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camerad: rework ox exposure score (#26948)

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* wip

* make separate score func

* n4ot g

* clean up

* remove

* simplify

* b2b

* balance costs

* clean up

* no if tici

* box view

* new baselines

* Revert "new baselines"

This reverts commit f7a5d059ed.

* Revert "box view"

This reverts commit a57924be36.

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 028527423c
beeps
ZwX1616 3 years ago committed by GitHub
parent 7d047ac788
commit 0dc7085d41
3 changed files with 44 additions and 37 deletions
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  1. 66
      system/camerad/cameras/camera_qcom2.cc
  2. 4
      system/camerad/cameras/camera_qcom2.h
  3. 11
      system/camerad/test/test_exposure.py

66
system/camerad/cameras/camera_qcom2.cc
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@ -104,8 +104,8 @@ const int ANALOG_GAIN_MIN_IDX_OX03C10 = 0x0;
const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x11; // 2.5x
const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x36;
const int ANALOG_GAIN_COST_DELTA_OX03C10 = -1;
const float ANALOG_GAIN_COST_LOW_OX03C10 = 0.05;
const float ANALOG_GAIN_COST_HIGH_OX03C10 = 0.8;
const float ANALOG_GAIN_COST_LOW_OX03C10 = 0.4;
const float ANALOG_GAIN_COST_HIGH_OX03C10 = 6.4;
const int EXPOSURE_TIME_MIN_AR0231 = 2; // with HDR, fastest ss
const int EXPOSURE_TIME_MAX_AR0231 = 0x0855; // with HDR, slowest ss, 40ms
@ -1041,6 +1041,30 @@ void CameraState::handle_camera_event(void *evdat) {
}
}
void CameraState::update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain) {
float score = 1e6;
if (camera_id == CAMERA_ID_AR0231) {
// Cost of ev diff
score = std::abs(desired_ev - (exp_t * exp_gain)) * 10;
// Cost of absolute gain
float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
// Cost of changing gain
score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0;
} else if (camera_id == CAMERA_ID_OX03C10) {
score = std::abs(desired_ev - (exp_t * exp_gain));
float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
score += ((1 - analog_gain_cost_delta) + analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) * std::abs(exp_g_idx - gain_idx) * 5.0;
}
if (score < best_ev_score) {
new_exp_t = exp_t;
new_exp_g = exp_g_idx;
best_ev_score = score;
}
}
void CameraState::set_camera_exposure(float grey_frac) {
if (!enabled) return;
const float dt = 0.05;
@ -1066,9 +1090,9 @@ void CameraState::set_camera_exposure(float grey_frac) {
float k = (1.0 - k_ev) / 3.0;
desired_ev = (k * cur_ev[0]) + (k * cur_ev[1]) + (k * cur_ev[2]) + (k_ev * desired_ev);
float best_ev_score = 1e6;
int new_g = 0;
int new_t = 0;
best_ev_score = 1e6;
new_exp_g = 0;
new_exp_t = 0;
// Hysteresis around high conversion gain
// We usually want this on since it results in lower noise, but turn off in very bright day scenes
@ -1095,8 +1119,8 @@ void CameraState::set_camera_exposure(float grey_frac) {
gain_idx = std::stoi(gain_bytes);
exposure_time = std::stoi(time_bytes);
new_g = gain_idx;
new_t = exposure_time;
new_exp_g = gain_idx;
new_exp_t = exposure_time;
enable_dc_gain = false;
} else {
// Simple brute force optimizer to choose sensor parameters
@ -1112,23 +1136,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
continue;
}
// Compute error to desired ev
float score = std::abs(desired_ev - (t * gain)) * 10;
// Going below recommended gain needs lower penalty to not overexpose
float m = g > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
score += std::abs(g - (int)analog_gain_rec_idx) * m;
// LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", camera_num, g, t, desired_ev / gain, score, score + std::abs(g - gain_idx) * (score + 1.0) / 10.0, desired_ev, min_ev);
// Small penalty on changing gain
score += ((1 - analog_gain_cost_delta) + analog_gain_cost_delta * (g - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) * std::abs(g - gain_idx) * (score + 1.0) / 10.0;
if (score < best_ev_score) {
new_t = t;
new_g = g;
best_ev_score = score;
}
update_exposure_score(desired_ev, t, g, gain);
}
}
@ -1137,9 +1145,9 @@ void CameraState::set_camera_exposure(float grey_frac) {
measured_grey_fraction = grey_frac;
target_grey_fraction = target_grey;
analog_gain_frac = sensor_analog_gains[new_g];
gain_idx = new_g;
exposure_time = new_t;
analog_gain_frac = sensor_analog_gains[new_exp_g];
gain_idx = new_exp_g;
exposure_time = new_exp_t;
dc_gain_enabled = enable_dc_gain;
float gain = analog_gain_frac * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight);
@ -1156,7 +1164,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
// LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", camera_num, 1e-9 * nanos_since_boot(), 1e-9 * buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - buf.cur_frame_data.timestamp_sof));
if (camera_id == CAMERA_ID_AR0231) {
uint16_t analog_gain_reg = 0xFF00 | (new_g << 4) | new_g;
uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g;
struct i2c_random_wr_payload exp_reg_array[] = {
{0x3366, analog_gain_reg},
{0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)},
@ -1171,7 +1179,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 128, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10);
uint32_t spd_time = vs_time;
uint32_t real_gain = ox03c10_analog_gains_reg[new_g];
uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g];
uint32_t min_gain = ox03c10_analog_gains_reg[0];
struct i2c_random_wr_payload exp_reg_array[] = {
{0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF},

4
system/camerad/cameras/camera_qcom2.h
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@ -47,6 +47,9 @@ public:
float cur_ev[3];
float min_ev, max_ev;
float best_ev_score;
int new_exp_g;
int new_exp_t;
float measured_grey_fraction;
float target_grey_fraction;
@ -58,6 +61,7 @@ public:
int camera_num;
void handle_camera_event(void *evdat);
void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
void set_camera_exposure(float grey_frac);
void sensors_start();

11
system/camerad/test/test_exposure.py
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@ -6,16 +6,13 @@ import numpy as np
from selfdrive.test.helpers import with_processes
from system.camerad.snapshot.snapshot import get_snapshots
from system.hardware import TICI
TEST_TIME = 45
REPEAT = 5
class TestCamerad(unittest.TestCase):
@classmethod
def setUpClass(cls):
if not TICI:
raise unittest.SkipTest
pass
def _numpy_rgb2gray(self, im):
ret = np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8)
@ -37,13 +34,11 @@ class TestCamerad(unittest.TestCase):
start = time.time()
while time.time() - start < TEST_TIME and passed < REPEAT:
rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState")
wpic, _ = get_snapshots(frame="wideRoadCameraState")
res = self._is_exposure_okay(rpic)
res = res and self._is_exposure_okay(dpic)
if TICI:
wpic, _ = get_snapshots(frame="wideRoadCameraState")
res = res and self._is_exposure_okay(wpic)
res = res and self._is_exposure_okay(wpic)
if passed > 0 and not res:
passed = -passed # fails test if any failure after first sus

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