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fpgadataprocessor.cpp
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fpgadataprocessor.cpp
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/*
* Copyright (c) 2017-2018 CelePixel Technology Co. Ltd. All rights reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "fpgadataprocessor.h"
#include "fpgadatareader.h"
#include "../include/celex4/celex4processeddata.h"
#include "../include/celex4/celex4datamanager.h"
#include "../base/xbase.h"
#include <iostream>
#include <fstream>
#include <string>
#include <stdlib.h>
#include <math.h>
#ifndef _WIN32
#include <cstring>
#endif
#define PI (atan(1.0) * 4.0)
cv::VideoWriter g_cvVideoWriterFullPic;
cv::VideoWriter g_cvVideoWriterEvent;
bool isCreateImage;
bool isReadBin;
FrameData g_frameData;
FrameData g_fixedVecData;
std::vector<EventData> g_eventData;
uint64_t g_ulEventFrameNo = 0;
uint64_t g_ulFixedEventNo = 0;
bool isGetFixedVec = false;
FPGADataProcessor::FPGADataProcessor()
: m_bIsGeneratingFPN(false)
, m_bAdjustBrightness(false)
, m_iFpnCalculationTimes(0)
, m_uiFullPicPixelCount(0)
, m_uiOpticalFlowPixelCount(0)
, m_uiEventPixelCount(0)
, m_uiUpperADC(511)
, m_uiLowerADC(0)
, m_uiTimeSlice(750000)
, m_uiTimeSliceValue(60)
, m_uiClockRate(25)
, m_uiFPGATimeCycle(131072)
, m_uiFrameStartT(0)
, m_uiFrameEndT(0)
, m_uiFEEventTCounter(0)
, m_uiFEFrameTime(0)
, m_uiOverlapTime(0)
, m_uiMeanIntensity(0)
, m_ulOverlapEventTCounter(0)
, m_ulSpecialEventCount(0)
, m_ulSpecialByteSize(0)
, m_emSensorMode(EventMode)
, m_pEventPicBuffer(NULL)
, m_pLastEventPicBuffer(NULL)
, m_bMultiSliceEnabled(false)
, m_bNeedResetMultiSliceData(true)
, m_uiMultiSliceTime(1250000)
, m_uiMultiSliceCount(255)
, m_ulEventTCounter(0)
, m_ulFixedEventTCounter(0)
, m_ulMultiSliceTCounter(0)
, m_ulEventCountTotal(0)
, m_uiTimeStamp(750000)
, m_uiTimeScale(1)
, m_emPlaybackState(CeleX4::NoBinPlaying)
, m_ulVecSize(0)
, m_ulOverlapLen(0)
, m_lPreT(0)
, m_fTSum(0)
, m_lCount(0)
, m_fDenoiseCount(0)
, m_fCompressCount(0)
, m_iDelta(100)
, m_fTao(0)
{
isCreateImage = false;
isReadBin = false;
m_uiEventCountStepSize = 9;
m_pFullPicBuffer = new unsigned char[PIXELS_NUMBER];
m_pEventPicBuffer = new unsigned char[PIXELS_NUMBER];
m_pFpnGenerationBuffer = new long[PIXELS_NUMBER];
m_pBufferMotion = new unsigned char[PIXELS_NUMBER];
m_pBufferOpticalFlow = new unsigned char[PIXELS_NUMBER];
//
m_pMultiSliceBuffer = new long[PIXELS_NUMBER];
m_pMultiSliceGrayBuffer = new unsigned char[PIXELS_NUMBER];
//
m_pFpnBuffer = new int[PIXELS_NUMBER];
m_pOverlapEventBuffer = new long[PIXELS_NUMBER];
m_pLastADC = new uint16_t[PIXELS_NUMBER];
for (int i = 0; i < PIXELS_NUMBER; ++i)
{
m_pFullPicBuffer[i] = 0;
m_pEventPicBuffer[i] = 0;
m_pFpnBuffer[i] = 0;
m_pBufferMotion[i] = 0;
m_pBufferOpticalFlow[i] = 0;
m_pMultiSliceBuffer[i] = 0;
m_pOverlapEventBuffer[i] = 0;
m_pLastADC[i] = 0;
}
m_pCX4ProcessedData = new CeleX4ProcessedData;
m_pCX4Server = new CX4SensorDataServer;
m_pCX4Server->setCX4SensorData(m_pCX4ProcessedData);
}
FPGADataProcessor::~FPGADataProcessor()
{
if (m_pFullPicBuffer)
delete[] m_pFullPicBuffer;
if (m_pEventPicBuffer)
delete[] m_pEventPicBuffer;
if (m_pFpnBuffer)
delete[] m_pFpnBuffer;
if (m_pFpnGenerationBuffer)
