kopia lustrzana https://github.com/projecthorus/wenet
Send sensor temperature and focusFoM data via gps telemetry. Add options for using FocusFoM to select images
Mark Jessop
rodzic
3e99644b39
commit
63f9907f92
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@ -19,7 +19,7 @@ from base64 import b64encode
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# Check if we are running in Python 2 or 3
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PY3 = sys.version_info[0] == 3
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WENET_VERSION = "1.2.0"
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WENET_VERSION = "1.2.1"
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WENET_IMAGE_UDP_PORT = 7890
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WENET_TELEMETRY_UDP_PORT = 55672
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@ -36,7 +36,7 @@ class WENET_PACKET_TYPES:
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class WENET_PACKET_LENGTHS:
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GPS_TELEMETRY = 65
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GPS_TELEMETRY = 73
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ORIENTATION_TELEMETRY = 43
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IMAGE_TELEMETRY = 80
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@ -208,7 +208,7 @@ def gps_telemetry_decoder(packet):
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# Wrap the next bit in exception handling.
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try:
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# Unpack the packet into a list.
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data = struct.unpack(">BHIBffffffBBBffHfffff", packet)
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data = struct.unpack(">BHIBffffffBBBffHfffffff", packet)
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gps_data['week'] = data[1]
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gps_data['iTOW'] = data[2]/1000.0 # iTOW provided as milliseconds, convert to seconds.
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@ -231,6 +231,8 @@ def gps_telemetry_decoder(packet):
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gps_data['load_avg_15'] = round(data[18],3)
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gps_data['disk_percent'] = round(data[19],3)
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gps_data['lens_position'] = round(data[20],4)
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gps_data['sensor_temp'] = round(data[21],1)
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gps_data['focus_fom'] = int(data[22])
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# Check to see if we actually have real data in these new fields.
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# If its an old transmitter, it will have 0x55 in these spots, which we can detect
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if gps_data['cpu_speed'] == 21845:
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@ -244,6 +246,8 @@ def gps_telemetry_decoder(packet):
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gps_data['load_avg_15'] = 0
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gps_data['disk_percent'] = -1.0
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gps_data['lens_position'] = -999.0
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gps_data['sensor_temp'] = -999.0
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gps_data['focus_fom'] = -999.0
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# Perform some post-processing on the data, to make some of the fields easier to read.
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@ -305,7 +309,7 @@ def gps_telemetry_string(packet):
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if gps_data['error'] != 'None':
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return "GPS: ERROR Could not decode."
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else:
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gps_data_string = "GPS: %s Lat/Lon: %.5f,%.5f Alt: %dm, Speed: H %dkph V %.1fm/s, Heading: %d deg, Fix: %s, SVs: %d, DynModel: %s, Radio Temp: %.1f, CPU Temp: %.1f, CPU Speed: %d, Load Avg: %.2f, %.2f, %.2f, Disk Usage: %.1f%%, Lens Pos: %.4f" % (
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gps_data_string = "GPS: %s Lat/Lon: %.5f,%.5f Alt: %dm, Speed: H %dkph V %.1fm/s, Heading: %d deg, Fix: %s, SVs: %d, DynModel: %s, Radio Temp: %.1f, CPU Temp: %.1f, CPU Speed: %d, Load Avg: %.2f, %.2f, %.2f, Disk Usage: %.1f%%, Lens Pos: %.4f, Sensor Temp: %.1f, FocusFoM: %d" % (
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gps_data['timestamp'],
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gps_data['latitude'],
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gps_data['longitude'],
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@ -323,7 +327,9 @@ def gps_telemetry_string(packet):
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gps_data['load_avg_5'],
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gps_data['load_avg_15'],
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gps_data['disk_percent'],
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gps_data['lens_position']
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gps_data['lens_position'],
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gps_data['sensor_temp'],
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int(gps_data['focus_fom'])
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)
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return gps_data_string
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@ -129,6 +129,14 @@
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if(msg.lens_position > -900){
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_new_gps_detailed += ", Lens Position: " + msg.lens_position
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}
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if(msg.sensor_temp > -900){
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_new_gps_detailed += ", Sensor Temp: " + msg.sensor_temp
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}
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if(msg.focus_fom > -900){
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_new_gps_detailed += ", FocusFoM: " + msg.focus_fom
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}
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$('#detail_gps_telem_data').html(_new_gps_detailed);
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}
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@ -163,6 +163,12 @@ def handle_gps_telemetry(gps_data):
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if gps_data['lens_position'] > -999.0:
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_extra_fields['lens_position'] = gps_data['lens_position']
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if gps_data['sensor_temp'] > -999.0:
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_extra_fields['sensor_temp'] = gps_data['sensor_temp']
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if gps_data['focus_fom'] > -999.0:
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_extra_fields['focus_fom'] = gps_data['focus_fom']
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sondehub.add_telemetry(
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current_callsign + "-Wenet",
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gps_data['timestamp'] + "Z",
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@ -116,8 +116,14 @@ sleep 10
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# --afwindow 0.25,0.25,0.5,0.5 \
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#
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# Set a fixed lens offset for the PiCam v3, in dioptres. May help with autofocus in cold temperatures.
