool FakeFrameGrabber::read(yarp::os::ConnectionReader& connection)
}
}
}
else if (command.get(0).asString() == "set_topIsLow")
{
if (command.get(1).asString() == "off") {
topIsLow = false;
reply.addString("ack");
} else if (command.get(1).asString() == "on") {
topIsLow = true;
reply.addString("ack");
} else {
reply.addString("err");
}
}
else if (command.get(0).asString() == "set_noise")
{
if (command.get(1).asString() == "off") {
add_noise = false;
reply.addString("ack");
} else if (command.get(1).asString() == "on") {
add_noise = true;
reply.addString("ack");
} else {
reply.addString("err");
}
}
else if (command.get(0).asString() == "set_snr")
{
snr = yarp::conf::clamp(command.get(1).asFloat64(), 0.0, 1.0);
reply.addString("ack");
}
else
{
reply.addString("Unknown command. Type 'help'.");
Expand Down Expand Up @@ -200,6 +231,10 @@ bool FakeFrameGrabber::open(yarp::os::Searchable& config) {
"desired vertical fov of test image").asFloat64();
mirror=config.check("mirror",Value(false),
"mirroring disabled by default").asBool();
syncro=config.check("syncro",Value(false),
"syncronize producer and consumer, so that all images are used once and only once").asBool();
topIsLow=config.check("topIsLow",Value(true),
"explicitly set the topIsLow field in the images").asBool();
intrinsic.put("physFocalLength",config.check("physFocalLength",Value(3.0),"Physical focal length of the fakeFrameGrabber").asFloat64());
intrinsic.put("focalLengthX",config.check("focalLengthX",Value(4.0),"Horizontal component of the focal length of the fakeFrameGrabber").asFloat64());
intrinsic.put("focalLengthY",config.check("focalLengthY",Value(5.0),"Vertical component of the focal length of the fakeFrameGrabber").asFloat64());
Expand Down Expand Up @@ -254,7 +289,7 @@ bool FakeFrameGrabber::open(yarp::os::Searchable& config) {

mode = config.check("mode",
yarp::os::Value(VOCAB_LINE, true),
"bouncy [ball], scrolly [line], grid [grid], grid multisize [size], random [rand], noise [nois], none [none], time test[time]").asVocab();
"bouncy [ball], scrolly [line], grid [grid], grid multisize [size], random [rand], none [none], time test[time]").asVocab();

if (config.check("src")) {
if (!yarp::sig::file::read(background,
Expand All @@ -275,6 +310,8 @@ bool FakeFrameGrabber::open(yarp::os::Searchable& config) {

add_timestamp = config.check("timestamp", "should write the timestamp in the first bytes of the image");

add_noise = config.check("noise", "Should add noise to the image (uses snr)");

snr = yarp::conf::clamp(config.check("snr",Value(default_snr), "Signal noise ratio ([0.0-1.0] default 0.5)").asFloat64(), 0.0, 1.0);

use_bayer = config.check("bayer","should emit bayer test image?");
Expand Down Expand Up @@ -396,77 +433,137 @@ bool FakeFrameGrabber::setRgbMirroring(bool mirror){
void FakeFrameGrabber::run()
{
while (!isStopping()) {
for (size_t i = 0; i < 2; ++i) {
std::unique_lock<std::mutex> lk(mutex[i]);
img_consumed_cv[i].wait(lk, [&]{ if (img_ready[i]) {img_ready_cv[i].notify_one();} return (isStopping() || img_consumed[i]);});
if (isStopping()) {
break;
for (size_t i = 0; i < 2 && !isStopping(); ++i) {
if (!syncro) {
std::unique_lock<std::mutex> lk(mutex[i]);
createTestImage(buffs[i], buff_ts[i]);
timing();
curr_buff_mutex.lock();
curr_buff = i;
curr_buff_mutex.unlock();
} else {
std::unique_lock<std::mutex> lk(mutex[i]);
img_consumed_cv[i].wait(lk, [&]{ if (img_ready[i]) {img_ready_cv[i].notify_one();} return (isStopping() || img_consumed[i]);});
if (isStopping()) {
break;
}
img_ready[i] = false;
img_consumed[i] = false;
createTestImage(buffs[i], buff_ts[i]);
img_ready[i] = true;
img_ready_cv[i].notify_all();
}
img_ready[i] = false;
img_consumed[i] = false;
createTestImage(buffs[i], buff_ts[i]);
img_ready[i] = true;
img_ready_cv[i].notify_all();
}
}
}

