Changeset - e3af0ac507c8
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drewp@bigasterisk.com - 8 months ago 2024-05-21 21:08:17
drewp@bigasterisk.com
new exposure-finder algorithm
6 files changed with 117 insertions and 35 deletions:
package.json
2
pnpm-lock.yaml
10
web/calibrate/FindSafeExposure.ts
82
web/calibrate/Light9Calibrate.ts
5
32
web/calibrate/Light9Camera.ts
1
1
web/calibrate/XyPlot.ts
17
2
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package.json
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@@ -15,12 +15,13 @@
 
    "@material/mwc-textfield": "^0.27.0",
 
    "@microsoft/fast-components": "^2.30.6",
 
    "@types/async": "^3.2.24",
 
    "@types/d3": "^7.4.3",
 
    "@types/debug": "^4.1.12",
 
    "@types/fpsmeter": "^0.3.34",
 
    "@types/lodash": "^4.17.4",
 
    "@types/n3": "^1.16.4",
 
    "@types/node": "^20.12.11",
 
    "@types/reconnectingwebsocket": "^1.0.10",
 
    "@types/underscore": "^1.11.15",
 
    "async": "^3.2.5",
 
    "avro-js": "^1.11.3",
 
@@ -29,12 +30,13 @@
 
    "echarts": "^5.5.0",
 
    "flexlayout-react": "^0.7.15",
 
    "fpsmeter": "^0.3.1",
 
    "immutable": "^4.3.5",
 
    "knockout": "^3.5.1",
 
    "lit": "^2.8.0",
 
    "lodash": "^4.17.21",
 
    "n3": "^1.17.3",
 
    "onecolor": "^4.1.0",
 
    "parse-prometheus-text-format": "^1.1.1",
 
    "react": "^18.3.1",
 
    "react-dom": "^18.3.1",
 
    "reconnectingwebsocket": "^1.0.0",
pnpm-lock.yaml
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Show inline comments
 
@@ -29,12 +29,15 @@ dependencies:
 
  '@types/debug':
 
    specifier: ^4.1.12
 
    version: 4.1.12
 
  '@types/fpsmeter':
 
    specifier: ^0.3.34
 
    version: 0.3.34
 
  '@types/lodash':
 
    specifier: ^4.17.4
 
    version: 4.17.4
 
  '@types/n3':
 
    specifier: ^1.16.4
 
    version: 1.16.4
 
  '@types/node':
 
    specifier: ^20.12.11
 
    version: 20.12.11
 
@@ -71,12 +74,15 @@ dependencies:
 
  knockout:
 
    specifier: ^3.5.1
 
    version: 3.5.1
 
  lit:
 
    specifier: ^2.8.0
 
    version: 2.8.0
 
  lodash:
 
    specifier: ^4.17.21
 
    version: 4.17.21
 
  n3:
 
    specifier: ^1.17.3
 
    version: 1.17.3
 
  onecolor:
 
    specifier: ^4.1.0
 
    version: 4.1.0
 
@@ -932,12 +938,16 @@ packages:
 
    dev: false
 

			




	
	
	
		
 
  /@types/geojson@7946.0.14:

			




	
	
	
		
 
    resolution: {integrity: sha512-WCfD5Ht3ZesJUsONdhvm84dmzWOiOzOAqOncN0++w0lBw1o8OuDNJF2McvvCef/yBqb/HYRahp1BYtODFQ8bRg==}

			




	
	
	
		
 
    dev: false

			




	
	
	
		
 

			




	
	
	
		
 
  /@types/lodash@4.17.4:

			




	
	
	
		
 
    resolution: {integrity: sha512-wYCP26ZLxaT3R39kiN2+HcJ4kTd3U1waI/cY7ivWYqFP6pW3ZNpvi6Wd6PHZx7T/t8z0vlkXMg3QYLa7DZ/IJQ==}

			




	
	
	
		
 
    dev: false

			




	
	
	
		
 

			




	
	
	
		
 
  /@types/ms@0.7.34:

			




	
	
	
		
 
    resolution: {integrity: sha512-nG96G3Wp6acyAgJqGasjODb+acrI7KltPiRxzHPXnP3NgI28bpQDRv53olbqGXbfcgF5aiiHmO3xpwEpS5Ld9g==}

			




	
	
	
		
 
    dev: false

			




	
	
	
		
 

			




	
	
	
		
 
  /@types/n3@1.16.4:

			




	
	
	
		
 
    resolution: {integrity: sha512-6PmHRYCCdjbbBV2UVC/HjtL6/5Orx9ku2CQjuojucuHvNvPmnm6+02B18YGhHfvU25qmX2jPXyYPHsMNkn+w2w==}

			




        

    


    
    

    

        

                

                    web/calibrate/FindSafeExposure.ts
                

                

