tici camera art (#2188)
* nerf highlights * prioritize less noise * no overhead * make focus easier * cant finetune under high gain * add some comments * inspired by xx mindset Co-authored-by: Comma Device <device@comma.ai>
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ZwX1616
GitHub
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3a494e144b
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911206fc41
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@ -550,10 +550,6 @@ void enqueue_req_multi(struct CameraState *s, int start, int n) {
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// ******************* camera *******************
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static void camera_release_buffer(void* cookie, int i) {
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return;
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}
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static void camera_init(CameraState *s, int camera_id, int camera_num, unsigned int fps) {
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LOGD("camera init %d", camera_num);
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@ -564,7 +560,7 @@ static void camera_init(CameraState *s, int camera_id, int camera_num, unsigned
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s->camera_num = camera_num;
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s->frame_size = s->ci.frame_height * s->ci.frame_stride;
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tbuffer_init2(&s->camera_tb, FRAME_BUF_COUNT, "frame", camera_release_buffer, s);
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tbuffer_init2(&s->camera_tb, FRAME_BUF_COUNT, "frame", NULL, s);
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s->transform = (mat3){{
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1.0, 0.0, 0.0,
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@ -1025,23 +1021,28 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
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const int exposure_time_max = 1066; //1416; // no slower than 1/25 sec. calculated from 0x300C and clock freq
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float exposure_factor = pow(1.05, (target_grey - grey_frac) / 0.16 );
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if (s->analog_gain_frac > 1 && exposure_factor > 1 && !s->dc_gain_enabled && s->dc_opstate != 1) { // iso 800
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if (s->analog_gain_frac > 1 && exposure_factor > 0.98 && exposure_factor < 1.02) { // high analog gains are coarse
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return;
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} else if (s->analog_gain_frac > 1 && exposure_factor > 1 && !s->dc_gain_enabled && s->dc_opstate != 1) { // switch to HCG at iso 800
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s->dc_gain_enabled = true;
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s->analog_gain_frac *= 0.5;
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s->dc_opstate = 1;
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} else if (s->analog_gain_frac < 0.5 && exposure_factor < 1 && s->dc_gain_enabled && s->dc_opstate != 1) { // iso 400
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} else if (s->analog_gain_frac < 0.5 && exposure_factor < 1 && s->dc_gain_enabled && s->dc_opstate != 1) { // switch back to LCG at iso 400
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s->dc_gain_enabled = false;
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s->analog_gain_frac *= 2;
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s->analog_gain_frac *= 2.0;
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s->dc_opstate = 1;
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} else if (s->analog_gain_frac > 0.5 && exposure_factor < 0.9) {
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s->analog_gain_frac *= sqrt(exposure_factor);
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s->exposure_time = max(min(s->exposure_time * sqrt(exposure_factor), exposure_time_max),exposure_time_min);
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} else if (s->analog_gain_frac > 1 && exposure_factor < 1) { // force gain down first
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s->analog_gain_frac /= 2.0;
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s->dc_opstate = 0;
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} else if ((s->exposure_time < exposure_time_max || exposure_factor < 1) && (s->exposure_time > exposure_time_min || exposure_factor > 1)) {
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s->exposure_time = max(min(s->exposure_time * exposure_factor, exposure_time_max),exposure_time_min);
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} else if (s->analog_gain_frac > 0.5 && exposure_factor < 0.9) { // smoother transistion on large stepdowns
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s->analog_gain_frac = max(min(s->analog_gain_frac * sqrt(exposure_factor), analog_gain_frac_max), analog_gain_frac_min);
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s->exposure_time = max(min(s->exposure_time * sqrt(exposure_factor), exposure_time_max), exposure_time_min);
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s->dc_opstate = 0;
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} else if ((s->exposure_time < exposure_time_max || exposure_factor < 1) && (s->exposure_time > exposure_time_min || exposure_factor > 1)) { // ramp up shutter time before gain
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s->exposure_time = max(min(s->exposure_time * exposure_factor, exposure_time_max), exposure_time_min);
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s->dc_opstate = 0;
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} else {
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s->analog_gain_frac = max(min(s->analog_gain_frac * exposure_factor, analog_gain_frac_max),analog_gain_frac_min);
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s->analog_gain_frac = max(min(s->analog_gain_frac * exposure_factor, analog_gain_frac_max), analog_gain_frac_min);
