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camerad: refactor sensor parameters to struct (#30644)

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* refactor camerainfo

* include <memory>
pull/30647/head
Dean Lee 1 year ago committed by GitHub
parent 9bff8ccd0f
commit 51328609d2
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5 changed files with 98 additions and 94 deletions
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  1. 6
      system/camerad/cameras/camera_common.cc
  2. 22
      system/camerad/cameras/camera_common.h
  3. 133
      system/camerad/cameras/camera_qcom2.cc
  4. 23
      system/camerad/cameras/camera_qcom2.h
  5. 6
      system/camerad/sensors/ar0231.cc

6
system/camerad/cameras/camera_common.cc
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@ -28,7 +28,7 @@ class Debayer {
public:
Debayer(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) {
char args[4096];
const CameraInfo *ci = &s->ci;
const CameraInfo *ci = s->ci.get();
snprintf(args, sizeof(args),
"-cl-fast-relaxed-math -cl-denorms-are-zero "
"-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
@ -66,7 +66,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
this->yuv_type = init_yuv_type;
frame_buf_count = frame_cnt;
const CameraInfo *ci = &s->ci;
const CameraInfo *ci = s->ci.get();
// RAW frame
const int frame_size = (ci->frame_height + ci->extra_height) * ci->frame_stride;
camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
@ -152,7 +152,7 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
framed.setProcessingTime(frame_data.processing_time);
const float ev = c->cur_ev[frame_data.frame_id % 3];
const float perc = util::map_val(ev, c->min_ev, c->max_ev, 0.0f, 100.0f);
const float perc = util::map_val(ev, c->ci->min_ev, c->ci->max_ev, 0.0f, 100.0f);
framed.setExposureValPercent(perc);
if (c->camera_id == CAMERA_ID_AR0231) {

22
system/camerad/cameras/camera_common.h
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@ -16,8 +16,8 @@
#define CAMERA_ID_AR0231 0
#define CAMERA_ID_OX03C10 1
#define CAMERA_ID_MAX 2
#define ANALOG_GAIN_MAX_CNT 55
const int YUV_BUFFER_COUNT = 20;
enum CameraType {
@ -41,6 +41,26 @@ typedef struct CameraInfo {
uint32_t extra_height = 0;
int registers_offset = -1;
int stats_offset = -1;
int exposure_time_min;
int exposure_time_max;
float dc_gain_factor;
int dc_gain_min_weight;
int dc_gain_max_weight;
float dc_gain_on_grey;
float dc_gain_off_grey;
float sensor_analog_gains[ANALOG_GAIN_MAX_CNT];
int analog_gain_min_idx;
int analog_gain_max_idx;
int analog_gain_rec_idx;
int analog_gain_cost_delta;
float analog_gain_cost_low;
float analog_gain_cost_high;
float target_grey_factor;
float min_ev;
float max_ev;
} CameraInfo;
typedef struct FrameMetadata {

