camera gain strategy

others/include/config/setconfig.h

@@ -33,6 +33,6 @@
 
 //#define GIMBAL_FLIP_MODE    (-1)
 //#define CHASSIS_FLIP_MODE   (-1)
-
+//#define WITH_TIME_BASED_CAMERA_GAIN
 
 #endif /* SETCONFIG_H */

others/src/camera/camera_wrapper.cpp

@@ -77,7 +77,26 @@ bool CameraWrapper::init() {
 #elif defined(Linux)
     CameraSetAeState(h_camera, false);
     CameraSetExposureTime(h_camera, CAMERA_EXPOSURE * 1000);
+#ifndef WITH_TIME_BASED_CAMERA_GAIN
     CameraSetAnalogGain(h_camera, ARMOR_CAMERA_GAIN);
+#else
+    #include <sys/time.h>
+    timeval tv;
+    int gain;
+    gettimeofday(&tv, nullptr);
+    float hour = tv.tv_sec / 3600.0;
+    if (6 <= hour && hour < 10) {
+        gain = 20;
+    } else if (10 <= hour && hour < 16) {
+        gain = 10;
+    } else if (16 <= hour && hour < 17) {
+        gain = 20;
+    } else if (17 <= hour && hour < 18) {
+        gain = 40;
+    } else {
+        gain = 50;
+    }
+#endif
     if (mode == 0) {
         CameraSetGain(h_camera, CAMERA_BLUE_GAIN, CAMERA_GREEN_GAIN, CAMERA_RED_GAIN);
         CameraSetLutMode(h_camera, LUTMODE_PRESET);
@@ -145,7 +164,8 @@ bool CameraWrapper::readRaw(cv::Mat &src) {
 bool CameraWrapper::readProcessed(cv::Mat &src) {
 //	cerr << "Get-1" << endl;
     if (CameraGetImageBuffer(h_camera, &frame_info, &pby_buffer, 1000) == CAMERA_STATUS_SUCCESS) {
-		CameraImageProcess(h_camera, pby_buffer, rgb_buffer, &frame_info);  // this function is super slow, better not to use it.
+        CameraImageProcess(h_camera, pby_buffer, rgb_buffer,
+                           &frame_info);  // this function is super slow, better not to use it.
         if (iplImage) {
             cvReleaseImageHeader(&iplImage);
         }
@@ -162,8 +182,7 @@ bool CameraWrapper::readProcessed(cv::Mat &src) {
     }
 }
 
-CameraWrapper::~CameraWrapper()
-{
+CameraWrapper::~CameraWrapper() {
     CameraUnInit(h_camera);
     //注意，先反初始化后再free
     if (rgb_buffer != nullptr)