set_exposure_target test (#20318)
* build * remove junk * clean up * clean up rebase * new patterns * add gts * add to jenkis * this more useful * typo * test only * Update Jenkinsfile * test flag * remove from jenkins * these should all just be common:wq * oops * unigt * add to unit tests? * build all is fine Co-authored-by: Comma Device <device@comma.ai>albatross
ZwX1616
GitHub
parent
ad123714ba
commit
65bb979c34
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@ -195,7 +195,7 @@ jobs:
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run: eval "$BUILD"
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- name: Run unit tests
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run: |
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${{ env.RUN }} "scons -j$(nproc) && \
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${{ env.RUN }} "scons -j$(nproc) --test && \
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coverage run selfdrive/test/test_fingerprints.py && \
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$UNIT_TEST common && \
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$UNIT_TEST opendbc/can && \
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@ -207,7 +207,8 @@ jobs:
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$UNIT_TEST selfdrive/locationd && \
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$UNIT_TEST selfdrive/athena && \
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$UNIT_TEST selfdrive/thermald && \
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$UNIT_TEST tools/lib/tests"
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$UNIT_TEST tools/lib/tests && \
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./selfdrive/camerad/test/ae_gray_test"
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- name: Upload coverage to Codecov
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run: bash <(curl -s https://codecov.io/bash) -v -F unit_tests
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@ -48,6 +48,7 @@ selfdrive/loggerd/bootlog
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selfdrive/sensord/_gpsd
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selfdrive/sensord/_sensord
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selfdrive/camerad/camerad
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selfdrive/camerad/test/ae_gray_test
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selfdrive/modeld/_modeld
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selfdrive/modeld/_dmonitoringmodeld
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/src/
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@ -35,3 +35,10 @@ env.Program('camerad', [
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'imgproc/utils.cc',
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cameras,
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], LIBS=libs)
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if GetOption("test"):
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env.Program('test/ae_gray_test', [
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'test/ae_gray_test.cc',
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'cameras/camera_common.cc',
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'transforms/rgb_to_yuv.cc',
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], LIBS=libs)
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@ -280,19 +280,16 @@ static void publish_thumbnail(PubMaster *pm, const CameraBuf *b) {
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free(thumbnail_buffer);
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}
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void set_exposure_target(CameraState *c, 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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float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip, int analog_gain, bool hist_ceil, bool hl_weighted) {
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const uint8_t *pix_ptr = b->cur_yuv_buf->y;
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uint32_t lum_binning[256] = {0};
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unsigned int lum_total = 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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uint8_t lum = pix_ptr[(y * b->rgb_width) + x];
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#ifdef QCOM2
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if (lum < 80 && lum_binning[lum] > HISTO_CEIL_K * (y_end - y_start) * (x_end - x_start) / x_skip / y_skip / 256) {
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if (hist_ceil && lum < 80 && lum_binning[lum] > HISTO_CEIL_K * (y_end - y_start) * (x_end - x_start) / x_skip / y_skip / 256) {
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continue;
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}
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#endif
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lum_binning[lum]++;
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lum_total += 1;
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}
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@ -303,20 +300,21 @@ void set_exposure_target(CameraState *c, int x_start, int x_end, int x_skip, int
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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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int lum_med_tmp = 0;
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int hb = HLC_THRESH + (10 - c->analog_gain);
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if (lum_cur > 0 && lum_med > hb) {
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lum_med_tmp = (lum_med - hb) + 100;
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if (hl_weighted) {
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int lum_med_tmp = 0;
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int hb = HLC_THRESH + (10 - analog_gain);
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if (lum_cur > 0 && lum_med > hb) {
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lum_med_tmp = (lum_med - hb) + 100;
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}
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lum_med_alt = lum_med_alt>lum_med_tmp?lum_med_alt:lum_med_tmp;
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}
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lum_med_alt = lum_med_alt>lum_med_tmp?lum_med_alt:lum_med_tmp;