delete[] m_pFpnGenerationBuffer;
if (m_pMultiSliceBuffer)
delete[] m_pMultiSliceBuffer;
if (m_pMultiSliceGrayBuffer)
delete[] m_pMultiSliceGrayBuffer;
}
bool FPGADataProcessor::setFpnFile(const std::string &fpnFile)
{
int index = 0;
std::ifstream in;
in.open(fpnFile.c_str());
if (!in.is_open())
{
return false;
}
std::string line;
while (!in.eof() && index < PIXELS_NUMBER)
{
in >> line;
m_pFpnBuffer[index] = atoi(line.c_str());
index++;
}
if (index != PIXELS_NUMBER)
return false;
return true;
}
void FPGADataProcessor::processData(unsigned char *data, long length)
{
if (!data)
{
return;
}
//--------------- Align data ---------------
long i = 0;
/*while (i + 1 < length)
{
if ((data[i] & 0x80) > 0 && (data[i+1] & 0x80) == 0x00)
{
i = i - 3;
// init sRow and sT
processEvent(&data[i]);
break; // aligned
}
++i;
}*/
//
//for (i = i + EVENT_SIZE; i + 11 < length; i = i + EVENT_SIZE)
for (i = 0; i + EVENT_SIZE <= length; i = i + EVENT_SIZE)
{
if (FPGADataReader::isIMUData(&data[i]) == FPGADataReader::ACC_OFST_B_DATA)
{
//cout << "---------- IMU Data ----------" << endl;
IMUData data = FPGADataReader::getIMUData();
m_vectorIMUData.push_back(data);
m_vectorIMUData_cb.push_back(data);
if (m_vectorIMUData.size() > IMU_DATA_MAX_SIZE)
{
auto itr = m_vectorIMUData.begin();
m_vectorIMUData.erase(itr);
}
//cout << "x = " << data.x_GYROS << ", y = " << data.y_GYROS << ", z = " << data.z_GYROS << ", t = " << data.t_GYROS << ", frameNo = " << data.frameNo << endl;
//cout << "x = " << data.x_ACC << ", y = " << data.y_ACC << ", z = " << data.z_ACC << ", t = " << data.t_ACC << endl;
//cout << "x = " << data.x_GYROS_OFST << ", y = " << data.y_GYROS_OFST << ", z = " << data.z_GYROS_OFST << ", t = " << data.t_GYROS_OFST << endl;
//cout << "x = " << data.x_ACC_OFST << ", y = " << data.y_ACC_OFST << ", z = " << data.z_ACC_OFST << ", t = " << data.t_ACC_OFST << endl;
}
bool isSpecialEvent = !(processEvent(&data[i]));
//cout << "------------------11" << m_ulTimeStampCount << endl;
if (m_ulTimeStampCount > m_uiTimeStamp/* && m_emSensorMode == EventMode*/)
{
m_pCX4ProcessedData->setEventDataVector(m_vectorEventData);
m_pCX4ProcessedData->setIMUDataVector(m_vectorIMUData_cb);
g_frameData.frameNo = g_ulEventFrameNo;
g_frameData.vecEventData.swap(m_vectorEventData);
m_pCX4ProcessedData->setFrameDataVector(g_frameData);
vector<EventData> tempVec;
vector<IMUData> imuVec;
m_vectorIMUData_cb.swap(imuVec);
m_vectorEventData.swap(tempVec);
m_ulTimeStampCount = 0;
}
if (m_fixedNumVecEventData.size() == m_ulVecSize && isGetFixedVec)
{
m_pCX4ProcessedData->setIMUDataVector(m_vectorIMUData_cb);
g_fixedVecData.frameNo = g_ulFixedEventNo++;
//cout << "frame: " << g_ulFixedEventNo << endl;
g_fixedVecData.vecEventData.swap(m_fixedNumVecEventData);
m_pCX4ProcessedData->setFixedNumEventDataVector(g_fixedVecData);
m_ulFixedEventTCounter = 0;
vector<IMUData> imuVec;
m_vectorIMUData_cb.swap(imuVec);
vector<EventData> overlap;
if (m_ulOverlapLen > 0 && m_ulOverlapLen < m_ulVecSize)
{
overlap.insert(overlap.begin(), m_fixedNumVecEventData.begin() + (m_ulVecSize - m_ulOverlapLen), m_fixedNumVecEventData.begin() + m_ulVecSize);
}
m_fixedNumVecEventData.swap(overlap);
m_pCX4Server->notify(CeleX4DataManager::CeleX_Frame_Data);
}
if (isSpecialEvent)