                  
                      
                        

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new file 100644

			




	
	
	
		
 
import { clamp } from "lodash";

			




	
	
	
		
 
import { sleep } from "./Light9Calibrate";

			




	
	
	
		
 
import { Light9Camera } from "./Light9Camera";

			




	
	
	
		
 
import { XyPlot } from "./XyPlot";

			




	
	
	
		
 

			




	
	
	
		
 
export class FindSafeExposure {

			




	
	
	
		
 
  expoMin: number;

			




	
	
	
		
 
  expoMax: number;

			




	
	
	
		
 
  expo: number;

			




	
	
	
		
 
  expoStep: number;

			




	
	
	
		
 
  sameStateSteps: number;

			




	
	
	
		
 

			




	
	
	
		
 
  constructor(public cam: Light9Camera, public plot: XyPlot) {

			




	
	
	
		
 
    const fixedSteps = 5;

			




	
	
	
		
 

			




	
	
	
		
 
    this.plot.clear();

			




	
	
	
		
 
    this.expoMin = 1;

			




	
	
	
		
 
    this.expoMax = 800;

			




	
	
	
		
 
    this.expo = this.expoMin;

			




	
	
	
		
 
    this.expoStep = (this.expoMax - this.expoMin) / fixedSteps;

			




	
	
	
		
 
    this.sameStateSteps = 0;

			




	
	
	
		
 
  }

			




	
	
	
		
 

			




	
	
	
		
 
  async run() {

			




	
	
	
		
 
    while (true) {

			




	
	
	
		
 
      const currentOverexposed = await this.gatherSample();

			




	
	
	
		
 
      this.step(currentOverexposed);

			




	
	
	
		
 
      if (this.plot.data.length > 50 || Math.abs(this.expoStep) < 1) {

			




	
	
	
		
 
        this.expo = this.expoMin;

			




	
	
	
		
 
        await this.gatherSample();

			




	
	
	
		
 
        break;

			




	
	
	
		
 
      }

			




	
	
	
		
 
    }

			




	
	
	
		
 
  }

			




	
	
	
		
 
  

			




	
	
	
		
 
  step(currentOverexposed: number) {

			




	
	
	
		
 
    const maxAllowedOverexposedPixels = 5;

			




	
	
	
		
 
    const turnaroundScale = 0.6;

			




	
	
	
		
 
    const stepsPerSide = 3;

			




	
	
	
		
 

			




	
	
	
		
 
    const overexposed = currentOverexposed > maxAllowedOverexposedPixels;

			




	
	
	
		
 
    if (this.expoStep > 0) {

			




	
	
	
		
 
      if (overexposed) {

			




	
	
	
		
 
        this.sameStateSteps += 1;

			




	
	
	
		
 
      }

			




	
	
	
		
 
    } else {

			




	
	
	
		
 
      if (!overexposed) {

			




	
	
	
		
 
        this.sameStateSteps += 1;

			




	
	
	
		
 
      }

			




	
	
	
		
 
    }

			




	
	
	
		
 
    this.plot.setXMarklines([

			




	
	
	
		
 
      { txt: "min", x: this.expoMin },

			




	
	
	
		
 
      { txt: "max", x: this.expoMax },

			




	
	
	
		
 
      { txt: "expo", x: this.expo },

			




	
	
	
		
 
    ]);

			




	
	
	
		
 
    const nextExpo = clamp(this.expo + this.expoStep, this.expoMin, this.expoMax);

			




	
	
	
		
 
    if (this.sameStateSteps > stepsPerSide || nextExpo <= this.expoMin || nextExpo >= this.expoMax) {

			




	
	
	
		
 
      if (this.expoStep > 0) {

			




	
	
	
		
 
        this.expoMax = this.expo;

			




	
	
	
		
 
      } else {

			




	
	
	
		
 
        this.expoMin = this.expo;

			




	
	
	
		
 
      }

			




	
	
	
		
 
      this.expoStep = this.expoStep * -1 * turnaroundScale;

			




	
	
	
		
 
      this.sameStateSteps = 0;

			




	
	
	
		
 
    }

			




	
	
	
		
 
    this.expo = clamp(this.expo + this.expoStep, this.expoMin, this.expoMax);

			




	
	
	
		
 
  }

			




	
	
	
		
 
  

			




	
	
	
		
 
  async gatherSample() {

			




	
	
	
		
 
    const settleMs = 200;

			




	
	
	
		
 

			




	
	
	
		
 
    await this.cam.set("exposureTime", this.expo);

			




	
	
	
		
 
    const settleUntil = Date.now() + settleMs;

			




	
	
	
		
 
    let miny = this.cam.saturatedPixelCount!;

			




	
	
	
		
 
    while (Date.now() < settleUntil) {

			




