set_exposure_target test (#20318)
* build * remove junk * clean up * clean up rebase * new patterns * add gts * add to jenkis * this more useful * typo * test only * Update Jenkinsfile * test flag * remove from jenkins * these should all just be common:wq * oops * unigt * add to unit tests? * build all is fine Co-authored-by: Comma Device <device@comma.ai>pull/20337/head
ZwX1616
4 years ago
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GitHub
parent
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12 changed files with 150 additions and 108 deletions
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// unittest for set_exposure_target
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#include <assert.h> |
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#include <cstring> |
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#include <cmath> |
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#include "selfdrive/camerad/cameras/camera_common.h" |
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#include "selfdrive/camerad/test/ae_gray_test.h" |
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void camera_autoexposure(CameraState *s, float grey_frac) {} |
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int main() { |
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// set up fake camerabuf
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CameraBuf cb = {}; |
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VisionBuf vb = {}; |
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uint8_t * fb_y = new uint8_t[W*H]; |
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vb.y = fb_y; |
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cb.cur_yuv_buf = &vb; |
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cb.rgb_width = W; |
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cb.rgb_height = H; |
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printf("AE test patterns %dx%d\n", cb.rgb_width, cb.rgb_height); |
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// mix of 5 tones
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uint8_t l[5] = {0, 24, 48, 96, 235}; // 235 is yuv max
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bool passed = true; |
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float rtol = 0.05; |
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// generate pattern and calculate EV
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int cnt = 0; |
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for (int is_qcom2=0; is_qcom2<2; is_qcom2++) { |
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for (int g=0; g<GAIN_SPLITS; g++) { |
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for (int i_0=0; i_0<TONE_SPLITS; i_0++) { |
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for (int i_1=0; i_1<TONE_SPLITS; i_1++) { |
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for (int i_2=0; i_2<TONE_SPLITS; i_2++) { |
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for (int i_3=0; i_3<TONE_SPLITS; i_3++) { |
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int h_0 = i_0 * H / TONE_SPLITS; |
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int h_1 = i_1 * (H - h_0) / TONE_SPLITS; |
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int h_2 = i_2 * (H - h_0 - h_1) / TONE_SPLITS; |
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int h_3 = i_3 * (H - h_0 - h_1 - h_2) / TONE_SPLITS; |
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int h_4 = H - h_0 - h_1 - h_2 - h_3; |
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memset(&fb_y[0], l[0], h_0*W); |
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memset(&fb_y[h_0*W], l[1], h_1*W); |
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memset(&fb_y[h_0*W+h_1*W], l[2], h_2*W); |
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memset(&fb_y[h_0*W+h_1*W+h_2*W], l[3], h_3*W); |
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memset(&fb_y[h_0*W+h_1*W+h_2*W+h_3*W], l[4], h_4*W); |
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float ev = set_exposure_target((const CameraBuf*) &cb, 0, W-1, 1, 0, H-1, 1, g*10, (bool)is_qcom2, (bool)is_qcom2); |
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// printf("%d/%d/%d/%d/%d ev is %f\n", h_0, h_1, h_2, h_3, h_4, ev);
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// printf("%f\n", ev);
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// compare to gt
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float evgt = gts[cnt]; |
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if (fabs(ev - evgt) > rtol*evgt) { |
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passed = false; |
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} |
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// report
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printf("%d/%d/%d/%d/%d/%d/%d: ev %f, gt %f, err %f\n", is_qcom2, g*10, h_0, h_1, h_2, h_3, h_4, ev, evgt, fabs(ev - evgt) / (evgt != 0 ? evgt : 0.00001f)); |
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cnt++; |
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} |
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} |
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} |
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} |
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} |
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} |
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assert(passed); |
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delete[] fb_y; |
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return 0; |
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} |
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@ -0,0 +1,43 @@ |
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#pragma once |
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#define W 240 |
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#define H 160 |
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#define TONE_SPLITS 3 |
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#define GAIN_SPLITS 2 |
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float gts[2*TONE_SPLITS*TONE_SPLITS*TONE_SPLITS*TONE_SPLITS*GAIN_SPLITS] = { |
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0.917969,0.917969,0.375000,0.917969,0.375000,0.375000,0.187500,0.187500,0.187500,0.917969, |
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0.375000,0.375000,0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750, |
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0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.917969,0.375000,0.375000, |
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0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750,0.093750,0.093750, |
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0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750, |
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0.093750,0.093750,0.093750,0.093750,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, |
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0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, |
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0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, |
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0.000000,0.917969,0.917969,0.375000,0.917969,0.375000,0.375000,0.187500,0.187500,0.187500, |
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0.917969,0.375000,0.375000,0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750, |
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0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.917969,0.375000, |
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0.375000,0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750,0.093750, |
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0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750, |
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0.093750,0.093750,0.093750,0.093750,0.093750,0.000000,0.000000,0.000000,0.000000,0.000000, |
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0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, |
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0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, |
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0.000000,0.000000,4.527344,3.324219,0.457031,4.421875,3.265625,0.453125,4.324219,3.167969, |
