40 lines
2.1 KiB
C++
40 lines
2.1 KiB
C++
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#include "static_station_config.hpp"
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#include <algorithm>
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#include <cmath>
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#include <iomanip>
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#include <iostream>
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int main() {
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using namespace target_exposure;
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ExposureControl control;
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const auto config = staticStationExampleConfig();
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double actual_exposure_us = config.empirical_exposure_us;
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std::cout << "SIMULATED brightness only; no camera/field validation. Exposure unit: us\n";
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for (int index = 0; index < 12; ++index) {
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const TimestampUs now = (static_cast<TimestampUs>(index) + 1) * 1'000'000;
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const auto before = control.preCapture(now, config);
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if (!before.accepted) return 1;
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// The caller applies the requested exposure BEFORE acquisition.
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if (before.initialization_required) actual_exposure_us = *before.suggested_exposure_us;
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const double response = 0.11 - 0.002 * index;
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const auto gray = static_cast<int>(std::clamp(std::round(response * actual_exposure_us), 0.0, 255.0));
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FrameInput frame;
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frame.image = cv::Mat(32, 32, CV_8UC1, cv::Scalar(gray));
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frame.roi.rectangles.emplace_back(8, 8, 16, 16);
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frame.has_usable_target = true; // real callers supply their own recognition result
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frame.timestamp_us = now;
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frame.actual_exposure_us = actual_exposure_us;
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frame.next_capture_timestamp_us = now + 1'000'000;
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const auto result = control.processFrame(frame);
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if (!result.accepted || !result.metering.target.valid()) return 2;
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std::cout << std::fixed << std::setprecision(2) << "frame=" << index
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<< " state=" << toString(result.state) << " gray=" << *result.metering.target.gray
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<< " actual_us=" << actual_exposure_us
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<< " next_us=" << *result.suggested_exposure_us
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<< " prediction_used=" << result.prediction.adopted
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<< " reason=" << toString(result.reason) << '\n';
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// The application applies this to frame N+1, then supplies the actual applied value.
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if (result.adjustment_suggested) actual_exposure_us = *result.suggested_exposure_us;
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}
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}
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