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u/aeg: Add log functions
This commit is contained in:
Mateo de Mayo
Jakob Bornecrantz
parent
63b477d250
commit
bf311f3c2e
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@ -9,7 +9,9 @@
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#include "math/m_api.h"
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#include "util/u_autoexpgain.h"
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#include "util/u_debug.h"
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#include "util/u_format.h"
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#include "util/u_logging.h"
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#include "util/u_misc.h"
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#include "util/u_var.h"
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@ -17,13 +19,27 @@
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#include <math.h>
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#include <stdint.h>
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#define MIN(a, b) ((a) < (b) ? (a) : (b))
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#define MAX(a, b) ((a) > (b) ? (a) : (b))
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#define CLAMP(X, A, B) (MIN(MAX((X), (A)), (B)))
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DEBUG_GET_ONCE_LOG_OPTION(aeg_log, "AEG_LOG", U_LOGGING_WARN)
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#define AEG_TRACE(...) U_LOG_IFL_T(aeg->log_level, __VA_ARGS__)
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#define AEG_DEBUG(...) U_LOG_IFL_D(aeg->log_level, __VA_ARGS__)
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#define AEG_INFO(...) U_LOG_IFL_I(aeg->log_level, __VA_ARGS__)
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#define AEG_WARN(...) U_LOG_IFL_W(aeg->log_level, __VA_ARGS__)
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#define AEG_ERROR(...) U_LOG_IFL_E(aeg->log_level, __VA_ARGS__)
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#define AEG_ASSERT(predicate, ...) \
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do { \
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bool p = predicate; \
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if (!p) { \
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U_LOG(U_LOGGING_ERROR, __VA_ARGS__); \
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assert(false && "AEG_ASSERT failed: " #predicate); \
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exit(EXIT_FAILURE); \
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} \
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} while (false);
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#define AEG_ASSERT_(predicate) AEG_ASSERT(predicate, "Assertion failed " #predicate)
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#define LEVELS 256 //!< Possible pixel intensity values, only 8-bit supported
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#define INITIAL_BRIGHTNESS 0.5
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#define INITIAL_MAX_BRIGHTNES_STEP 0.05 //!< 0.1 is faster but introduces oscilations more often
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#define INITIAL_MAX_BRIGHTNESS_STEP 0.05 //!< 0.1 is faster but introduces oscillations more often
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#define INITIAL_THRESHOLD 0.1
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#define GRID_COLS 40 //!< Amount of columns for the histogram sample grid
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@ -32,6 +48,8 @@ struct u_autoexpgain
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{
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bool enable; //!< Whether to enable auto exposure and gain adjustment
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enum u_logging_level log_level;
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//! Algorithm strategy that affects how score and brightness are computed
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enum u_aeg_strategy strategy;
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struct u_var_combo strategy_combo; //!< UI combo box for selecting `strategy`
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@ -97,7 +115,7 @@ brightness_to_expgain(struct u_autoexpgain *aeg, float brightness, float *out_ex
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steps = steps_dr;
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steps_count = sizeof(steps_dr) / sizeof(struct step);
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} else {
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assert(false && "unexpected branch taken");
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AEG_ASSERT(false, "Unexpected strategy=%d", aeg->strategy);
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}
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// Other simpler tables that might work for WMR are:
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@ -105,10 +123,10 @@ brightness_to_expgain(struct u_autoexpgain *aeg, float brightness, float *out_ex
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// {{0, 120, 16}, {0.2, 6000, 16}, {0.9, 6000, 255}, {1.0, 9000, 255}};
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// Assertions
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assert(steps_count >= 2 && "Exoected at least two steps");
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assert(steps[0].b == 0 && "First step should be at b=0");
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assert(steps[steps_count - 1].b == 1 && "Last step should be at b=1");
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assert(brightness >= 0 && brightness <= 1);
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AEG_ASSERT(steps_count >= 2, "Expected at least two steps but %d found", steps_count);
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AEG_ASSERT(steps[0].b == 0, "First step should be at b=0");
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AEG_ASSERT(steps[steps_count - 1].b == 1, "Last step should be at b=1");
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AEG_ASSERT(brightness >= 0 && brightness <= 1, "Invalid brightness=%f", brightness);
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// Compute the piecewise function result from `steps`
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float exposure = 0;
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@ -140,11 +158,7 @@ update_expgain(struct u_autoexpgain *aeg)
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}
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aeg->last_brightness = brightness;
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float exposure = -1;
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float gain = -1;
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brightness_to_expgain(aeg, brightness, &exposure, &gain);
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aeg->exposure = (uint16_t)exposure;
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aeg->gain = (uint8_t)gain;
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brightness_to_expgain(aeg, brightness, &aeg->exposure, &aeg->gain);
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}
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//! Returns a value in the range [-1, 1] describing how dark-bright the image
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@ -183,7 +197,7 @@ get_score(struct u_autoexpgain *aeg, struct xrt_frame *xf)
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float score = 0;
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// Score that tries to make the mean reach TARGET_MEAN.