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0.449219,4.421875,3.265625,0.453125,4.234375,3.113281,0.449219,3.980469,2.929688,0.441406, |
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4.324219,3.167969,0.449219,3.980469,2.929688,0.441406,3.558594,0.433594,0.433594,4.421875, |
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3.265625,0.453125,4.234375,3.113281,0.449219,3.980469,2.929688,0.441406,4.234375,3.113281, |
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0.449219,3.929688,2.902344,0.441406,3.484375,0.429688,0.429688,3.980469,2.929688,0.441406, |
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3.484375,0.429688,0.429688,2.871094,0.417969,0.417969,4.324219,3.167969,0.449219,3.980469, |
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2.929688,0.441406,3.558594,0.433594,0.433594,3.980469,2.929688,0.441406,3.484375,0.429688, |
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0.429688,2.871094,0.417969,0.417969,3.558594,0.433594,0.433594,2.871094,0.417969,0.417969, |
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0.308594,0.308594,0.308594,4.253906,3.140625,0.574219,4.156250,3.085938,0.566406,4.066406, |
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2.996094,0.562500,4.156250,3.085938,0.566406,3.984375,2.945312,0.554688,3.750000,2.777344, |
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0.542969,4.066406,2.996094,0.562500,3.750000,2.777344,0.542969,3.359375,0.519531,0.519531, |
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4.156250,3.085938,0.566406,3.984375,2.945312,0.554688,3.750000,2.777344,0.542969,3.984375, |
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2.945312,0.554688,3.699219,2.753906,0.539062,3.289062,0.515625,0.515625,3.750000,2.777344, |
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0.542969,3.289062,0.515625,0.515625,2.722656,0.480469,0.480469,4.066406,2.996094,0.562500, |
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3.750000,2.777344,0.542969,3.359375,0.519531,0.519531,3.750000,2.777344,0.542969,3.289062, |
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0.515625,0.515625,2.722656,0.480469,0.480469,3.359375,0.519531,0.519531,2.722656,0.480469, |
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0.480469,0.328125,0.328125,0.328125, |
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}; |
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@ -1,48 +0,0 @@ |
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# flake8: noqa |
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# pylint: disable=W |
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#!/usr/bin/env python |
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import numpy as np |
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import cv2 |
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from time import time, sleep |
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H, W = (604*2//6, 964*2//6) |
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# H, W = (604, 964) |
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cam_bufs = np.zeros((3,H,W,3), dtype=np.uint8) |
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hist_bufs = np.zeros((3,H,200,3), dtype=np.uint8) |
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if __name__ == '__main__': |
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import zmq |
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context = zmq.Context() |
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socket = context.socket(zmq.PULL) |
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socket.bind("tcp://192.168.3.4:7768") |
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while True: |
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try: |
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message = socket.recv() |
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except Exception as ex: |
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print(ex) |
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message = b"123" |
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dat = np.frombuffer(message, dtype=np.uint8) |
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cam_id = (dat[0] + 1) % 3 |
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# import pdb; pdb.set_trace() |
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b = dat[::3].reshape(H, W) |
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g = dat[1::3].reshape(H, W) |
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r = dat[2::3].reshape(H, W) |
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cam_bufs[cam_id] = cv2.merge((r, g, b)) |
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cam_bufs[cam_id]= cv2.cvtColor(cam_bufs[cam_id], cv2.COLOR_RGB2BGR) |
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hist = cv2.calcHist([cv2.cvtColor(cam_bufs[cam_id], cv2.COLOR_BGR2GRAY)],[0],None,[32],[0,256]) |
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hist = (H*hist/hist.max()).astype(np.uint8) |
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hist_bufs[cam_id] = 0 |
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for i,bb in enumerate(hist): |
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hist_bufs[cam_id, H-bb[0]:,i*(200//32):(i+1)*(200//32), :] = (222,222,222) |
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out = cam_bufs.reshape((3*H,W,3)) |
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hist_bufs_out = hist_bufs.reshape((3*H,200,3)) |
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out = np.hstack([out, hist_bufs_out]) |
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cv2.imshow('RGB', out) |
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cv2.waitKey(55) |
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#dat.tofile('/tmp/c3rgb.img') |
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#cv2.imwrite('/tmp/c3rgb.png', out) |
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@ -1,34 +0,0 @@ |
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# flake8: noqa |
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# pylint: disable=W |
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#!/usr/bin/env python |
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import numpy as np |
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import cv2 |
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from time import time, sleep |
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H, W = (256, 512) |
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if __name__ == '__main__': |
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import zmq |
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context = zmq.Context() |
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socket = context.socket(zmq.PULL) |
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socket.bind("tcp://192.168.3.4:7769") |
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while True: |
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try: |
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message = socket.recv() |
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except Exception as ex: |
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print(ex) |
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message = b"123" |
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dat = np.frombuffer(message, dtype=np.float32) |
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mc = (dat.reshape(H//2, W//2)).astype(np.uint8) |
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hist = cv2.calcHist([mc],[0],None,[32],[0,256]) |
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hist = (H*hist/hist.max()).astype(np.uint8) |
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himg = np.zeros((H//2, W//2), dtype=np.uint8) |
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for i,b in enumerate(hist): |
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himg[H//2-b[0]:,i*(W//2//32):(i+1)*(W//2//32)] = 222 |
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cv2.imshow('model fov', np.hstack([mc, himg])) |
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cv2.waitKey(20) |
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dat.tofile('/tmp/c3yuv.img') |
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