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ExposureControl.cpp
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ExposureControl.cpp
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/*
ExposureControl.cpp
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
*
* This file is part of: freeture
*
* Copyright: (C) 2014-2015 Yoan Audureau
* FRIPON-GEOPS-UPSUD-CNRS
*
* License: GNU General Public License
*
* FreeTure is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
* FreeTure is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* You should have received a copy of the GNU General Public License
* along with FreeTure. If not, see <http://www.gnu.org/licenses/>.
*
* Last modified: 20/07/2015
*
*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/**
* \file ExposureControl.cpp
* \author Yoan Audureau -- FRIPON-GEOPS-UPSUD
* \version 1.0
* \date 03/06/2014
* \brief Auto Exposure time adjustment.
*/
#include "ExposureControl.h"
boost::log::sources::severity_logger< LogSeverityLevel > ExposureControl::logger;
ExposureControl::Init ExposureControl::initializer;
ExposureControl::ExposureControl(int timeInterval,
bool saveImage,
bool saveInfos,
string dataPath,
string station){
bin_0 = 0;
bin_1 = 0;
bin_2 = 0;
bin_3 = 0;
bin_4 = 0;
// Frame interval between two exposure time adjustment.
autoExposureTimeInterval = timeInterval;
// Exposure adjustment finished status.
autoExposureFinished = false;
// Exposure adjustment initialization status.
autoExposureInitialized = false;
stationName = station;
autoExposureSaveImage = saveImage;
autoExposureSaveInfos = saveInfos;
autoExposureDataLocation = dataPath;
minCameraExposureValue = 0;
maxCameraExposureValue = 0;
exposureValue = 0;
frameToSkip = 2;
frameSkippedCounter = 0;
incrementExposureTimeValue = true;
msvMin_1 = 0.f;
msvMax_1 = 0.f;
expMin_1 = 0;
expMax_1 = 0;
msvMin_2 = 0.f;
msvMax_2 = 0.f;
expMin_2 = 0;
expMax_2 = 0;
step1 = true;
step2 = false;
finalDataLocation = "";
finalExposureTime = 0;
// First reference date.
boost::posix_time::ptime time = boost::posix_time::microsec_clock::universal_time();
string cDate = to_simple_string(time);
string dateDelimiter = ".";
mRefDate = cDate.substr(0, cDate.find(dateDelimiter));
mSecTime = 0;
mNbFramesControlled = 0;
}
bool ExposureControl::calculate(Mat& image, Mat &mask){
if(!mask.data){
mask = Mat(image.rows, image.cols, CV_8UC1, Scalar(255));
}
this->clear();
unsigned char * ptr_mask;
switch(image.type()){
case CV_16U :
{
unsigned short * ptr = NULL;
// Loop pixel's region.
for(int i = 0; i < image.rows; i++){
ptr = image.ptr<unsigned short>(i);
ptr_mask = mask.ptr<unsigned char>(i);
for(int j = 0; j < image.cols; j++){
if(ptr_mask[j] != 0){
if(ptr[j] >= 0 && ptr[j] <= 819){
bin_0 += 1.f;
}else if(ptr[j] > 819 && ptr[j] <= 1638){
bin_1 += 1.f;
}else if(ptr[j] > 1638 && ptr[j] <= 2458){
bin_2 += 1.f;
}else if(ptr[j] > 2458 && ptr[j] <= 3278){
bin_3 += 1.f;
}else if(ptr[j] > 3278 && ptr[j] <= 4095){
bin_4 += 1.f;
}
}
}
}
}
break;
case CV_8U :
{
unsigned char * ptr = NULL;
// Loop pixel's region.
for(int i = 0; i < image.rows; i++){
ptr = image.ptr<unsigned char>(i);
ptr_mask = mask.ptr<unsigned char>(i);
for(int j = 0; j < image.cols; j++){
if((int)ptr_mask[j] != 0){
if(ptr[j] >= 0 && ptr[j] <= 50){
bin_0 += 1;
}else if(ptr[j] > 50 && ptr[j] <= 100){
bin_1 += 1;
}else if(ptr[j] > 100 && ptr[j] <= 150){
bin_2 += 1;
}else if(ptr[j] > 150 && ptr[j] <= 200){
bin_3 += 1;
}else if(ptr[j] > 200 && ptr[j] <= 255){
bin_4 += 1;
}
}
}
}
}
break;
}
return true;
}
float ExposureControl::computeMSV(){
return ((bin_0 + 2 * bin_1 + 3 * bin_2 + 4 * bin_3 + 5 * bin_4) / (bin_0 + bin_1 + bin_2 + bin_3 + bin_4));
}
bool ExposureControl::controlExposureTime(Device *camera, Mat image, TimeDate::Date imageDate, Mat mask, double minExposureTime, double fps){
try {
// Get current DATE and check number of seconds passed since last exposure control.
