sensors/GenX320: Add IOCTL for biases settings.

This commit is contained in:
Natalia Lyubova 2024-12-17 15:13:59 +01:00
parent 26b04e5b05
commit a957f53bd8
4 changed files with 142 additions and 1 deletions

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@ -0,0 +1,37 @@
# This work is licensed under the MIT license.
# Copyright (c) 2013-2024 OpenMV LLC. All rights reserved.
# https://github.com/openmv/openmv/blob/master/LICENSE
#
# This example shows off using the GenX320 event sensor from Prophesee for tracking an active marker
# with LEDs. The sensor settings (biases) are tuned for seeing only high-contrast LEDs modulated at
# high frequency. With these settings, the sensor does not detect any low-contrast changes in
# the scene except of LEDs thus allowing highly efficient and robust LEDs tracking.
# Prophesee active marker board with LEDs and the corresponding event-based data are shown in
# https://youtu.be/j-LpkDpCxUU?si=jA3B4xZg9RHlyoW3.
import sensor
import time
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE) # Must always be grayscale.
sensor.set_framesize(sensor.B320X320) # Must always be 320x320.
sensor.set_framerate(200)
# Applies sensor biases tuned for tracking of an active marker with LEDs
sensor.ioctl(sensor.IOCTL_GENX320_SET_BIASES, sensor.GENX320_BIASES_ACTIVE_MARKER)
clock = time.clock()
while True:
clock.tick()
img = sensor.snapshot()
blobs = img.find_blobs(
[(120, 140)], invert=True, pixels_threshold=2, area_threshold=4, merge=True
)
for blob in blobs:
img.draw_rectangle(blob.rect(), color=(255, 255, 255))
img.draw_cross(blob.cx(), blob.cy(), color=(0, 0, 0))
print(clock.fps())

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@ -218,7 +218,8 @@ typedef enum {
OMV_CSI_IOCTL_HIMAX_MD_WINDOW = 0x1C | OMV_CSI_IOCTL_FLAGS_ABORT, OMV_CSI_IOCTL_HIMAX_MD_WINDOW = 0x1C | OMV_CSI_IOCTL_FLAGS_ABORT,
OMV_CSI_IOCTL_HIMAX_MD_THRESHOLD = 0x1D, OMV_CSI_IOCTL_HIMAX_MD_THRESHOLD = 0x1D,
OMV_CSI_IOCTL_HIMAX_OSC_ENABLE = 0x1E | OMV_CSI_IOCTL_FLAGS_ABORT, OMV_CSI_IOCTL_HIMAX_OSC_ENABLE = 0x1E | OMV_CSI_IOCTL_FLAGS_ABORT,
OMV_CSI_IOCTL_GET_RGB_STATS = 0x1F OMV_CSI_IOCTL_GET_RGB_STATS = 0x1F,
OMV_CSI_IOCTL_GENX320_SET_BIASES = 0x20
} omv_csi_ioctl_t; } omv_csi_ioctl_t;
typedef enum { typedef enum {
@ -245,6 +246,16 @@ typedef enum {
OMV_CSI_ERROR_JPEG_OVERFLOW = -20, OMV_CSI_ERROR_JPEG_OVERFLOW = -20,
} omv_csi_error_t; } omv_csi_error_t;
#if (OMV_GENX320_ENABLE == 1)
typedef enum {
OMV_CSI_GENX320_BIASES_DEFAULT,
OMV_CSI_GENX320_BIASES_LOW_LIGHT,
OMV_CSI_GENX320_BIASES_ACTIVE_MARKER,
OMV_CSI_GENX320_BIASES_LOW_NOISE,
OMV_CSI_GENX320_BIASES_HIGH_SPEED
} omv_csi_genx320_biases_preset_t;
#endif
typedef void (*vsync_cb_t) (uint32_t vsync); typedef void (*vsync_cb_t) (uint32_t vsync);
typedef void (*frame_cb_t) (); typedef void (*frame_cb_t) ();
typedef struct _omv_csi omv_csi_t; typedef struct _omv_csi omv_csi_t;

