Restructure bebop camera settings and ISP

paparazzi · Jan 3, 2019 · 3984255 · 3984255
1 parent 16444fd
commit 3984255
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Showing 75 changed files with 1,633 additions and 1,368 deletions.
diff --git a/conf/airframes/BR/bebop_default.xml b/conf/airframes/BR/bebop_default.xml
@@ -31,7 +31,7 @@
     <!--module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module-->
-    <module name="video_thread"/>
+    <module name="bebop_cam"/>
 
     <module name="cv_colorfilter">
       <define name="COLORFILTER_CAMERA" value="bottom_camera"/>

diff --git a/conf/airframes/BR/bebop_indi.xml b/conf/airframes/BR/bebop_indi.xml
@@ -38,7 +38,7 @@
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module-->
 
-    <module name="video_thread"/>
+    <module name="bebop_cam"/>
 
     <module name="cv_blob_locator">
       <define name="BLOB_LOCATOR_CAMERA" value="bottom_camera"/>

diff --git a/conf/airframes/BR/bebop_indi_frog.xml b/conf/airframes/BR/bebop_indi_frog.xml
@@ -39,7 +39,7 @@
     <!--module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module-->
-    <module name="video_thread"/>
+    <module name="bebop_cam"/>
 
     <module name="cv_blob_locator">
       <define name="BLOB_LOCATOR_CAMERA" value="bottom_camera"/>

diff --git a/conf/airframes/BR/bebop_indi_frog_flip.xml b/conf/airframes/BR/bebop_indi_frog_flip.xml
@@ -36,7 +36,7 @@
     <!--module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module-->
-    <module name="video_thread"/>
+    <module name="bebop_cam"/>
 
     <module name="video_rtp_stream">
       <define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>

diff --git a/conf/airframes/CDW/cdw_bebop.xml b/conf/airframes/CDW/cdw_bebop.xml
@@ -37,7 +37,7 @@
     <!--module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module-->
-    <module name="video_thread"/>
+    <module name="bebop_cam"/>
 
     <module name="cv_blob_locator">
       <define name="BLOB_LOCATOR_CAMERA" value="bottom_camera"/>

diff --git a/conf/airframes/MM/bebop.xml b/conf/airframes/MM/bebop.xml
@@ -38,7 +38,7 @@
     <!--module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module-->
-    <!--module name="video_thread">
+    <!--module name="bebop_cam">
       <define name="VIDEO_THREAD_FPS" value="4"/>
       <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
       <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>

diff --git a/conf/airframes/OPENUAS/openuas_leapfrogeye.xml b/conf/airframes/OPENUAS/openuas_leapfrogeye.xml
@@ -36,7 +36,7 @@
     <!--module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module-->
-    <module name="video_thread"/>
+    <module name="bebop_cam"/>
 
     <module name="cv_blob_locator">
       <define name="BLOB_LOCATOR_CAMERA" value="bottom_camera"/>

diff --git a/conf/airframes/OPENUAS/openuas_parrot_disco.xml b/conf/airframes/OPENUAS/openuas_parrot_disco.xml
@@ -75,19 +75,11 @@
       <!--<configure name="FLASH_MODE" value="USB"/>--><!-- TODO: WIFI or USB-->
       <!-- WIP: Front Camera parameters -->
       <define name="H264_ROTATE" value="TRUE"/>
-      <define name="MT9F002_INITIAL_OFFSET_X" value="416+2704-480"/> <!-- 480 / 960 / 1920 / 3840 (horion for theta = 0 -> 2704) -->
-      <define name="MT9F002_INITIAL_OFFSET_Y" value="1680-1040"/> <!-- 420 / 840 / 1680 / 3360 -->
-      <define name="MT9F002_SENSOR_WIDTH" value="2*480"/> <!-- 480 / 960 / 1920 / 3840 -->
-      <define name="MT9F002_SENSOR_HEIGHT" value="2*1040"/> <!-- 420 / 840 / 1680 / 3360 -->
-      <define name="MT9F002_OUTPUT_WIDTH" value="240"/> <!-- 480 / 960 / 1920 / 3840 -->
-      <define name="MT9F002_OUTPUT_HEIGHT" value="520"/> <!-- 420 / 840 / 1680 / 3360 -->
-      <define name="MT9F002_TARGET_FPS" value="30"/>
-      <define name="MT9F002_TARGET_EXPOSURE" value="4"/>
-      <define name="MT9F002_GAIN_GREEN1" value="8.0"/>
-      <define name="MT9F002_GAIN_GREEN2" value="8.0"/>
-      <define name="MT9F002_GAIN_RED" value="8.0"/>
-      <define name="MT9F002_GAIN_BLUE" value="8.0"/>
-      <define name="MT9F002_OUTPUT_SCALER" value="0.25"/>
+      <define name="MT9F002_OUTPUT_HEIGHT" value="520" />
+      <define name="MT9F002_OUTPUT_WIDTH" value="240" />
+      <define name="MT9F002_OFFSET_X" value="0.072" />
+      <define name="MT9F002_TARGET_EXPOSURE" value="4" />
+      <define name="MT9F002_ZOOM" value="1.25"/>
 
