Merge pull request #55 from ryanppeters/master

ROI mask is always invalid; Support for auto exposure range in zedsrc

Author: Myzhar

README.md

@@ -252,7 +252,13 @@ Most of the properties follow the same name as the C++ API. Except that `_` is r
                         Integer. Range: 0 - 8 Default: 4 
   ctrl-exposure       : Camera exposure
                         flags: readable, writable
-                        Integer. Range: 0 - 100 Default: 80 
+                        Integer. Range: 0 - 100 Default: 80
+  ctrl-exposure-range-max: Maximum exposure time in microseconds for the automatic exposure setting
+                        flags: readable, writable
+                        Integer. Range: 28 - 66000 Default: 66000 
+  ctrl-exposure-range-min: Minimum exposure time in microseconds for the automatic exposure setting
+                        flags: readable, writable
+                        Integer. Range: 28 - 66000 Default: 28 
   ctrl-gain           : Camera gain
                         flags: readable, writable
                         Integer. Range: 0 - 100 Default: 60 

gst-zed-src/gstzedsrc.cpp

@@ -134,6 +134,8 @@ enum {
     PROP_GAMMA,
     PROP_GAIN,
     PROP_EXPOSURE,
+    PROP_EXPOSURE_RANGE_MIN,
+    PROP_EXPOSURE_RANGE_MAX,
     PROP_AEC_AGC,
     PROP_AEC_AGC_ROI_X,
     PROP_AEC_AGC_ROI_Y,
@@ -322,6 +324,8 @@ typedef enum {
 #define DEFAULT_PROP_GAMMA             8
 #define DEFAULT_PROP_GAIN              60
 #define DEFAULT_PROP_EXPOSURE          80
+#define DEFAULT_PROP_EXPOSURE_RANGE_MIN 28
+#define DEFAULT_PROP_EXPOSURE_RANGE_MAX 66000
 #define DEFAULT_PROP_AEG_AGC           1
 #define DEFAULT_PROP_AEG_AGC_ROI_X     -1
 #define DEFAULT_PROP_AEG_AGC_ROI_Y     -1
@@ -1343,6 +1347,18 @@ static void gst_zedsrc_class_init(GstZedSrcClass *klass) {
         g_param_spec_int("ctrl-exposure", "Camera control: exposure", "Camera exposure", 0, 100,
                          DEFAULT_PROP_EXPOSURE,
                          (GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
+    g_object_class_install_property(
+        gobject_class, PROP_EXPOSURE_RANGE_MIN,
+        g_param_spec_int("ctrl-exposure-range-min", "Minimum Exposure time [µsec]",
+                         "Minimum exposure time in microseconds for the automatic exposure setting",
+                         28, 66000, DEFAULT_PROP_EXPOSURE_RANGE_MIN,
+                         (GParamFlags)(G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
+    g_object_class_install_property(
+        gobject_class, PROP_EXPOSURE_RANGE_MAX,
+        g_param_spec_int("ctrl-exposure-range-max", "Maximum Exposure time [µsec]",
+                         "Maximum exposure time in microseconds for the automatic exposure setting",
+                         28, 66000, DEFAULT_PROP_EXPOSURE_RANGE_MAX,
+                         (GParamFlags)(G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
     g_object_class_install_property(
         gobject_class, PROP_AEC_AGC,
         g_param_spec_boolean("ctrl-aec-agc", "Camera control: automatic gain and exposure",
@@ -1507,6 +1523,8 @@ static void gst_zedsrc_init(GstZedSrc *src) {
     src->gamma = DEFAULT_PROP_GAMMA;
     src->gain = DEFAULT_PROP_GAIN;
     src->exposure = DEFAULT_PROP_EXPOSURE;
+    src->exposureRange_min = DEFAULT_PROP_EXPOSURE_RANGE_MIN;
+    src->exposureRange_max = DEFAULT_PROP_EXPOSURE_RANGE_MAX;
     src->aec_agc = DEFAULT_PROP_AEG_AGC;
     src->aec_agc_roi_x = DEFAULT_PROP_AEG_AGC_ROI_X;
     src->aec_agc_roi_y = DEFAULT_PROP_AEG_AGC_ROI_Y;
@@ -1780,6 +1798,12 @@ void gst_zedsrc_set_property(GObject *object, guint property_id, const GValue *v
         src->exposure = g_value_get_int(value);
         src->exposure_gain_updated = TRUE;
         break;
+    case PROP_EXPOSURE_RANGE_MIN:
+        src->exposureRange_min = g_value_get_int(value);
+        break;
+    case PROP_EXPOSURE_RANGE_MAX:
+        src->exposureRange_max = g_value_get_int(value);
+        break;
     case PROP_AEC_AGC:
         src->aec_agc = g_value_get_boolean(value);
         src->exposure_gain_updated = TRUE;
@@ -2068,6 +2092,12 @@ void gst_zedsrc_get_property(GObject *object, guint property_id, GValue *value,
     case PROP_EXPOSURE:
         g_value_set_int(value, src->exposure);
         break;
+    case PROP_EXPOSURE_RANGE_MIN:
+        g_value_set_int(value, src->exposureRange_min);
+        break;
+    case PROP_EXPOSURE_RANGE_MAX:
+        g_value_set_int(value, src->exposureRange_max);
+        break;
     case PROP_AEC_AGC:
         g_value_set_boolean(value, src->aec_agc);
         break;
@@ -2275,7 +2305,7 @@ static gboolean gst_zedsrc_start(GstBaseSrc *bsrc) {
     init_params.camera_disable_self_calib = src->camera_disable_self_calib == TRUE;
     GST_INFO(" * Disable self calibration: %s",
              (init_params.camera_disable_self_calib ? "TRUE" : "FALSE"));
-		
+    
     sl::String opencv_calibration_file(src->opencv_calibration_file.str);
     init_params.optional_opencv_calibration_file = opencv_calibration_file;
     GST_INFO(" * Calibration File: %s ", init_params.optional_opencv_calibration_file.c_str());
@@ -2357,6 +2387,9 @@ static gboolean gst_zedsrc_start(GstBaseSrc *bsrc) {
 