{
if (m_bAdjustBrightness)
{
adjustBrightnessImpl();
}
else if (m_bIsGeneratingFPN)
{
generateFPNimpl();
}
else
{
createImage();
isCreateImage = true;
if(!isGetFixedVec)
m_pCX4Server->notify(CeleX4DataManager::CeleX_Frame_Data);
}
if (!isReadBin)
cleanEventBuffer();
if (m_emSensorMode == FullPic_Event_Mode || m_emSensorMode == FullPictureMode)
{
g_ulEventFrameNo++;
if (m_emSensorMode == FullPictureMode)
{
m_pCX4ProcessedData->setIMUDataVector(m_vectorIMUData_cb);
vector<IMUData> imuVec;
m_vectorIMUData_cb.swap(imuVec);
}
}
}
}
}
bool FPGADataProcessor::processEvent(unsigned char *data)
{
m_ulSpecialByteSize++;
if (FPGADataReader::isSpecialEvent(data))
{
++m_ulSpecialEventCount;
m_vecDataLength.push_back(m_ulSpecialByteSize * 4);
m_ulSpecialByteSize = 0;
if (m_ulSpecialEventCount >= 0xFFFFFFFF)
{
m_ulSpecialEventCount = 0;
m_vecDataLength.clear();
cout << "Special event counter is full!" << endl;
}
if (FullPictureMode == m_emSensorMode)
{
//cout << "FPixelCount = " << m_uiFullPicPixelCount << endl;
m_uiFullPicPixelCount = 0;
return false;
}
else if (EventMode == m_emSensorMode)
{
m_uiEventPixelCount = 0;
/*
m_vecEventCountPerSpecial.push_back(m_ulEventCountPerSpecial);
unsigned long countPerSecond = m_ulEventCountTotal / m_ulSpecialEventCount;
cout << "SpecialEventNo. = " << m_ulSpecialEventCount << ", EventCountPerSpecial = " << m_ulEventCountPerSpecial
<< ", EventCountPerSecond = " << countPerSecond*100 << endl;
*/
m_ulEventCountPerSpecial = 0;
}
else if (m_emSensorMode == FullPic_Event_Mode)
{
//cout << "FPixelCount = " << m_uiFullPicPixelCount << ", EPixelCount = " << m_uiEventPixelCount << endl;
m_uiFullPicPixelCount = 0;
m_uiEventPixelCount = 0;
m_uiOpticalFlowPixelCount = 0;
//cout << "m_ulMultiSliceTCounter = " << m_ulMultiSliceTCounter << endl;
return false;
}
}
else if (FPGADataReader::isRowEvent(data))
{
return processRowEvent(data);
}
else if (FPGADataReader::isColumnEvent(data))
{
processColEvent(data);
}
return true;
}
bool FPGADataProcessor::processRowEvent(unsigned char* data)
{
FPGADataReader::MapTime(data);
if (m_emSensorMode == EventMode)
{
unsigned int t = FPGADataReader::getTFromFPGA();
unsigned int tLast = FPGADataReader::getLastTFromFPGA();
int diffT = t - tLast;
if (diffT < 0)
{
//cout << "t = " << t << ", tLast = " << tLast << endl;
diffT = diffT + m_uiFPGATimeCycle;
}
if (m_bMultiSliceEnabled)
m_ulMultiSliceTCounter += diffT;
if (m_uiOverlapTime > 0)
m_ulOverlapEventTCounter += diffT;
m_ulEventTCounter += diffT;
m_ulTimeStampCount += diffT;
m_ulFixedEventTCounter += diffT;
//cout << "t = " << t << ", tLast = " << tLast << ", diffT = " << diffT << endl;
FPGADataReader::setEventCounter(m_ulEventTCounter);
FPGADataReader::setFixedEventCounter(m_ulFixedEventTCounter);
if (m_ulEventTCounter > m_uiTimeSlice /*|| m_ulTimeStampCount > m_uiTimeSlice*/)
{
//cout << "--------------------------------------" << m_ulEventTCounter << " " << m_uiTimeSlice << endl;
g_ulEventFrameNo++;
m_uiEventPixelCount = 0;
return false;
}
}
else if (m_emSensorMode == FullPic_Event_Mode)
{
unsigned int t = FPGADataReader::getTFromFPGA();
unsigned int tLast = FPGADataReader::getLastTFromFPGA();
int diffT = t - tLast;
if (diffT < 0)
{
//cout << "t = " << t << ", tLast = " << tLast << endl;
