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simplify common_camera_process_front (#2470) 

* refactor camera_process_front

* improve
pull/2692/head
Dean Lee 2020-12-04 08:28:32 +08:00 committed by GitHub
parent 4fafdee9e4
commit 24a84b2aff
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 31 additions and 43 deletions
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74
selfdrive/camerad/cameras/camera_common.cc
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@ -368,58 +368,46 @@ std::thread start_process_thread(MultiCameraState *cameras, const char *tname,
void common_camera_process_front(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt) {
const CameraBuf *b = &c->buf;
static int meteringbox_xmin = 0, meteringbox_xmax = 0;
static int meteringbox_ymin = 0, meteringbox_ymax = 0;
static int x_min = 0, x_max = 0, y_min = 0, y_max = 0;
static const bool rhd_front = Params().read_db_bool("IsRHD");
sm->update(0);
if (sm->updated("driverState")) {
auto state = (*sm)["driverState"].getDriverState();
float face_prob = state.getFaceProb();
float face_position[2];
face_position[0] = state.getFacePosition()[0];
face_position[1] = state.getFacePosition()[1];
// set front camera metering target
if (face_prob > 0.4) {
int x_offset = rhd_front ? 0:b->rgb_width - 0.5 * b->rgb_height;
meteringbox_xmin = x_offset + (face_position[0] + 0.5) * (0.5 * b->rgb_height) - 72;
meteringbox_xmax = x_offset + (face_position[0] + 0.5) * (0.5 * b->rgb_height) + 72;
meteringbox_ymin = (face_position[1] + 0.5) * (b->rgb_height) - 72;
meteringbox_ymax = (face_position[1] + 0.5) * (b->rgb_height) + 72;
} else { // use default setting if no face
meteringbox_ymin = b->rgb_height * 1 / 3;
meteringbox_ymax = b->rgb_height * 1;
meteringbox_xmin = rhd_front ? 0:b->rgb_width * 3 / 5;
meteringbox_xmax = rhd_front ? b->rgb_width * 2 / 5:b->rgb_width;
}
}
// auto exposure
if (cnt % 3 == 0) {
// use driver face crop for AE
int x_start, x_end, y_start, y_end;
int skip = 1;
if (sm->update(0) > 0 && sm->updated("driverState")) {
auto state = (*sm)["driverState"].getDriverState();
// set front camera metering target
if (state.getFaceProb() > 0.4) {
auto face_position = state.getFacePosition();
int x_offset = rhd_front ? 0 : b->rgb_width - (0.5 * b->rgb_height);
x_offset += (face_position[0] + 0.5) * (0.5 * b->rgb_height);
const int y_offset = (face_position[1] + 0.5) * b->rgb_height;
if (meteringbox_xmax > 0) {
x_start = std::max(0, meteringbox_xmin);
x_end = std::min(b->rgb_width - 1, meteringbox_xmax);
y_start = std::max(0, meteringbox_ymin);
y_end = std::min(b->rgb_height - 1, meteringbox_ymax);
} else {
y_start = b->rgb_height * 1 / 3;
y_end = b->rgb_height * 1;
x_start = rhd_front ? 0 : b->rgb_width * 3 / 5;
x_end = rhd_front ? b->rgb_width * 2 / 5 : b->rgb_width;
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
x_min = rhd_front ? 0 : b->rgb_width * 3 / 5;
x_max = rhd_front ? b->rgb_width * 2 / 5 : b->rgb_width;
y_min = b->rgb_height / 3;
y_max = b->rgb_height;
}
#ifdef QCOM2
x_start = 96;
x_end = 1832;
y_start = 242;
y_end = 1148;
x_min = 96;
x_max = 1832;
y_min = 242;
y_max = 1148;
skip = 4;
#endif
set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, x_start, x_end, 2, y_start, y_end, skip);
set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, x_min, x_max, 2, y_min, y_max, skip);
}
MessageBuilder msg;