rects

system/camerad/cameras/camera_common.h

@@ -24,6 +24,13 @@ const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
 const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
 const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;
 
+typedef struct AutoExposureRect {
+  int x;
+  int y;
+  int w;
+  int h;
+} AutoExposureRect;
+
 typedef struct FrameMetadata {
   uint32_t frame_id;
   uint32_t request_id;

system/camerad/cameras/camera_qcom2.cc

@@ -398,6 +398,7 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) {
 
 void CameraState::sensor_set_parameters() {
   target_grey_fraction = 0.3;
+  for (int i = 0; i < 4; i++) {ae_xywh[i] = ci->ae_areas[camera_num][i];}
 
   dc_gain_enabled = false;
   dc_gain_weight = ci->dc_gain_min_weight;
@@ -902,8 +903,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
 }
 
 static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  const auto ae_xywh = c->ci->driver_ae_xywh;
-  c->set_camera_exposure(set_exposure_target(&c->buf, ae_xywh[0], ae_xywh[2], 2, ae_xywh[1], ae_xywh[3], 4));
+  c->set_camera_exposure(set_exposure_target(&c->buf, c->ae_xywh[0], c->ae_xywh[2], 2, c->ae_xywh[1], c->ae_xywh[3], 4));
 
   MessageBuilder msg;
   auto framed = msg.initEvent().initDriverCameraState();
@@ -928,9 +928,8 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
   c->ci->processRegisters(c, framed);
   s->pm->send(c == &s->road_cam ? "roadCameraState" : "wideRoadCameraState", msg);
 
-  const auto ae_xywh = (c == &s->wide_road_cam) ? c->ci->wide_ae_xywh : c->ci->road_ae_xywh;
   const int skip = 2;
-  c->set_camera_exposure(set_exposure_target(b, ae_xywh[0], ae_xywh[2], skip, ae_xywh[1], ae_xywh[3], skip));
+  c->set_camera_exposure(set_exposure_target(b, c->ae_xywh[0], c->ae_xywh[2], skip, c->ae_xywh[1], c->ae_xywh[3], skip));
 }
 
 void cameras_run(MultiCameraState *s) {

system/camerad/cameras/camera_qcom2.h

@@ -30,6 +30,7 @@ public:
   int new_exp_g;
   int new_exp_t;
 
+  int ae_xywh[4];
   float measured_grey_fraction;
   float target_grey_fraction;
 

system/camerad/sensors/ar0231.cc

@@ -17,10 +17,6 @@ const float sensor_analog_gains_AR0231[] = {
     5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0,  // 8, 9, 10, 11
     7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0};            // 12, 13, 14, 15 = bypass
 
-const int ar0231_road_ae_xywh[] = {96, 160, 1734, 986};
-const int ar0231_wide_ae_xywh[] = {96, 250, 1734, 524};
-const int ar0231_driver_ae_xywh[] = {96, 242, 1736, 906};
-
 std::map<uint16_t, std::pair<int, int>> ar0231_build_register_lut(CameraState *c, uint8_t *data) {
   // This function builds a lookup table from register address, to a pair of indices in the
   // buffer where to read this address. The buffer contains padding bytes,
@@ -120,11 +116,9 @@ AR0231::AR0231() {
   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 = 1.0;
-  for (int i = 0; i < 4; i++) {
-    road_ae_xywh[i] = ar0231_road_ae_xywh[i];
-    wide_ae_xywh[i] = ar0231_wide_ae_xywh[i];
-    driver_ae_xywh[i] = ar0231_driver_ae_xywh[i];
-  }
+  ae_areas.push_back({96, 250, 1734, 524}); // wide
+  ae_areas.push_back({96, 160, 1734, 986}); // road
+  ae_areas.push_back({96, 242, 1736, 906}); // driver
 }
 
 void AR0231::processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {

system/camerad/sensors/os04c10.cc

@@ -16,10 +16,6 @@ const uint32_t os04c10_analog_gains_reg[] = {
     0x2E0, 0x300, 0x320, 0x340, 0x380, 0x3C0, 0x400, 0x440, 0x480, 0x4C0, 0x500,
     0x540, 0x580, 0x5C0, 0x600, 0x640, 0x680, 0x6C0, 0x700, 0x740, 0x780, 0x7C0};
 
-const int os04c10_road_ae_xywh[] = {44, 50, 2600, 1420};
-const int os04c10_wide_ae_xywh[] = {44, 194, 2600, 838};
-const int os04c10_driver_ae_xywh[] = {44, 180, 2600, 1340};
-
 }  // namespace
 
 OS04C10::OS04C10() {
@@ -61,11 +57,9 @@ OS04C10::OS04C10() {
   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 = 0.01;
-  for (int i = 0; i < 4; i++) {
-    road_ae_xywh[i] = os04c10_road_ae_xywh[i];
-    wide_ae_xywh[i] = os04c10_wide_ae_xywh[i];
-    driver_ae_xywh[i] = os04c10_driver_ae_xywh[i];
-  }
+  ae_areas.push_back({44, 194, 2600, 838}); // wide
+  ae_areas.push_back({44, 50, 2600, 1420}); // road
+  ae_areas.push_back({44, 180, 2600, 1340}); // driver
 }
 
 std::vector<i2c_random_wr_payload> OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {

system/camerad/sensors/ox03c10.cc

@@ -16,10 +16,6 @@ const uint32_t ox03c10_analog_gains_reg[] = {
     0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00,
     0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80};
 
-const int ox03c10_road_ae_xywh[] = {96, 160, 1734, 986};
-const int ox03c10_wide_ae_xywh[] = {96, 250, 1734, 524};
-const int ox03c10_driver_ae_xywh[] = {96, 242, 1736, 906};
-
 const uint32_t VS_TIME_MIN_OX03C10 = 1;
 const uint32_t VS_TIME_MAX_OX03C10 = 34;  // vs < 35
 
@@ -61,11 +57,9 @@ OX03C10::OX03C10() {
   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 = 0.01;
-  for (int i = 0; i < 4; i++) {
-    road_ae_xywh[i] = ox03c10_road_ae_xywh[i];
-    wide_ae_xywh[i] = ox03c10_wide_ae_xywh[i];
-    driver_ae_xywh[i] = ox03c10_driver_ae_xywh[i];
-  }
+  ae_areas.push_back({96, 250, 1734, 524}); // wide
+  ae_areas.push_back({96, 160, 1734, 986}); // road
+  ae_areas.push_back({96, 242, 1736, 906}); // driver
 }
 
 std::vector<i2c_random_wr_payload> OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const {

system/camerad/sensors/sensor.h

@@ -49,9 +49,7 @@ public:
   float target_grey_factor;
   float min_ev;
   float max_ev;
-  int road_ae_xywh[4];
-  int wide_ae_xywh[4];
-  int driver_ae_xywh[4];
+  std::vector<AutoExposureRect> ae_areas;
 
   bool data_word;
   uint32_t probe_reg_addr;