diffT = diffT + m_uiFPGATimeCycle;
}
if (m_uiFEEventTCounter == 0 && diffT > 10000)
{
//cout << "t = " << t << ", tLast = " << tLast << ", diffT = " << diffT << endl;
diffT = 0;
}
m_uiFEEventTCounter += diffT;
m_ulTimeStampCount += diffT;
if (m_bMultiSliceEnabled)
{
if (0 == FPGADataReader::getEventType()) //Motion
{
m_ulMultiSliceTCounter += diffT;
}
}
}
return true;
}
void FPGADataProcessor::processColEvent(unsigned char* data)
{
unsigned int row = FPGADataReader::getCurrentRow();
unsigned int col = FPGADataReader::getColumn(data);
unsigned int adc = FPGADataReader::getBrightness(data);
unsigned int t = FPGADataReader::getTFromFPGA();
EventData eData;
if (row < PIXELS_PER_ROW && col < PIXELS_PER_COL)
{
// normalize to 0~255
unsigned int adc1 = normalizeADC(adc);
int index = row * PIXELS_PER_COL + col;
eData.row = row;
eData.col = col;
eData.brightness = adc1;
if (m_emSensorMode == FullPictureMode)
{
m_pFullPicBuffer[index] = adc1;
//eData.t = t;
m_uiFullPicPixelCount++;
}
else if (m_emSensorMode == EventMode)
{
if (adc > m_pLastADC[index])
eData.polarity = 1;
else if (adc < m_pLastADC[index])
eData.polarity = -1;
else
eData.polarity = 0;
m_pLastADC[index] = adc;
m_pFullPicBuffer[index] = adc1;
m_pEventPicBuffer[index] += m_uiEventCountStepSize;
if (isGetFixedVec)
eData.t = m_ulFixedEventTCounter;
else
eData.t = m_ulTimeStampCount / m_uiTimeScale;
if (m_bMultiSliceEnabled)
{
m_pMultiSliceBuffer[index] = m_ulMultiSliceTCounter;
}
if (m_uiOverlapTime > 0)
{
m_pOverlapEventBuffer[index] = m_ulOverlapEventTCounter;
}
m_uiEventPixelCount++;
m_ulEventCountPerSpecial++;
m_ulEventCountTotal++;
//
m_vectorEventData.push_back(eData);
if(isGetFixedVec)
m_fixedNumVecEventData.push_back(eData);
}
else if (m_emSensorMode == FullPic_Event_Mode)
{
unsigned int type = FPGADataReader::getEventType();
if (0 == type) //Motion
{
if (m_uiFrameEndT == 0 ||
(m_uiFEEventTCounter >= m_uiFrameStartT && m_uiFEEventTCounter < m_uiFrameEndT))
{
m_pBufferMotion[index] += m_uiEventCountStepSize;
m_pMultiSliceBuffer[index] = m_ulMultiSliceTCounter;
}
m_uiEventPixelCount++;
eData.t = m_ulTimeStampCount / m_uiTimeScale;
}
else if (1 == type) //Full Picture
{
m_pFullPicBuffer[index] = adc1;
m_uiFullPicPixelCount++;
}
else if (2 == type) //Optical Flow
{
m_pBufferOpticalFlow[index] = adc1; //for optical-flow A is T
m_uiOpticalFlowPixelCount++;
}
m_vectorEventData.push_back(eData);
}
}
}
void FPGADataProcessor::createImage()
{
if (FullPictureMode == m_emSensorMode)
{
unsigned long sumIntensity = 0;
unsigned char* pDesFullPic = m_pCX4ProcessedData->getFullPicBuffer();
if (NULL == pDesFullPic)
return;
for (int i = 0; i < PIXELS_NUMBER; ++i)
{
//--- full picture buffer ---
int value = m_pFullPicBuffer[i] - m_pFpnBuffer[i]; //Subtract FPN
if (value < 0)
value = 0;
if (value > 255)
value = 255;
pDesFullPic[PIXELS_NUMBER - i - 1] = value;
sumIntensity += value;
}
m_uiMeanIntensity = sumIntensity / PIXELS_NUMBER;
if (g_cvVideoWriterFullPic.isOpened())
{
cv::Mat mat(640, 768, CV_8UC1, pDesFullPic);
g_cvVideoWriterFullPic.write(mat);
}
}
else if (EventMode == m_emSensorMode)
{
int multiSliceTDiff = 0;
unsigned int uiTPerSlice = 0;
if (m_emSensorMode == EventMode)
{
if (m_uiOverlapTime > 0)
{
if (m_ulOverlapEventTCounter > m_uiOverlapTime + m_uiTimeSlice)