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# The PiCam v3 can be offset by a maximum of -3 dioptres before hitting a hard-stop
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# Set this to -99.0 to set the PiCam v3 to use the entire lens travel range.
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# e.g. to offset by 1 dioptre:
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# --afoffset -1.0 \
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#
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# Use the Focus Figure-of-merit metadata to select the transmitted image, instead of selecting on file size
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# Only works for lenses with autofocus (PiCam v3)
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# --use_focus_fom
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python3 tx_picamera2_gps.py \
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--rfm98w $SPIDEVICE \
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@ -290,14 +290,27 @@ class PacketTX(object):
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_disk_percent = -1.0
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_lens_position = -999.0
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_sensor_temperature = -999.0
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_focus_fom = -999.0
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if cam_metadata:
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# {'SensorTimestamp': 390269427000, 'ScalerCrop': (0, 0, 4608, 2592), 'ScalerCrops': [(0, 0, 4608, 2592)], 'AfPauseState': 0,
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# 'AfState': 2, 'ExposureTime': 59994, 'FocusFoM': 21380, 'AnalogueGain': 2.081300735473633,
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# 'AeLocked': True, 'ColourCorrectionMatrix': (1.7214878797531128, -0.46079355478286743, -0.26070430874824524, -0.3001042306423187, 1.5704208612442017, -0.27031660079956055, 0.150499626994133, -1.1309722661972046, 1.9804826974868774),
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# 'FrameDuration': 69669, 'SensorTemperature': 65.0, 'DigitalGain': 1.0001286268234253, 'LensPosition': 1.701196312904358,
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# 'Lux': 107.27578735351562, 'ColourTemperature': 2927, 'ColourGains': (1.459670066833496, 2.9101195335388184), 'SensorBlackLevels': (4096, 4096, 4096, 4096)}
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if 'LensPosition' in cam_metadata:
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_lens_position = cam_metadata['LensPosition']
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if 'SensorTemperature' in cam_metadata:
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_sensor_temperature = cam_metadata['SensorTemperature']
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if 'FocusFoM' in cam_metadata:
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_focus_fom = float(cam_metadata['FocusFoM'])
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# Construct the packet
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try:
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gps_packet = struct.pack(">BHIBffffffBBBffHfffff",
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gps_packet = struct.pack(">BHIBffffffBBBffHfffffff",
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1, # Packet ID for the GPS Telemetry Packet.
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gps_data['week'],
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int(gps_data['iTOW']*1000), # Convert the GPS week value to milliseconds, and cast to an int.
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@ -319,7 +332,9 @@ class PacketTX(object):
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_load_avg_5,
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_load_avg_15,
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_disk_percent,
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_lens_position
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_lens_position,
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_sensor_temperature,
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_focus_fom
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)
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self.queue_telemetry_packet(gps_packet)
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@ -56,9 +56,10 @@ class WenetPiCamera2(object):
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af_window = None,
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af_offset = 0,
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exposure_value = 0.0,
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use_focus_fom = False,
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temp_filename_prefix = 'picam_temp',
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debug_ptr = None,
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init_retries = 10
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init_retries = 10,
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):
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""" Instantiate a WenetPiCam Object
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@ -88,6 +89,8 @@ class WenetPiCamera2(object):
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h: Height of rectangle, as fraction of frame height
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If not provided, the default windowing (approx centre third of width/height) will be used.
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af_offset: Offset the lens by a fixed dioptre. May help with autofocus during flights.
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exposure_value: Add a exposure compensation. Defaults to 0.
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use_focus_fom: Set to True to use FocusFoM data to select the best image instead of file size.
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temp_filename_prefix: prefix used for temporary files.
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debug_ptr: 'pointer' to a function which can handle debug messages.
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@ -108,6 +111,7 @@ class WenetPiCamera2(object):
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self.af_window = af_window
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self.af_offset = af_offset
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self.exposure_value = exposure_value
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self.use_focus_fom = use_focus_fom
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self.af_window_rectangle = None # Calculated during init
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self.autofocus_mode = False
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@ -304,6 +308,7 @@ class WenetPiCamera2(object):
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# Attempt to capture a set of images.
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img_metadata = []
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focus_fom = []
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for i in range(self.num_images):
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self.debug_message("Capturing Image %d of %d" % (i+1,self.num_images))
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# Wrap this in error handling in case we lose the camera for some reason.
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@ -314,6 +319,9 @@ class WenetPiCamera2(object):
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metadata = self.cam.capture_file("%s_%d.jpg" % (self.temp_filename_prefix,i))
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# Save metadata for this frame
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img_metadata.append(metadata.copy())
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# Separately store the focus FoM so we can look for the max easily.
