Clean up and test camerad refactor (#2310)
* refactor
add function get_camerabuf_by_type
remove cl_free
use camera_id
move front stuff into frontview_thread
bigger refactor
more
typo
rename camerabuf *c to *b
cleanup header files
remove wideview_thread
camera_qcom.c to c++
fix SConscript
camera_process_buf
space
sendrgb same with before
do autoexposure in processing_thread
correct sendrgb
add camera_common.cc
move yuv_transform to CameraBuf
* use C to keep consitent
* rebase master
* rebase master
* continue refactor
* refactor all camera related data&function out of main
done
* cleanup
* -use buf.rgb_width&height
* remoe ,
* rebase master
* remove unused std::vector
* add func common_camera_process_front
* fix max
* fix sendrgb
* less crap being logged
* fix indents
* add back thumbnails
* thumbnail fixed on tici
* junk junk junk
* unify api
* fix ptr ref
* lol!
* cleanup
* more simplified
* typos
* remove terminate
* use standard polling
* ops_thread refactor, too much code!
* fix build
* ok
* assert
* listen
* incl more
* wq!
* fix more build
* macos
* fix exp targets
* front is different
* const
* bye
* remath
* remove irrelevant
* do ops in a thread
* fix init
* return null
* QCOM2 ops
* qcom2 build
* missing comma
Co-authored-by: deanlee <deanlee3@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 6b020241c9
commatwo_master
ZwX1616
5 years ago
committed by
GitHub
parent
ce24d01c4a
commit
dae628002f
21 changed files with 1184 additions and 1917 deletions
@ -1,8 +0,0 @@ |
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#ifndef _SELFDRIVE_VISIOND_VISIOND_H_ |
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#define _SELFDRIVE_VISIOND_VISIOND_H_ |
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#include <inttypes.h> |
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typedef struct { uint8_t *y, *u, *v; } YUVBuf; |
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#endif // _SELFDRIVE_VISIOND_VISIOND_H_
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@ -0,0 +1,413 @@ |
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#include <thread> |
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#include <stdio.h> |
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#include <signal.h> |
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#include <assert.h> |
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#include <unistd.h> |
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#if defined(QCOM) && !defined(QCOM_REPLAY) |
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#include "cameras/camera_qcom.h" |
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#elif QCOM2 |
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#include "cameras/camera_qcom2.h" |
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#elif WEBCAM |
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#include "cameras/camera_webcam.h" |
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#else |
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#include "cameras/camera_frame_stream.h" |
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#endif |
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#include "camera_common.h" |
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#include <libyuv.h> |
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#include <jpeglib.h> |
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#include "clutil.h" |
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#include "common/params.h" |
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#include "common/swaglog.h" |
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#include "common/util.h" |
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#include "imgproc/utils.h" |
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static cl_program build_debayer_program(cl_device_id device_id, cl_context context, const CameraInfo *ci, const CameraBuf *b) { |
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char args[4096]; |
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snprintf(args, sizeof(args), |
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"-cl-fast-relaxed-math -cl-denorms-are-zero " |
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"-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d " |
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"-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d " |
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"-DBAYER_FLIP=%d -DHDR=%d", |
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ci->frame_width, ci->frame_height, ci->frame_stride, |
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b->rgb_width, b->rgb_height, b->rgb_stride, |
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ci->bayer_flip, ci->hdr); |
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#ifdef QCOM2 |
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return CLU_LOAD_FROM_FILE(context, device_id, "cameras/real_debayer.cl", args); |
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#else |
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return CLU_LOAD_FROM_FILE(context, device_id, "cameras/debayer.cl", args); |
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#endif |
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} |
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void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, int frame_cnt, |
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const char *name, release_cb relase_callback) { |
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const CameraInfo *ci = &s->ci; |
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camera_state = s; |
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frame_buf_count = frame_cnt; |
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frame_size = ci->frame_height * ci->frame_stride; |
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camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count); |
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camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count); |
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for (int i = 0; i < frame_buf_count; i++) { |
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camera_bufs[i] = visionbuf_allocate_cl(frame_size, device_id, context); |
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} |
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rgb_width = ci->frame_width; |
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rgb_height = ci->frame_height; |
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#ifndef QCOM2 |
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// debayering does a 2x downscale
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if (ci->bayer) { |
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rgb_width = ci->frame_width / 2; |
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rgb_height = ci->frame_height / 2; |
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} |
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float db_s = 0.5; |
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#else |
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float db_s = 1.0; |
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#endif |
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if (ci->bayer) { |
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yuv_transform = transform_scale_buffer(s->transform, db_s); |