{
m_ulOverlapEventTCounter -= m_uiTimeSlice;
}
}
if (m_bMultiSliceEnabled)
{
//cout << "--------" << m_ulMultiSliceTCounter << " " << m_uiMultiSliceTime << " " << m_ulEventTCounter << endl;
if (m_ulMultiSliceTCounter > m_uiMultiSliceTime)
{
if (m_bNeedResetMultiSliceData)
{
multiSliceTDiff = m_ulMultiSliceTCounter - m_uiMultiSliceTime + m_uiTimeSlice;
m_ulMultiSliceTCounter = m_uiMultiSliceTime - m_uiTimeSlice;
m_bNeedResetMultiSliceData = false;
}
else
{
m_ulMultiSliceTCounter -= m_ulEventTCounter;
multiSliceTDiff = m_ulEventTCounter;
}
}
uiTPerSlice = m_uiMultiSliceTime / m_uiMultiSliceCount;
}
m_ulEventTCounter = 0;
}
unsigned long sumIntensity = 0;
unsigned char* pDesEAccumulatedPic = m_pCX4ProcessedData->getEventPicBuffer(EventAccumulatedPic);
unsigned char* pDesEBinarydPic = m_pCX4ProcessedData->getEventPicBuffer(EventBinaryPic);
unsigned char* pDesEGrayPic = m_pCX4ProcessedData->getEventPicBuffer(EventGrayPic);
unsigned char* pDesESuperimposedPic = m_pCX4ProcessedData->getEventPicBuffer(EventSuperimposedPic);
unsigned char* pDesEDenoisedBinaryPic = m_pCX4ProcessedData->getEventPicBuffer(EventDenoisedBinaryPic);
unsigned char* pDesEDenoisedGrayPic = m_pCX4ProcessedData->getEventPicBuffer(EventDenoisedGrayPic);
unsigned char* pDesECountPic = m_pCX4ProcessedData->getEventPicBuffer(EventCountPic);
//unsigned char* pDesEDenoisedByTimeBinaryPic = m_pCX4ProcessedData->getEventPicBuffer(EventDenoisedByTimeBinaryPic);
//unsigned char* pDesEDenoisedByTimeGrayPic = m_pCX4ProcessedData->getEventPicBuffer(EventDenoisedByTimeGrayPic);
unsigned char* pDesOpticalRawPic = m_pCX4ProcessedData->getOpticalFlowPicBuffer();
//binary and gray after denoising
//denoisingByTimeInterval(g_frameData.vecEventData, pDesEDenoisedByTimeBinaryPic, EventBinaryPic);
//denoisingByTimeInterval(g_frameData.vecEventData, pDesEDenoisedByTimeGrayPic, EventGrayPic);
for (int i = 0; i < PIXELS_NUMBER; ++i)
{
//--- full picture buffer ---
int value = m_pFullPicBuffer[i] - m_pFpnBuffer[i]; //Subtract FPN
if (value < 0)
value = 0;
if (value > 255)
value = 255;
pDesEAccumulatedPic[PIXELS_NUMBER - i - 1] = value;
//--- event picture buffer ---
if (m_uiOverlapTime > 0)
{
if (m_pOverlapEventBuffer[i] > 0)
{
m_pOverlapEventBuffer[i] = m_pOverlapEventBuffer[i] - m_uiTimeSlice;
if (m_pOverlapEventBuffer[i] < 0)
m_pOverlapEventBuffer[i] = 0;
}
else
{
m_pOverlapEventBuffer[i] = 0;
}
pDesEBinarydPic[PIXELS_NUMBER - i - 1] = m_pOverlapEventBuffer[i] > 0 ? 255 : 0; //binary pic
pDesEGrayPic[PIXELS_NUMBER - i - 1] = m_pOverlapEventBuffer[i] > 0 ? value : 0; //gray pic
}
else
{
pDesEBinarydPic[PIXELS_NUMBER - i - 1] = m_pEventPicBuffer[i] > 0 ? 255 : 0; //binary pic
pDesEGrayPic[PIXELS_NUMBER - i - 1] = m_pEventPicBuffer[i] > 0 ? value : 0; //gray pic
}
pDesESuperimposedPic[PIXELS_NUMBER - i - 1] = pDesEDenoisedBinaryPic[PIXELS_NUMBER - i - 1] > 0 ? 255 : value; //superimposed pic
pDesECountPic[PIXELS_NUMBER - i - 1] = m_pEventPicBuffer[i]; //event count pic
//--- denoised pic ---
int score = m_pEventPicBuffer[i];
if (score > 0)
score = calculateDenoiseScore(m_pEventPicBuffer, m_pLastEventPicBuffer, i);
else
score = 0;
pDesEDenoisedBinaryPic[PIXELS_NUMBER - i - 1] = score; //denoised binary pic
