fix: 摄像头亮度默认夜间

2026-04-11 20:00:57 +08:00
parent f00d6661c0
commit 9009107a64
5 changed files with 202 additions and 3 deletions
--- a/scripts/dev/README.md
+++ b/scripts/dev/README.md
@@ -24,10 +24,11 @@ If your `robot-command-center` is elsewhere, set `ROBOT_COMMAND_CENTER_ROOT` in
 - `robot-remote.env`: shared defaults for backend, frontend, ROS, and `b_side_omnid`
 - `robot-remote.env.local`: optional local override file loaded after `robot-remote.env`
 - `load-env.sh`: loads the shared environment into the current shell
+- `apply-camera-controls.sh`: applies the camera preset before `b_side_omnid` starts
 - `start-backend.sh`: starts Django ASGI with `uvicorn`
 - `start-frontend.sh`: starts the Vite dev server
 - `start-ros-receiver.sh`: starts the ROS2 `udp_teleop_bridge` receiver
- `start-b-side-omnid.sh`: starts `./bin/b_side_omnid` and uses `sudo -E` by default
+- `start-b-side-omnid.sh`: applies camera controls, then starts `./bin/b_side_omnid` and uses `sudo -E` by default
 - `start-dev-tmux.sh`: optional one-command `tmux` launcher for all four processes

 ## Usage
@@ -69,6 +70,10 @@ Edit `scripts/dev/robot-remote.env` for shared changes such as:
 - `ROBOT_SIDE_OMNISOCKET_RELAY_VIA`
 - `VITE_API_BASE_URL`
 - `OMNI_CAMERA_DEVICE`
+- `OMNI_CAMERA_PROFILE`
+- `OMNI_CAMERA_BRIGHTNESS`
+- `OMNI_CAMERA_CUSTOM_CTRL`
+- `OMNI_CAMERA_VERIFY`
 - `OMNI_VIDEO_PEER_ID`
 - `OMNI_CONTROL_PEER_ID`
 - `OMNI_VIDEO_SOFT_BACKPRESSURE_SEGMENTS`
@@ -77,10 +82,13 @@ Edit `scripts/dev/robot-remote.env` for shared changes such as:
 - `OMNI_CONTROL_SERVER_IDLE_RECONNECT_MS`
 - `OMNI_VIDEO_MAX_FRAME_AGE_MS`

+Camera presets use `v4l2-ctl` from `v4l-utils` on the robot side.
+
 Role mapping:

 - `start-backend.sh` uses the `CONTROL_SIDE_*` address pair
 - `start-b-side-omnid.sh` uses the `ROBOT_SIDE_*` address pair
+- `start-b-side-omnid.sh` also applies the `OMNI_CAMERA_*` preset before the daemon opens the camera
 - `start-ros-receiver.sh` defaults to the robot-side address pair, but with `transport=unix_dgram` it usually does not need the server address