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} else { |
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yuv_transform = s->transform; |
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} |
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for (int i = 0; i < UI_BUF_COUNT; i++) { |
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VisionImg img = visionimg_alloc_rgb24(device_id, context, rgb_width, rgb_height, &rgb_bufs[i]); |
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if (i == 0) { |
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rgb_stride = img.stride; |
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} |
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} |
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tbuffer_init(&ui_tb, UI_BUF_COUNT, name); |
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tbuffer_init2(&camera_tb, frame_buf_count, "frame", relase_callback, s); |
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// yuv back for recording and orbd
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pool_init(&yuv_pool, YUV_COUNT); |
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yuv_tb = pool_get_tbuffer(&yuv_pool); |
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yuv_width = rgb_width; |
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yuv_height = rgb_height; |
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yuv_buf_size = rgb_width * rgb_height * 3 / 2; |
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for (int i = 0; i < YUV_COUNT; i++) { |
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yuv_ion[i] = visionbuf_allocate_cl(yuv_buf_size, device_id, context); |
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yuv_bufs[i].y = (uint8_t *)yuv_ion[i].addr; |
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yuv_bufs[i].u = yuv_bufs[i].y + (yuv_width * yuv_height); |
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yuv_bufs[i].v = yuv_bufs[i].u + (yuv_width / 2 * yuv_height / 2); |
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} |
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int err; |
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if (ci->bayer) { |
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cl_program prg_debayer = build_debayer_program(device_id, context, ci, this); |
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krnl_debayer = clCreateKernel(prg_debayer, "debayer10", &err); |
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assert(err == 0); |
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assert(clReleaseProgram(prg_debayer) == 0); |
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} |
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rgb_to_yuv_init(&rgb_to_yuv_state, context, device_id, yuv_width, yuv_height, rgb_stride); |
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#ifdef __APPLE__ |
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q = clCreateCommandQueue(context, device_id, 0, &err); |
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#else |
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const cl_queue_properties props[] = {0}; //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
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q = clCreateCommandQueueWithProperties(context, device_id, props, &err); |
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#endif |
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assert(err == 0); |
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} |
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CameraBuf::~CameraBuf() { |
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for (int i = 0; i < frame_buf_count; i++) { |
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visionbuf_free(&camera_bufs[i]); |
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} |
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for (int i = 0; i < UI_BUF_COUNT; i++) { |
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visionbuf_free(&rgb_bufs[i]); |
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} |
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for (int i = 0; i < YUV_COUNT; i++) { |
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visionbuf_free(&yuv_ion[i]); |
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} |
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clReleaseKernel(krnl_debayer); |
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clReleaseCommandQueue(q); |
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} |
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bool CameraBuf::acquire() { |
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const int buf_idx = tbuffer_acquire(&camera_tb); |
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if (buf_idx < 0) { |
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return false; |
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} |
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const FrameMetadata &frame_data = camera_bufs_metadata[buf_idx]; |
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if (frame_data.frame_id == -1) { |
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LOGE("no frame data? wtf"); |
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tbuffer_release(&camera_tb, buf_idx); |
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return false; |
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} |
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cur_frame_data = frame_data; |
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cur_rgb_idx = tbuffer_select(&ui_tb); |
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cur_rgb_buf = &rgb_bufs[cur_rgb_idx]; |
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cl_event debayer_event; |
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cl_mem camrabuf_cl = camera_bufs[buf_idx].buf_cl; |
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if (camera_state->ci.bayer) { |
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assert(clSetKernelArg(krnl_debayer, 0, sizeof(cl_mem), &camrabuf_cl) == 0); |
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assert(clSetKernelArg(krnl_debayer, 1, sizeof(cl_mem), &cur_rgb_buf->buf_cl) == 0); |
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#ifdef QCOM2 |
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assert(clSetKernelArg(krnl_debayer, 2, camera_state->debayer_cl_localMemSize, 0) == 0); |
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assert(clEnqueueNDRangeKernel(q, krnl_debayer, 2, NULL, |
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camera_state->debayer_cl_globalWorkSize, camera_state->debayer_cl_localWorkSize, |
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0, 0, &debayer_event) == 0); |
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#else |
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float digital_gain = camera_state->digital_gain; |
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if ((int)digital_gain == 0) { |
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digital_gain = 1.0; |
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} |
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assert(clSetKernelArg(krnl_debayer, 2, sizeof(float), &digital_gain) == 0); |
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const size_t debayer_work_size = rgb_height; // doesn't divide evenly, is this okay?
