Updates to oc_client to debug gain issues.

oc_client doesn't send use gain_assistance for any data sizes.
oc_client calculates mean pixel intensity (over the whole sonar image)
as an example of accessing image data.

Author: janixgomez

include/liboculus/ImageData.h

@@ -70,6 +70,8 @@ class ImageData {
       _stride(stride == 0 ? nBeams*dataSize : stride),  // Stride is in _bytes_
       _offset(offset) {}
 
+  uint16_t nRanges() const { return _numRanges; }
+  uint16_t nBeams() const { return _numBeams; }
 
   uint8_t at_uint8(unsigned int beam, unsigned int rangeBin) const {
     CHECK(_dataSize == 1) << "This function can only handle 8-bit data, use at_uint16()";

include/liboculus/SimpleFireMessage.h

@@ -118,6 +118,8 @@ void SimpleFireMessage<FireMsgT>::dump() const {
   LOG(DEBUG) << "Flags:  Range is: " << (this->flags().getRangeAsMeters() ? "Meters" : "Percent");
   LOG(DEBUG) << "       Range: " << range();
   LOG(DEBUG) << "Speed of sound: " << this->fireMsg()->speedOfSound;
+  LOG(DEBUG) << "      Gain pct: " << this->fireMsg()->gainPercent;
+
 }
 
 }  // namespace liboculus

tools/oculus_client.cpp

@@ -44,6 +44,18 @@ void signalHandler(int signo) {
   doStop = true;
 }
 
+double mean_image_intensity( const liboculus::ImageData &imageData ) {
+  double f;
+  for ( int r = 0; r < imageData.nRanges(); ++r ) {
+    for ( int a = 0; a < imageData.nBeams(); ++a ) {
+      f += imageData.at_uint32(a,r);
+    }
+  }
+  f /= (imageData.nRanges() * imageData.nBeams());
+  return f;
+}
+
+
 int main(int argc, char **argv) {
   libg3logger::G3Logger logger("ocClient");
 
@@ -128,14 +140,14 @@ int main(int argc, char **argv) {
   config.setRange(range);
 
   LOG(INFO) << "Setting gain to " << gain;
-  config.setGainPercent(gain);
+  config.setGainPercent(gain).noGainAssistance();
 
   if (bitDepth == 8) {
     config.setDataSize(dataSize8Bit);
   } else if (bitDepth == 16) {
     config.setDataSize(dataSize16Bit);
   } else if (bitDepth == 32) {
-    config.sendGain().noGainAssistance().setDataSize(dataSize32Bit);
+    config.sendGain().setDataSize(dataSize32Bit);
   }
 
   _io_thread.reset(new IoServiceThread);
@@ -163,6 +175,8 @@ int main(int argc, char **argv) {
           output.write(cdata, ping.buffer()->size());
         }
 
+        LOG(DEBUG) << "Average intensity: " << mean_image_intensity(ping.image());
+
         count++;
         if ((stopAfter > 0) && (count >= stopAfter))
           _io_thread->stop();
@@ -189,6 +203,8 @@ int main(int argc, char **argv) {
           output.write(cdata, ping.buffer()->size());
         }
 
+        LOG(DEBUG) << "Average intensity: " << mean_image_intensity(ping.image());
+
         count++;
         if ((stopAfter > 0) && (count >= stopAfter))
           doStop = true;