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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>0 ? lum_med + lum_med/32*lum_cur*(lum_med_alt - lum_med)/lum_total:lum_med;
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camera_autoexposure(c, lum_med / 256.0);
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lum_med = lum_med_alt>0 ? lum_med + lum_med/32*lum_cur*abs(lum_med_alt - lum_med)/lum_total:lum_med;
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return lum_med / 256.0;
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}
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extern ExitHandler do_exit;
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@ -406,7 +404,11 @@ void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c,
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#endif
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}
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set_exposure_target(c, x_min, x_max, 2, y_min, y_max, skip);
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#ifdef QCOM2
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camera_autoexposure(c, set_exposure_target(b, x_min, x_max, 2, y_min, y_max, skip, (int)c->analog_gain, true, true));
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#else
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camera_autoexposure(c, set_exposure_target(b, x_min, x_max, 2, y_min, y_max, skip, -1, false, false));
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#endif
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}
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MessageBuilder msg;
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@ -35,6 +35,10 @@
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#define LOG_CAMERA_ID_QCAMERA 3
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#define LOG_CAMERA_ID_MAX 4
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#define HLC_THRESH 222
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#define HLC_A 80
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#define HISTO_CEIL_K 5
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const bool env_send_driver = getenv("SEND_DRIVER") != NULL;
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const bool env_send_road = getenv("SEND_ROAD") != NULL;
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const bool env_send_wide_road = getenv("SEND_WIDE_ROAD") != NULL;
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@ -96,7 +100,7 @@ private:
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FrameMetadata yuv_metas[YUV_COUNT];
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VisionStreamType rgb_type, yuv_type;
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int cur_buf_idx;
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SafeQueue<int> safe_queue;
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@ -112,7 +116,7 @@ public:
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std::unique_ptr<VisionBuf[]> camera_bufs;
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std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
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int rgb_width, rgb_height, rgb_stride;
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mat3 yuv_transform;
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CameraBuf() = default;
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@ -127,7 +131,7 @@ typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
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void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data);
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kj::Array<uint8_t> get_frame_image(const CameraBuf *b);
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void set_exposure_target(CameraState *c, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
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float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip, int analog_gain, bool hist_ceil, bool hl_weighted);
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std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
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void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt);
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@ -1156,7 +1156,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
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if (cnt % 3 == 0) {
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const int x = 290, y = 322, width = 560, height = 314;
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const int skip = 1;
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set_exposure_target(c, x, x + width, skip, y, y + height, skip);
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camera_autoexposure(c, set_exposure_target(b, x, x + width, skip, y, y + height, skip, -1, false, false));
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}
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}
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@ -1108,7 +1108,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
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if (cnt % 3 == 0) {
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const auto [x, y, w, h] = (c == &s->wide_road_cam) ? std::tuple(96, 250, 1734, 524) : std::tuple(96, 160, 1734, 986);
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const int skip = 2;
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set_exposure_target(c, x, x + w, skip, y, y + h, skip);
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camera_autoexposure(c, set_exposure_target(b, x, x + w, skip, y, y + h, skip, (int)c->analog_gain, true, true));
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}
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}
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@ -13,10 +13,6 @@
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#define EXPOSURE_TIME_MIN 2 // with HDR, fastest ss
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#define EXPOSURE_TIME_MAX 1757 // with HDR, slowest ss
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#define HLC_THRESH 222
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#define HLC_A 80
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#define HISTO_CEIL_K 5
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#define EF_LOWPASS_K 0.35
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#define DEBAYER_LOCAL_WORKSIZE 16
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@ -0,0 +1,70 @@
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// unittest for set_exposure_target
