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FEATURE/Added an experimental option to use a Mira220-based camera [DO NOT MERGE] #202

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FEATURE/Added an experimental option to use a Mira220-based camera [DO NOT MERGE] #202

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3 changes: 2 additions & 1 deletion Software/LMSourceCode/ImageProcessing/cam2_thread.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,8 @@ bool Camera2Thread::init_pipeline() {
options->Set().info_text = "";

const CameraHardware::CameraModel camera_model = GolfSimCamera::kSystemSlot2CameraType;
if (camera_model != CameraHardware::CameraModel::InnoMakerIMX296GS_Mono) {
if (camera_model != CameraHardware::CameraModel::InnoMakerIMX296GS_Mono ||
camera_model != CameraHardware::CameraModel::Mira220_Mono) {
options->Set().denoise = "cdn_off";
} else {
options->Set().denoise = "auto";
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46 changes: 42 additions & 4 deletions Software/LMSourceCode/ImageProcessing/camera_hardware.cpp
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Expand Up @@ -88,6 +88,7 @@ namespace golf_sim {
{ "3", CameraModel::PiHQ },
{ "4", CameraModel::PiGS },
{ "5", CameraModel::InnoMakerIMX296GS_Mono },
{ "6", CameraModel::Mira220_Mono },
{ "100", CameraModel::kCameraUnknown },
};
if (camera_table.count(model_enum_value_string) == 0)
Expand Down Expand Up @@ -133,7 +134,7 @@ namespace golf_sim {


bool CameraHardware::camera_is_mono() const {
return (camera_model_ == CameraModel::InnoMakerIMX296GS_Mono);
return (camera_model_ == CameraModel::InnoMakerIMX296GS_Mono || camera_model_ == CameraModel::Mira220_Mono);
}


Expand Down Expand Up @@ -236,17 +237,17 @@ namespace golf_sim {
}

// This section deals with the common characteristics of some of the cameras
if (model == PiGS ||
if (model == PiGS ||
model == InnoMakerIMX296GS_Mono) {

GS_LOG_TRACE_MSG(trace, "Initializing with a PiGS or InnoMakerIMX296GS_Mono camera." );
GS_LOG_TRACE_MSG(trace, "Initializing with a PiGS or InnoMakerIMX296GS_Mono camera.");
// Sensor pixel width is 3.45uM square? No - 6.33mm diagonal. It appears that
// the actual width is the full resolution (1456) * 3.4uM = 4.95mm,
// Not simply the diagonal sensor width

sensor_width_ = (float)5.077365371; // 4.45; // (1456.0 * 3.4) / 1000; // = 4.95; // In mm 6.3 / sqrt(2.0); // TBD - Confirm math from diagonal measurement
sensor_height_ = (float)3.789078635; // 4.45; //(1088.0 * 3.4) / 1000; // In mm 6.3 / sqrt(2.0);

if (resolution_x_override_ > 0 && resolution_y_override_ > 0) {
resolution_x_ = resolution_x_override_;
resolution_y_ = resolution_y_override_;
Expand All @@ -263,6 +264,43 @@ namespace golf_sim {
video_resolution_y_ = 1080;

GS_LOG_TRACE_MSG(trace, "Video resolution (x,y) is: " + std::to_string(video_resolution_x_) + "/" + std::to_string(video_resolution_y_) + ".");
}

if (model == Mira220_Mono) {

// See https://look.ams-osram.com/m/7591efdbe4af32dc/original/Mira220-1-2-7-2-2-MP-NIR-enhanced-global-shutter-image-sensor.pdf for details

GS_LOG_TRACE_MSG(trace, "Initializing with a Mira220_Mono - based camera.");
// Sensor pixel width is 3.45uM square? No - 6.33mm diagonal. It appears that
// the actual width is the full resolution (1456) * 3.4uM = 4.95mm,
// Not simply the diagonal sensor width

sensor_width_ = (float)4.464; // 2.79um pixel size * 1600
sensor_height_ = (float)3.906; // 2.79um pixel size * 1400

if (resolution_x_override_ > 0 && resolution_y_override_ > 0) {
resolution_x_ = resolution_x_override_;
resolution_y_ = resolution_y_override_;
}
else {
// Defaults
resolution_x_ = 1600;
resolution_y_ = 1400;
}

