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Added possibility to control hpf bias camera value #228

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77 changes: 73 additions & 4 deletions cpp_tools/atis3-bridge/atis-bridge-sdk.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,10 @@ class atis3Bridge : public RFModule, public Thread {
yInfo() << "--file <str>\t: (optional) provide file path otherwise search for camera to connect";
yInfo() << "--limit <int>\t: (optional) provide a hard limit on event rate (in 10^6 events/s)";
yInfo() << "--s <int>\t: camera sensitivity (0->100)";
yInfo() << "--refr_filter <float>\t: temporal filter (seconds) to limit event rate";
yInfo() << "--sppt_filter <float>\t: spatial filter (seconds) to limit event rate";
yInfo() << "--hpf <float>\t: high-pass filter bias (0->100)";
yInfo() << "--print_biases\t: show ALL camera biases";
return false;
}

Expand Down Expand Up @@ -114,6 +118,7 @@ class atis3Bridge : public RFModule, public Thread {
buffer.emplace_back();

Biases &bias = cam.biases();

int bias_pol = 0;
if(rf.check("polarity"))
bias_pol = rf.find("polarity").asInt32();
Expand All @@ -130,6 +135,12 @@ class atis3Bridge : public RFModule, public Thread {
if(bias_sens < 0) bias_sens = 1;
if(bias_sens > 99) bias_sens = 99;

int hpf = 0;
if (rf.check("hpf"))
hpf = rf.find("hpf").asInt32();
if(hpf < 0) hpf = 1;
if(hpf > 99) hpf = 99;

Comment on lines +138 to +143
#if defined MetavisionSDK_FOUND

const I_HW_Identification::SensorInfo si = cam.get_device().get_facility<I_HW_Identification>()->get_sensor_info();
Expand All @@ -153,12 +164,25 @@ class atis3Bridge : public RFModule, public Thread {
if(bias_pol) {
yWarning() << "polarity bias not implemented for VGA";
}
if(hpf) {
int bias_hpf = (int)(1400 + ((hpf*0.01)*(1499-1400)));
yInfo() << "After calculation:" << bias_hpf;
bias_control->set("bias_hpf", bias_hpf);
bias_vals = bias_control->get_all_biases();
Comment on lines +167 to +171
yInfo() << " Biases:" << bias_vals["bias_hpf"] << "[hpf]";
}
} else { //gen4
if(bias_sens) {
I_LL_Biases* bias_control = bias.get_facility();
bias_control->set("bias_diff_on", 1.4*(100-bias_sens));
bias_control->set("bias_diff_off", 1.4*(100-bias_sens));
}
if(bias_pol) {
yWarning() << "polarity bias not implemented for Gen4";
}
if(hpf) {
yWarning() << "high-pass filter bias not implemented for Gen4";
}
Comment on lines +183 to +185
}
#else
if(!grayscale_port.open(getName("/img:o"))) {
Expand All @@ -172,6 +196,10 @@ class atis3Bridge : public RFModule, public Thread {
cam.set_exposure_frame_callback(10, [this](timestamp ts, const cv::Mat &image){this->frameToPort(ts, image);});
#endif

if(rf.check("print_biases")) {
show_biases();
}
Comment on lines +199 to +201

cam.cd().add_callback([this](const EventCD *ev_begin, const EventCD *ev_end) {
this->fill_buffer(ev_begin, ev_end);
});
Expand All @@ -180,15 +208,30 @@ class atis3Bridge : public RFModule, public Thread {
yInfo() << "[" << geo.width() << "x" << geo.height() << "]";

double nf_param = 0.0;
double sppt_filter = 0.0;
if(rf.check("refr_filter")) nf_param = rf.find("refr_filter").asFloat64();
if(rf.check("filter")) nf_param = rf.find("filter").asFloat64();
if(rf.check("f")) nf_param = rf.find("f").asFloat64();
if(nf_param > 0.0)

Comment on lines 210 to +214
if(rf.check("sppt_filter")) sppt_filter = rf.find("sppt_filter").asFloat64();

if(nf_param > 0.0 || sppt_filter > 0.0)
{
yInfo() << "[FILTER] ON. Maximum 1 event per pixel per" << nf_param << "seconds";
nf.initialise(geo.width(), geo.height());
nf.use_temporal_filter(nf_param);

if(nf_param > 0.0) {
yInfo() << "[REFR FILTER] ON";
yInfo() << " refractory filter:" << nf_param << "seconds";
nf.use_temporal_filter(nf_param);
}

if(sppt_filter > 0.0) {
yInfo() << "[SPPT FILTER] ON";
yInfo() << " support filter:" << sppt_filter << "seconds";
nf.use_spatial_filter(sppt_filter);
}
}


//set the module name used to name ports
if(gen3) {
setName((rf.check("name", Value("/atis3")).asString()).c_str());
Expand Down Expand Up @@ -379,6 +422,32 @@ class atis3Bridge : public RFModule, public Thread {
cv::waitKey(10);

}

void show_biases()
{
#if defined MetavisionSDK_FOUND
try {
Biases &bias = cam.biases();
I_LL_Biases* bias_control = bias.get_facility();

if(!bias_control) {
yWarning() << "Bias control facility is not available for this camera.";
return;
}

std::map<std::string, int> bias_vals = bias_control->get_all_biases();

yInfo() << "Camera biases:";
for(const auto& b : bias_vals) {
yInfo() << " " << b.first << "=" << b.second;
}

} catch(const std::exception& e) {
yWarning() << "Could not read camera biases:" << e.what();
}
#endif

}
};

int main(int argc, char * argv[])
Expand Down