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set_exposure_target test (#20318) 

* build

* remove junk

* clean up

* clean up rebase

* new patterns

* add gts

* add to jenkis

* this more useful

* typo

* test only

* Update Jenkinsfile

* test flag

* remove from jenkins

* these should all just be common:wq

* oops

* unigt

* add to unit tests?

* build all is fine

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 65bb979c34
This commit is contained in:
ZwX1616 2021-03-12 17:40:50 -08:00 committed by GitHub
parent 56bc319a29
commit d8c1e9a16e
12 changed files with 150 additions and 108 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
.github/workflows/selfdrive_tests.yaml vendored
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@ -195,7 +195,7 @@ jobs:
run: eval "$BUILD"
- name: Run unit tests
run: |
${{ env.RUN }} "scons -j$(nproc) && \
${{ env.RUN }} "scons -j$(nproc) --test && \
coverage run selfdrive/test/test_fingerprints.py && \
$UNIT_TEST common && \
$UNIT_TEST opendbc/can && \
@ -207,7 +207,8 @@ jobs:
$UNIT_TEST selfdrive/locationd && \
$UNIT_TEST selfdrive/athena && \
$UNIT_TEST selfdrive/thermald && \
$UNIT_TEST tools/lib/tests"
$UNIT_TEST tools/lib/tests && \
./selfdrive/camerad/test/ae_gray_test"
- name: Upload coverage to Codecov
run: bash <(curl -s https://codecov.io/bash) -v -F unit_tests

1
.gitignore vendored
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@ -48,6 +48,7 @@ selfdrive/loggerd/bootlog
selfdrive/sensord/_gpsd
selfdrive/sensord/_sensord
selfdrive/camerad/camerad
selfdrive/camerad/test/ae_gray_test
selfdrive/modeld/_modeld
selfdrive/modeld/_dmonitoringmodeld
/src/

7
selfdrive/camerad/SConscript
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@ -35,3 +35,10 @@ env.Program('camerad', [
'imgproc/utils.cc',
cameras,
], LIBS=libs)
if GetOption("test"):
env.Program('test/ae_gray_test', [
'test/ae_gray_test.cc',
'cameras/camera_common.cc',
'transforms/rgb_to_yuv.cc',
], LIBS=libs)

32
selfdrive/camerad/cameras/camera_common.cc
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@ -280,19 +280,16 @@ static void publish_thumbnail(PubMaster *pm, const CameraBuf *b) {
free(thumbnail_buffer);
}
void set_exposure_target(CameraState *c, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip) {
const CameraBuf *b = &c->buf;
float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip, int analog_gain, bool hist_ceil, bool hl_weighted) {
const uint8_t *pix_ptr = b->cur_yuv_buf->y;
uint32_t lum_binning[256] = {0};
unsigned int lum_total = 0;
for (int y = y_start; y < y_end; y += y_skip) {
for (int x = x_start; x < x_end; x += x_skip) {
uint8_t lum = pix_ptr[(y * b->rgb_width) + x];
#ifdef QCOM2
if (lum < 80 && lum_binning[lum] > HISTO_CEIL_K * (y_end - y_start) * (x_end - x_start) / x_skip / y_skip / 256) {
if (hist_ceil && lum < 80 && lum_binning[lum] > HISTO_CEIL_K * (y_end - y_start) * (x_end - x_start) / x_skip / y_skip / 256) {
continue;
}
#endif
lum_binning[lum]++;
lum_total += 1;
}
@ -303,20 +300,21 @@ void set_exposure_target(CameraState *c, int x_start, int x_end, int x_skip, int
int lum_med_alt = 0;
for (lum_med=255; lum_med>=0; lum_med--) {
lum_cur += lum_binning[lum_med];
#ifdef QCOM2
int lum_med_tmp = 0;
int hb = HLC_THRESH + (10 - c->analog_gain);
if (lum_cur > 0 && lum_med > hb) {
lum_med_tmp = (lum_med - hb) + 100;
if (hl_weighted) {
int lum_med_tmp = 0;
int hb = HLC_THRESH + (10 - analog_gain);
if (lum_cur > 0 && lum_med > hb) {
lum_med_tmp = (lum_med - hb) + 100;
}
lum_med_alt = lum_med_alt>lum_med_tmp?lum_med_alt:lum_med_tmp;
}
lum_med_alt = lum_med_alt>lum_med_tmp?lum_med_alt:lum_med_tmp;
#endif
if (lum_cur >= lum_total / 2) {
break;
}
}
lum_med = lum_med_alt>0 ? lum_med + lum_med/32*lum_cur*(lum_med_alt - lum_med)/lum_total:lum_med;
camera_autoexposure(c, lum_med / 256.0);
lum_med = lum_med_alt>0 ? lum_med + lum_med/32*lum_cur*abs(lum_med_alt - lum_med)/lum_total:lum_med;
return lum_med / 256.0;
}
extern ExitHandler do_exit;
@ -406,7 +404,11 @@ void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c,
#endif
}
set_exposure_target(c, x_min, x_max, 2, y_min, y_max, skip);
#ifdef QCOM2
camera_autoexposure(c, set_exposure_target(b, x_min, x_max, 2, y_min, y_max, skip, (int)c->analog_gain, true, true));
#else
camera_autoexposure(c, set_exposure_target(b, x_min, x_max, 2, y_min, y_max, skip, -1, false, false));
#endif
}
MessageBuilder msg;