       <!-- <configure name="CPU_LED" value="1"/>--> <!-- Change to whatever you like -->
 
@@ -327,7 +319,7 @@
 
     <module name="photogrammetry_calculator"/>
 
-    <module name="video_thread"/>
+    <module name="bebop_cam"/>
 
     <module name="video_capture">
       <define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>

diff --git a/conf/airframes/examples/bebop.xml b/conf/airframes/examples/bebop.xml
@@ -10,17 +10,6 @@
       <module name="udp"/>
     </target>
 
-    <define name="MT9F002_OUTPUT_HEIGHT" value="640" />
-    <define name="MT9F002_OUTPUT_WIDTH" value="640" />
-    <define name="MT9F002_TARGET_EXPOSURE" value="30" />
-    <define name="MT9F002_GAIN_GREEN1" value="4"/>
-    <define name="MT9F002_GAIN_GREEN2" value="4"/>
-    <define name="MT9F002_GAIN_RED" value="5"/>
-    <define name="MT9F002_GAIN_BLUE" value="5"/>
-    <define name="MT9F002_OUTPUT_SCALER" value="0.25"/>
-    <define name="MT9F002_X_ODD_INC_VAL" value="1"/>
-    <define name="MT9F002_Y_ODD_INC_VAL" value="1"/>
-
     <define name="USE_SONAR" value="true"/>
 
 	<!-- Subsystem section -->
@@ -41,7 +30,7 @@
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module-->
 
-    <module name="video_thread"/>
+    <module name="bebop_cam"/>
 
     <module name="video_rtp_stream">
       <define name="VIEWVIDEO_CAMERA" value="bottom_camera"/>
@@ -80,6 +69,14 @@
     <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
   </command_laws>
 
+  <section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
+    <define name="OUTPUT_HEIGHT" value="640" />
+    <define name="OUTPUT_WIDTH" value="640" />
+    <define name="OFFSET_X" value="0.15" />
+    <define name="TARGET_EXPOSURE" value="30" />
+    <define name="ZOOM" value="1.25"/>
+  </section>
+
   <section name="AIR_DATA" prefix="AIR_DATA_">
     <define name="CALC_AIRSPEED" value="FALSE"/>
     <define name="CALC_TAS_FACTOR" value="FALSE"/>

diff --git a/conf/airframes/examples/bebop2_opticflow.xml b/conf/airframes/examples/bebop2_opticflow.xml
@@ -24,7 +24,7 @@
     <!--    <define name="INS_INT_GPS_ID" value="ABI_DISABLE"/>
     </module> -->
 
-    <module name="video_thread"/>
+    <module name="bebop_cam"/>
 
     <module name="cv_opticflow">
       <define name="OPTICFLOW_CAMERA" value="bottom_camera"/>

diff --git a/conf/airframes/tudelft/bebop2_detect_gate_front.xml b/conf/airframes/tudelft/bebop2_detect_gate_front.xml
@@ -27,27 +27,14 @@
     <define name="USE_SONAR" value="TRUE"/>
     <module name="ins" type="extended"/>
 