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@ -1015,6 +1015,15 @@ static mp_obj_t py_omv_csi_ioctl(uint n_args, const mp_obj_t *args) {
break; break;
} }
#if (OMV_GENX320_ENABLE == 1)
case OMV_CSI_IOCTL_GENX320_SET_BIASES: {
if (n_args == 2) {
error = omv_csi_ioctl(request, mp_obj_get_int(args[1]));
}
break;
}
#endif // (OMV_GENX320_ENABLE == 1)
default: { default: {
omv_csi_raise_error(OMV_CSI_ERROR_CTL_UNSUPPORTED); omv_csi_raise_error(OMV_CSI_ERROR_CTL_UNSUPPORTED);
break; break;
@ -1207,6 +1216,15 @@ static const mp_rom_map_elem_t globals_dict_table[] = {
#endif #endif
{ MP_ROM_QSTR(MP_QSTR_IOCTL_GET_RGB_STATS), MP_ROM_INT(OMV_CSI_IOCTL_GET_RGB_STATS)}, { MP_ROM_QSTR(MP_QSTR_IOCTL_GET_RGB_STATS), MP_ROM_INT(OMV_CSI_IOCTL_GET_RGB_STATS)},
#if (OMV_GENX320_ENABLE == 1)
{ MP_ROM_QSTR(MP_QSTR_IOCTL_GENX320_SET_BIASES), MP_ROM_INT(OMV_CSI_IOCTL_GENX320_SET_BIASES)},
{ MP_ROM_QSTR(MP_QSTR_GENX320_BIASES_DEFAULT), MP_ROM_INT(OMV_CSI_GENX320_BIASES_DEFAULT)},
{ MP_ROM_QSTR(MP_QSTR_GENX320_BIASES_LOW_LIGHT), MP_ROM_INT(OMV_CSI_GENX320_BIASES_LOW_LIGHT)},
{ MP_ROM_QSTR(MP_QSTR_GENX320_BIASES_ACTIVE_MARKER), MP_ROM_INT(OMV_CSI_GENX320_BIASES_ACTIVE_MARKER)},
{ MP_ROM_QSTR(MP_QSTR_GENX320_BIASES_LOW_NOISE), MP_ROM_INT(OMV_CSI_GENX320_BIASES_LOW_NOISE)},
{ MP_ROM_QSTR(MP_QSTR_GENX320_BIASES_HIGH_SPEED), MP_ROM_INT(OMV_CSI_GENX320_BIASES_HIGH_SPEED)},
#endif
// Sensor functions // Sensor functions
{ MP_ROM_QSTR(MP_QSTR___init__), MP_ROM_PTR(&py_omv_csi__init__obj) }, { MP_ROM_QSTR(MP_QSTR___init__), MP_ROM_PTR(&py_omv_csi__init__obj) },
{ MP_ROM_QSTR(MP_QSTR_reset), MP_ROM_PTR(&py_omv_csi_reset_obj) }, { MP_ROM_QSTR(MP_QSTR_reset), MP_ROM_PTR(&py_omv_csi_reset_obj) },

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@ -431,6 +431,80 @@ static int snapshot(omv_csi_t *csi, image_t *image, uint32_t flags) {
return ret; return ret;
} }
static int ioctl(omv_csi_t *csi, int request, va_list ap) {
int ret = 0;
switch (request) {
// Setting a preset of biases tuned for a particular application/condition
case OMV_CSI_IOCTL_GENX320_SET_BIASES: {
int mode = va_arg(ap, int);
switch (mode) {
case OMV_CSI_GENX320_BIASES_DEFAULT: {
// Set default biases V2.0.0
psee_sensor_set_bias(DIFF, 51);
psee_sensor_set_bias(DIFF_OFF, 28);
psee_sensor_set_bias(DIFF_ON, 25);
psee_sensor_set_bias(FO, 34);
psee_sensor_set_bias(HPF, 40);
psee_sensor_set_bias(REFR, 10);
break;
}
case OMV_CSI_GENX320_BIASES_LOW_LIGHT: {
// Set biases tuned for low light
psee_sensor_set_bias(DIFF, 51);
psee_sensor_set_bias(DIFF_OFF, 19);
psee_sensor_set_bias(DIFF_ON, 24);
psee_sensor_set_bias(FO, 19);
psee_sensor_set_bias(HPF, 0);
psee_sensor_set_bias(REFR, 10);
break;
}
case OMV_CSI_GENX320_BIASES_ACTIVE_MARKER: {
// Set biases tuned for active marker
psee_sensor_set_bias(DIFF, 51);
psee_sensor_set_bias(DIFF_OFF, 45); //127
psee_sensor_set_bias(DIFF_ON, 55); //78
psee_sensor_set_bias(FO, 50);
psee_sensor_set_bias(HPF, 127);
psee_sensor_set_bias(REFR, 0);
break;
}
case OMV_CSI_GENX320_BIASES_LOW_NOISE: {
// Set low sensitivity low noise biases
psee_sensor_set_bias(DIFF, 51);
psee_sensor_set_bias(DIFF_OFF, 38);
psee_sensor_set_bias(DIFF_ON, 35);
psee_sensor_set_bias(FO, 24);
psee_sensor_set_bias(HPF, 40);
psee_sensor_set_bias(REFR, 10);
break;
}
case OMV_CSI_GENX320_BIASES_HIGH_SPEED: {
// Set biases tuned for high speed motion
psee_sensor_set_bias(DIFF, 51);
psee_sensor_set_bias(DIFF_OFF, 26);
psee_sensor_set_bias(DIFF_ON, 37);
psee_sensor_set_bias(FO, 38);
psee_sensor_set_bias(HPF, 74);
psee_sensor_set_bias(REFR, 25);
break;
}
default: {
ret = -1;
break;
}
}
break;
}
default: {
ret = -1;
break;
}
}
return ret;
}
int genx320_init(omv_csi_t *csi) { int genx320_init(omv_csi_t *csi) {
// Initialize csi structure // Initialize csi structure
csi->reset = reset; csi->reset = reset;
@ -446,6 +520,7 @@ int genx320_init(omv_csi_t *csi) {
csi->set_hmirror = set_hmirror; csi->set_hmirror = set_hmirror;
csi->set_vflip = set_vflip; csi->set_vflip = set_vflip;
csi->snapshot = snapshot; csi->snapshot = snapshot;
csi->ioctl = ioctl;
// Set csi flags // Set csi flags
csi->mono_bpp = sizeof(uint8_t); csi->mono_bpp = sizeof(uint8_t);