just use the same (#2419)

selfdrive/camerad/cameras/camera_common.cc

@@ -283,21 +283,14 @@ void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr) {
   }
 }
 
-void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, bool front, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip) {
+void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip) {
   const CameraBuf *b = &c->buf;
 
   uint32_t lum_binning[256] = {0};
   for (int y = y_start; y < y_end; y += y_skip) {
     for (int x = x_start; x < x_end; x += x_skip) {
-      if (!front) {
+      uint8_t lum = pix_ptr[(y * b->yuv_width) + x];
-        uint8_t lum = pix_ptr[(y * b->yuv_width) + x];
+      lum_binning[lum]++;
-        lum_binning[lum]++;
-      } else {
-        // TODO: should get rid of RGB here
-        const uint8_t *pix = &pix_ptr[y * b->rgb_stride + x * 3];
-        unsigned int lum = (unsigned int)(pix[0] + pix[1] + pix[2]);
-        lum_binning[std::min(lum / 3, 255u)]++;
-      }
     }
   }
 
@@ -403,7 +396,7 @@ void common_camera_process_front(SubMaster *sm, PubMaster *pm, CameraState *c, i
     y_end = 1148;
     skip = 4;
 #endif
-    set_exposure_target(c, (const uint8_t *)b->cur_rgb_buf->addr, 1, x_start, x_end, 2, y_start, y_end, skip);
+    set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, x_start, x_end, 2, y_start, y_end, skip);
   }
 
   MessageBuilder msg;

selfdrive/camerad/cameras/camera_common.h

@@ -129,7 +129,7 @@ typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
 
 void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, uint32_t cnt);
 void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr);
-void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, bool front, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
+void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
 std::thread start_process_thread(MultiCameraState *cameras, const char *tname,
                                     CameraState *cs, int priority, process_thread_cb callback);
 void common_camera_process_front(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt);

selfdrive/camerad/cameras/camera_qcom.cc

@@ -2154,7 +2154,7 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
   const int exposure_height = 314;
   const int skip = 1;
   if (cnt % 3 == 0) {
-    set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, 0, exposure_x, exposure_x + exposure_width, skip, exposure_y, exposure_y + exposure_height, skip);
+    set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, exposure_x, exposure_x + exposure_width, skip, exposure_y, exposure_y + exposure_height, skip);
   }
 }
 

selfdrive/camerad/cameras/camera_qcom2.cc

@@ -1154,7 +1154,7 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
       exposure_height = 524;
     }
     int skip = 2;
-    set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, 0, exposure_x, exposure_x + exposure_width, skip, exposure_y, exposure_y + exposure_height, skip);
+    set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, exposure_x, exposure_x + exposure_width, skip, exposure_y, exposure_y + exposure_height, skip);
   }
 }