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s->dc_opstate = 0;
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}
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// set up config
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@ -1061,8 +1062,8 @@ void camera_autoexposure(CameraState *s, float grey_frac) {
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struct i2c_random_wr_payload exp_reg_array[] = {{0x3366, AG}, // analog gain
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{0x3362, s->dc_gain_enabled?0x1:0x0}, // DC_GAIN
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{0x305A, 0x00C4}, // red gain
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{0x3058, 0x00B1}, // blue gain
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{0x305A, 0x00D1}, // red gain
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{0x3058, 0x0118}, // blue gain
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{0x3056, 0x009A}, // g1 gain
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{0x305C, 0x009A}, // g2 gain
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{0x3012, s->exposure_time}}; // integ time
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@ -1077,15 +1078,22 @@ void sendrgb(MultiCameraState *s, uint8_t* dat, int len, uint8_t cam_id) {
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int err, err2;
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int scale = 6;
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int old_width = FRAME_WIDTH;
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// int old_height = FRAME_HEIGHT;
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int new_width = FRAME_WIDTH / scale;
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int new_height = FRAME_HEIGHT / scale;
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uint8_t resized_dat[new_width*new_height*3];
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// int goff, loff;
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// goff = ((old_width*(scale-1)*old_height/scale)/2);
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memset(&resized_dat, cam_id, 3);
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for (uint32_t r=1;r<new_height;r++) {
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for (uint32_t c=1;c<new_width;c++) {
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resized_dat[(r*new_width+c)*3] = dat[(r*old_width + c)*3*scale];
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resized_dat[(r*new_width+c)*3+1] = dat[(r*old_width + c)*3*scale+1];
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resized_dat[(r*new_width+c)*3+2] = dat[(r*old_width + c)*3*scale+2];
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// loff = r*old_width + c;
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// resized_dat[(r*new_width+c)*3] = dat[(goff+loff)*3];
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// resized_dat[(r*new_width+c)*3+1] = dat[(goff+loff)*3+1];
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// resized_dat[(r*new_width+c)*3+2] = dat[(goff+loff)*3+2];
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}
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}
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err = zmq_send(zsock_resolve(s->rgb_sock), &resized_dat, new_width*new_height*3, 0);
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@ -1,8 +1,8 @@
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const __constant float3 color_correction[3] = {
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// post wb CCM
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(float3)(1.17898387, -0.19583185, -0.19881648),
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(float3)(-0.03367879, 1.33692858, -0.02475203),
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(float3)(-0.14530508, -0.14109673, 1.22356851),
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(float3)(1.44602146, -0.24727126, -0.0403062),
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(float3)(-0.37658179, 1.26329038, -0.45978396),
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(float3)(-0.06943967, -0.01601912, 1.50009016),
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};
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float3 color_correct(float r, float g, float b) {
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@ -29,7 +29,7 @@ float to_normal(uint x) {
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const float black_level = 0;
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pv = max(0.0, pv - black_level);
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pv /= (1024.0f - black_level);
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pv = 1.6*pv / (1.0f + 1.6*pv); // reinhard
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pv = 5*pv / (1.0f + 5*pv); // reinhard
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return pv;
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}
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@ -359,8 +359,8 @@ struct i2c_random_wr_payload init_array_ar0231[] = {
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{0x3022, 0x01}, // GROUPED_PARAMETER_HOLD_
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{0x3366, 0x7777}, // ANALOG_GAIN
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{0x3060, 0xBBBB}, // ANALOG_COLOR_GAIN
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{0x305A, 0x00C4}, // RED_GAIN
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{0x3058, 0x00B1}, // BLUE_GAIN
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{0x305A, 0x00D1}, // RED_GAIN
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{0x3058, 0x0118}, // BLUE_GAIN
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{0x3056, 0x009A}, // GREEN1_GAIN
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{0x305C, 0x009A}, // GREEN2_GAIN
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{0x3022, 0x00}, // GROUPED_PARAMETER_HOLD_
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