10
selfdrive/camerad/cameras/camera_common.h
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@ -35,6 +35,10 @@
#define LOG_CAMERA_ID_QCAMERA 3
#define LOG_CAMERA_ID_MAX 4
#define HLC_THRESH 222
#define HLC_A 80
#define HISTO_CEIL_K 5
const bool env_send_driver = getenv("SEND_DRIVER") != NULL;
const bool env_send_road = getenv("SEND_ROAD") != NULL;
const bool env_send_wide_road = getenv("SEND_WIDE_ROAD") != NULL;
@ -96,7 +100,7 @@ private:
FrameMetadata yuv_metas[YUV_COUNT];
VisionStreamType rgb_type, yuv_type;
int cur_buf_idx;
SafeQueue<int> safe_queue;
@ -112,7 +116,7 @@ public:
std::unique_ptr<VisionBuf[]> camera_bufs;
std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
int rgb_width, rgb_height, rgb_stride;
mat3 yuv_transform;
CameraBuf() = default;
@ -127,7 +131,7 @@ typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data);
kj::Array<uint8_t> get_frame_image(const CameraBuf *b);
void set_exposure_target(CameraState *c, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip, int analog_gain, bool hist_ceil, bool hl_weighted);
std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c, int cnt);

2
selfdrive/camerad/cameras/camera_qcom.cc
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@ -1156,7 +1156,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
if (cnt % 3 == 0) {
const int x = 290, y = 322, width = 560, height = 314;
const int skip = 1;
set_exposure_target(c, x, x + width, skip, y, y + height, skip);
camera_autoexposure(c, set_exposure_target(b, x, x + width, skip, y, y + height, skip, -1, false, false));
}
}

2
selfdrive/camerad/cameras/camera_qcom2.cc
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@ -1108,7 +1108,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
if (cnt % 3 == 0) {
const auto [x, y, w, h] = (c == &s->wide_road_cam) ? std::tuple(96, 250, 1734, 524) : std::tuple(96, 160, 1734, 986);
const int skip = 2;
set_exposure_target(c, x, x + w, skip, y, y + h, skip);
camera_autoexposure(c, set_exposure_target(b, x, x + w, skip, y, y + h, skip, (int)c->analog_gain, true, true));
}
}

4
selfdrive/camerad/cameras/camera_qcom2.h
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@ -13,10 +13,6 @@
#define EXPOSURE_TIME_MIN 2 // with HDR, fastest ss
#define EXPOSURE_TIME_MAX 1757 // with HDR, slowest ss
#define HLC_THRESH 222
#define HLC_A 80
#define HISTO_CEIL_K 5
#define EF_LOWPASS_K 0.35
#define DEBAYER_LOCAL_WORKSIZE 16

