Camera board • Libcamera controls not working properly

Code:

#include <iostream>#include "mapped_framebuffer.h"#include <libcamera/libcamera.h>#include "event_loop.h"#include <thread>#include <opencv2/core.hpp>#include <opencv2/imgproc.hpp>#include <opencv2/highgui.hpp>#include <string>#include <stdlib.h>#include <fstream>#include <memory>#include <chrono>#include <iomanip>using namespace std;using namespace libcamera;static EventLoop loop;static void cameraFunction();int LoopCount = 0;int l = 0; std::shared_ptr<Camera> libbcamera;std::unique_ptr<std::thread> aThread;std::vector<std::unique_ptr<Request>> requests;std::unique_ptr<CameraManager> camera_manager;Stream *stream;FrameBufferAllocator *frameBufferAllocator;std::unique_ptr<CameraConfiguration> config; //const Request::BufferMap *buffers;float brightness = 0;float saturation = 0;float contrast = 0;float lens_position = 0;int exposure_time = 0; int d = 0;float cg1 = 0;float cg2 = 0;int main(int argc, char *argv[]){camera_manager = std::make_unique<CameraManager>();camera_manager->start();std::string cameraId = camera_manager->cameras()[0]->id();libbcamera = camera_manager->get(cameraId);auto start = std::chrono::steady_clock::now();while (LoopCount < 3) {cout << LoopCount << "\n";cameraFunction();LoopCount++;}//libbcamera->release();auto end = std::chrono::steady_clock::now();auto duration = std::chrono::duration_cast<std::chrono::milliseconds>(end - start);std::cout << "Time taken: " << duration.count() << " milliseconds" << std::endl;libbcamera.reset();libbcamera = nullptr;camera_manager->stop();camera_manager->~CameraManager();return 0;}static void processRequest(Request *request){std::cout << "Completed " << (void *)request << std::endl;const Request::BufferMap &buffers = request->buffers();for (auto bufferPair : buffers){const Stream *stream = bufferPair.first;FrameBuffer *buffer = bufferPair.second;auto cfg = stream->configuration();unsigned int width = cfg.size.width;unsigned int height = cfg.size.height;int* random = new int;*random = 1;int count;libcamera::MappedFrameBuffer mappedBuffer(buffer, MappedFrameBuffer::MapFlag::Read);const std::vector<libcamera::Span<uint8_t>> mem = mappedBuffer.planes();cv::Mat image(height, width, CV_8UC4, (uint8_t*)(mem[0].data()));cv::Mat image_3_channels;cv::cvtColor(image, image_3_channels, cv::COLOR_RGBA2RGB);std::string filename = "/root/WebservTest/image_" + std::to_string(LoopCount) + ".jpg";cv::imwrite(filename, image_3_channels);delete random;request = nullptr;stream = nullptr;buffer = nullptr;}delete request;loop.exit();}static void cameraFunction(){//camera_manager = std::make_unique<CameraManager>();//camera_manager->start();//std::string cameraId = camera_manager->cameras()[0]->id();//libbcamera = camera_manager->get(cameraId);libbcamera->acquire();switch (LoopCount) {case 0://1STbrightness = 0.01;saturation = 0.5;contrast = 1.1;lens_position = 7.55;exposure_time = 17500;cg1 = 0.95f;cg2 = 0.9f;break;case 1://2NDbrightness = 0.038; // 0.038saturation = 0.5;contrast = 1.1;lens_position = 7.55;exposure_time = 1800; //1800cg1 = 1.12f; //1.02cg2 = 1.22f; //1.22break;case 2://3RDbrightness = 0.05;saturation = 0.8;contrast = 1.1;lens_position = 7.55;exposure_time = 20000;cg1 = 1.45f;cg2 = 1.9f;break;}config = libbcamera->generateConfiguration({ StreamRole::Viewfinder });StreamConfiguration &streamConfig = config->at(0);streamConfig.size.width = 2592; streamConfig.size.height = 1944;streamConfig.bufferCount = 1;config->validate();libbcamera->configure(config.get());frameBufferAllocator = new FrameBufferAllocator(libbcamera);for (StreamConfiguration &cfg : *config) {int ret = frameBufferAllocator->allocate(cfg.stream());size_t allocated = frameBufferAllocator->buffers(cfg.stream()).size();std::cout << "Allocated " << allocated << " buffers for stream" << std::endl;}Stream *stream = streamConfig.stream();const std::vector<std::unique_ptr<FrameBuffer>> &buffers = frameBufferAllocator->buffers(stream);   std::unique_ptr<Request> request = libbcamera->createRequest();const std::unique_ptr<FrameBuffer> &buffer = buffers[0];int ret = request->addBuffer(stream, buffer.get());ControlList &controls = request->controls();controls.set(controls::Brightness, brightness);controls.set(controls::Saturation, saturation);controls.set(controls::Contrast, contrast);controls.set(controls::AfMode, controls::AfModeManual);controls.set(controls::AwbMode, 0);controls.set(controls::ColourGains, Span<const float, 2>({ cg1, cg2 }));controls.set(controls::LensPosition, lens_position);controls.set(controls::ExposureTime, exposure_time);libbcamera->requestCompleted.connect(processRequest);libbcamera->start();aThread = std::make_unique<std::thread>([&]() { loop.exec(); });libbcamera->queueRequest(request.get());aThread->join();libbcamera->requestCompleted.disconnect(processRequest);request = nullptr;int* random = new int;*random = 2;frameBufferAllocator->free(stream);delete frameBufferAllocator;ret = 0;stream = nullptr;aThread = 0;config.release();config.reset();libbcamera->stop();libbcamera->release();//libbcamera.reset();//libbcamera = nullptr;//camera_manager->stop();//camera_manager->~CameraManager();}