boost::posix_time::ptime time = boost::posix_time::microsec_clock::universal_time();
string cDate = to_simple_string(time);
string dateDelimiter = ".";
string nowDate = cDate.substr(0, cDate.find(dateDelimiter));
boost::posix_time::ptime t1(boost::posix_time::time_from_string(mRefDate));
boost::posix_time::ptime t2(boost::posix_time::time_from_string(nowDate));
boost::posix_time::time_duration td = t2 - t1;
mSecTime = td.total_seconds();
// Check if it's time to run "exposure time control".
if(mSecTime > autoExposureTimeInterval) {
// If exposure control finished
if(autoExposureFinished) {
autoExposureFinished = false;
// Get new reference DATE to count the next exposure control.
boost::posix_time::ptime time = boost::posix_time::microsec_clock::universal_time();
string cDate = to_simple_string(time);
string dateDelimiter = ".";
mRefDate = cDate.substr(0, cDate.find(dateDelimiter));
mSecTime = 0;
// If exposure control not finished
}else {
// Skip n frames to give enough time to set new exposure value.
if(frameSkippedCounter <= frameToSkip) {
frameSkippedCounter++;
}else {
// Compute pixels value repartition.
calculate(image, mask);
// Compute Mean Sample Value
float msv = computeMSV();
BOOST_LOG_SEV(logger,notification) << mNbFramesControlled << " -> EXP : " << exposureValue << " MSV : " << msv;
// If method has not been initialized
if(!autoExposureInitialized) {
if(autoExposureSaveImage) {
// Save initial status before exposure control
Mat saveFrame; image.copyTo(saveFrame);
if(saveFrame.type() == CV_16U) saveFrame = Conversion::convertTo8UC1(saveFrame);
putText(saveFrame, "BEFORE EC -> MSV : " + Conversion::floatToString(msv), cvPoint(20,20),FONT_HERSHEY_COMPLEX_SMALL, 0.8, cvScalar(255), 1, CV_AA);
putText(saveFrame, "EXP : ? " /*Conversion::intToString(camera->mCam->getExposureTime())*/, cvPoint(20,40),FONT_HERSHEY_COMPLEX_SMALL, 0.8, cvScalar(255), 1, CV_AA);
if(checkDataLocation(imageDate))
SaveImg::saveBMP(saveFrame, finalDataLocation + "expControl_" + TimeDate::getYYYYMMDDThhmmss(imageDate) + "_before");
}
// Get minimum exposure time.
minCameraExposureValue = minExposureTime;
BOOST_LOG_SEV(logger,notification) << "Min EXP : " << minCameraExposureValue;
// Set maximum exposure time (us) according fps value.
if(fps > 0) maxCameraExposureValue = (int)((1.0/fps) * 1000000.0);
else throw "Fail to get FPS value from camera.";
BOOST_LOG_SEV(logger,notification) << "Max EXP : " << maxCameraExposureValue;
// Compute msv with the following exposure time
exposureValue = minCameraExposureValue;
// Set exposure time with the minimum value
if(!camera->setCameraExposureTime(minCameraExposureValue))
throw "Fail to set exposure time in initialization.";
BOOST_LOG_SEV(logger,notification) << "Set EXP to : " << minCameraExposureValue;
expArray_1.push_back(minCameraExposureValue);
autoExposureInitialized = true;
// Reset counter of skipped frames.
frameSkippedCounter = 0;
// If method has been initialized
}else{
if(step1) {
BOOST_LOG_SEV(logger,notification) << "STEP 1";
msvArray_1.push_back(msv);
// Increment exposure time.