pDesEDenoisedGrayPic[PIXELS_NUMBER - i - 1] = score > 0 ? value : 0; //denoised gray pic
if (m_bMultiSliceEnabled)
{
if (m_pMultiSliceBuffer[i] > 0 && uiTPerSlice > 0)
{
int slice = m_pMultiSliceBuffer[i] / uiTPerSlice + 1;
m_pMultiSliceGrayBuffer[PIXELS_NUMBER - i - 1] = slice;
//
m_pMultiSliceBuffer[i] = m_pMultiSliceBuffer[i] - multiSliceTDiff;
if (m_pMultiSliceBuffer[i] < 0)
m_pMultiSliceBuffer[i] = 0;
}
else
{
m_pMultiSliceGrayBuffer[PIXELS_NUMBER - i - 1] = 0;
m_pMultiSliceBuffer[i] = 0;
}
}
sumIntensity += value;
}
m_uiMeanIntensity = sumIntensity / PIXELS_NUMBER;
if (NULL == m_pLastEventPicBuffer)
{
m_pLastEventPicBuffer = new unsigned char[PIXELS_NUMBER];
}
memcpy(m_pLastEventPicBuffer, m_pEventPicBuffer, PIXELS_NUMBER);
if (m_bMultiSliceEnabled)
{
//--- denoised pic ---
for (int i = 0; i < PIXELS_NUMBER; ++i)
{
if (m_pMultiSliceGrayBuffer[i] > 0)
{
if (0 == calculateDenoiseScore(m_pMultiSliceGrayBuffer, i))
m_pMultiSliceGrayBuffer[i] = 0;
}
}
calDirectionAndSpeed();
memcpy(pDesOpticalRawPic, m_pMultiSliceGrayBuffer, PIXELS_NUMBER);
}
if (g_cvVideoWriterEvent.isOpened())
{
cv::Mat mat(640, 768, CV_8UC1, pDesEBinarydPic);
g_cvVideoWriterEvent.write(mat);
}
}
else if (FullPic_Event_Mode == m_emSensorMode)
{
unsigned char* pDesFullPic = m_pCX4ProcessedData->getFullPicBuffer();
unsigned char* pDesEBinarydPic = m_pCX4ProcessedData->getEventPicBuffer(EventBinaryPic);
unsigned char* pDesEGrayPic = m_pCX4ProcessedData->getEventPicBuffer(EventGrayPic);
unsigned char* pDesESuperimposedPic = m_pCX4ProcessedData->getEventPicBuffer(EventSuperimposedPic);
unsigned char* pDesEDenoisedBinaryPic = m_pCX4ProcessedData->getEventPicBuffer(EventDenoisedBinaryPic);
unsigned char* pDesEDenoisedGrayPic = m_pCX4ProcessedData->getEventPicBuffer(EventDenoisedGrayPic);
unsigned char* pDesECountPic = m_pCX4ProcessedData->getEventPicBuffer(EventCountPic);
unsigned char* pDesOpticalRawPic = m_pCX4ProcessedData->getOpticalFlowPicBuffer();
int multiSliceTDiff = 0;
unsigned int uiTPerSlice = m_ulMultiSliceTCounter / m_uiMultiSliceCount;
//cout << "uiTPerSlice = " << uiTPerSlice << endl;
unsigned long sumIntensity = 0;
for (int i = 0; i < PIXELS_NUMBER; ++i)
{
//--- full picture buffer ---
int value = m_pFullPicBuffer[i] - m_pFpnBuffer[i]; //Subtract FPN
if (value < 0)
value = 0;
if (value > 255)
value = 255;
pDesFullPic[PIXELS_NUMBER - i - 1] = value;
sumIntensity += value;
//--- event picture buffer ---
pDesECountPic[PIXELS_NUMBER - i - 1] = m_pBufferMotion[i]; //event count pic
pDesEBinarydPic[PIXELS_NUMBER - i - 1] = m_pBufferMotion[i] > 0 ? 255 : 0;
pDesEGrayPic[PIXELS_NUMBER - i - 1] = m_pBufferMotion[i] > 0 ? value : 0;
//pDesESuperimposedPic[PIXELS_NUMBER - i - 1] = m_pBufferMotion[i] > 0 ? 255 : value;
//--- denoised pic ---
int score = m_pBufferMotion[i];
if (score > 0)
score = calculateDenoiseScore(m_pBufferMotion, m_pLastEventPicBuffer, i);
else
score = 0;
pDesEDenoisedBinaryPic[PIXELS_NUMBER - i - 1] = score; //denoised binary pic
pDesEDenoisedGrayPic[PIXELS_NUMBER - i - 1] = score > 0 ? value : 0; //denoised gray pic
pDesESuperimposedPic[PIXELS_NUMBER - i - 1] = pDesEDenoisedBinaryPic[PIXELS_NUMBER - i - 1] > 0 ? 255 : value;
if (m_bMultiSliceEnabled)
{
if (m_pMultiSliceBuffer[i] > 0 && uiTPerSlice > 0)
