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AE: revert changes to min grey target (#21648)

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old-commit-hash: b35f6871cb9ed2049ce1f31fcaeb1914677b8177
This commit is contained in:
Willem Melching
2021-07-19 10:37:43 +02:00
committed by GitHub
parent 074f38171a
commit 7a9659a9f7
1 changed files with 2 additions and 2 deletions
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selfdrive/camerad/cameras/camera_qcom2.cc
+2 -2
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@@ -944,8 +944,8 @@ static void set_camera_exposure(CameraState *s, float grey_frac) {
const float k_grey = (dt / ts_grey) / (1.0 + dt / ts_grey);
const float k_ev = (dt / ts_ev) / (1.0 + dt / ts_ev);
// Scale target grey between 0.2 and 0.4 depending on lighting conditions
float new_target_grey = std::clamp(0.4 - 0.2 * log2(1.0 + s->cur_ev) / log2(6000.0), 0.2, 0.4);
// Scale target grey between 0.1 and 0.4 depending on lighting conditions
float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + s->cur_ev) / log2(6000.0), 0.1, 0.4);
float target_grey = (1.0 - k_grey) * s->target_grey_fraction + k_grey * new_target_grey;
float desired_ev = std::clamp(s->cur_ev * target_grey / grey_frac, s->min_ev, s->max_ev);