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const size_t debayer_local_work_size = 128; |
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assert(clEnqueueNDRangeKernel(q, krnl_debayer, 1, NULL, |
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&debayer_work_size, &debayer_local_work_size, 0, 0, &debayer_event) == 0); |
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#endif |
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} else { |
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assert(cur_rgb_buf->len >= frame_size); |
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assert(rgb_stride == camera_state->ci.frame_stride); |
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assert(clEnqueueCopyBuffer(q, camrabuf_cl, cur_rgb_buf->buf_cl, 0, 0, |
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cur_rgb_buf->len, 0, 0, &debayer_event) == 0); |
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} |
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clWaitForEvents(1, &debayer_event); |
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clReleaseEvent(debayer_event); |
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tbuffer_release(&camera_tb, buf_idx); |
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visionbuf_sync(cur_rgb_buf, VISIONBUF_SYNC_FROM_DEVICE); |
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cur_yuv_idx = pool_select(&yuv_pool); |
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yuv_metas[cur_yuv_idx] = frame_data; |
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rgb_to_yuv_queue(&rgb_to_yuv_state, q, cur_rgb_buf->buf_cl, yuv_ion[cur_yuv_idx].buf_cl); |
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visionbuf_sync(&yuv_ion[cur_yuv_idx], VISIONBUF_SYNC_FROM_DEVICE); |
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// keep another reference around till were done processing
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pool_acquire(&yuv_pool, cur_yuv_idx); |
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pool_push(&yuv_pool, cur_yuv_idx); |
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return true; |
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} |
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void CameraBuf::release() { |
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tbuffer_dispatch(&ui_tb, cur_rgb_idx); |
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pool_release(&yuv_pool, cur_yuv_idx); |
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} |
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void CameraBuf::stop() { |
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tbuffer_stop(&ui_tb); |
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tbuffer_stop(&camera_tb); |
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pool_stop(&yuv_pool); |
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} |
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// common functions
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void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, uint32_t cnt) { |
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framed.setFrameId(frame_data.frame_id); |
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framed.setEncodeId(cnt); |
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framed.setTimestampEof(frame_data.timestamp_eof); |
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framed.setFrameLength(frame_data.frame_length); |
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framed.setIntegLines(frame_data.integ_lines); |
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framed.setGlobalGain(frame_data.global_gain); |
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framed.setLensPos(frame_data.lens_pos); |
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framed.setLensSag(frame_data.lens_sag); |
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framed.setLensErr(frame_data.lens_err); |
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framed.setLensTruePos(frame_data.lens_true_pos); |
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framed.setGainFrac(frame_data.gain_frac); |
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} |
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void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr) { |
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const CameraBuf *b = &c->buf; |
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uint8_t* thumbnail_buffer = NULL; |
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unsigned long thumbnail_len = 0; |
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unsigned char *row = (unsigned char *)malloc(b->rgb_width/4*3); |
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struct jpeg_compress_struct cinfo; |
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struct jpeg_error_mgr jerr; |
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cinfo.err = jpeg_std_error(&jerr); |
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jpeg_create_compress(&cinfo); |
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jpeg_mem_dest(&cinfo, &thumbnail_buffer, &thumbnail_len); |
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cinfo.image_width = b->rgb_width / 4; |
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cinfo.image_height = b->rgb_height / 4; |
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cinfo.input_components = 3; |
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cinfo.in_color_space = JCS_RGB; |
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jpeg_set_defaults(&cinfo); |