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if 'FocusFoM' in metadata:
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focus_fom.append(metadata['FocusFoM'])
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self.capture_in_progress = False
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print(f"Image captured: {time.time()}")
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@ -329,25 +337,40 @@ class WenetPiCamera2(object):
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self.capture_in_progress = True
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self.cam.stop()
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if len(focus_fom)>0:
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self.debug_message(f"Focus FoM Values: {str(focus_fom)}")
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# Otherwise, continue to pick the 'best' image based on filesize.
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self.debug_message("Choosing Best Image.")
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pic_list = glob.glob("%s_*.jpg" % self.temp_filename_prefix)
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pic_sizes = []
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# Iterate through list of images and get the file sizes.
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for pic in pic_list:
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pic_sizes.append(os.path.getsize(pic))
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_largest_pic_idx = pic_sizes.index(max(pic_sizes))
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largest_pic = pic_list[_largest_pic_idx]
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if self.use_focus_fom and len(focus_fom) > 0:
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# Use FocusFoM data to pick the best image.
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_best_pic_idx = focus_fom.index(max(focus_fom))
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best_pic = "%s_%d.jpg" % (self.temp_filename_prefix,_best_pic_idx)
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else:
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# Otherwise use the filesize of the resultant JPEG files.
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# Bigger JPEG = Sharper image
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pic_list = glob.glob("%s_*.jpg" % self.temp_filename_prefix)
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pic_sizes = []
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# Iterate through list of images and get the file sizes.
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for pic in pic_list:
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pic_sizes.append(os.path.getsize(pic))
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_best_pic_idx = pic_sizes.index(max(pic_sizes))
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best_pic = pic_list[_best_pic_idx]
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# Report the image pick results.
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if 'LensPosition' in img_metadata[_largest_pic_idx]:
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self.debug_message(f"Best Image was #{_largest_pic_idx}, Lens Pos: {img_metadata[_largest_pic_idx]['LensPosition']:.4f}")
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if 'LensPosition' in img_metadata[_best_pic_idx]:
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if self.use_focus_fom:
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self.debug_message(f"Best Image was #{_best_pic_idx}, Lens Pos: {img_metadata[_best_pic_idx]['LensPosition']:.4f}, FocusFoM: {img_metadata[_best_pic_idx]['FocusFoM']}")
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else:
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self.debug_message(f"Best Image was #{_best_pic_idx}, Lens Pos: {img_metadata[_best_pic_idx]['LensPosition']:.4f}")
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else:
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self.debug_message(f"Best Image was #{_largest_pic_idx}")
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self.debug_message(f"Best Image was #{_best_pic_idx}")
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# Copy best image to target filename.
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self.debug_message("Copying image to storage with filename %s" % filename)
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os.system("cp %s %s" % (largest_pic, filename))
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os.system("cp %s %s" % (best_pic, filename))
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# Clean up temporary images.
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os.system("rm %s_*.jpg" % self.temp_filename_prefix)
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@ -37,6 +37,9 @@ parser.add_argument("--lensposition", type=float, default=-1.0, help="For PiCam
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parser.add_argument("--afwindow", type=str, default=None, help="For PiCam v3 Autofocus mode, set the AutoFocus window, x,y,w,h , in fractions of frame size. (Default: None = default)")
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parser.add_argument("--afoffset", type=float, default=0.0, help="For PiCam v3 Autofocus mode, offset the lens by this many dioptres (Default: 0 = No offset)")
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parser.add_argument("--exposure", type=float, default=0.0, help="Exposure compensation. -8.0 to 8.0. Sets the ExposureValue control. (Default: 0.0)")
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parser.add_argument("--use_focus_fom", action='store_true', default=False, help="Use Focus FoM data instead of file size for image selection.")
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parser.add_argument("--num_images", type=int, default=5, help="Number of images to capture on each cycle. (Default: 5)")
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parser.add_argument("--image_delay", type=float, default=1.0, help="Delay time between each image capture. (Default: 1 second)")
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parser.add_argument("-v", "--verbose", action='store_true', default=False, help="Show additional debug info.")
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args = parser.parse_args()
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@ -209,14 +212,16 @@ def post_process_image(filename):
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picam = WenetPiCamera2.WenetPiCamera2(
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tx_resolution=args.resize,
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callsign=callsign,
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num_images=5,
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num_images=args.num_images,
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image_delay=args.image_delay,
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debug_ptr=tx.transmit_text_message,
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vertical_flip=args.vflip,
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horizontal_flip=args.hflip,
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whitebalance=args.whitebalance,
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lens_position=args.lensposition,
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af_window=args.afwindow,
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af_offset=args.afoffset
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af_offset=args.afoffset,
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use_focus_fom=args.use_focus_fom
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)
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# .. and start it capturing continuously.
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picam.run(destination_directory="./tx_images/",
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