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AF: improve general responsiveness (#1137)

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* sync control with readout; always assume worst

* faster recover
pull/1139/head
ZwX1616 6 years ago committed by GitHub
parent 5f34f17c9e
commit 435a36cdff
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 3 additions and 3 deletions
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  1. 6
      selfdrive/camerad/cameras/camera_qcom.c

6
selfdrive/camerad/cameras/camera_qcom.c
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@ -1711,7 +1711,7 @@ static void parse_autofocus(CameraState *s, uint8_t *d) {
int16_t max_focus = -32767; int16_t max_focus = -32767;
int avg_focus = 0; int avg_focus = 0;
// force to max if not able to determine focus for long // force to max if not able to determine focus for long
const int patience_cnt = 100; const int patience_cnt = 20;
static int nan_cnt = 0; static int nan_cnt = 0;
/*printf("FOCUS: "); /*printf("FOCUS: ");
@ -1757,7 +1757,7 @@ static void parse_autofocus(CameraState *s, uint8_t *d) {
nan_cnt = 0; nan_cnt = 0;
} }
} else { } else {
s->focus_err = avg_focus; s->focus_err = max_focus;
nan_cnt = 0; nan_cnt = 0;
} }
// printf("fe=%f\n", s->focus_err); // printf("fe=%f\n", s->focus_err);
@ -2084,7 +2084,6 @@ static void* ops_thread(void* arg) {
if (cmsg.type == CAMERA_MSG_AUTOEXPOSE) { if (cmsg.type == CAMERA_MSG_AUTOEXPOSE) {
if (cmsg.camera_num == 0) { if (cmsg.camera_num == 0) {
do_autoexposure(&s->rear, cmsg.grey_frac); do_autoexposure(&s->rear, cmsg.grey_frac);
do_autofocus(&s->rear);
} else { } else {
do_autoexposure(&s->front, cmsg.grey_frac); do_autoexposure(&s->front, cmsg.grey_frac);
} }
@ -2187,6 +2186,7 @@ void cameras_run(DualCameraState *s) {
// fwrite(d, c->ss[buffer].bufs[buf_idx].len, sizeof(uint8_t), df); // fwrite(d, c->ss[buffer].bufs[buf_idx].len, sizeof(uint8_t), df);
// fclose(df); // fclose(df);
parse_autofocus(c, d); parse_autofocus(c, d);
do_autofocus(&s->rear);
} }
c->ss[buffer].qbuf_info[buf_idx].dirty_buf = 1; c->ss[buffer].qbuf_info[buf_idx].dirty_buf = 1;
ioctl(c->isp_fd, VIDIOC_MSM_ISP_ENQUEUE_BUF, &c->ss[buffer].qbuf_info[buf_idx]); ioctl(c->isp_fd, VIDIOC_MSM_ISP_ENQUEUE_BUF, &c->ss[buffer].qbuf_info[buf_idx]);

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