// We ahve not tested .
video_resolution_x_ = resolution_x_;
video_resolution_y_ = resolution_y_;

GS_LOG_TRACE_MSG(trace, "Video resolution (x,y) is: " + std::to_string(video_resolution_x_) + "/" + std::to_string(video_resolution_y_) + ".");
}


// Ball radius parameters are common to most all of our potential cameras
if (model == PiGS ||
model == InnoMakerIMX296GS_Mono ||
model == Mira220_Mono) {


// Attempt to get the expected ball radius from the .json file
std::string ball_radius_pixels_at_40cm_name = "kExpectedBallRadiusPixelsAt40cmCamera" + std::string(camera_number == GsCameraNumber::kGsCamera1 ? "1" : "2");
Expand Down
1 change: 1 addition & 0 deletions Software/LMSourceCode/ImageProcessing/camera_hardware.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,7 @@ namespace golf_sim {
PiHQ = 3,
PiGS = 4,
InnoMakerIMX296GS_Mono = 5,
Mira220_Mono = 6,
kCameraUnknown = 100
};

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10 changes: 7 additions & 3 deletions Software/LMSourceCode/ImageProcessing/libcamera_interface.cpp
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Expand Up @@ -753,8 +753,10 @@ bool ConfigureLibCameraOptions(const GolfSimCamera& camera, RPiCamEncoder& app,

options->Set().timeout.set("100000s");

// TBD - Internet suggests that the Mira220 also needs cdn_off
const CameraHardware::CameraModel camera_model = GolfSimCamera::kSystemSlot1CameraType;
if (camera_model != CameraHardware::CameraModel::InnoMakerIMX296GS_Mono) {
if (camera_model != CameraHardware::CameraModel::InnoMakerIMX296GS_Mono &&
camera_model != CameraHardware::CameraModel::Mira220_Mono) {
options->Set().denoise = "cdn_off";
}
else {
Expand Down Expand Up @@ -1119,7 +1121,8 @@ LibcameraJpegApp* ConfigureForLibcameraStill(const GolfSimCamera& camera) {
options->Set().contrast = camera_contrast;
options->Set().timeout.set("100000s");
const CameraHardware::CameraModel camera_model = GolfSimCamera::kSystemSlot1CameraType;
if (camera_model != CameraHardware::CameraModel::InnoMakerIMX296GS_Mono) {
if (camera_model != CameraHardware::CameraModel::InnoMakerIMX296GS_Mono &&
camera_model != CameraHardware::CameraModel::Mira220_Mono) {
options->Set().denoise = "cdn_off";
}
else {
Expand Down Expand Up @@ -1419,7 +1422,8 @@ bool WaitForCam2Trigger(cv::Mat& return_image) {
// JPMOD
options->Set().timeout.set("100000s"); // Wait forever for external trigger
const CameraHardware::CameraModel camera_model = GolfSimCamera::kSystemSlot1CameraType;
if (camera_model != CameraHardware::CameraModel::InnoMakerIMX296GS_Mono) {
if (camera_model != CameraHardware::CameraModel::InnoMakerIMX296GS_Mono &&
camera_model != CameraHardware::CameraModel::Mira220_Mono) {
options->Set().denoise = "cdn_off";
}
else {
Expand Down
20 changes: 19 additions & 1 deletion Software/LMSourceCode/ImageProcessing/libcamera_jpeg.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,22 @@ void SetExternalTrigger(bool& flag) {
return;
}
}

if (!flag && camera_model == gs::CameraHardware::CameraModel::Mira220_Mono) {

flag = true;

std::string trigger_mode_command = "$PITRAC_ROOT/ImageProcessing/CameraTools/NEED_EXTERNAL_TRIGGER_UTILITY 4 1";