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// Score that tries to make the mean reach a `target_mean`.
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float target_mean = -1;
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if (aeg->strategy == U_AEG_STRATEGY_TRACKING) {
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@ -192,6 +206,8 @@ get_score(struct u_autoexpgain *aeg, struct xrt_frame *xf)
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target_mean = LEVELS / 4;
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} else if (aeg->strategy == U_AEG_STRATEGY_DYNAMIC_RANGE) {
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target_mean = LEVELS / 2;
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} else {
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AEG_ASSERT(false, "Unexpected strategy=%d", aeg->strategy);
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}
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const float range_size = mean < target_mean ? target_mean : (LEVELS - target_mean);
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@ -201,7 +217,6 @@ get_score(struct u_autoexpgain *aeg, struct xrt_frame *xf)
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return score;
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}
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static void
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update_brightness(struct u_autoexpgain *aeg, struct xrt_frame *xf)
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{
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@ -240,6 +255,7 @@ u_autoexpgain_create(enum u_aeg_strategy strategy, bool enabled_from_start, uint
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struct u_autoexpgain *aeg = U_TYPED_CALLOC(struct u_autoexpgain);
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aeg->enable = enabled_from_start;
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aeg->log_level = debug_get_log_option_aeg_log();
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aeg->strategy = strategy;
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aeg->strategy_combo.count = U_AEG_STRATEGY_COUNT;
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aeg->strategy_combo.options = "Tracking\0Dynamic Range\0\0";
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@ -253,7 +269,7 @@ u_autoexpgain_create(enum u_aeg_strategy strategy, bool enabled_from_start, uint
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aeg->brightness.step = 0.002;
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aeg->brightness.val = INITIAL_BRIGHTNESS;
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aeg->last_brightness = INITIAL_BRIGHTNESS;
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aeg->max_brightness_step = INITIAL_MAX_BRIGHTNES_STEP;
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aeg->max_brightness_step = INITIAL_MAX_BRIGHTNESS_STEP;
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aeg->threshold = INITIAL_THRESHOLD;
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aeg->frame_counter = 0;
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@ -267,7 +283,7 @@ u_autoexpgain_create(enum u_aeg_strategy strategy, bool enabled_from_start, uint
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void
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u_autoexpgain_add_vars(struct u_autoexpgain *aeg, void *root)
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{
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u_var_add_bool(root, &aeg->enable, "Enable AEG");
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u_var_add_bool(root, &aeg->enable, "Update brightness automatically");
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u_var_add_u8(root, &aeg->update_every, "Update every X frames");
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u_var_add_combo(root, &aeg->strategy_combo, "Strategy");
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u_var_add_draggable_f32(root, &aeg->brightness, "Brightness");
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@ -275,6 +291,7 @@ u_autoexpgain_add_vars(struct u_autoexpgain *aeg, void *root)
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u_var_add_f32(root, &aeg->max_brightness_step, "Max brightness step");
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u_var_add_ro_f32(root, &aeg->current_score, "Image score");
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u_var_add_histogram_f32(root, &aeg->histogram_ui, "Intensity histogram");
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u_var_add_log_level(root, &aeg->log_level, "AEG log level");
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}
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void
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