133
system/camerad/cameras/camera_qcom2.cc
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@ -40,27 +40,6 @@ const size_t AR0231_REGISTERS_HEIGHT = 2;
const size_t AR0231_STATS_HEIGHT = 2+8;
const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py
CameraInfo cameras_supported[CAMERA_ID_MAX] = {
[CAMERA_ID_AR0231] = {
.frame_width = FRAME_WIDTH,
.frame_height = FRAME_HEIGHT,
.frame_stride = FRAME_STRIDE,
.extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT,
.registers_offset = 0,
.frame_offset = AR0231_REGISTERS_HEIGHT,
.stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT,
},
[CAMERA_ID_OX03C10] = {
.frame_width = FRAME_WIDTH,
.frame_height = FRAME_HEIGHT,
.frame_stride = FRAME_STRIDE, // (0xa80*12//8)
.extra_height = 16, // top 2 + bot 14
.frame_offset = 2,
},
};
const float DC_GAIN_AR0231 = 2.5;
const float DC_GAIN_OX03C10 = 7.32;
@ -424,10 +403,10 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
if (io_mem_handle != 0) {
io_cfg[0].mem_handle[0] = io_mem_handle;
io_cfg[0].planes[0] = (struct cam_plane_cfg){
.width = ci.frame_width,
.height = ci.frame_height + ci.extra_height,
.plane_stride = ci.frame_stride,
.slice_height = ci.frame_height + ci.extra_height,
.width = ci->frame_width,
.height = ci->frame_height + ci->extra_height,
.plane_stride = ci->frame_stride,
.slice_height = ci->frame_height + ci->extra_height,
.meta_stride = 0x0, // YUV has meta(stride=0x400, size=0x5000)
.meta_size = 0x0,
.meta_offset = 0x0,
@ -517,8 +496,17 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) {
// ******************* camera *******************
void CameraState::camera_set_parameters() {
if (camera_id == CAMERA_ID_AR0231) {
struct CameraAR0231 : public CameraInfo {
CameraAR0231() {
frame_width = FRAME_WIDTH,
frame_height = FRAME_HEIGHT,
frame_stride = FRAME_STRIDE,
extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT,
registers_offset = 0,
frame_offset = AR0231_REGISTERS_HEIGHT,
stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT,
dc_gain_factor = DC_GAIN_AR0231;
dc_gain_min_weight = DC_GAIN_MIN_WEIGHT_AR0231;
dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_AR0231;
@ -536,8 +524,19 @@ void CameraState::camera_set_parameters() {
sensor_analog_gains[i] = sensor_analog_gains_AR0231[i];
}
min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
target_grey_factor = TARGET_GREY_FACTOR_AR0231;
} else if (camera_id == CAMERA_ID_OX03C10) {
}
};
struct CameraOx0310 : public CameraInfo {
CameraOx0310() {
frame_width = FRAME_WIDTH,
frame_height = FRAME_HEIGHT,
frame_stride = FRAME_STRIDE, // (0xa80*12//8)
extra_height = 16, // top 2 + bot 14
frame_offset = 2,
dc_gain_factor = DC_GAIN_OX03C10;
dc_gain_min_weight = DC_GAIN_MIN_WEIGHT_OX03C10;
dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_OX03C10;
@ -555,19 +554,27 @@ void CameraState::camera_set_parameters() {
sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i];
}
min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx];
max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
target_grey_factor = TARGET_GREY_FACTOR_OX03C10;
}
};
void CameraState::camera_set_parameters() {
if (camera_id == CAMERA_ID_AR0231) {
ci = std::make_unique<CameraAR0231>();
} else if (camera_id == CAMERA_ID_OX03C10) {
ci = std::make_unique<CameraOx0310>();
} else {
assert(false);
}
max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
target_grey_fraction = 0.3;
dc_gain_enabled = false;
dc_gain_weight = dc_gain_min_weight;
gain_idx = analog_gain_rec_idx;
dc_gain_weight = ci->dc_gain_min_weight;
gain_idx = ci->analog_gain_rec_idx;
exposure_time = 5;
cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight) * sensor_analog_gains[gain_idx] * exposure_time;
cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time;
}
void CameraState::camera_map_bufs(MultiCameraState *s) {
@ -590,10 +597,6 @@ void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, int came
camera_id = camera_id_;
LOGD("camera init %d", camera_num);
assert(camera_id < std::size(cameras_supported));
ci = cameras_supported[camera_id];
assert(ci.frame_width != 0);
request_id_last = 0;
skipped = true;
@ -680,16 +683,16 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
.usage_type = 0x0,
.left_start = 0,
.left_stop = ci.frame_width - 1,
.left_width = ci.frame_width,
.left_stop = ci->frame_width - 1,
.left_width = ci->frame_width,
.right_start = 0,
.right_stop = ci.frame_width - 1,
.right_width = ci.frame_width,
.right_stop = ci->frame_width - 1,
.right_width = ci->frame_width,
.line_start = 0,
.line_stop = ci.frame_height + ci.extra_height - 1,
.height = ci.frame_height + ci.extra_height,
.line_stop = ci->frame_height + ci->extra_height - 1,
.height = ci->frame_height + ci->extra_height,
.pixel_clk = 0x0,
.batch_size = 0x0,
@ -701,8 +704,8 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
.data[0] = (struct cam_isp_out_port_info){
.res_type = CAM_ISP_IFE_OUT_RES_RDI_0,
.format = CAM_FORMAT_MIPI_RAW_12,
.width = ci.frame_width,
.height = ci.frame_height + ci.extra_height,
.width = ci->frame_width,
.height = ci->frame_height + ci->extra_height,
.comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
},
};
@ -946,7 +949,7 @@ void CameraState::handle_camera_event(void *evdat) {
meta_data.frame_id = main_id - idx_offset;
meta_data.timestamp_sof = timestamp;
exp_lock.lock();
meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight);
meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight);
meta_data.high_conversion_gain = dc_gain_enabled;
meta_data.integ_lines = exposure_time;
meta_data.measured_grey_fraction = measured_grey_fraction;
@ -972,15 +975,15 @@ void CameraState::update_exposure_score(float desired_ev, int exp_t, int exp_g_i
// 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;
float m = exp_g_idx > ci->analog_gain_rec_idx ? ci->analog_gain_cost_high : ci->analog_gain_cost_low;
score += std::abs(exp_g_idx - (int)ci->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;
float m = exp_g_idx > ci->analog_gain_rec_idx ? ci->analog_gain_cost_high : ci->analog_gain_cost_low;
score += std::abs(exp_g_idx - (int)ci->analog_gain_rec_idx) * m;
score += ((1 - ci->analog_gain_cost_delta) + ci->analog_gain_cost_delta * (exp_g_idx - ci->analog_gain_min_idx) / (ci->analog_gain_max_idx - ci->analog_gain_min_idx)) * std::abs(exp_g_idx - gain_idx) * 5.0;
}
if (score < best_ev_score) {
@ -1008,10 +1011,10 @@ void CameraState::set_camera_exposure(float grey_frac) {
const float cur_ev_ = cur_ev[buf.cur_frame_data.frame_id % 3];
// Scale target grey between 0.1 and 0.4 depending on lighting conditions
float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4);
float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + ci->target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4);
float target_grey = (1.0 - k_grey) * target_grey_fraction + k_grey * new_target_grey;
float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, min_ev, max_ev);
float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, ci->min_ev, ci->max_ev);
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);
@ -1022,16 +1025,16 @@ void CameraState::set_camera_exposure(float grey_frac) {
// Hysteresis around high conversion gain
// We usually want this on since it results in lower noise, but turn off in very bright day scenes
bool enable_dc_gain = dc_gain_enabled;
if (!enable_dc_gain && target_grey < dc_gain_on_grey) {
if (!enable_dc_gain && target_grey < ci->dc_gain_on_grey) {
enable_dc_gain = true;
dc_gain_weight = dc_gain_min_weight;
} else if (enable_dc_gain && target_grey > dc_gain_off_grey) {
dc_gain_weight = ci->dc_gain_min_weight;
} else if (enable_dc_gain && target_grey > ci->dc_gain_off_grey) {
enable_dc_gain = false;
dc_gain_weight = dc_gain_max_weight;
dc_gain_weight = ci->dc_gain_max_weight;
}
if (enable_dc_gain && dc_gain_weight < dc_gain_max_weight) {dc_gain_weight += 1;}
if (!enable_dc_gain && dc_gain_weight > dc_gain_min_weight) {dc_gain_weight -= 1;}
if (enable_dc_gain && dc_gain_weight < ci->dc_gain_max_weight) {dc_gain_weight += 1;}
if (!enable_dc_gain && dc_gain_weight > ci->dc_gain_min_weight) {dc_gain_weight -= 1;}
std::string gain_bytes, time_bytes;
if (env_ctrl_exp_from_params) {
@ -1050,14 +1053,14 @@ void CameraState::set_camera_exposure(float grey_frac) {
} else {
// Simple brute force optimizer to choose sensor parameters
// to reach desired EV
for (int g = std::max((int)analog_gain_min_idx, gain_idx - 1); g <= std::min((int)analog_gain_max_idx, gain_idx + 1); g++) {
float gain = sensor_analog_gains[g] * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight);
for (int g = std::max((int)ci->analog_gain_min_idx, gain_idx - 1); g <= std::min((int)ci->analog_gain_max_idx, gain_idx + 1); g++) {
float gain = ci->sensor_analog_gains[g] * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight);
// Compute optimal time for given gain
int t = std::clamp(int(std::round(desired_ev / gain)), exposure_time_min, exposure_time_max);
int t = std::clamp(int(std::round(desired_ev / gain)), ci->exposure_time_min, ci->exposure_time_max);
// Only go below recommended gain when absolutely necessary to not overexpose
if (g < analog_gain_rec_idx && t > 20 && g < gain_idx) {
if (g < ci->analog_gain_rec_idx && t > 20 && g < gain_idx) {
continue;
}
@ -1070,12 +1073,12 @@ 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_exp_g];
analog_gain_frac = ci->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);
float gain = analog_gain_frac * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight);
cur_ev[buf.cur_frame_data.frame_id % 3] = exposure_time * gain;
exp_lock.unlock();
@ -1100,7 +1103,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
// t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD
uint32_t hcg_time = exposure_time;
uint32_t lcg_time = hcg_time;
uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OX03C10) / 3), exposure_time_max + VS_TIME_MAX_OX03C10);
uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (ci->exposure_time_max + VS_TIME_MAX_OX03C10) / 3), ci->exposure_time_max + VS_TIME_MAX_OX03C10);
uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10);
uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g];