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#include <assert.h>
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#include <cstring>
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#include <cmath>
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#include "selfdrive/camerad/cameras/camera_common.h"
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#include "selfdrive/camerad/test/ae_gray_test.h"
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void camera_autoexposure(CameraState *s, float grey_frac) {}
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int main() {
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// set up fake camerabuf
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CameraBuf cb = {};
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VisionBuf vb = {};
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uint8_t * fb_y = new uint8_t[W*H];
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vb.y = fb_y;
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cb.cur_yuv_buf = &vb;
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cb.rgb_width = W;
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cb.rgb_height = H;
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printf("AE test patterns %dx%d\n", cb.rgb_width, cb.rgb_height);
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// mix of 5 tones
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uint8_t l[5] = {0, 24, 48, 96, 235}; // 235 is yuv max
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bool passed = true;
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float rtol = 0.05;
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// generate pattern and calculate EV
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int cnt = 0;
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for (int is_qcom2=0; is_qcom2<2; is_qcom2++) {
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for (int g=0; g<GAIN_SPLITS; g++) {
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for (int i_0=0; i_0<TONE_SPLITS; i_0++) {
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for (int i_1=0; i_1<TONE_SPLITS; i_1++) {
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for (int i_2=0; i_2<TONE_SPLITS; i_2++) {
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for (int i_3=0; i_3<TONE_SPLITS; i_3++) {
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int h_0 = i_0 * H / TONE_SPLITS;
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int h_1 = i_1 * (H - h_0) / TONE_SPLITS;
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int h_2 = i_2 * (H - h_0 - h_1) / TONE_SPLITS;
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int h_3 = i_3 * (H - h_0 - h_1 - h_2) / TONE_SPLITS;
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int h_4 = H - h_0 - h_1 - h_2 - h_3;
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memset(&fb_y[0], l[0], h_0*W);
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memset(&fb_y[h_0*W], l[1], h_1*W);
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memset(&fb_y[h_0*W+h_1*W], l[2], h_2*W);
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memset(&fb_y[h_0*W+h_1*W+h_2*W], l[3], h_3*W);
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memset(&fb_y[h_0*W+h_1*W+h_2*W+h_3*W], l[4], h_4*W);
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float ev = set_exposure_target((const CameraBuf*) &cb, 0, W-1, 1, 0, H-1, 1, g*10, (bool)is_qcom2, (bool)is_qcom2);
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// printf("%d/%d/%d/%d/%d ev is %f\n", h_0, h_1, h_2, h_3, h_4, ev);
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// printf("%f\n", ev);
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// compare to gt
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float evgt = gts[cnt];
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if (fabs(ev - evgt) > rtol*evgt) {
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passed = false;
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}
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// report
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printf("%d/%d/%d/%d/%d/%d/%d: ev %f, gt %f, err %f\n", is_qcom2, g*10, h_0, h_1, h_2, h_3, h_4, ev, evgt, fabs(ev - evgt) / (evgt != 0 ? evgt : 0.00001f));
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cnt++;
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}
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}
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}
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}
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}
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}
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assert(passed);
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delete[] fb_y;
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return 0;
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}
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@ -0,0 +1,43 @@
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#pragma once
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#define W 240
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#define H 160
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#define TONE_SPLITS 3
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#define GAIN_SPLITS 2
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float gts[2*TONE_SPLITS*TONE_SPLITS*TONE_SPLITS*TONE_SPLITS*GAIN_SPLITS] = {
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0.917969,0.917969,0.375000,0.917969,0.375000,0.375000,0.187500,0.187500,0.187500,0.917969,
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0.375000,0.375000,0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750,
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0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.917969,0.375000,0.375000,
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0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750,0.093750,0.093750,
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0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,
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0.093750,0.093750,0.093750,0.093750,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
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0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
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0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