	
	
	
		
 
      await sleep(1000 / this.cam.videoSettings.frameRate);

			




	
	
	
		
 
      miny = Math.min(miny, this.cam.saturatedPixelCount!);

			




	
	
	
		
 
    }

			




	
	
	
		
 
    this.plot!.insertPoint(this.expo, clamp(miny, 0, 100));

			




	
	
	
		
 
    return miny;

			




	
	
	
		
 
  }

			




	
	
	
		
 
}

			




        

    


    
    

    

        

                

                    web/calibrate/Light9Calibrate.ts
                

                

                  
                      
                        

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import debug from "debug";

			




	
	
	
		
 
import { css, html, LitElement } from "lit";

			




	
	
	
		
 
import { customElement, query, state } from "lit/decorators.js";

			




	
	
	
		
 
import { CollectorClient } from "../collector/CollectorClient";

			




	
	
	
		
 
import { getTopGraph } from "../RdfdbSyncedGraph";

			




	
	
	
		
 
import { SyncedGraph } from "../SyncedGraph";

			




	
	
	
		
 
import { FindSafeExposure } from "./FindSafeExposure";

			




	
	
	
		
 
import { Light9Camera } from "./Light9Camera";

			




	
	
	
		
 
import { XyPlot } from "./XyPlot";

			




	
	
	
		
 
export { RdfdbSyncedGraph } from "../RdfdbSyncedGraph";

			




	
	
	
		
 
export { Light9Camera } from "./Light9Camera";

			




	
	
	
		
 
export { XyPlot } from "./XyPlot";

			




	
	
	
		
 

			




	
	
	
		
 
debug.enable("*");

			




	
	
	
		
 
const log = debug("calibrate");

			




	
	
	
		
 

			




	
	
	
		
 
async function sleep(ms: number) {

			




	
	
	
		
 
export async function sleep(ms: number) {

			




	
	
	
		
 
  return new Promise((resolve) => setTimeout(resolve, ms));

			




	
	
	
		
 
}

			




	
	
	
		
 

			




	
	
	
		
 
@customElement("light9-calibrate")

			




	
	
	
		
 
export class Light9Calibrate extends LitElement {

			




	
	
	
		
 
  graph!: SyncedGraph;

			




	
	
		
 
@@ -75,43 +77,14 @@ export class Light9Calibrate extends Lit

			




	
	
	
		
 
      ]);

			




	
	
	
		
 
    });

			




	
	
	
		
 
  }

			




	
	
	
		
 

			




	
	
	
		
 
  async findSafeExposure(ev: MouseEvent) {

			




	
	
	
		
 
    await this.withButtonSpinner(ev, async () => {

			




	
	
	
		
 

			




	
	
	
		
 
      const gatherSample = async (expo: number) => {

			




	
	
	
		
 
        await this.cam?.set("exposureTime", expo);

			




	
	
	
		
 
        const settleUntil = Date.now() + 1000;

			




	
	
	
		
 
        let miny = this.cam?.saturatedPixelCount!;

			




	
	
	
		
 
        while (Date.now() < settleUntil) {

			




	
	
	
		
 
          await sleep(50);

			




	
	
	
		
 
          miny = Math.min(miny, this.cam?.saturatedPixelCount!);

			




	
	
	
		
 
        }

			




	
	
	
		
 
        this.plot!.insertPoint(expo, miny);

			




	
	
	
		
 
      };

			




	
	
	
		
 

			




	
	
	
		
 
      // todo: drive around without big skips, gradually slower, looking for the max workable expo

			




	
	
	
		
 
      let fixedSteps = 8;

			




	
	
	
		
 
      const expoMin = 1;

			




	
	
	
		
 
      const expoMax = 200;

			




	
	
	
		
 
      let expo = 0;

			




	
	
	
		
 
      const data=this.plot!.data;

			




	
	
	
		
 
      while (data.length < 20) {

			




	
	
	
		
 
        if (data.length < fixedSteps + 1) {

			




	
	
	
		
 
          expo = expoMin + ((expoMax - expoMin) / fixedSteps) * data.length;

			




	
	
	
		
 
        } else {

			




	
	
	
		
 
          let x2 = data.findIndex(([_, y]) => y > 2);

			




	
	
	
		
 
          if (x2 < 1) x2 = 1;

			




	
	
	
		
 
          const x1 = x2 - 1;

			




	
	
	
		
 
          log(JSON.stringify([x1, data[x1], x2, data[x2]]));

			




	
	
	
		
 
          expo = (data[x1][0] + data[x2][0]) / 2;

			




	
	
	
		
 
          log(data);

			




	
	
	
		
 
        }

			




	
	
	
		
 
        await gatherSample(expo);

			




	
	
	
		
 
      }

			