 New repair knobs:
@@ -96,3 +104,26 @@ ROBOT_COMMAND_CENTER_ROOT="$HOME/Documents/robot-command-center"
 OMNI_CAMERA_DEVICE="/dev/video30"
 B_SIDE_OMNID_USE_SUDO="0"
 ```
+
+Default camera behavior is the `night` preset:
+
+```bash
+OMNI_CAMERA_PROFILE="night"
+# Optional per-machine tweak:
+OMNI_CAMERA_BRIGHTNESS="8"
+```
+
+To switch to a daytime preset with brightness only:
+
+```bash
+OMNI_CAMERA_PROFILE="day"
+OMNI_CAMERA_BRIGHTNESS="8"
+```
+
+To send the raw `v4l2-ctl --set-ctrl=...` payload yourself:
+
+```bash
+OMNI_CAMERA_PROFILE="custom"
+OMNI_CAMERA_CUSTOM_CTRL="brightness=8,auto_exposure=1,exposure_time_absolute=800,gain=64"
+OMNI_CAMERA_VERIFY="1"
+```
--- a/scripts/dev/apply-camera-controls.sh
+++ b/scripts/dev/apply-camera-controls.sh
@@ -0,0 +1,111 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+# shellcheck disable=SC1091
+source "${SCRIPT_DIR}/load-env.sh"
+
+camera_device="${OMNI_CAMERA_DEVICE}"
+camera_profile="${OMNI_CAMERA_PROFILE}"
+camera_brightness="${OMNI_CAMERA_BRIGHTNESS}"
+camera_custom_ctrl="${OMNI_CAMERA_CUSTOM_CTRL}"
+camera_verify="${OMNI_CAMERA_VERIFY}"
+
+is_truthy() {
+  case "${1:-0}" in
+    1|true|TRUE|yes|YES|on|ON)
+      return 0
+      ;;
+    *)
+      return 1
+      ;;
+  esac
+}
+
+require_v4l2_ctl() {
+  if command -v v4l2-ctl >/dev/null 2>&1; then
+    return 0
+  fi
+
+  echo "Missing required command: v4l2-ctl. Install v4l-utils on the robot side before starting b_side_omnid." >&2
+  exit 1
+}
+
+run_v4l2_ctl() {
+  v4l2-ctl -d "${camera_device}" "$@"
+}
+
+set_ctrl() {
+  local ctrl="$1"
+
+  echo "[camera-controls] set ${camera_device} ${ctrl}"
+  run_v4l2_ctl "--set-ctrl=${ctrl}"
+}
+
+verify_ctrl() {
+  local ctrl="$1"
+
+  echo "[camera-controls] verify ${camera_device} ${ctrl}"
+  run_v4l2_ctl "--get-ctrl=${ctrl}"
+}
+
+needs_v4l2_ctl=0
+
+case "${camera_profile}" in
+  night)
+    needs_v4l2_ctl=1
+    ;;
+  day)
+    if [[ -n "${camera_brightness}" ]]; then
+      needs_v4l2_ctl=1
+    fi
+    ;;
+  custom)
+    if [[ -z "${camera_custom_ctrl}" ]]; then
+      echo "OMNI_CAMERA_CUSTOM_CTRL must be non-empty when OMNI_CAMERA_PROFILE=custom." >&2
+      exit 1
+    fi
+    needs_v4l2_ctl=1
+    ;;
+  *)
+    echo "Unsupported OMNI_CAMERA_PROFILE: ${camera_profile}. Expected one of: night, day, custom." >&2
+    exit 1
+    ;;
+esac
+
+if is_truthy "${camera_verify}"; then
+  needs_v4l2_ctl=1
+fi
+
+if [[ "${needs_v4l2_ctl}" == "0" ]]; then
+  echo "[camera-controls] profile=${camera_profile}; no camera controls requested"
+  exit 0
+fi
+
+require_v4l2_ctl
+
+case "${camera_profile}" in
+  night)
+    set_ctrl "auto_exposure=1"
+    set_ctrl "exposure_time_absolute=800"
+    set_ctrl "gain=64"
+    if [[ -n "${camera_brightness}" ]]; then
+      set_ctrl "brightness=${camera_brightness}"
+    fi
+    ;;
+  day)
+    if [[ -n "${camera_brightness}" ]]; then
+      set_ctrl "brightness=${camera_brightness}"
+    fi
+    ;;
+  custom)
+    set_ctrl "${camera_custom_ctrl}"
+    ;;
+esac
+
+if is_truthy "${camera_verify}"; then
+  verify_ctrl "auto_exposure"
+  verify_ctrl "exposure_time_absolute"
+  verify_ctrl "gain"
+  verify_ctrl "brightness"
+fi
--- a/scripts/dev/load-env.sh
+++ b/scripts/dev/load-env.sh
@@ -27,6 +27,33 @@ require_robot_command_center_root() {

 export OMNISOCKETGO_ROOT="${OMNISOCKETGO_ROOT:-${DEFAULT_OMNISOCKETGO_ROOT}}"

+omni_camera_device_was_set=0
+omni_camera_profile_was_set=0
+omni_camera_brightness_was_set=0
+omni_camera_custom_ctrl_was_set=0
+omni_camera_verify_was_set=0
+
+if [[ "${OMNI_CAMERA_DEVICE+x}" == "x" ]]; then
+  omni_camera_device_was_set=1
+  preserved_omni_camera_device="${OMNI_CAMERA_DEVICE}"