if(incrementExposureTimeValue) {
double delta = 1000;
BOOST_LOG_SEV(logger,notification) << "STEP 1 : Incrementation by " << delta;
if(exposureValue + delta > maxCameraExposureValue) {
exposureValue = maxCameraExposureValue;
incrementExposureTimeValue = false;
}else if(exposureValue == minCameraExposureValue) {
exposureValue = delta;
}else {
exposureValue += delta;
}
expArray_1.push_back(exposureValue);
if(!camera->setCameraExposureTime(exposureValue))
throw "Fail to set exposure time in step 1 : incrementation";
BOOST_LOG_SEV(logger,notification) << "Set EXP to : " << exposureValue;
}else{
BOOST_LOG_SEV(logger,notification) << "STEP 1 : Analyse msv";
BOOST_LOG_SEV(logger,notification) << "MSV ARRAY1 SIZE : " << msvArray_1.size() << "EXP ARRAY1 SIZE " << expArray_1.size();
// MSV too high (over exposition) -> set camera with minimum exposure time.
if(msvArray_1.front() > 2.5) {
finalExposureTime = minCameraExposureValue;
exposureValue = minCameraExposureValue;
if(!camera->setCameraExposureTime(minCameraExposureValue))
throw "Fail to set exposure time in step 1 : Analyse MSV > 2.5";
BOOST_LOG_SEV(logger,notification) << "Set EXP to : " << exposureValue;
// MSV too low (under exposition) -> set camera with maximum exposure time.
}else if(msvArray_1.back() < 2.5) {
finalExposureTime = maxCameraExposureValue;
exposureValue = maxCameraExposureValue;
if(!camera->setCameraExposureTime(maxCameraExposureValue))
throw "Fail to set exposure time in step 1 : Analyse MSV < 2.5";
BOOST_LOG_SEV(logger,notification) << "Set EXP to : " << exposureValue;
// Search best MSV and attached exposure time.
}else {
for(int i = 0; i < msvArray_1.size(); i++) {
if((i+1) < msvArray_1.size()) {
// If two consecutives MSV values around 2.5
if(msvArray_1.at(i) < 2.5 && msvArray_1.at(i+1) > 2.5 ) {
expMin_1 = expArray_1.at(i);
expMax_1 = expArray_1.at(i+1);
msvMin_1 = msvArray_1.at(i);
msvMax_1 = msvArray_1.at(i+1);
minCameraExposureValue = expMin_1;
maxCameraExposureValue = expMax_1;
step2 = true;
incrementExposureTimeValue = true;
exposureValue = expMin_1;
expMax_2 = expMax_1;
BOOST_LOG_SEV(logger,notification) << "New interval found -> MSV[" << msvMin_1 << "-" << msvMax_1 << "] EXP[" << expMin_1 << "-" << expMax_1 << "]";
if(!camera->setCameraExposureTime(exposureValue))
throw "Fail to set exposure time in step 1 : Analyse MSV : search";
BOOST_LOG_SEV(logger,notification) << "Set EXP to : " << exposureValue;
break;
}
}
}
}
step1 = false;
/*for(int i = 0; i< msvArray_1.size(); i++){
cout << "msvArray_1 at " << i << " : " << msvArray_1.at(i)<< endl;
}
for(int i = 0; i< expArray_1.size(); i++){
cout << "expArray_1 at " << i << " : " << expArray_1.at(i)<< endl;
}*/
}
}else if(step2) {
BOOST_LOG_SEV(logger,notification) << "STEP 2";
msvArray_2.push_back(msv);
if(incrementExposureTimeValue) {
double delta = 30;
BOOST_LOG_SEV(logger,notification) << "STEP 2 : Incrementation by " << delta;
if(exposureValue + delta > expMax_1) {
exposureValue = expMax_1;
incrementExposureTimeValue = false;
}else{
exposureValue += delta;
}
expArray_2.push_back(exposureValue);
if(!camera->setCameraExposureTime(exposureValue))
throw "Fail to set exposure time in step 2 : incrementation";
BOOST_LOG_SEV(logger,notification) << "Set EXP to : " << exposureValue;
}else {
BOOST_LOG_SEV(logger,notification) << "STEP 2 : Analyse msv";
BOOST_LOG_SEV(logger,notification) << "MSV ARRAY2 SIZE : " << msvArray_2.size() << "EXP ARRAY2 SIZE " << expArray_2.size();
// MSV too high (over exposition) -> set camera with minimum exposure time.
if(msvArray_2.front() > 2.5) {
finalExposureTime = expMin_1;
if(!camera->setCameraExposureTime(expMin_1))
throw "Fail to set exposure time in step 2 : Analyse MSV > 2.5";
BOOST_LOG_SEV(logger,notification) << "Set EXP to : " << expMin_1;
// MSV too low (under exposition) -> set camera with maximum exposure time.
