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just use the same (#2419)

pull/2444/head
ZwX1616 2020-10-28 17:43:16 -07:00 committed by GitHub
parent dc7628636d
commit b5617c17c8
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4 changed files with 7 additions and 14 deletions
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15
selfdrive/camerad/cameras/camera_common.cc
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@ -283,21 +283,14 @@ void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr) {
}
}
void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, bool front, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip) {
void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip) {
const CameraBuf *b = &c->buf;
uint32_t lum_binning[256] = {0};
for (int y = y_start; y < y_end; y += y_skip) {
for (int x = x_start; x < x_end; x += x_skip) {
if (!front) {
uint8_t lum = pix_ptr[(y * b->yuv_width) + x];
lum_binning[lum]++;
} else {
// TODO: should get rid of RGB here
const uint8_t *pix = &pix_ptr[y * b->rgb_stride + x * 3];
unsigned int lum = (unsigned int)(pix[0] + pix[1] + pix[2]);
lum_binning[std::min(lum / 3, 255u)]++;
}
uint8_t lum = pix_ptr[(y * b->yuv_width) + x];
lum_binning[lum]++;
}
}
@ -403,7 +396,7 @@ void common_camera_process_front(SubMaster *sm, PubMaster *pm, CameraState *c, i
y_end = 1148;
skip = 4;
#endif
set_exposure_target(c, (const uint8_t *)b->cur_rgb_buf->addr, 1, 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_start, x_end, 2, y_start, y_end, skip);
}
MessageBuilder msg;

2
selfdrive/camerad/cameras/camera_common.h
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@ -129,7 +129,7 @@ typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, uint32_t cnt);
void create_thumbnail(MultiCameraState *s, CameraState *c, uint8_t *bgr_ptr);
void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, bool front, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
void set_exposure_target(CameraState *c, const uint8_t *pix_ptr, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
std::thread start_process_thread(MultiCameraState *cameras, const char *tname,
CameraState *cs, int priority, process_thread_cb callback);
void common_camera_process_front(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt);

2
selfdrive/camerad/cameras/camera_qcom.cc
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@ -2154,7 +2154,7 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
const int exposure_height = 314;
const int skip = 1;
if (cnt % 3 == 0) {
set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, 0, exposure_x, exposure_x + exposure_width, skip, exposure_y, exposure_y + exposure_height, skip);
set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, exposure_x, exposure_x + exposure_width, skip, exposure_y, exposure_y + exposure_height, skip);
}
}

2
selfdrive/camerad/cameras/camera_qcom2.cc
View File

@ -1154,7 +1154,7 @@ void camera_process_frame(MultiCameraState *s, CameraState *c, int cnt) {
exposure_height = 524;
}
int skip = 2;
set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, 0, exposure_x, exposure_x + exposure_width, skip, exposure_y, exposure_y + exposure_height, skip);
set_exposure_target(c, (const uint8_t *)b->yuv_bufs[b->cur_yuv_idx].y, exposure_x, exposure_x + exposure_width, skip, exposure_y, exposure_y + exposure_height, skip);
}
}