	
	
	
		
 
      const algo = new FindSafeExposure(this.cam!, this.plot!);

			




	
	
	
		
 
      await algo.run();

			




	
	
	
		
 
    });

			




	
	
	
		
 
  }

			




	
	
	
		
 
  async setToZero(ev: MouseEvent) {

			




	
	
	
		
 
    await this.withButtonSpinner(ev, async () => {

			




	
	
	
		
 
      this.collector.updateSettings([

			




	
	
	
		
 
        [this.device, "http://light9.bigasterisk.com/color", "#000000"],

			




        

    


    
    

    

        

                

                    web/calibrate/Light9Camera.ts
                

                

                  
                      
                        

                      ➞

                      
                        
                  

                  
                      
                  
                      
                  
                      
                  
                      
                  
                  
                

                

                    Show inline comments
                    
                

        

        

            



	
	
		
 
@@ -176,13 +176,13 @@ export class Light9CameraSettingsTable e

			




	
	
	
		
 
  ];

			




	
	
	
		
 

			




	
	
	
		
 
  adjustable: Record<string, { min: string; max: string }> = {

			




	
	
	
		
 
    focusDistance: { min: "0", max: "1023" },

			




	
	
	
		
 
    brightness: { min: "0", max: "64" },

			




	
	
	
		
 
    colorTemperature: { min: "2800", max: "6500" },

			




	
	
	
		
 
    exposureTime: { min: "0", max: "400" },

			




	
	
	
		
 
    exposureTime: { min: "0", max: "800" },

			




	
	
	
		
 
  };

			




	
	
	
		
 

			




	
	
	
		
 
  @property() cam!: Light9Camera;

			




	
	
	
		
 
  @property() videoSettings: MediaTrackSettings & any = {};

			




	
	
	
		
 
  supportedByBrowser: MediaTrackSupportedConstraints;

			




	
	
	
		
 
  constructor() {

			




        

    


    
    

    

        

                

                    web/calibrate/XyPlot.ts
                

                

                  
                      
                        

                      ➞

                      
                        
                  

                  
                      
                  
                      
                  
                      
                  
                      
                  
                  
                

                

                    Show inline comments
                    
                

        

        

            



	
	
		
 
@@ -15,13 +15,13 @@ export class XyPlot extends LitElement {

			




	
	
	
		
 
      }

			




	
	
	
		
 
    `,

			




	
	
	
		
 
  ];

			




	
	
	
		
 
  chart!: echarts.ECharts;

			




	
	
	
		
 
  @property() label: string = "";

			




	
	
	
		
 
  @property() data: number[][] = [];

			




	
	
	
		
 
 

			




	
	
	
		
 

			




	
	
	
		
 
  render() {

			




	
	
	
		
 
    return html`

			




	
	
	
		
 
      <fieldset>

			




	
	
	
		
 
        <legend>${this.label}</legend>

			




	
	
	
		
 
        <div id="chart"></div>

			




	
	
	
		
 
      </fieldset>

			




	
	
		
 
@@ -49,13 +49,28 @@ export class XyPlot extends LitElement {

			




	
	
	
		
 
    });

			




	
	
	
		
 
  }

			




	
	
	
		
 

			




	
	
	
		
 
  clear() {

			




	
	
	
		
 
    this.data.length = 0;

			




	
	
	
		
 
  }

			




	
	
	
		
 
  

			




	
	
	
		
 

			




	
	
	
		
 
  insertPoint(x: number, y: number) {

			




	
	
	
		
 
    this.data.push([x, y]);

			




	
	
	
		
 
    this.data.sort((a, b) => a[0] - b[0]);

			




	
	
	
		
 
    this.chart.setOption({ series: [{ name: "d", data: this.data }] });

			




	
	
	
		
 
  }

			




	
	
	
		
 
  setXMarklines(lines: { txt: string; x: number }[]) {

			




	
	
	
		
 
    const markLineData = (row: { txt: string; x: number }, i: number) => ({ name: row.txt, label: { distance: 10*i, formatter: "{b} {c}", color: "#fff", textBorderWidth: 0 }, xAxis: row.x });

			




	
	
	
		
 
    this.chart.setOption(

			




	
	
	
		
 
      {

			




	
	
	
		
 
        series: [

			




	
	
	
		
 
          {

			




	
	
	
		
 
            name: "d",

			




	
	
	
		
 
            markLine: {

			




	
	
	
		
 
              data: lines.map(markLineData),

			




	
	
	
		
 
            },

			




	
	
	
		
 
          },

			




	
	
	
		
 
        ],

			




	
	
	
		
 
      } //

			




	
	
	
		
 
    );

			




	
	
	
		
 
  }

			




	
	
	
		
 
}

			




        

    



    


    



    



      

      





    
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