mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-20 10:13:57 +08:00
25de93d133
* AE improvements * boardd: also use gain to compute IR brightness * use default rect for DM autoexposure * more smooth * whitespace * camerad cpu usage * hcg on is slightly better for noise * hysteris around high conversion gain * improve i2c timing * use AB contexts * HCG default off * run at 10 hz * stay in context A for now * remove ae thread * wait till next frame is started before sending i2c * back at 20fps * add comment and filter across 3 evs * remove context switch code * tuning * recomened without HCG is 0.8x
73 lines
2.0 KiB
C++
73 lines
2.0 KiB
C++
// unittest for set_exposure_target
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#include "ae_gray_test.h"
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#include <cassert>
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#include <cmath>
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#include <cstring>
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#include "selfdrive/common/util.h"
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#include "selfdrive/camerad/cameras/camera_common.h"
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// needed by camera_common.cc
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ExitHandler do_exit;
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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 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);
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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: ev %f, gt %f, err %f\n", 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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assert(passed);
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delete[] fb_y;
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return 0;
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}
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