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tici camera art (#2188)

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* nerf highlights

* prioritize less noise

* no overhead

* make focus easier

* cant finetune under high gain

* add some comments

* inspired by xx mindset

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 911206fc41
commatwo_master
ZwX1616 5 years ago committed by GitHub
parent 5d817c4f46
commit 6045fd3b1c
3 changed files with 30 additions and 22 deletions
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  1. 40
      selfdrive/camerad/cameras/camera_qcom2.c
  2. 8
      selfdrive/camerad/cameras/real_debayer.cl
  3. 4
      selfdrive/camerad/cameras/sensor2_i2c.h

40
selfdrive/camerad/cameras/camera_qcom2.c
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@ -550,10 +550,6 @@ void enqueue_req_multi(struct CameraState *s, int start, int n) {
// ******************* camera *******************
static void camera_release_buffer(void* cookie, int i) {
return;
}
static void camera_init(CameraState *s, int camera_id, int camera_num, unsigned int fps) {
LOGD("camera init %d", camera_num);
@ -564,7 +560,7 @@ static void camera_init(CameraState *s, int camera_id, int camera_num, unsigned
s->camera_num = camera_num;
s->frame_size = s->ci.frame_height * s->ci.frame_stride;
tbuffer_init2(&s->camera_tb, FRAME_BUF_COUNT, "frame", camera_release_buffer, s);
tbuffer_init2(&s->camera_tb, FRAME_BUF_COUNT, "frame", NULL, s);
s->transform = (mat3){{
1.0, 0.0, 0.0,
@ -1025,23 +1021,28 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
const int exposure_time_max = 1066; //1416; // no slower than 1/25 sec. calculated from 0x300C and clock freq
float exposure_factor = pow(1.05, (target_grey - grey_frac) / 0.16 );
if (s->analog_gain_frac > 1 && exposure_factor > 1 && !s->dc_gain_enabled && s->dc_opstate != 1) { // iso 800
if (s->analog_gain_frac > 1 && exposure_factor > 0.98 && exposure_factor < 1.02) { // high analog gains are coarse
return;
} else if (s->analog_gain_frac > 1 && exposure_factor > 1 && !s->dc_gain_enabled && s->dc_opstate != 1) { // switch to HCG at iso 800
s->dc_gain_enabled = true;
s->analog_gain_frac *= 0.5;
s->dc_opstate = 1;
} else if (s->analog_gain_frac < 0.5 && exposure_factor < 1 && s->dc_gain_enabled && s->dc_opstate != 1) { // iso 400
} else if (s->analog_gain_frac < 0.5 && exposure_factor < 1 && s->dc_gain_enabled && s->dc_opstate != 1) { // switch back to LCG at iso 400
s->dc_gain_enabled = false;
s->analog_gain_frac *= 2;
s->analog_gain_frac *= 2.0;
s->dc_opstate = 1;
} else if (s->analog_gain_frac > 0.5 && exposure_factor < 0.9) {
s->analog_gain_frac *= sqrt(exposure_factor);
s->exposure_time = max(min(s->exposure_time * sqrt(exposure_factor), exposure_time_max),exposure_time_min);
} else if (s->analog_gain_frac > 1 && exposure_factor < 1) { // force gain down first
s->analog_gain_frac /= 2.0;
s->dc_opstate = 0;
} else if (s->analog_gain_frac > 0.5 && exposure_factor < 0.9) { // smoother transistion on large stepdowns
s->analog_gain_frac = max(min(s->analog_gain_frac * sqrt(exposure_factor), analog_gain_frac_max), analog_gain_frac_min);
s->exposure_time = max(min(s->exposure_time * sqrt(exposure_factor), exposure_time_max), exposure_time_min);
s->dc_opstate = 0;
} else if ((s->exposure_time < exposure_time_max || exposure_factor < 1) && (s->exposure_time > exposure_time_min || exposure_factor > 1)) {
s->exposure_time = max(min(s->exposure_time * exposure_factor, exposure_time_max),exposure_time_min);
} else if ((s->exposure_time < exposure_time_max || exposure_factor < 1) && (s->exposure_time > exposure_time_min || exposure_factor > 1)) { // ramp up shutter time before gain
s->exposure_time = max(min(s->exposure_time * exposure_factor, exposure_time_max), exposure_time_min);
s->dc_opstate = 0;
} else {
s->analog_gain_frac = max(min(s->analog_gain_frac * exposure_factor, analog_gain_frac_max),analog_gain_frac_min);
s->analog_gain_frac = max(min(s->analog_gain_frac * exposure_factor, analog_gain_frac_max), analog_gain_frac_min);
s->dc_opstate = 0;
}
// set up config
@ -1061,8 +1062,8 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
struct i2c_random_wr_payload exp_reg_array[] = {{0x3366, AG}, // analog gain
{0x3362, s->dc_gain_enabled?0x1:0x0}, // DC_GAIN
{0x305A, 0x00C4}, // red gain
{0x3058, 0x00B1}, // blue gain
{0x305A, 0x00D1}, // red gain
{0x3058, 0x0118}, // blue gain
{0x3056, 0x009A}, // g1 gain
{0x305C, 0x009A}, // g2 gain
{0x3012, s->exposure_time}}; // integ time
@ -1077,15 +1078,22 @@ void sendrgb(MultiCameraState *s, uint8_t* dat, int len, uint8_t cam_id) {
int err, err2;
int scale = 6;
int old_width = FRAME_WIDTH;
// int old_height = FRAME_HEIGHT;
int new_width = FRAME_WIDTH / scale;
int new_height = FRAME_HEIGHT / scale;
uint8_t resized_dat[new_width*new_height*3];
// int goff, loff;
// goff = ((old_width*(scale-1)*old_height/scale)/2);
memset(&resized_dat, cam_id, 3);
for (uint32_t r=1;r<new_height;r++) {
for (uint32_t c=1;c<new_width;c++) {
resized_dat[(r*new_width+c)*3] = dat[(r*old_width + c)*3*scale];
resized_dat[(r*new_width+c)*3+1] = dat[(r*old_width + c)*3*scale+1];
resized_dat[(r*new_width+c)*3+2] = dat[(r*old_width + c)*3*scale+2];
// loff = r*old_width + c;
// resized_dat[(r*new_width+c)*3] = dat[(goff+loff)*3];
// resized_dat[(r*new_width+c)*3+1] = dat[(goff+loff)*3+1];
// resized_dat[(r*new_width+c)*3+2] = dat[(goff+loff)*3+2];
}
}
err = zmq_send(zsock_resolve(s->rgb_sock), &resized_dat, new_width*new_height*3, 0);