70
selfdrive/camerad/test/ae_gray_test.cc Normal file
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@ -0,0 +1,70 @@
// unittest for set_exposure_target
#include <assert.h>
#include <cstring>
#include <cmath>
#include "selfdrive/camerad/cameras/camera_common.h"
#include "selfdrive/camerad/test/ae_gray_test.h"
void camera_autoexposure(CameraState *s, float grey_frac) {}
int main() {
// set up fake camerabuf
CameraBuf cb = {};
VisionBuf vb = {};
uint8_t * fb_y = new uint8_t[W*H];
vb.y = fb_y;
cb.cur_yuv_buf = &vb;
cb.rgb_width = W;
cb.rgb_height = H;
printf("AE test patterns %dx%d\n", cb.rgb_width, cb.rgb_height);
// mix of 5 tones
uint8_t l[5] = {0, 24, 48, 96, 235}; // 235 is yuv max
bool passed = true;
float rtol = 0.05;
// generate pattern and calculate EV
int cnt = 0;
for (int is_qcom2=0; is_qcom2<2; is_qcom2++) {
for (int g=0; g<GAIN_SPLITS; g++) {
for (int i_0=0; i_0<TONE_SPLITS; i_0++) {
for (int i_1=0; i_1<TONE_SPLITS; i_1++) {
for (int i_2=0; i_2<TONE_SPLITS; i_2++) {
for (int i_3=0; i_3<TONE_SPLITS; i_3++) {
int h_0 = i_0 * H / TONE_SPLITS;
int h_1 = i_1 * (H - h_0) / TONE_SPLITS;
int h_2 = i_2 * (H - h_0 - h_1) / TONE_SPLITS;
int h_3 = i_3 * (H - h_0 - h_1 - h_2) / TONE_SPLITS;
int h_4 = H - h_0 - h_1 - h_2 - h_3;
memset(&fb_y[0], l[0], h_0*W);
memset(&fb_y[h_0*W], l[1], h_1*W);
memset(&fb_y[h_0*W+h_1*W], l[2], h_2*W);
memset(&fb_y[h_0*W+h_1*W+h_2*W], l[3], h_3*W);
memset(&fb_y[h_0*W+h_1*W+h_2*W+h_3*W], l[4], h_4*W);
float ev = set_exposure_target((const CameraBuf*) &cb, 0, W-1, 1, 0, H-1, 1, g*10, (bool)is_qcom2, (bool)is_qcom2);
// printf("%d/%d/%d/%d/%d ev is %f\n", h_0, h_1, h_2, h_3, h_4, ev);
// printf("%f\n", ev);
// compare to gt
float evgt = gts[cnt];
if (fabs(ev - evgt) > rtol*evgt) {
passed = false;
}
// report
printf("%d/%d/%d/%d/%d/%d/%d: ev %f, gt %f, err %f\n", is_qcom2, g*10, h_0, h_1, h_2, h_3, h_4, ev, evgt, fabs(ev - evgt) / (evgt != 0 ? evgt : 0.00001f));
cnt++;
}
}
}
}
}
}
assert(passed);
delete[] fb_y;
return 0;
}

43
selfdrive/camerad/test/ae_gray_test.h Normal file
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@ -0,0 +1,43 @@
#pragma once
#define W 240
#define H 160
#define TONE_SPLITS 3
#define GAIN_SPLITS 2
float gts[2*TONE_SPLITS*TONE_SPLITS*TONE_SPLITS*TONE_SPLITS*GAIN_SPLITS] = {
0.917969,0.917969,0.375000,0.917969,0.375000,0.375000,0.187500,0.187500,0.187500,0.917969,
0.375000,0.375000,0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750,
0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.917969,0.375000,0.375000,
0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750,0.093750,0.093750,
0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,
0.093750,0.093750,0.093750,0.093750,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
0.000000,0.917969,0.917969,0.375000,0.917969,0.375000,0.375000,0.187500,0.187500,0.187500,
0.917969,0.375000,0.375000,0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,
0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.917969,0.375000,
0.375000,0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750,0.093750,
0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,
0.093750,0.093750,0.093750,0.093750,0.093750,0.000000,0.000000,0.000000,0.000000,0.000000,
0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
0.000000,0.000000,4.527344,3.324219,0.457031,4.421875,3.265625,0.453125,4.324219,3.167969,
0.449219,4.421875,3.265625,0.453125,4.234375,3.113281,0.449219,3.980469,2.929688,0.441406,
4.324219,3.167969,0.449219,3.980469,2.929688,0.441406,3.558594,0.433594,0.433594,4.421875,
3.265625,0.453125,4.234375,3.113281,0.449219,3.980469,2.929688,0.441406,4.234375,3.113281,
0.449219,3.929688,2.902344,0.441406,3.484375,0.429688,0.429688,3.980469,2.929688,0.441406,
3.484375,0.429688,0.429688,2.871094,0.417969,0.417969,4.324219,3.167969,0.449219,3.980469,
2.929688,0.441406,3.558594,0.433594,0.433594,3.980469,2.929688,0.441406,3.484375,0.429688,
0.429688,2.871094,0.417969,0.417969,3.558594,0.433594,0.433594,2.871094,0.417969,0.417969,
0.308594,0.308594,0.308594,4.253906,3.140625,0.574219,4.156250,3.085938,0.566406,4.066406,
2.996094,0.562500,4.156250,3.085938,0.566406,3.984375,2.945312,0.554688,3.750000,2.777344,
0.542969,4.066406,2.996094,0.562500,3.750000,2.777344,0.542969,3.359375,0.519531,0.519531,
4.156250,3.085938,0.566406,3.984375,2.945312,0.554688,3.750000,2.777344,0.542969,3.984375,
2.945312,0.554688,3.699219,2.753906,0.539062,3.289062,0.515625,0.515625,3.750000,2.777344,
0.542969,3.289062,0.515625,0.515625,2.722656,0.480469,0.480469,4.066406,2.996094,0.562500,
3.750000,2.777344,0.542969,3.359375,0.519531,0.519531,3.750000,2.777344,0.542969,3.289062,
0.515625,0.515625,2.722656,0.480469,0.480469,3.359375,0.519531,0.519531,2.722656,0.480469,
0.480469,0.328125,0.328125,0.328125,
};