}else if(msvArray_2.back() < 2.5) {
finalExposureTime = expMax_2;
if(!camera->setCameraExposureTime(expMax_2))
throw "Fail to set exposure time in step 2 : Analyse MSV < 2.5";
BOOST_LOG_SEV(logger,notification) << "Set EXP to : " << expMax_2;
// Search best MSV and attached exposure time.
}else {
for(int i = 0; i < msvArray_2.size(); i++) {
if((i+1) < msvArray_2.size()) {
if(msvArray_2.at(i) < 2.5 && msvArray_2.at(i+1) > 2.5 ) {
expMin_2 = expArray_2.at(i);
expMax_2 = expArray_2.at(i+1);
msvMin_2 = msvArray_2.at(i);
msvMax_2 = msvArray_2.at(i+1);
if((2.5 - msvArray_1.at(i)) < (msvArray_1.at(i+1) - 2.5)) {
finalExposureTime = expArray_2.at(i);
exposureValue = finalExposureTime;
}else{
finalExposureTime = expArray_2.at(i+1);
exposureValue = finalExposureTime;
}
if(!camera->setCameraExposureTime(exposureValue))
throw "Fail to set exposure time in step 2";
BOOST_LOG_SEV(logger,notification) << "Set EXP to : " << exposureValue;
BOOST_LOG_SEV(logger,notification) << "Interval choose -> MSV[" << msvMin_2 << "-" << msvMax_2 << "] EXP[" << expMin_2 << "-" << expMax_2 << "]";
break;
}
}
}
}
step2 = false;
/*
for(int i = 0; i< msvArray_2.size(); i++){
cout << "msvArray_2 at " << i << " : " << msvArray_2.at(i)<< endl;
}
for(int i = 0; i< expArray_2.size(); i++){
cout << "expArray_2 at " << i << " : " << expArray_2.at(i)<< endl;
}*/
BOOST_LOG_SEV(logger,notification) << "FINAL EXPOSURE : " << finalExposureTime;
}
}else {
// Save data to control exposure time process
if(autoExposureSaveImage) {
Mat saveFrame; image.copyTo(saveFrame);
if(saveFrame.type() == CV_16U) saveFrame = Conversion::convertTo8UC1(saveFrame);
putText(saveFrame, "AFTER EC -> MSV : " + Conversion::floatToString(msv), cvPoint(20,20),FONT_HERSHEY_COMPLEX_SMALL, 0.8, cvScalar(255), 1, CV_AA);
putText(saveFrame, "EXP : " + Conversion::intToString(finalExposureTime), cvPoint(20,40),FONT_HERSHEY_COMPLEX_SMALL, 0.8, cvScalar(255), 1, CV_AA);
if(checkDataLocation(imageDate))
SaveImg::saveBMP(saveFrame, finalDataLocation + "expControl_" + TimeDate::getYYYYMMDDThhmmss(imageDate) + "_after" );
}
if(autoExposureSaveInfos) {
if(checkDataLocation(imageDate)) {
ofstream infFile;
string infFilePath = finalDataLocation + "ECInfos.txt";
infFile.open(infFilePath.c_str(),std::ios_base::app);
string d = TimeDate::getYYYYMMDDThhmmss(imageDate);
infFile << "# DATE : " << d << " EXP : " << Conversion::doubleToString(exposureValue) << " MSV : "<< Conversion::floatToString(msv) << "\n";
infFile.close();
}
}
// Reset variables
autoExposureFinished = true;
autoExposureInitialized = false;
step1 = true;
step2 = false;
incrementExposureTimeValue = true;
mNbFramesControlled = 0;
msvMin_1 = 0.f;
expMin_1 = 0.f;
msvMax_1 = 0;
expMax_1 = 0;
msvMin_2 = 0.f;
expMin_2 = 0.f;
msvMax_2 = 0;
expMax_2 = 0;
expArray_1.clear();
msvArray_1.clear();
expArray_2.clear();
msvArray_2.clear();
minCameraExposureValue = 0;
maxCameraExposureValue = 0;
exposureValue = 0;
finalExposureTime = 0;
}
frameSkippedCounter = 0;
}
}
}
return true;
}else{
cout << "EXPOSURE CONTROL : " << mSecTime << "/" << autoExposureTimeInterval << endl;
return false;
}
}catch(exception& e) {
cout << "An exception occured : " << e.what() << endl;
}catch(const char * msg) {
BOOST_LOG_SEV(logger,fail) << msg << endl;
