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better transition

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Comma Device
2021-03-04 11:08:52 -08:00
parent 1b5c4d9089
commit 0d036de205
2 changed files with 4 additions and 4 deletions
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selfdrive/camerad/cameras/camera_common.cc
+3 -3
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@@ -315,9 +315,9 @@ void set_exposure_target(CameraState *c, int x_start, int x_end, int x_skip, int
lum_cur += lum_binning[lum_med];
#ifdef QCOM2
int lum_med_tmp = 0;
int hb = HLC_THRESH;
int hb = HLC_THRESH + (10 - c->analog_gain);
if (lum_cur > 0 && lum_med > hb) {
lum_med_tmp = 4 * (lum_med - hb) + 100;
lum_med_tmp = (lum_med - hb) + 100;
}
lum_med_alt = lum_med_alt>lum_med_tmp?lum_med_alt:lum_med_tmp;
#endif
@@ -325,7 +325,7 @@ void set_exposure_target(CameraState *c, int x_start, int x_end, int x_skip, int
break;
}
}
lum_med = lum_med_alt>0 ? lum_med + lum_med/32*lum_cur*(lum_med_alt - lum_med)/lum_total/2:lum_med;
lum_med = lum_med_alt>0 ? lum_med + lum_med*lum_cur*(lum_med_alt - lum_med)/lum_total/32:lum_med;
camera_autoexposure(c, lum_med / 256.0);
}
selfdrive/camerad/cameras/camera_qcom2.cc
+1 -1
View File
@@ -1003,7 +1003,7 @@ static void set_camera_exposure(CameraState *s, float grey_frac) {
// TODO: get stats from sensor?
float target_grey = 0.4 - ((float)(s->analog_gain + 4*s->dc_gain_enabled) / 48.0f);
float exposure_factor = 1 + 30 * pow((target_grey - grey_frac), 3);
exposure_factor = std::max(exposure_factor, 0.4f);
exposure_factor = std::max(exposure_factor, 0.56f);
if (s->camera_num != 1) {
s->ef_filtered = (1 - EF_LOWPASS_K) * s->ef_filtered + EF_LOWPASS_K * exposure_factor;