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#ifndef __APPLE__ |
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jpeg_set_quality(&cinfo, 50, true); |
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jpeg_start_compress(&cinfo, true); |
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#else |
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jpeg_set_quality(&cinfo, 50, static_cast<boolean>(true) ); |
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jpeg_start_compress(&cinfo, static_cast<boolean>(true) ); |
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#endif |
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JSAMPROW row_pointer[1]; |
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for (int ii = 0; ii < b->rgb_height/4; ii+=1) { |
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for (int j = 0; j < b->rgb_width*3; j+=12) { |
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for (int k = 0; k < 3; k++) { |
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uint16_t dat = 0; |
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int i = ii * 4; |
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dat += bgr_ptr[b->rgb_stride*i + j + k]; |
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dat += bgr_ptr[b->rgb_stride*i + j+3 + k]; |
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dat += bgr_ptr[b->rgb_stride*(i+1) + j + k]; |
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dat += bgr_ptr[b->rgb_stride*(i+1) + j+3 + k]; |
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dat += bgr_ptr[b->rgb_stride*(i+2) + j + k]; |
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dat += bgr_ptr[b->rgb_stride*(i+2) + j+3 + k]; |
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dat += bgr_ptr[b->rgb_stride*(i+3) + j + k]; |
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dat += bgr_ptr[b->rgb_stride*(i+3) + j+3 + k]; |
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row[(j/4) + (2-k)] = dat/8; |
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} |
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} |
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row_pointer[0] = row; |
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jpeg_write_scanlines(&cinfo, row_pointer, 1); |
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} |
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free(row); |
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jpeg_finish_compress(&cinfo); |
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MessageBuilder msg; |
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auto thumbnaild = msg.initEvent().initThumbnail(); |
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thumbnaild.setFrameId(b->cur_frame_data.frame_id); |
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thumbnaild.setTimestampEof(b->cur_frame_data.timestamp_eof); |
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thumbnaild.setThumbnail(kj::arrayPtr((const uint8_t*)thumbnail_buffer, thumbnail_len)); |
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if (s->pm != NULL) { |
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s->pm->send("thumbnail", msg); |
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} |
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} |
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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) { |
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const CameraBuf *b = &c->buf; |
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uint32_t lum_binning[256] = {0}; |
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for (int y = y_start; y < y_end; y += y_skip) { |
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for (int x = x_start; x < x_end; x += x_skip) { |
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if (!front) { |
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uint8_t lum = pix_ptr[((y_start + y) * b->yuv_width) + x_start + x]; |
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lum_binning[lum]++; |
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} else { |
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const uint8_t *pix = &pix_ptr[y * b->rgb_stride + x * 3]; |
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unsigned int lum = (unsigned int)(pix[0] + pix[1] + pix[2]); |
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lum_binning[std::min(lum / 3, 255u)]++; |
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} |
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} |
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} |
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unsigned int lum_total = (y_end - y_start) * (x_end - x_start) / x_skip / y_skip; |
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unsigned int lum_cur = 0; |
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int lum_med = 0; |
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int lum_med_alt = 0; |
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for (lum_med=255; lum_med>=0; lum_med--) { |
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lum_cur += lum_binning[lum_med]; |
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#ifdef QCOM2 |
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bool reach_hlc_perc = false; |
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if (c->camera_num == 0) { // wide
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reach_hlc_perc = lum_cur > 2*lum_total / (3*HLC_A); |
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} else { |
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reach_hlc_perc = lum_cur > lum_total / HLC_A; |