-    <define name="MT9F002_OUTPUT_HEIGHT" value="640" />
-    <define name="MT9F002_OUTPUT_WIDTH" value="640" />
-    <define name="MT9F002_INITIAL_OFFSET_X" value="0.15" />
-    <define name="MT9F002_INITIAL_OFFSET_Y" value="0.0" />
-    <define name="MT9F002_TARGET_EXPOSURE" value="30" />
-    <define name="MT9F002_GAIN_GREEN1" value="4"/>
-    <define name="MT9F002_GAIN_GREEN2" value="4"/>
-    <define name="MT9F002_GAIN_RED" value="5"/>
-    <define name="MT9F002_GAIN_BLUE" value="5"/>
-    <define name="MT9F002_OUTPUT_SCALER" value="0.25"/>
-    <define name="MT9F002_X_ODD_INC_VAL" value="1"/>
-    <define name="MT9F002_Y_ODD_INC_VAL" value="1"/>
-
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module>
 
-    <module name="video_thread"/>
+    <module name="bebop_cam"/>
 
     <module name="video_capture">
       <define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/>
@@ -61,23 +48,22 @@
     <!-- For tuning the color filter: -->
     <!--
     <module name="cv_colorfilter">
-	<define name="COLORFILTER_CAMERA" value="front_camera"/>
-	<define name="COLORFILTER_FPS" value="0"/>
+	  <define name="COLORFILTER_CAMERA" value="front_camera"/>
+	  <define name="COLORFILTER_FPS" value="0"/>
     </module>
     -->
 
     <module name="ctrl_module_outerloop_demo"/> 
 
     <module name="cv_detect_gate">
-	<define name="DETECT_GATE_CAMERA" value="front_camera"/>
-	<define name="DETECT_GATE_FPS" value="0"/>
-    <define name="DETECT_GATE_Y_MIN" value="31"/>
-    <define name="DETECT_GATE_Y_MAX" value="130"/>
-    <define name="DETECT_GATE_U_MIN" value="62"/>
-    <define name="DETECT_GATE_U_MAX" value="138"/>
-    <define name="DETECT_GATE_V_MIN" value="148"/>
-    <define name="DETECT_GATE_V_MAX" value="221"/>
-
+     <define name="DETECT_GATE_CAMERA" value="front_camera"/>
+     <define name="DETECT_GATE_FPS" value="0"/>
+     <define name="DETECT_GATE_Y_MIN" value="31"/>
+     <define name="DETECT_GATE_Y_MAX" value="130"/>
+     <define name="DETECT_GATE_U_MIN" value="62"/>
+     <define name="DETECT_GATE_U_MAX" value="138"/>
+     <define name="DETECT_GATE_V_MIN" value="148"/>
+     <define name="DETECT_GATE_V_MAX" value="221"/>
     </module>
 
     <module name="video_rtp_stream">
@@ -120,6 +106,14 @@
     <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
   </command_laws>
 
+  <section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
+    <define name="OUTPUT_HEIGHT" value="640" />
+    <define name="OUTPUT_WIDTH" value="640" />
+    <define name="OFFSET_X" value="0.15" />
+    <define name="TARGET_EXPOSURE" value="30" />
+    <define name="ZOOM" value="1.25"/>
+  </section>
+
   <section name="AIR_DATA" prefix="AIR_DATA_">
     <define name="CALC_AIRSPEED" value="FALSE"/>
     <define name="CALC_TAS_FACTOR" value="FALSE"/>

diff --git a/conf/airframes/tudelft/bebop2_opticflow.xml b/conf/airframes/tudelft/bebop2_opticflow.xml
@@ -33,7 +33,7 @@
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module>
 
-    <module name="video_thread"/>
+    <module name="bebop_cam"/>
     <module name="pose_history"/>
 
     <module name="cv_opticflow">

diff --git a/conf/airframes/tudelft/bebop2_optitrack_visionfront.xml b/conf/airframes/tudelft/bebop2_optitrack_visionfront.xml
@@ -19,28 +19,13 @@
     <define name="USE_SONAR" value="0"/>
     <module name="ins" type="extended"/>
 
-    <define name="MT9F002_OUTPUT_HEIGHT" value="640" />
-    <define name="MT9F002_OUTPUT_WIDTH" value="640" />
-    <define name="MT9F002_INITIAL_OFFSET_X" value="0.15" />
-    <define name="MT9F002_INITIAL_OFFSET_Y" value="0.0" />
-    <define name="MT9F002_TARGET_EXPOSURE" value="30" />
-    <define name="MT9F002_GAIN_GREEN1" value="4"/>
-    <define name="MT9F002_GAIN_GREEN2" value="4"/>
-    <define name="MT9F002_GAIN_RED" value="5"/>
-    <define name="MT9F002_GAIN_BLUE" value="5"/>
-    <define name="MT9F002_OUTPUT_SCALER" value="0.25"/>
-    <define name="MT9F002_X_ODD_INC_VAL" value="1"/>
-    <define name="MT9F002_Y_ODD_INC_VAL" value="1"/>
-
-
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module>
-
-    <module name="video_thread"/>
+    <module name="bebop_cam"/>
 