48
selfdrive/camerad/test/tici_zclient/livergb.py
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@ -1,48 +0,0 @@
# flake8: noqa
# pylint: disable=W
#!/usr/bin/env python
import numpy as np
import cv2
from time import time, sleep
H, W = (604*2//6, 964*2//6)
# H, W = (604, 964)
cam_bufs = np.zeros((3,H,W,3), dtype=np.uint8)
hist_bufs = np.zeros((3,H,200,3), dtype=np.uint8)
if __name__ == '__main__':
import zmq
context = zmq.Context()
socket = context.socket(zmq.PULL)
socket.bind("tcp://192.168.3.4:7768")
while True:
try:
message = socket.recv()
except Exception as ex:
print(ex)
message = b"123"
dat = np.frombuffer(message, dtype=np.uint8)
cam_id = (dat[0] + 1) % 3
# import pdb; pdb.set_trace()
b = dat[::3].reshape(H, W)
g = dat[1::3].reshape(H, W)
r = dat[2::3].reshape(H, W)
cam_bufs[cam_id] = cv2.merge((r, g, b))
cam_bufs[cam_id]= cv2.cvtColor(cam_bufs[cam_id], cv2.COLOR_RGB2BGR)
hist = cv2.calcHist([cv2.cvtColor(cam_bufs[cam_id], cv2.COLOR_BGR2GRAY)],[0],None,[32],[0,256])
hist = (H*hist/hist.max()).astype(np.uint8)
hist_bufs[cam_id] = 0
for i,bb in enumerate(hist):
hist_bufs[cam_id, H-bb[0]:,i*(200//32):(i+1)*(200//32), :] = (222,222,222)
out = cam_bufs.reshape((3*H,W,3))
hist_bufs_out = hist_bufs.reshape((3*H,200,3))
out = np.hstack([out, hist_bufs_out])
cv2.imshow('RGB', out)
cv2.waitKey(55)
#dat.tofile('/tmp/c3rgb.img')
#cv2.imwrite('/tmp/c3rgb.png', out)

34
selfdrive/camerad/test/tici_zclient/liveyuv.py
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@ -1,34 +0,0 @@
# flake8: noqa
# pylint: disable=W
#!/usr/bin/env python
import numpy as np
import cv2
from time import time, sleep
H, W = (256, 512)
if __name__ == '__main__':
import zmq
context = zmq.Context()
socket = context.socket(zmq.PULL)
socket.bind("tcp://192.168.3.4:7769")
while True:
try:
message = socket.recv()
except Exception as ex:
print(ex)
message = b"123"
dat = np.frombuffer(message, dtype=np.float32)
mc = (dat.reshape(H//2, W//2)).astype(np.uint8)
hist = cv2.calcHist([mc],[0],None,[32],[0,256])
hist = (H*hist/hist.max()).astype(np.uint8)
himg = np.zeros((H//2, W//2), dtype=np.uint8)
for i,b in enumerate(hist):
himg[H//2-b[0]:,i*(W//2//32):(i+1)*(W//2//32)] = 222
cv2.imshow('model fov', np.hstack([mc, himg]))
cv2.waitKey(20)
dat.tofile('/tmp/c3yuv.img')