void FakeFrameGrabber::onStop()
{
// Unlock any blocked thread.
for (size_t i = 0; i < 2; ++i) {
std::unique_lock<std::mutex> lk(mutex[i]);
img_consumed[i] = true;
img_consumed_cv[i].notify_all();
img_ready[i] = true;
img_ready_cv[i].notify_all();
if (syncro) {
for (size_t i = 0; i < 2; ++i) {
std::unique_lock<std::mutex> lk(mutex[i]);
img_consumed[i] = true;
img_consumed_cv[i].notify_all();
img_ready[i] = true;
img_ready_cv[i].notify_all();
}
}
}


bool FakeFrameGrabber::getImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>& image)
{
timing();

std::unique_lock<std::mutex> lk(mutex[curr_buff]);
img_ready_cv[curr_buff].wait(lk, [&]{return (!isRunning() || img_ready[curr_buff]);});
if (!isRunning()) {
return false;
}
image.copy(buffs[curr_buff]);
stamp.update(buff_ts[curr_buff]);
img_consumed[curr_buff] = true;
img_consumed_cv[curr_buff].notify_one();

curr_buff = (curr_buff + 1) % 2;
if (!syncro) {
curr_buff_mutex.lock();
size_t cb = curr_buff;
std::unique_lock<std::mutex> lk(mutex[cb]);
curr_buff_mutex.unlock();
image.copy(buffs[cb]);
stamp.update(buff_ts[cb]);
} else {
curr_buff_mutex.lock();
timing();
size_t cb = curr_buff;
std::unique_lock<std::mutex> lk(mutex[cb]);
img_ready_cv[cb].wait(lk, [&]{return (!isRunning() || img_ready[cb]);});
if (!isRunning()) {
return false;
}

image.copy(buffs[cb]);
stamp.update(buff_ts[cb]);
img_consumed[cb] = true;
img_consumed_cv[cb].notify_one();

curr_buff = (cb + 1) % 2;
curr_buff_mutex.unlock();
}

return true;
}


bool FakeFrameGrabber::getImage(yarp::sig::ImageOf<yarp::sig::PixelMono>& image)
{
timing();

std::unique_lock<std::mutex> lk(mutex[curr_buff]);
img_ready_cv[curr_buff].wait(lk, [&]{return !isRunning() || img_ready[curr_buff];});
if (!isRunning()) {
return false;
}
if (use_bayer) {
makeSimpleBayer(buffs[curr_buff],image);

if (!syncro) {
curr_buff_mutex.lock();
size_t cb = curr_buff;
std::unique_lock<std::mutex> lk(mutex[cb]);
curr_buff_mutex.unlock();
if (use_bayer) {
makeSimpleBayer(buffs[cb], image);
} else {
image.copy(buffs[cb]);
}
stamp.update(buff_ts[cb]);
} else {
image.copy(buffs[curr_buff]);
}
stamp.update(buff_ts[curr_buff]);
img_consumed[curr_buff] = true;
img_consumed_cv[curr_buff].notify_one();
curr_buff_mutex.lock();
timing();
size_t cb = curr_buff;
std::unique_lock<std::mutex> lk(mutex[cb]);
img_ready_cv[cb].wait(lk, [&]{return (!isRunning() || img_ready[cb]);});
if (!isRunning()) {
return false;
}
if (use_bayer) {
makeSimpleBayer(buffs[cb], image);
} else {
image.copy(buffs[cb]);
}
stamp.update(buff_ts[cb]);
img_consumed[cb] = true;
img_consumed_cv[cb].notify_one();

