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refactor set_driver_exposure_target (#20327)

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* driver_cam_set_exp_target

* rebase master

* rebase master

* rename to driver_cam_auto_exposure
This commit is contained in:
Dean Lee
2021-04-03 11:47:46 +08:00
committed by GitHub
parent 86a78581e3
commit 4e68bab6f6
1 changed files with 35 additions and 55 deletions
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selfdrive/camerad/cameras/camera_common.cc
+35 -55
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@@ -348,73 +348,53 @@ std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, pro
return std::thread(processing_thread, cameras, cs, callback);
}
void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt) {
const CameraBuf *b = &c->buf;
static int x_min = 0, x_max = 0, y_min = 0, y_max = 0;
static void driver_cam_auto_exposure(CameraState *c, SubMaster &sm) {
static const bool is_rhd = Params().getBool("IsRHD");
// auto exposure
if (cnt % 3 == 0) {
if (sm->update(0) > 0 && sm->updated("driverState")) {
auto state = (*sm)["driverState"].getDriverState();
// set driver camera metering target
if (state.getFaceProb() > 0.4) {
auto face_position = state.getFacePosition();
struct ExpRect {int x1, x2, x_skip, y1, y2, y_skip;};
const CameraBuf *b = &c->buf;
#ifndef QCOM2
int frame_width = b->rgb_width;
int frame_height = b->rgb_height;
bool hist_ceil = false, hl_weighted = false;
int analog_gain = -1;
const int x_offset = 0, y_offset = 0;
const int frame_width = b->rgb_width, frame_height = b->rgb_height;
const ExpRect def_rect = {is_rhd ? 0 : b->rgb_width * 3 / 5, is_rhd ? b->rgb_width * 2 / 5 : b->rgb_width, 2,
b->rgb_height / 3, b->rgb_height, 1};
#else
int frame_width = 668;
int frame_height = frame_width / 1.33;
bool hist_ceil = true, hl_weighted = true;
int analog_gain = (int)c->analog_gain;
const int x_offset = 630, y_offset = 156;
const int frame_width = 668, frame_height = frame_width / 1.33;
const ExpRect def_rect = {96, 1832, 2, 242, 1148, 4};
#endif
int x_offset = is_rhd ? 0 : frame_width - (0.5 * frame_height);
x_offset += (face_position[0] * (is_rhd ? -1.0 : 1.0) + 0.5) * (0.5 * frame_height);
int y_offset = (face_position[1] + 0.5) * frame_height;
#ifdef QCOM2
x_offset += 630;
y_offset += 156;
#endif
x_min = std::max(0, x_offset - 72);
x_max = std::min(b->rgb_width - 1, x_offset + 72);
y_min = std::max(0, y_offset - 72);
y_max = std::min(b->rgb_height - 1, y_offset + 72);
} else { // use default setting if no face
x_min = x_max = y_min = y_max = 0;
}
}
int skip = 1;
// use driver face crop for AE
if (x_max == 0) {
// default setting
#ifndef QCOM2
x_min = is_rhd ? 0 : b->rgb_width * 3 / 5;
x_max = is_rhd ? b->rgb_width * 2 / 5 : b->rgb_width;
y_min = b->rgb_height / 3;
y_max = b->rgb_height;
#else
x_min = 96;
x_max = 1832;
y_min = 242;
y_max = 1148;
skip = 4;
#endif
static ExpRect rect = def_rect;
// use driver face crop for AE
if (sm.updated("driverState")) {
if (auto state = sm["driverState"].getDriverState(); state.getFaceProb() > 0.4) {
auto face_position = state.getFacePosition();
int x = is_rhd ? 0 : frame_width - (0.5 * frame_height);
x += (face_position[0] * (is_rhd ? -1.0 : 1.0) + 0.5) * (0.5 * frame_height) + x_offset;
int y = (face_position[1] + 0.5) * frame_height + y_offset;
rect = {std::max(0, x - 72), std::min(b->rgb_width - 1, x + 72), 2,
std::max(0, y - 72), std::min(b->rgb_height - 1, y + 72), 1};
} else {
rect = def_rect;
}
#ifdef QCOM2
camera_autoexposure(c, set_exposure_target(b, x_min, x_max, 2, y_min, y_max, skip, (int)c->analog_gain, true, true));
#else
camera_autoexposure(c, set_exposure_target(b, x_min, x_max, 2, y_min, y_max, skip, -1, false, false));
#endif
}
camera_autoexposure(c, set_exposure_target(b, rect.x1, rect.x2, rect.x_skip, rect.y1, rect.y2, rect.y_skip, analog_gain, hist_ceil, hl_weighted));
}
void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt) {
if (cnt % 3 == 0) {
driver_cam_auto_exposure(c, *sm);
}
MessageBuilder msg;
auto framed = msg.initEvent().initDriverCameraState();
framed.setFrameType(cereal::FrameData::FrameType::FRONT);
fill_frame_data(framed, b->cur_frame_data);
fill_frame_data(framed, c->buf.cur_frame_data);
if (env_send_driver) {
framed.setImage(get_frame_image(b));
framed.setImage(get_frame_image(&c->buf));
}
pm->send("driverCameraState", msg);
}