23
system/camerad/cameras/camera_qcom2.h
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@ -2,6 +2,7 @@
#include <cstdint>
#include <map>
#include <memory>
#include <utility>
#include <media/cam_req_mgr.h>
@ -12,12 +13,11 @@
#include "common/util.h"
#define FRAME_BUF_COUNT 4
#define ANALOG_GAIN_MAX_CNT 55
class CameraState {
public:
MultiCameraState *multi_cam_state;
CameraInfo ci;
std::unique_ptr<const CameraInfo> ci;
bool enabled;
std::mutex exp_lock;
@ -28,32 +28,13 @@ public:
int gain_idx;
float analog_gain_frac;
int exposure_time_min;
int exposure_time_max;
float dc_gain_factor;
int dc_gain_min_weight;
int dc_gain_max_weight;
float dc_gain_on_grey;
float dc_gain_off_grey;
float sensor_analog_gains[ANALOG_GAIN_MAX_CNT];
int analog_gain_min_idx;
int analog_gain_max_idx;
int analog_gain_rec_idx;
int analog_gain_cost_delta;
float analog_gain_cost_low;
float analog_gain_cost_high;
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;
float target_grey_factor;
unique_fd sensor_fd;
unique_fd csiphy_fd;

6
system/camerad/sensors/ar0231.cc
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@ -21,7 +21,7 @@ std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c
std::map<uint16_t, std::pair<int, int>> registers;
for (int register_row = 0; register_row < 2; register_row++) {
uint8_t *registers_raw = data + c->ci.frame_stride * register_row;
uint8_t *registers_raw = data + c->ci->frame_stride * register_row;
assert(registers_raw[0] == 0x0a); // Start of line
int value_tag_count = 0;
@ -46,7 +46,7 @@ std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c
cur_addr += 2;
first_val_idx = val_idx;
} else {
registers[cur_addr] = std::make_pair(first_val_idx + c->ci.frame_stride * register_row, val_idx + c->ci.frame_stride * register_row);
registers[cur_addr] = std::make_pair(first_val_idx + c->ci->frame_stride * register_row, val_idx + c->ci->frame_stride * register_row);
}
value_tag_count++;
@ -80,7 +80,7 @@ float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_r
void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal::FrameData::Builder &framed) {
const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55};
uint8_t *data = (uint8_t *)c->buf.cur_camera_buf->addr + c->ci.registers_offset;
uint8_t *data = (uint8_t *)c->buf.cur_camera_buf->addr + c->ci->registers_offset;
if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) {
LOGE("unexpected register data found");

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