{
int slice = m_pMultiSliceBuffer[i] / uiTPerSlice + 1;
m_pMultiSliceGrayBuffer[PIXELS_NUMBER - i - 1] = slice;
}
else
{
m_pMultiSliceGrayBuffer[PIXELS_NUMBER - i - 1] = 0;
}
m_pMultiSliceBuffer[i] = 0;
}
}
if (m_bMultiSliceEnabled)
{
m_ulMultiSliceTCounter = 0;
//--- denoised pic ---
for (int i = 0; i < PIXELS_NUMBER; ++i)
{
if (m_pMultiSliceGrayBuffer[i] > 0)
{
if (0 == calculateDenoiseScore(m_pMultiSliceGrayBuffer, i))
m_pMultiSliceGrayBuffer[i] = 0;
}
}
calDirectionAndSpeed();
memcpy(pDesOpticalRawPic, m_pMultiSliceGrayBuffer, PIXELS_NUMBER);
}
m_uiMeanIntensity = sumIntensity / PIXELS_NUMBER;
if (NULL == m_pLastEventPicBuffer)
{
m_pLastEventPicBuffer = new unsigned char[PIXELS_NUMBER];
}
memcpy(m_pLastEventPicBuffer, m_pBufferMotion, PIXELS_NUMBER);
if (g_cvVideoWriterFullPic.isOpened())
{
cv::Mat mat(640, 768, CV_8UC1, pDesFullPic);
g_cvVideoWriterFullPic.write(mat);
}
if (g_cvVideoWriterEvent.isOpened())
{
cv::Mat mat(640, 768, CV_8UC1, pDesEBinarydPic);
g_cvVideoWriterEvent.write(mat);
}
m_uiFEEventTCounter = 0;
}
}
void FPGADataProcessor::cleanEventBuffer()
{
for (int i = 0; i < PIXELS_NUMBER; ++i)
{
m_pEventPicBuffer[i] = 0;
m_pBufferMotion[i] = 0;
}
}
void FPGADataProcessor::cleanBuffer()
{
for (int i = 0; i < PIXELS_NUMBER; ++i)
{
m_pEventPicBuffer[i] = 0;
m_pBufferMotion[i] = 0;
m_pFullPicBuffer[i] = 0;
}
}
void FPGADataProcessor::setSensorMode(emSensorMode mode)
{
m_emSensorMode = mode;
m_ulMultiSliceTCounter = 0;
m_bNeedResetMultiSliceData = true;
m_pCX4ProcessedData->setSensorMode(mode);
}
emSensorMode FPGADataProcessor::getSensorMode()
{
return m_emSensorMode;
}
void FPGADataProcessor::generateFPN(std::string filePath)
{
m_bIsGeneratingFPN = true;
m_iFpnCalculationTimes = FPN_CALCULATION_TIMES;
m_strFpnFilePath = filePath;
}
void FPGADataProcessor::adjustBrightness()
{
m_bAdjustBrightness = (!m_bAdjustBrightness);
}
void FPGADataProcessor::setUpperADC(uint32_t value)
{
m_uiUpperADC = value;
}
uint32_t FPGADataProcessor::getUpperADC()
{
return m_uiUpperADC;
}
void FPGADataProcessor::setLowerADC(uint32_t value)
{
m_uiLowerADC = value;
}
uint32_t FPGADataProcessor::getLowerADC()
{
return m_uiLowerADC;
}
void FPGADataProcessor::setTimeSlice(uint32_t msec)
{
m_uiTimeSliceValue = msec;
m_uiTimeStamp = m_uiTimeSlice = m_uiClockRate * 1000 * msec / 2;
m_ulMultiSliceTCounter = 0;
m_bNeedResetMultiSliceData = true;
}
void FPGADataProcessor::setOverlapTime(uint32_t msec)
{
m_uiOverlapTime = m_uiClockRate * 1000 * msec / 2; //25000 * msec;
}
void FPGADataProcessor::setFrameLengthRange(float startRatio, float endRatio)
{
uint32_t emsec = 0;
if (m_uiFEFrameTime > 20)
emsec = m_uiFEFrameTime - 20;
m_uiFrameStartT = startRatio * m_uiClockRate * 1000 * emsec / 2; //25000 * msec
m_uiFrameEndT = endRatio * m_uiClockRate * 1000 * emsec / 2; //25000 * msec
}
void FPGADataProcessor::setFEFrameTime(uint32_t msec)
{
m_uiFEFrameTime = msec;
}
CeleX4ProcessedData *FPGADataProcessor::getSensorDataObject()
{
return m_pCX4ProcessedData;
}
CX4SensorDataServer *FPGADataProcessor::getSensorDataServer()
{
return m_pCX4Server;
}
void FPGADataProcessor::setClockRate(uint32_t value)
{
m_uiClockRate = value;
m_uiTimeStamp = m_uiTimeSlice = m_uiClockRate * 1000 * m_uiTimeSliceValue / 2; //25000 * msec;