             src->zed.setCameraSettings(sl::VIDEO_SETTINGS::AEC_AGC_ROI, roi, side);
         }
+        
+        src->zed.setCameraSettings(sl::VIDEO_SETTINGS::AUTO_EXPOSURE_TIME_RANGE, src->exposureRange_min, src->exposureRange_max);
+        GST_INFO(" * AUTO EXPOSURE TIME RANGE: [%d,%d]", src->exposureRange_min, src->exposureRange_max);
     }
     if (src->whitebalance_temperature_auto == FALSE) {
         src->zed.setCameraSettings(sl::VIDEO_SETTINGS::WHITEBALANCE_AUTO,
@@ -2405,13 +2438,11 @@ static gboolean gst_zedsrc_start(GstBaseSrc *bsrc) {
                     src->roi_y >= 0 && src->roi_y < resolution.height &&
                     roi_x_end <= resolution.width && roi_y_end <= resolution.height) {
 
-                sl::uchar1 uint0 = 0;
-                sl::uchar1 uint1 = 1;
                 sl::Mat roi_mask(resolution, sl::MAT_TYPE::U8_C1, sl::MEM::CPU);
-                roi_mask.setTo(uint0);
-                for (int row = src->roi_y; row < roi_y_end; row++)
-                    for (int col = src->roi_y; col < roi_x_end; col++)
-                        roi_mask.setValue(col, row, uint1);
+                roi_mask.setTo<sl::uchar1>(0, sl::MEM::CPU);
+                for (unsigned int v = src->roi_y; v < roi_y_end; v++)
+                  for (unsigned int u = src->roi_x; u < roi_x_end; u++)
+                        roi_mask.setValue<sl::uchar1>(u, v, 255, sl::MEM::CPU);
 
                 GST_INFO(" * ROI mask: (%d,%d)-%dx%d",
                         src->roi_x, src->roi_y, src->roi_w, src->roi_h);

gst-zed-src/gstzedsrc.h

@@ -139,6 +139,8 @@ struct _GstZedSrc {
     gint gamma;
     gint gain;
     gint exposure;
+    gint exposureRange_min;
+    gint exposureRange_max;
     gboolean aec_agc;
     gint aec_agc_roi_x;
     gint aec_agc_roi_y;