mawei
/
sunnypilot
mirror of https://github.com/sunnypilot/sunnypilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

camerad: use os binning (#33161) 

* all

* right sz

* what is this

* Revert "what is this"

This reverts commit 3ff771926f109452a055dfb61cee06b34e498164.

* ok

* big

* update intrs

* fl

* more specifuc

* fish

* revert

* revert

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
ZwX1616 2024-07-31 19:10:44 -07:00 committed by GitHub
parent 7de618a5cf
commit 3ccc63deec
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
4 changed files with 27 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
common/transformations/camera.py
View File

@ -47,9 +47,9 @@ class DeviceCameraConfig:
yield cam, getattr(self, cam)
_ar_ox_fisheye = CameraConfig(1928, 1208, 567.0) # focal length probably wrong? magnification is not consistent across frame
_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
_os_fisheye = CameraConfig(2688 // 2, 1520 // 2, 567.0 / 4 * 3)
_ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
_os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye)
_neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
DEVICE_CAMERAS = {

2
system/camerad/cameras/camera_common.cc
View File

@ -84,7 +84,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
// the encoder HW tells us the size it wants after setting it up.
// TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
size_t nv12_size = (rgb_width >= 2688 ? 2900 : 2346)*nv12_width;
size_t nv12_size = (rgb_width <= 1344 ? 2900 : 2346)*nv12_width;
vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset);
LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);

6
system/camerad/sensors/os04c10.cc
View File

@ -20,12 +20,12 @@ const uint32_t os04c10_analog_gains_reg[] = {
OS04C10::OS04C10() {
image_sensor = cereal::FrameData::ImageSensor::OS04C10;
pixel_size_mm = 0.002;
pixel_size_mm = 0.004;
data_word = false;
hdr_offset = 64 * 2 + 8; // stagger
frame_width = 2688;
frame_height = 1520 * 2 + hdr_offset;
frame_width = 1344;
frame_height = 760 * 2 + hdr_offset;
frame_stride = (frame_width * 10 / 8); // no alignment
extra_height = 0;

42
system/camerad/sensors/os04c10_registers.h
View File

@ -95,7 +95,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x388b, 0x00},
{0x3c80, 0x10},
{0x3c86, 0x00},
// {0x3c8c, 0x20},
{0x3c8c, 0x20},
{0x3c9f, 0x01},
{0x3d85, 0x1b},
{0x3d8c, 0x71},
@ -199,7 +199,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x370b, 0xa2},
{0x370c, 0x01},
{0x370f, 0x00},
{0x3714, 0x24},
{0x3714, 0x28},
{0x3716, 0x04},
{0x3719, 0x11},
{0x371a, 0x1e},
@ -231,24 +231,24 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x37bd, 0x01},
{0x37bf, 0x26},
{0x37c0, 0x11},
{0x37c2, 0x04},
{0x37c2, 0x14},
{0x37cd, 0x19},
// {0x37e0, 0x08},
// {0x37e6, 0x04},
{0x37e0, 0x08},
{0x37e6, 0x04},
{0x37e5, 0x02},
// {0x37e1, 0x0c},
// {0x3737, 0x04},
{0x37e1, 0x0c},
{0x3737, 0x04},
{0x37d8, 0x02},
// {0x37e2, 0x10},
{0x37e2, 0x10},
{0x3739, 0x10},
{0x3662, 0x10},
// {0x37e4, 0x20},
// {0x37e3, 0x08},
{0x37d9, 0x08},
{0x3662, 0x08},
{0x37e4, 0x20},
{0x37e3, 0x08},
{0x37d9, 0x04},
{0x4040, 0x00},
{0x4041, 0x07},
{0x4008, 0x02},
{0x4009, 0x0d},
{0x4041, 0x03},
{0x4008, 0x01},
{0x4009, 0x06},
// FSIN
{0x3002, 0x22},
@ -269,20 +269,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
{0x3802, 0x00}, {0x3803, 0x00},
{0x3804, 0x0a}, {0x3805, 0x8f},
{0x3806, 0x05}, {0x3807, 0xff},
{0x3808, 0x0a}, {0x3809, 0x80},
{0x380a, 0x05}, {0x380b, 0xf0},
{0x3808, 0x05}, {0x3809, 0x40},
{0x380a, 0x02}, {0x380b, 0xf8},
{0x3811, 0x08},
{0x3813, 0x08},
{0x3814, 0x01},
{0x3814, 0x03},
{0x3815, 0x01},
{0x3816, 0x01},
{0x3816, 0x03},
{0x3817, 0x01},
{0x380c, 0x04}, {0x380d, 0x2e}, // HTS
{0x380e, 0x09}, {0x380f, 0xdb}, // VTS
{0x3820, 0xb0},
{0x3821, 0x04},
{0x3820, 0xb3},
{0x3821, 0x05},
{0x3880, 0x00},
{0x3882, 0x20},
{0x3c91, 0x0b},