GS_LOG_TRACE_MSG(trace, "ball_flight_camera_event_loop - Camera 2 trigger_mode_command = " + trigger_mode_command);
int command_result = system(trigger_mode_command.c_str());

if (command_result != 0) {
GS_LOG_TRACE_MSG(trace, "system(trigger_mode_command) failed.");
return;
}
}

}

// Run the triggered capture event loop on an already-opened camera.
Expand All @@ -101,7 +117,9 @@ bool cam2_run_event_loop(LibcameraJpegApp& app, cv::Mat& returnImg, bool send_pr
// If appropriate, add the time we allow to setup external trigginer for the InnoMaker cameras
const gs::CameraHardware::CameraModel camera_model = gs::GolfSimCamera::kSystemSlot2CameraType;

if (camera_model == gs::CameraHardware::CameraModel::InnoMakerIMX296GS_Mono) {
// TBD - May need a separate pause time for the Mira220 camera, but for now, we'll assume it's the same as the InnoMaker IMX296GS Mono camera
if (camera_model == gs::CameraHardware::CameraModel::InnoMakerIMX296GS_Mono ||
camera_model == gs::CameraHardware::CameraModel::Mira220_Mono) {
kQuiesceTimeMs += gs::PulseStrobe::kPauseToSetUpInnoMakerExternalTriggerMilliseconds;
}

Expand Down
2 changes: 2 additions & 0 deletions Software/LMSourceCode/ImageProcessing/pulse_strobe.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -649,6 +649,8 @@ namespace golf_sim {
}
}

// NOTE - We're not yet sure if a Mira220-based sensor will need any priming pulses. However, it should probably work similar to the IMX296

GS_LOG_TRACE_MSG(trace, "Sent " + std::to_string(kNumberPrimingPulses) + " initial priming pulses. About to pause for " +
std::to_string(kPauseBeforeReadyForFinalPrimingPulseMs) + " milliSeconds before sending penultimate priming pulse.");

Expand Down
6 changes: 4 additions & 2 deletions Software/web-server/configurations.json
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Expand Up @@ -329,7 +329,8 @@
"2": "Pi Camera v2 - IMX219 sensor (DEPRECATED)",
"3": "Pi HQ Camera - IMX477 sensor (DEPRECATED)",
"4": "Pi Global Shutter - IMX296 Color",
"5": "InnoMaker IMX296 - Mono sensor (RECOMMENDED)"
"5": "InnoMaker IMX296 - Mono sensor (RECOMMENDED)",
"6": "Osram Mira220 - Mono sensor (EXPERIMENTAL)"
},
"default": "5",
"requiresRestart": true,
Expand Down Expand Up @@ -391,7 +392,8 @@
"2": "Pi Camera v2 - IMX219 sensor (DEPRECATED)",
"3": "Pi HQ Camera - IMX477 sensor (DEPRECATED)",
"4": "Pi Global Shutter - IMX296 Color",
"5": "InnoMaker IMX296 - Mono sensor (RECOMMENDED)"
"5": "InnoMaker IMX296 - Mono sensor (RECOMMENDED)",
"6": "Osram Mira220 - Mono sensor (EXPERIMENTAL)"
},
"default": "5",
"requiresRestart": true,
Expand Down
2 changes: 1 addition & 1 deletion Software/web-server/server.py
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Expand Up @@ -38,7 +38,7 @@
# Locked to defeat AE/AWB/tuning drift across calibration frames (sub-pixel
# corner bias). Tuning file matches production rcPi5GS.sh; shutter is shorter
# than production (11 vs 20 ms) to limit hand-tremor blur.
RPICAM_TUNING_FILE = "/usr/share/libcamera/ipa/rpi/pisp/imx296_noir.json"
RPICAM_TUNING_FILE = "/usr/share/libcamera/ipa/rpi/pisp/imx296_noir.json" # NOTE - Mira220 will need a different tuning file. For now, folks can just put the Mira220 file in this file
RPICAM_CAL_SHUTTER_US = 11000
RPICAM_CAL_GAIN = 1.3

Expand Down
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