curr_buff = (curr_buff + 1) % 2;
curr_buff = (cb + 1) % 2;
curr_buff_mutex.unlock();
}

return true;
}

bool FakeFrameGrabber::getImageCrop(cropType_id_t cropType,
yarp::sig::VectorOf<std::pair<int, int>> vertices,
yarp::sig::ImageOf<yarp::sig::PixelRgb>& image)
{
yCDebugThrottle(FAKEFRAMEGRABBER, 5.0) << "Hardware crop requested!";
return yarp::dev::IFrameGrabberOf<yarp::sig::ImageOf<yarp::sig::PixelRgb>>::getImageCrop(cropType, vertices, image);
}

bool FakeFrameGrabber::getImageCrop(cropType_id_t cropType,
yarp::sig::VectorOf<std::pair<int, int>> vertices,
yarp::sig::ImageOf<yarp::sig::PixelMono>& image)
{
yCDebugThrottle(FAKEFRAMEGRABBER, 5.0) << "Hardware crop requested!";
return yarp::dev::IFrameGrabberOf<yarp::sig::ImageOf<yarp::sig::PixelMono>>::getImageCrop(cropType, vertices, image);
}

yarp::os::Stamp FakeFrameGrabber::getLastInputStamp() {
return stamp;
Expand Down Expand Up @@ -688,35 +785,6 @@ void FakeFrameGrabber::createTestImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>&
}
}
break;
case VOCAB_NOIS:
{
if (have_bg) {
image.copy(background);
} else {
image.zero();
}
static const double nsr = 1.0 - snr;
for (size_t x = 0; x < image.width(); ++x) {
for (size_t y = 0; y < image.height(); ++y) {
auto rand = ucdist(randengine);
if (have_bg) {
image.pixel(x,y) = PixelRgb {
static_cast<unsigned char>(image.pixel(x,y).r * snr + rand * nsr * 255),
static_cast<unsigned char>(image.pixel(x,y).g * snr + rand * nsr * 255),
static_cast<unsigned char>(image.pixel(x,y).b * snr + rand * nsr * 255)
};
} else {
image.pixel(x,y) = PixelRgb{
static_cast<unsigned char>(rand * nsr),
static_cast<unsigned char>(rand * nsr),
static_cast<unsigned char>(rand * nsr)
};
}
}
}
}
break;

case VOCAB_NONE:
{
if (have_bg) {
Expand All @@ -738,6 +806,20 @@ void FakeFrameGrabber::createTestImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>&
bx = image.width()-1;
}

if (add_noise) {
static const double nsr = 1.0 - snr;
for (size_t x = 0; x < image.width(); ++x) {
for (size_t y = 0; y < image.height(); ++y) {
auto rand = ucdist(randengine);
image.pixel(x,y) = PixelRgb {
static_cast<unsigned char>(image.pixel(x,y).r * snr + (rand * nsr * 255)),
static_cast<unsigned char>(image.pixel(x,y).g * snr + (rand * nsr * 255)),
static_cast<unsigned char>(image.pixel(x,y).b * snr + (rand * nsr * 255))
};
}
}
}

if (add_timestamp) {
char ttxt[50];
std::snprintf(ttxt, 50, "%021.10f", timestamp);
Expand Down Expand Up @@ -769,6 +851,8 @@ void FakeFrameGrabber::createTestImage(yarp::sig::ImageOf<yarp::sig::PixelRgb>&
image.pixel(6, 0).g = ttxt[19] - '0';
image.pixel(6, 0).b = ttxt[20] - '0';
}

image.setTopIsLowIndex(topIsLow);
}


Expand Down
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