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cameras:move cameras_supported to the top (#20370) 

* move cameras_supported to the top

* remove extern CameraInfo cameras_supported from camera_common.h
albatross
Dean Lee 2021-03-16 18:09:25 +08:00 committed by GitHub
parent 4097fe150a
commit 3e663529bd
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 39 additions and 40 deletions
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2
selfdrive/camerad/cameras/camera_common.h
View File

@ -85,8 +85,6 @@ typedef struct CameraExpInfo {
float grey_frac;
} CameraExpInfo;
extern CameraInfo cameras_supported[CAMERA_ID_MAX];
struct MultiCameraState;
struct CameraState;

38
selfdrive/camerad/cameras/camera_frame_stream.cc
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@ -15,6 +15,25 @@ extern ExitHandler do_exit;
namespace {
// TODO: make this more generic
CameraInfo cameras_supported[CAMERA_ID_MAX] = {
[CAMERA_ID_IMX298] = {
.frame_width = FRAME_WIDTH,
.frame_height = FRAME_HEIGHT,
.frame_stride = FRAME_WIDTH*3,
.bayer = false,
.bayer_flip = false,
},
[CAMERA_ID_OV8865] = {
.frame_width = 1632,
.frame_height = 1224,
.frame_stride = 2040, // seems right
.bayer = false,
.bayer_flip = 3,
.hdr = false
},
};
void camera_init(VisionIpcServer * v, CameraState *s, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type) {
assert(camera_id < ARRAYSIZE(cameras_supported));
s->ci = cameras_supported[camera_id];
@ -54,25 +73,6 @@ void run_frame_stream(CameraState &camera, const char* frame_pkt) {
} // namespace
// TODO: make this more generic
CameraInfo cameras_supported[CAMERA_ID_MAX] = {
[CAMERA_ID_IMX298] = {
.frame_width = FRAME_WIDTH,
.frame_height = FRAME_HEIGHT,
.frame_stride = FRAME_WIDTH*3,
.bayer = false,
.bayer_flip = false,
},
[CAMERA_ID_OV8865] = {
.frame_width = 1632,
.frame_height = 1224,
.frame_stride = 2040, // seems right
.bayer = false,
.bayer_flip = 3,
.hdr = false
},
};
void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
camera_init(v, &s->road_cam, CAMERA_ID_IMX298, 20, device_id, ctx,
VISION_STREAM_RGB_BACK, VISION_STREAM_YUV_BACK);

39
selfdrive/camerad/cameras/camera_webcam.cc
View File

@ -27,6 +27,26 @@ extern ExitHandler do_exit;
#define FRAME_HEIGHT_FRONT 864
namespace {
CameraInfo cameras_supported[CAMERA_ID_MAX] = {
// road facing
[CAMERA_ID_LGC920] = {
.frame_width = FRAME_WIDTH,
.frame_height = FRAME_HEIGHT,
.frame_stride = FRAME_WIDTH*3,
.bayer = false,
.bayer_flip = false,
},
// driver facing
[CAMERA_ID_LGC615] = {
.frame_width = FRAME_WIDTH_FRONT,
.frame_height = FRAME_HEIGHT_FRONT,
.frame_stride = FRAME_WIDTH_FRONT*3,
.bayer = false,
.bayer_flip = false,
},
};
void camera_open(CameraState *s, bool rear) {
}
@ -202,25 +222,6 @@ void driver_camera_thread(CameraState *s) {
} // namespace
CameraInfo cameras_supported[CAMERA_ID_MAX] = {
// road facing
[CAMERA_ID_LGC920] = {
.frame_width = FRAME_WIDTH,
.frame_height = FRAME_HEIGHT,
.frame_stride = FRAME_WIDTH*3,
.bayer = false,
.bayer_flip = false,
},
// driver facing
[CAMERA_ID_LGC615] = {
.frame_width = FRAME_WIDTH_FRONT,
.frame_height = FRAME_HEIGHT_FRONT,
.frame_stride = FRAME_WIDTH_FRONT*3,
.bayer = false,
.bayer_flip = false,
},
};
void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
camera_init(v, &s->road_cam, CAMERA_ID_LGC920, 20, device_id, ctx,
VISION_STREAM_RGB_BACK, VISION_STREAM_YUV_BACK);