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pull/2765/head
deanlee 5 years ago
parent c1f3c3b2df
commit bc4e2ebe9a
1 changed files with 31 additions and 33 deletions
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  1. 64
      selfdrive/camerad/cameras/camera_qcom.cc

64
selfdrive/camerad/cameras/camera_qcom.cc
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@ -2065,59 +2065,59 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
// sharpness scores
const int roi_id = cnt % ARRAYSIZE(s->lapres); // rolling roi
int roi_x_offset = roi_id % (ROI_X_MAX-ROI_X_MIN+1);
int roi_y_offset = roi_id / (ROI_X_MAX-ROI_X_MIN+1);
for (int r=0;r<(b->rgb_height/NUM_SEGMENTS_Y);r++) {
memcpy(s->rgb_roi_buf.get() + r * (b->rgb_width/NUM_SEGMENTS_X) * 3,
(uint8_t *) b->cur_rgb_buf->addr + \
(ROI_Y_MIN + roi_y_offset) * b->rgb_height/NUM_SEGMENTS_Y * FULL_STRIDE_X * 3 + \
(ROI_X_MIN + roi_x_offset) * b->rgb_width/NUM_SEGMENTS_X * 3 + r * FULL_STRIDE_X * 3,
b->rgb_width/NUM_SEGMENTS_X * 3);
const int roi_x_offset = roi_id % (ROI_X_MAX - ROI_X_MIN + 1);
const int roi_y_offset = roi_id / (ROI_X_MAX - ROI_X_MIN + 1);
const size_t width = b->rgb_width / NUM_SEGMENTS_X;
const size_t height = b->rgb_height / NUM_SEGMENTS_Y;
for (int r = 0; r < height; r++) {
memcpy(s->rgb_roi_buf.get() + r * width * 3,
(uint8_t *)b->cur_rgb_buf->addr + (ROI_Y_MIN + roi_y_offset) * height * FULL_STRIDE_X * 3 +
(ROI_X_MIN + roi_x_offset) * width * 3 + r * FULL_STRIDE_X * 3,
width * 3);
}
CL_CHECK(clEnqueueWriteBuffer(b->q, s->rgb_conv_roi_cl, true, 0,
b->rgb_width / NUM_SEGMENTS_X * b->rgb_height / NUM_SEGMENTS_Y * 3 * sizeof(uint8_t), s->rgb_roi_buf.get(), 0, 0, 0));
CL_CHECK(clEnqueueWriteBuffer(b->q, s->rgb_conv_roi_cl, true, 0, width * height * 3 * sizeof(uint8_t), s->rgb_roi_buf.get(), 0, 0, 0));
CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 0, sizeof(cl_mem), (void *)&s->rgb_conv_roi_cl));
CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 1, sizeof(cl_mem), (void *)&s->rgb_conv_result_cl));
CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 2, sizeof(cl_mem), (void *)&s->rgb_conv_filter_cl));
CL_CHECK(clSetKernelArg(s->krnl_rgb_laplacian, 3, s->conv_cl_localMemSize, 0));
cl_event conv_event;
CL_CHECK(clEnqueueNDRangeKernel(b->q, s->krnl_rgb_laplacian, 2, NULL,
s->conv_cl_globalWorkSize, s->conv_cl_localWorkSize, 0, 0, &conv_event));
s->conv_cl_globalWorkSize, s->conv_cl_localWorkSize, 0, 0, &conv_event));
clWaitForEvents(1, &conv_event);
CL_CHECK(clReleaseEvent(conv_event));
CL_CHECK(clEnqueueReadBuffer(b->q, s->rgb_conv_result_cl, true, 0,
b->rgb_width / NUM_SEGMENTS_X * b->rgb_height / NUM_SEGMENTS_Y * sizeof(int16_t), s->conv_result.get(), 0, 0, 0));
width * height * sizeof(int16_t), s->conv_result.get(), 0, 0, 0));
s->lapres[roi_id] = get_lapmap_one(s->conv_result.get(), b->rgb_width / NUM_SEGMENTS_X, b->rgb_height / NUM_SEGMENTS_Y);
get_lapmap_one(s->conv_result.get(), &s->lapres[roi_id], width, height);
// setup self recover
const float lens_true_pos = s->rear.lens_true_pos;