     <module name="video_capture">
       <define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/>
@@ -54,6 +39,7 @@
 <!--    <define name="INS_INT_VEL_ID" value="ABI_DISABLE"/> -->
     <module name="cv_opticflow">
       <define name="OPTICFLOW_CAMERA" value="front_camera"/>
+      <define name="OPTICFLOW_FPS" value="10"/>
       <define name="MAX_HORIZON" value="10"/>
       <define name="OPTICFLOW_DEROTATION" value="1"/>
       <define name="OPTICFLOW_DEROTATION_CORRECTION_FACTOR_X" value="0.8"/> <!--Obtained from a linefit--> 
@@ -66,7 +52,6 @@
     <module name="optical_flow_landing">
       <define name="OFL_PGAIN" value="0.05"/>
       <define name="OFL_IGAIN" value="0.0"/>
-
     </module>
 
     <module name="video_rtp_stream">
@@ -109,6 +94,14 @@
     <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
   </command_laws>
 
+  <section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
+    <define name="OUTPUT_HEIGHT" value="640"/>
+    <define name="OUTPUT_WIDTH" value="640"/>
+    <define name="OFFSET_X" value="0.15"/>
+    <define name="TARGET_EXPOSURE" value="30"/>
+    <define name="ZOOM" value="1.25"/>
+  </section>
+
   <section name="AIR_DATA" prefix="AIR_DATA_">
     <define name="CALC_AIRSPEED" value="FALSE"/>
     <define name="CALC_TAS_FACTOR" value="FALSE"/>

diff --git a/conf/airframes/tudelft/bebop2_undistort_front.xml b/conf/airframes/tudelft/bebop2_undistort_front.xml
@@ -19,28 +19,14 @@
     <define name="USE_SONAR" value="0"/>
     <module name="ins" type="extended"/>
 
-    <define name="MT9F002_OUTPUT_HEIGHT" value="640" />
-    <define name="MT9F002_OUTPUT_WIDTH" value="640" />
-    <define name="MT9F002_INITIAL_OFFSET_X" value="0.15" />
-    <define name="MT9F002_INITIAL_OFFSET_Y" value="0.0" />
-    <define name="MT9F002_TARGET_EXPOSURE" value="30" />
-    <define name="MT9F002_GAIN_GREEN1" value="4"/>
-    <define name="MT9F002_GAIN_GREEN2" value="4"/>
-    <define name="MT9F002_GAIN_RED" value="5"/>
-    <define name="MT9F002_GAIN_BLUE" value="5"/>
-    <define name="MT9F002_OUTPUT_SCALER" value="0.25"/>
-    <define name="MT9F002_X_ODD_INC_VAL" value="1"/>
-    <define name="MT9F002_Y_ODD_INC_VAL" value="1"/>
-
-
     <module name="geo_mag"/>
     <module name="air_data"/>
     <module name="send_imu_mag_current"/>
     <module name="logger_file">
       <define name="FILE_LOGGER_PATH" value="/data/ftp/internal_000"/>
     </module>
 
-    <module name="video_thread"/>
+    <module name="bebop_cam"/>
 
     <module name="video_capture">
       <define name="VIDEO_CAPTURE_CAMERA" value="front_camera"/>
@@ -97,6 +83,14 @@
     <set servo="BOTTOM_LEFT" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
   </command_laws>
 
+  <section name="BEBOP_FRONT_CAMERA" prefix="MT9F002_">
+    <define name="OUTPUT_HEIGHT" value="640" />
+    <define name="OUTPUT_WIDTH" value="640" />
+    <define name="OFFSET_X" value="0.15" />
+    <define name="TARGET_EXPOSURE" value="30" />
+    <define name="ZOOM" value="1.25"/>
+  </section>
+
   <section name="AIR_DATA" prefix="AIR_DATA_">
     <define name="CALC_AIRSPEED" value="FALSE"/>
     <define name="CALC_TAS_FACTOR" value="FALSE"/>