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camerad: ev scaling (#34070) 

ev scaling

Co-authored-by: Waddle Wednesday <>
This commit is contained in:
ZwX1616 2024-11-20 15:40:55 -08:00 committed by GitHub
parent b206879e4d
commit d90d5a403f
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3 changed files with 5 additions and 3 deletions
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4
system/camerad/cameras/camera_qcom2.cc
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@ -140,14 +140,14 @@ void CameraState::set_camera_exposure(float grey_frac) {
// Therefore we use the target EV from 3 frames ago, the grey fraction that was just measured was the result of that control action.
// TODO: Lower latency to 2 frames, by using the histogram outputted by the sensor we can do AE before the debayering is complete
const float cur_ev_ = cur_ev[camera.buf.cur_frame_data.frame_id % 3];
const auto &sensor = camera.sensor;
const float cur_ev_ = cur_ev[camera.buf.cur_frame_data.frame_id % 3] * sensor->ev_scale;
// Scale target grey between 0.1 and 0.4 depending on lighting conditions
float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + sensor->target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4);
float target_grey = (1.0 - k_grey) * target_grey_fraction + k_grey * new_target_grey;
float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, sensor->min_ev, sensor->max_ev);
float desired_ev = std::clamp(cur_ev_ / sensor->ev_scale * target_grey / grey_frac, sensor->min_ev, sensor->max_ev);
float k = (1.0 - k_ev) / 3.0;
desired_ev = (k * cur_ev[0]) + (k * cur_ev[1]) + (k * cur_ev[2]) + (k_ev * desired_ev);

3
system/camerad/sensors/os04c10.cc
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@ -43,6 +43,7 @@ OS04C10::OS04C10() {
frame_data_type = 0x2c;
mclk_frequency = 24000000; // Hz
ev_scale = 150.0;
dc_gain_factor = 1;
dc_gain_min_weight = 1; // always on is fine
dc_gain_max_weight = 1;
@ -59,7 +60,7 @@ OS04C10::OS04C10() {
for (int i = 0; i <= analog_gain_max_idx; i++) {
sensor_analog_gains[i] = sensor_analog_gains_OS04C10[i];
}
min_ev = (exposure_time_min) * sensor_analog_gains[analog_gain_min_idx];
min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx];
max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx];
target_grey_factor = 0.01;

1
system/camerad/sensors/sensor.h
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@ -43,6 +43,7 @@ public:
float dc_gain_on_grey;
float dc_gain_off_grey;
float ev_scale = 1.0;
float sensor_analog_gains[ANALOG_GAIN_MAX_CNT];
int analog_gain_min_idx;
int analog_gain_max_idx;