}
// Reset variables
autoExposureFinished = true;
autoExposureInitialized = false;
mNbFramesControlled = 0;
step1 = true;
step2 = false;
incrementExposureTimeValue = true;
msvMin_1 = 0.f;
expMin_1 = 0.f;
msvMax_1 = 0;
expMax_1 = 0;
msvMin_2 = 0.f;
expMin_2 = 0.f;
msvMax_2 = 0;
expMax_2 = 0;
expArray_1.clear();
msvArray_1.clear();
expArray_2.clear();
msvArray_2.clear();
minCameraExposureValue = 0;
maxCameraExposureValue = 0;
exposureValue = 0;
finalExposureTime = 0;
frameSkippedCounter = 0;
return false;
}
bool ExposureControl::checkDataLocation(TimeDate::Date date){
namespace fs = boost::filesystem;
// data/
path p(autoExposureDataLocation);
// data/STATION_YYYYMMDD/
string sp1 = autoExposureDataLocation + stationName + "_" + TimeDate::getYYYYMMDD(date) +"/";
path p1(sp1);
// data/STATION_YYYMMDD/exposure/
string sp2 = sp1 + "exposure/";
path p2(sp2);
finalDataLocation = sp2;
// If data/ exists
if(fs::exists(p)){
// If data/STATION_YYYMMDD/ exists
if(fs::exists(p1)){
// If data/STATION_YYYMMDD/exposure/ doesn't exists
if(!fs::exists(p2)){
// If fail to create data/STATION_YYYMMDD/exposure/
if(!fs::create_directory(p2)){
//BOOST_LOG_SEV(logger,critical) << "Unable to create stack directory : " << p2.string();
return false;
// If success to create data/STATION_YYYMMDD/exposure/
}else{
//BOOST_LOG_SEV(logger,notification) << "Success to create stack directory : " << p2.string();
return true;
}
}
// If data/STATION_YYYMMDD/ doesn't exists
}else{
// If fail to create data/STATION_YYYMMDD/
if(!fs::create_directory(p1)){
//BOOST_LOG_SEV(logger,fail) << "Unable to create STATION_YYYYMMDD directory : " << p1.string();
return false;
// If success to create data/STATION_YYYMMDD/
}else{
//BOOST_LOG_SEV(logger,notification) << "Success to create STATION_YYYYMMDD directory : " << p1.string();
// If fail to create data/STATION_YYYMMDD/exposure/
if(!fs::create_directory(p2)){
//BOOST_LOG_SEV(logger,critical) << "Unable to create stack directory : " << p2.string();
return false;
// If success to create data/STATION_YYYMMDD/exposure/
}else{
//BOOST_LOG_SEV(logger,notification) << "Success to create stack directory : " << p2.string();
return true;
}
}
}
// If data/ doesn't exists
}else{
// If fail to create data/
if(!fs::create_directory(p)){
//BOOST_LOG_SEV(logger,fail) << "Unable to create data/ directory : " << p.string();
return false;
// If success to create data/
}else{
//BOOST_LOG_SEV(logger,notification) << "Success to create DATA_PATH directory : " << p.string();
// If fail to create data/STATION_YYYMMDD/
if(!fs::create_directory(p1)){
//BOOST_LOG_SEV(logger,fail) << "Unable to create STATION_YYYYMMDD directory : " << p1.string();
return false;
// If success to create data/STATION_YYYMMDD/
}else{
//BOOST_LOG_SEV(logger,notification) << "Success to create STATION_YYYYMMDD directory : " << p1.string();
// If fail to create data/STATION_YYYMMDD/exposure/
if(!fs::create_directory(p2)){
//BOOST_LOG_SEV(logger,critical) << "Unable to create stack directory : " << p2.string();
return false;
// If success to create data/STATION_YYYMMDD/exposure/
}else{
//BOOST_LOG_SEV(logger,notification) << "Success to create stack directory : " << p2.string();
return true;
}
}
}
}
return true;
}