Brightness computation

[Feddockh]

Is this behavior also observed when using SpinVIew?
No

Describe the bug
In spinnaker_wrapper_impl.cpp, the brightness is only computed for bayer images. Additionally, this compatibility is poorly documented and there are no error messages for users.

static int16_t compute_brightness(
pixel_format::PixelFormat pf, const uint8_t * data, size_t w, size_t h, size_t stride, int skip)
{
if (!pixel_format::is_bayer(pf)) {
return (0);
}
const uint64_t cnt = int_ceil(w, skip) * int_ceil(h, skip);
uint64_t tot = 0;
const uint8_t * p = data;
for (size_t row = 0; row < h; row += skip) {
for (size_t col = 0; col < w; col += skip) {
tot += p[col];
}
p += stride * skip;
}
return (tot / cnt);
}

These were from print statements I've added myself. My image format is RBG8Packed and when I try to get the brightness it just returns 1 and therefore my gain/exposure jumps way up.

Useful logging output
[component_container-1] Current Brightness: 1
[component_container-1] Target Brightness: 120

System details

• operating system/version: Ubuntu 22.04
• ROS Humble
• FLIR Firefly cameras (I don't have the full id), but they worked after adding my own params file. If you would like to add it to your existing configs just let me know.

[berndpfrommer]

The exposure controller stuff was sufficient for the projects that I worked on once upon a time. Those projects only used Bayer images, so I never bothered implementing further. A PR with tested code that covers other image formats would be appreciated!