8
selfdrive/camerad/cameras/real_debayer.cl
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@ -1,8 +1,8 @@
const __constant float3 color_correction[3] = {
// post wb CCM
(float3)(1.17898387, -0.19583185, -0.19881648),
(float3)(-0.03367879, 1.33692858, -0.02475203),
(float3)(-0.14530508, -0.14109673, 1.22356851),
(float3)(1.44602146, -0.24727126, -0.0403062),
(float3)(-0.37658179, 1.26329038, -0.45978396),
(float3)(-0.06943967, -0.01601912, 1.50009016),
};
float3 color_correct(float r, float g, float b) {
@ -29,7 +29,7 @@ float to_normal(uint x) {
const float black_level = 0;
pv = max(0.0, pv - black_level);
pv /= (1024.0f - black_level);
pv = 1.6*pv / (1.0f + 1.6*pv); // reinhard
pv = 5*pv / (1.0f + 5*pv); // reinhard
return pv;
}

4
selfdrive/camerad/cameras/sensor2_i2c.h
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@ -359,8 +359,8 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
{0x3022, 0x01}, // GROUPED_PARAMETER_HOLD_
{0x3366, 0x7777}, // ANALOG_GAIN
{0x3060, 0xBBBB}, // ANALOG_COLOR_GAIN
{0x305A, 0x00C4}, // RED_GAIN
{0x3058, 0x00B1}, // BLUE_GAIN
{0x305A, 0x00D1}, // RED_GAIN
{0x3058, 0x0118}, // BLUE_GAIN
{0x3056, 0x009A}, // GREEN1_GAIN
{0x305C, 0x009A}, // GREEN2_GAIN
{0x3022, 0x00}, // GROUPED_PARAMETER_HOLD_

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