std::atomic<int>& self_recover = s->rear.self_recover;
if (is_blur(&s->lapres[0], std::size(s->lapres)) &&
(lens_true_pos < (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_DOWN : OP3T_AF_DAC_DOWN) + 1 ||
lens_true_pos > (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_UP : OP3T_AF_DAC_UP) - 1) &&
self_recover < 2) {
const int dac_down = c->device == DEVICE_LP3 ? LP3_AF_DAC_DOWN : OP3T_AF_DAC_DOWN;
const int dac_up = c->device == DEVICE_LP3 ? LP3_AF_DAC_UP : OP3T_AF_DAC_UP;
const int dac_m = c->device == DEVICE_LP3 ? LP3_AF_DAC_M : OP3T_AF_DAC_M;
const int dac_3sig = c->device == DEVICE_LP3 ? LP3_AF_DAC_3SIG : OP3T_AF_DAC_3SIG;
const float lens_true_pos = c->lens_true_pos.load();
int self_recover = c->self_recover.load();
if (self_recover < 2 && is_blur(&s->lapres[0]) && (lens_true_pos < dac_down + 1 || lens_true_pos > dac_up - 1)) {
// truly stuck, needs help
self_recover -= 1;
if (self_recover < -FOCUS_RECOVER_PATIENCE) {
LOGD("rear camera bad state detected. attempting recovery from %.1f, recover state is %d",
lens_true_pos, self_recover.load());
self_recover = FOCUS_RECOVER_STEPS + ((lens_true_pos < (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_M : OP3T_AF_DAC_M)) ? 1 : 0); // parity determined by which end is stuck at
LOGD("rear camera bad state detected. attempting recovery from %.1f, recover state is %d", lens_true_pos, self_recover);
// parity determined by which end is stuck at
self_recover = FOCUS_RECOVER_STEPS + (lens_true_pos < dac_m ? 1 : 0);
}
} else if ((lens_true_pos < (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_M - LP3_AF_DAC_3SIG : OP3T_AF_DAC_M - OP3T_AF_DAC_3SIG) ||
lens_true_pos > (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_M + LP3_AF_DAC_3SIG : OP3T_AF_DAC_M + OP3T_AF_DAC_3SIG)) &&
self_recover < 2) {
} else if (self_recover < 2 && (lens_true_pos < (dac_m - dac_3sig) || lens_true_pos > (dac_m + dac_3sig))) {
// in suboptimal position with high prob, but may still recover by itself
self_recover -= 1;
if (self_recover < -(FOCUS_RECOVER_PATIENCE * 3)) {
self_recover = FOCUS_RECOVER_STEPS / 2 + ((lens_true_pos < (s->rear.device == DEVICE_LP3 ? LP3_AF_DAC_M : OP3T_AF_DAC_M)) ? 1 : 0);
self_recover = FOCUS_RECOVER_STEPS / 2 + (lens_true_pos < dac_m ? 1 : 0);
}
} else if (self_recover < 0) {
self_recover += 1; // reset if fine
}
c->self_recover.store(self_recover);
{
MessageBuilder msg;
@ -2138,13 +2138,11 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
create_thumbnail(s, c, (uint8_t*)b->cur_rgb_buf->addr);
}
const int exposure_x = 290;
const int exposure_y = 322;
const int exposure_width = 560;
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, exposure_x, exposure_x + exposure_width, skip, exposure_y, exposure_y + exposure_height, skip);
const int x = 290, y = 322;
const int width = 560, height = 314;
const int skip = 1;
set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, x, x + width, skip, y, y + height, skip);
}
}

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