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0.000000,0.917969,0.917969,0.375000,0.917969,0.375000,0.375000,0.187500,0.187500,0.187500,
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0.917969,0.375000,0.375000,0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,
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0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.917969,0.375000,
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0.375000,0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750,0.093750,
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0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,
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0.093750,0.093750,0.093750,0.093750,0.093750,0.000000,0.000000,0.000000,0.000000,0.000000,
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0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
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0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
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0.000000,0.000000,4.527344,3.324219,0.457031,4.421875,3.265625,0.453125,4.324219,3.167969,
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0.449219,4.421875,3.265625,0.453125,4.234375,3.113281,0.449219,3.980469,2.929688,0.441406,
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4.324219,3.167969,0.449219,3.980469,2.929688,0.441406,3.558594,0.433594,0.433594,4.421875,
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3.265625,0.453125,4.234375,3.113281,0.449219,3.980469,2.929688,0.441406,4.234375,3.113281,
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0.449219,3.929688,2.902344,0.441406,3.484375,0.429688,0.429688,3.980469,2.929688,0.441406,
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3.484375,0.429688,0.429688,2.871094,0.417969,0.417969,4.324219,3.167969,0.449219,3.980469,
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2.929688,0.441406,3.558594,0.433594,0.433594,3.980469,2.929688,0.441406,3.484375,0.429688,
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0.429688,2.871094,0.417969,0.417969,3.558594,0.433594,0.433594,2.871094,0.417969,0.417969,
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0.308594,0.308594,0.308594,4.253906,3.140625,0.574219,4.156250,3.085938,0.566406,4.066406,
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2.996094,0.562500,4.156250,3.085938,0.566406,3.984375,2.945312,0.554688,3.750000,2.777344,
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0.542969,4.066406,2.996094,0.562500,3.750000,2.777344,0.542969,3.359375,0.519531,0.519531,
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4.156250,3.085938,0.566406,3.984375,2.945312,0.554688,3.750000,2.777344,0.542969,3.984375,
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2.945312,0.554688,3.699219,2.753906,0.539062,3.289062,0.515625,0.515625,3.750000,2.777344,
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0.542969,3.289062,0.515625,0.515625,2.722656,0.480469,0.480469,4.066406,2.996094,0.562500,
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3.750000,2.777344,0.542969,3.359375,0.519531,0.519531,3.750000,2.777344,0.542969,3.289062,
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0.515625,0.515625,2.722656,0.480469,0.480469,3.359375,0.519531,0.519531,2.722656,0.480469,
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0.480469,0.328125,0.328125,0.328125,
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};
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@ -1,48 +0,0 @@
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# flake8: noqa
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# pylint: disable=W
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#!/usr/bin/env python
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import numpy as np
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import cv2
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from time import time, sleep
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H, W = (604*2//6, 964*2//6)
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# H, W = (604, 964)
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cam_bufs = np.zeros((3,H,W,3), dtype=np.uint8)
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hist_bufs = np.zeros((3,H,200,3), dtype=np.uint8)
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if __name__ == '__main__':
|
||||
import zmq
|
||||
context = zmq.Context()
|
||||
socket = context.socket(zmq.PULL)
|
||||
socket.bind("tcp://192.168.3.4:7768")
|
||||
while True:
|
||||
try:
|
||||
message = socket.recv()
|
||||
except Exception as ex:
|
||||
print(ex)
|
||||
message = b"123"
|
||||
|
||||
dat = np.frombuffer(message, dtype=np.uint8)
|
||||
cam_id = (dat[0] + 1) % 3
|
||||
# import pdb; pdb.set_trace()
|
||||
b = dat[::3].reshape(H, W)
|
||||
g = dat[1::3].reshape(H, W)
|
||||
r = dat[2::3].reshape(H, W)
|
||||
cam_bufs[cam_id] = cv2.merge((r, g, b))
|
||||
cam_bufs[cam_id]= cv2.cvtColor(cam_bufs[cam_id], cv2.COLOR_RGB2BGR)
|
||||
|
||||
hist = cv2.calcHist([cv2.cvtColor(cam_bufs[cam_id], cv2.COLOR_BGR2GRAY)],[0],None,[32],[0,256])
|
||||
hist = (H*hist/hist.max()).astype(np.uint8)
|
||||
hist_bufs[cam_id] = 0
|
||||
for i,bb in enumerate(hist):
|
||||
hist_bufs[cam_id, H-bb[0]:,i*(200//32):(i+1)*(200//32), :] = (222,222,222)
|
||||
|
||||
out = cam_bufs.reshape((3*H,W,3))
|
||||
hist_bufs_out = hist_bufs.reshape((3*H,200,3))
|
||||
out = np.hstack([out, hist_bufs_out])
|
||||
cv2.imshow('RGB', out)
|
||||
cv2.waitKey(55)
|
||||
#dat.tofile('/tmp/c3rgb.img')
|
||||
#cv2.imwrite('/tmp/c3rgb.png', out)
|
||||
|
|
@ -1,34 +0,0 @@
|
|||
# flake8: noqa
|
||||
# pylint: disable=W
|
||||
|
||||
#!/usr/bin/env python
|
||||
import numpy as np
|
||||
import cv2
|
||||
from time import time, sleep
|
||||
|
||||
H, W = (256, 512)
|
||||
|
||||
if __name__ == '__main__':
|
||||
import zmq
|
||||
context = zmq.Context()
|
||||
socket = context.socket(zmq.PULL)
|
||||
socket.bind("tcp://192.168.3.4:7769")
|
||||
while True:
|
||||
try:
|
||||
message = socket.recv()
|
||||
except Exception as ex:
|
||||
print(ex)
|
||||
message = b"123"
|
||||
|
||||
dat = np.frombuffer(message, dtype=np.float32)
|
||||
mc = (dat.reshape(H//2, W//2)).astype(np.uint8)
|
||||
|
||||
hist = cv2.calcHist([mc],[0],None,[32],[0,256])
|
||||
hist = (H*hist/hist.max()).astype(np.uint8)
|
||||
himg = np.zeros((H//2, W//2), dtype=np.uint8)
|
||||
for i,b in enumerate(hist):
|
||||
himg[H//2-b[0]:,i*(W//2//32):(i+1)*(W//2//32)] = 222
|
||||
|
||||
cv2.imshow('model fov', np.hstack([mc, himg]))
|
||||
cv2.waitKey(20)
|
||||
dat.tofile('/tmp/c3yuv.img')
|
||||
Loading…
Reference in New Issue