+fi
+if [[ "${OMNI_CAMERA_PROFILE+x}" == "x" ]]; then
+  omni_camera_profile_was_set=1
+  preserved_omni_camera_profile="${OMNI_CAMERA_PROFILE}"
+fi
+if [[ "${OMNI_CAMERA_BRIGHTNESS+x}" == "x" ]]; then
+  omni_camera_brightness_was_set=1
+  preserved_omni_camera_brightness="${OMNI_CAMERA_BRIGHTNESS}"
+fi
+if [[ "${OMNI_CAMERA_CUSTOM_CTRL+x}" == "x" ]]; then
+  omni_camera_custom_ctrl_was_set=1
+  preserved_omni_camera_custom_ctrl="${OMNI_CAMERA_CUSTOM_CTRL}"
+fi
+if [[ "${OMNI_CAMERA_VERIFY+x}" == "x" ]]; then
+  omni_camera_verify_was_set=1
+  preserved_omni_camera_verify="${OMNI_CAMERA_VERIFY}"
+fi
+
 ENV_FILES=(
  "${SCRIPT_DIR}/robot-remote.env"
  "${SCRIPT_DIR}/robot-remote.env.local"
@@ -41,6 +68,22 @@ for env_file in "${ENV_FILES[@]}"; do
  fi
 done

+if [[ "${omni_camera_device_was_set}" == "1" ]]; then
+  export OMNI_CAMERA_DEVICE="${preserved_omni_camera_device}"
+fi
+if [[ "${omni_camera_profile_was_set}" == "1" ]]; then
+  export OMNI_CAMERA_PROFILE="${preserved_omni_camera_profile}"
+fi
+if [[ "${omni_camera_brightness_was_set}" == "1" ]]; then
+  export OMNI_CAMERA_BRIGHTNESS="${preserved_omni_camera_brightness}"
+fi
+if [[ "${omni_camera_custom_ctrl_was_set}" == "1" ]]; then
+  export OMNI_CAMERA_CUSTOM_CTRL="${preserved_omni_camera_custom_ctrl}"
+fi
+if [[ "${omni_camera_verify_was_set}" == "1" ]]; then
+  export OMNI_CAMERA_VERIFY="${preserved_omni_camera_verify}"
+fi
+
 export OMNISOCKETGO_ROOT="${OMNISOCKETGO_ROOT:-${DEFAULT_OMNISOCKETGO_ROOT}}"
 export ROBOT_COMMAND_CENTER_ROOT="${ROBOT_COMMAND_CENTER_ROOT:-$(dirname "${OMNISOCKETGO_ROOT}")/robot-command-center}"

@@ -72,6 +115,11 @@ export ROBOT_RECEIVER_OUTPUT_TOPIC="${ROBOT_RECEIVER_OUTPUT_TOPIC:-/hric/robot/c
 export ROBOT_RECEIVER_FRAME_ID="${ROBOT_RECEIVER_FRAME_ID:-pelvis}"
 export ROBOT_RECEIVER_WATCHDOG_TIMEOUT="${ROBOT_RECEIVER_WATCHDOG_TIMEOUT:-0.5}"
 export ROBOT_RECEIVER_PUBLISH_RATE_HZ="${ROBOT_RECEIVER_PUBLISH_RATE_HZ:-100.0}"
+export OMNI_CAMERA_DEVICE="${OMNI_CAMERA_DEVICE:-/dev/video0}"
+export OMNI_CAMERA_PROFILE="${OMNI_CAMERA_PROFILE:-night}"
+export OMNI_CAMERA_BRIGHTNESS="${OMNI_CAMERA_BRIGHTNESS:-}"
+export OMNI_CAMERA_CUSTOM_CTRL="${OMNI_CAMERA_CUSTOM_CTRL:-}"
+export OMNI_CAMERA_VERIFY="${OMNI_CAMERA_VERIFY:-0}"
 export OMNI_VIDEO_SERVER_ADDR="${OMNI_VIDEO_SERVER_ADDR:-${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}}"
 export OMNI_VIDEO_RELAY_VIA="${OMNI_VIDEO_RELAY_VIA:-${ROBOT_SIDE_OMNISOCKET_RELAY_VIA:-}}"
 export OMNI_CONTROL_SERVER_ADDR="${OMNI_CONTROL_SERVER_ADDR:-${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR:-}}"
--- a/scripts/dev/robot-remote.env
+++ b/scripts/dev/robot-remote.env
@@ -38,6 +38,10 @@ ROBOT_RECEIVER_PUBLISH_RATE_HZ="100.0"
 OMNI_VIDEO_PEER_ID="peer-b-video"
 OMNI_VIDEO_TARGET_PEER="peer-a-video"
 OMNI_CAMERA_DEVICE="/dev/video26"
+OMNI_CAMERA_PROFILE="night"
+OMNI_CAMERA_BRIGHTNESS=""
+OMNI_CAMERA_CUSTOM_CTRL=""
+OMNI_CAMERA_VERIFY="0"
 OMNI_VIDEO_SERVER_ADDR="${ROBOT_SIDE_OMNISOCKET_SERVER_ADDR}"
 OMNI_VIDEO_RELAY_VIA="${ROBOT_SIDE_OMNISOCKET_RELAY_VIA}"
 OMNI_VIDEO_SOFT_BACKPRESSURE_SEGMENTS="64"
--- a/scripts/dev/start-b-side-omnid.sh
+++ b/scripts/dev/start-b-side-omnid.sh
@@ -22,8 +22,13 @@ if [[ ! -x "./bin/b_side_omnid" ]]; then
  make b_side_omnid
 fi

+launch_b_side_omnid() {
+  bash "${SCRIPT_DIR}/apply-camera-controls.sh"
+  exec ./bin/b_side_omnid
+}
+
 if [[ "${B_SIDE_OMNID_USE_SUDO}" == "1" && "${EUID}" -ne 0 ]]; then
-  exec sudo -E ./bin/b_side_omnid
+  exec sudo -E bash -lc 'cd "$1" && bash "$2" && exec "$3"' _ "${OMNISOCKETGO_ROOT}" "${SCRIPT_DIR}/apply-camera-controls.sh" "./bin/b_side_omnid"
 fi

-exec ./bin/b_side_omnid
+launch_b_side_omnid