camerad: use os binning (#33161)

* all

* right sz

* what is this

* Revert "what is this"

This reverts commit 3ff771926f.

* ok

* big

* update intrs

* fl

* more specifuc

* fish

* revert

* revert

---------

Co-authored-by: Comma Device <device@comma.ai>

common/transformations/camera.py

@@ -47,9 +47,9 @@ class DeviceCameraConfig:
         yield cam, getattr(self, cam)
 
 _ar_ox_fisheye = CameraConfig(1928, 1208, 567.0)  # focal length probably wrong? magnification is not consistent across frame
-_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
+_os_fisheye = CameraConfig(2688 // 2, 1520 // 2, 567.0 / 4 * 3)
 _ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
-_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
+_os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye)
 _neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
 
 DEVICE_CAMERAS = {

system/camerad/cameras/camera_common.cc

@@ -84,7 +84,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
 
   // the encoder HW tells us the size it wants after setting it up.
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
-  size_t nv12_size = (rgb_width >= 2688 ? 2900 : 2346)*nv12_width;
+  size_t nv12_size = (rgb_width <= 1344 ? 2900 : 2346)*nv12_width;
 
   vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);

system/camerad/sensors/os04c10.cc

@@ -20,12 +20,12 @@ const uint32_t os04c10_analog_gains_reg[] = {
 
 OS04C10::OS04C10() {
   image_sensor = cereal::FrameData::ImageSensor::OS04C10;
-  pixel_size_mm = 0.002;
+  pixel_size_mm = 0.004;
   data_word = false;
 
   hdr_offset = 64 * 2 + 8; // stagger
-  frame_width = 2688;
+  frame_width = 1344;
-  frame_height = 1520 * 2 + hdr_offset;
+  frame_height = 760 * 2 + hdr_offset;
   frame_stride = (frame_width * 10 / 8); // no alignment
 
   extra_height = 0;

system/camerad/sensors/os04c10_registers.h

@@ -95,7 +95,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x388b, 0x00},
   {0x3c80, 0x10},
   {0x3c86, 0x00},
-  // {0x3c8c, 0x20},
+  {0x3c8c, 0x20},
   {0x3c9f, 0x01},
   {0x3d85, 0x1b},
   {0x3d8c, 0x71},
@@ -199,7 +199,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x370b, 0xa2},
   {0x370c, 0x01},
   {0x370f, 0x00},
-  {0x3714, 0x24},
+  {0x3714, 0x28},
   {0x3716, 0x04},
   {0x3719, 0x11},
   {0x371a, 0x1e},
@@ -231,24 +231,24 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37bd, 0x01},
   {0x37bf, 0x26},
   {0x37c0, 0x11},
-  {0x37c2, 0x04},
+  {0x37c2, 0x14},
   {0x37cd, 0x19},
-  // {0x37e0, 0x08},
+  {0x37e0, 0x08},
-  // {0x37e6, 0x04},
+  {0x37e6, 0x04},
   {0x37e5, 0x02},
-  // {0x37e1, 0x0c},
+  {0x37e1, 0x0c},
-  // {0x3737, 0x04},
+  {0x3737, 0x04},
   {0x37d8, 0x02},
-  // {0x37e2, 0x10},
+  {0x37e2, 0x10},
   {0x3739, 0x10},
-  {0x3662, 0x10},
+  {0x3662, 0x08},
-  // {0x37e4, 0x20},
+  {0x37e4, 0x20},
-  // {0x37e3, 0x08},
+  {0x37e3, 0x08},
-  {0x37d9, 0x08},
+  {0x37d9, 0x04},
   {0x4040, 0x00},
-  {0x4041, 0x07},
+  {0x4041, 0x03},
-  {0x4008, 0x02},
+  {0x4008, 0x01},
-  {0x4009, 0x0d},
+  {0x4009, 0x06},
 
   // FSIN
   {0x3002, 0x22},
@@ -269,20 +269,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3802, 0x00}, {0x3803, 0x00},
   {0x3804, 0x0a}, {0x3805, 0x8f},
   {0x3806, 0x05}, {0x3807, 0xff},
-  {0x3808, 0x0a}, {0x3809, 0x80},
+  {0x3808, 0x05}, {0x3809, 0x40},
-  {0x380a, 0x05}, {0x380b, 0xf0},
+  {0x380a, 0x02}, {0x380b, 0xf8},
   {0x3811, 0x08},
   {0x3813, 0x08},
-  {0x3814, 0x01},
+  {0x3814, 0x03},
   {0x3815, 0x01},
-  {0x3816, 0x01},
+  {0x3816, 0x03},
   {0x3817, 0x01},
 
   {0x380c, 0x04}, {0x380d, 0x2e}, // HTS
   {0x380e, 0x09}, {0x380f, 0xdb}, // VTS
 
-  {0x3820, 0xb0},
+  {0x3820, 0xb3},
-  {0x3821, 0x04},
+  {0x3821, 0x05},
   {0x3880, 0x00},
   {0x3882, 0x20},
   {0x3c91, 0x0b},