}
void FPGADataProcessor::setFPGATimeCycle(uint32_t value)
{
m_uiFPGATimeCycle = value;
}
void FPGADataProcessor::enableMultiSlice(bool enable)
{
m_bMultiSliceEnabled = enable;
m_ulMultiSliceTCounter = 0;
m_bNeedResetMultiSliceData = true;
}
bool FPGADataProcessor::isMultiSliceEnabled()
{
return m_bMultiSliceEnabled;
}
void FPGADataProcessor::setMultiSliceTime(uint32_t msec)
{
m_uiMultiSliceTime = m_uiClockRate * 1000 * msec / 2; //25000 * msec;
m_ulMultiSliceTCounter = 0;
m_bNeedResetMultiSliceData = true;
}
void FPGADataProcessor::setMultiSliceCount(uint32_t count)
{
m_uiMultiSliceCount = count;
}
void FPGADataProcessor::generateFPNimpl()
{
for (int i = 0; i < PIXELS_NUMBER; ++i)
{
if (m_iFpnCalculationTimes == FPN_CALCULATION_TIMES)
{
m_pFpnGenerationBuffer[i] = m_pFullPicBuffer[i];
}
else
{
m_pFpnGenerationBuffer[i] += m_pFullPicBuffer[i];
}
}
--m_iFpnCalculationTimes;
if (m_iFpnCalculationTimes <= 0)
{
m_bIsGeneratingFPN = false;
std::ofstream ff;
if (m_strFpnFilePath.empty())
{
XBase base;
std::string filePath = base.getApplicationDirPath();
filePath += "\\FPN.txt";
// output the FPN file now
ff.open(filePath.c_str());
}
else
{
ff.open(m_strFpnFilePath.c_str());
}
if (!ff)
return;
long total = 0;
for (int i = 0; i < PIXELS_NUMBER; ++i)
{
m_pFpnGenerationBuffer[i] = m_pFpnGenerationBuffer[i] / FPN_CALCULATION_TIMES;
total += m_pFpnGenerationBuffer[i];
}
int avg = total / PIXELS_NUMBER;
for (int i = 0; i < PIXELS_NUMBER; ++i)
{
int d = m_pFpnGenerationBuffer[i] - avg;
ff << d;
ff << "\n";
}
ff.close();
}
}
void FPGADataProcessor::adjustBrightnessImpl()
{
long total = 0;
for (int i = 0; i < PIXELS_NUMBER; ++i)
{
total += m_pFullPicBuffer[i];
}
long avg = total / PIXELS_NUMBER;
if (avg < 118)
{
//emit commandCallback("up_brightness");
}
if (avg > 138)
{
//emit commandCallback("down_brightness");
}
}
// normalize to 0~255
unsigned int FPGADataProcessor::normalizeADC(unsigned int adc)
{
int brightness = adc;
if (adc < m_uiLowerADC)
brightness = 0;
else if (adc > m_uiUpperADC)
brightness = 255;
else
brightness = 255 * (adc - m_uiLowerADC) / (m_uiUpperADC - m_uiLowerADC);
return brightness;
}
void FPGADataProcessor::calDirectionAndSpeed()
{
unsigned char* pDesOpticalDPic = m_pCX4ProcessedData->getOpticalFlowDirectionPicBuffer();
unsigned char* pDesOpticalSPic = m_pCX4ProcessedData->getOpticalFlowSpeedPicBuffer();
for (int i = 0; i < PIXELS_NUMBER; ++i)
{
int row = i / PIXELS_PER_COL;
int col = i % PIXELS_PER_COL;
int Gx = 0, Gy = 0;
if (col == 0 || col == 767)
Gx = 0;
else
Gx = m_pMultiSliceGrayBuffer[i + 1] - m_pMultiSliceGrayBuffer[i - 1];
if (row == 0 || row == 639)
Gy = 0;
else
Gy = m_pMultiSliceGrayBuffer[i + 768] - m_pMultiSliceGrayBuffer[i - 768];
int theta = 0;
if (Gx == 0 && Gy == 0)
{
theta = 0;
}
else
{
if (Gx == 0)
{
if (Gy > 0)
theta = 90;
else
theta = 270;
}
else
{
theta = atan2(Gy, Gx) * 180 / PI;
}
}
if (theta < 0)
theta += 360;
pDesOpticalDPic[i] = theta * 255 / 360;
int value1 = sqrt(Gx*Gx + Gy*Gy);
if (value1 > 255)
value1 = 255;
pDesOpticalSPic[i] = value1;
}
}
int FPGADataProcessor::calculateDenoiseScore(unsigned char* pBuffer, unsigned char* pBufferPre, unsigned int pos)
{
if (NULL == pBuffer || NULL == pBufferPre)
{
return 255;
}
int row = pos / PIXELS_PER_COL;