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} |
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if (reach_hlc_perc && lum_med > HLC_THRESH) { |
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lum_med_alt = 86; |
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} |
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#endif |
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if (lum_cur >= lum_total / 2) { |
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break; |
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} |
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} |
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lum_med = lum_med_alt>lum_med?lum_med_alt:lum_med; |
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camera_autoexposure(c, lum_med / 256.0); |
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} |
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extern volatile sig_atomic_t do_exit; |
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void *processing_thread(MultiCameraState *cameras, const char *tname, |
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|
CameraState *cs, int priority, process_thread_cb callback) { |
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|
set_thread_name(tname); |
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|
int err = set_realtime_priority(priority); |
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|
LOG("%s start! setpriority returns %d", tname, err); |
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|
|
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for (int cnt = 0; !do_exit; cnt++) { |
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|
if (!cs->buf.acquire()) continue; |
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|
|
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|
callback(cameras, cs, cnt); |
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|
|
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|
cs->buf.release(); |
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|
} |
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|
return NULL; |
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|
} |
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|
|
||||||
|
std::thread start_process_thread(MultiCameraState *cameras, const char *tname, |
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|
CameraState *cs, int priority, process_thread_cb callback) { |
||||||
|
return std::thread(processing_thread, cameras, tname, cs, priority, callback); |
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|
} |
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|
|
||||||
|
void common_camera_process_front(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt) { |
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|
const CameraBuf *b = &c->buf; |
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|
|
||||||
|
static int meteringbox_xmin = 0, meteringbox_xmax = 0; |
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|
static int meteringbox_ymin = 0, meteringbox_ymax = 0; |
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|
static const bool rhd_front = Params().read_db_bool("IsRHD"); |
||||||
|
|
||||||
|
sm->update(0); |
||||||
|
if (sm->updated("driverState")) { |
||||||
|
auto state = (*sm)["driverState"].getDriverState(); |
||||||
|
float face_prob = state.getFaceProb(); |
||||||
|
float face_position[2]; |
||||||
|
face_position[0] = state.getFacePosition()[0]; |
||||||
|
face_position[1] = state.getFacePosition()[1]; |
||||||
|
|
||||||
|
// set front camera metering target
|
||||||
|
if (face_prob > 0.4) { |
||||||
|
int x_offset = rhd_front ? 0:b->rgb_width - 0.5 * b->rgb_height; |
||||||
|
meteringbox_xmin = x_offset + (face_position[0] + 0.5) * (0.5 * b->rgb_height) - 72; |
||||||
|
meteringbox_xmax = x_offset + (face_position[0] + 0.5) * (0.5 * b->rgb_height) + 72; |
||||||
|
meteringbox_ymin = (face_position[1] + 0.5) * (b->rgb_height) - 72; |
||||||
|
meteringbox_ymax = (face_position[1] + 0.5) * (b->rgb_height) + 72; |
||||||
|
} else { // use default setting if no face
|
||||||
|
meteringbox_ymin = b->rgb_height * 1 / 3; |
||||||
|
meteringbox_ymax = b->rgb_height * 1; |
||||||
|
meteringbox_xmin = rhd_front ? 0:b->rgb_width * 3 / 5; |
||||||
|
meteringbox_xmax = rhd_front ? b->rgb_width * 2 / 5:b->rgb_width; |
||||||
|
} |
||||||
|
} |
||||||
|
|
||||||
|
// auto exposure
|
||||||
|
if (cnt % 3 == 0) { |
||||||
|
// use driver face crop for AE
|
||||||
|
int x_start, x_end, y_start, y_end; |
||||||
|
int skip = 1; |
||||||
|
|
||||||
|
if (meteringbox_xmax > 0) { |
||||||
|
x_start = std::max(0, meteringbox_xmin); |
||||||
|
x_end = std::min(b->rgb_width - 1, meteringbox_xmax); |
||||||
|
y_start = std::max(0, meteringbox_ymin); |
||||||
|
y_end = std::min(b->rgb_height - 1, meteringbox_ymax); |
||||||
|
} else { |
||||||
|
y_start = b->rgb_height * 1 / 3; |
||||||
|
y_end = b->rgb_height * 1; |
||||||
|
x_start = rhd_front ? 0 : b->rgb_width * 3 / 5; |
||||||
|
x_end = rhd_front ? b->rgb_width * 2 / 5 : b->rgb_width; |
||||||
|
} |
||||||
|
#ifdef QCOM2 |
||||||
|
x_start = 96; |
||||||
|
x_end = 1832; |
||||||
|
y_start = 242; |
||||||
|
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); |
||||||
|
} |
||||||
|
|
||||||
|
MessageBuilder msg; |
||||||
|
auto framed = msg.initEvent().initFrontFrame(); |
||||||
|
framed.setFrameType(cereal::FrameData::FrameType::FRONT); |
||||||
|
fill_frame_data(framed, b->cur_frame_data, cnt); |
||||||
|
pm->send("frontFrame", msg); |
||||||
|
} |
||||||
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Reference in new issue