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camerad: move camera related parameters to CameraInfo #27627

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camerad: move camera related parameters to CameraInfo #27627

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a9d957f
refactor camerainfo
deanlee Mar 20, 2023
e061705
remove const int
deanlee Mar 20, 2023
fac43b7
merge master
deanlee Mar 23, 2023
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6 changes: 3 additions & 3 deletions system/camerad/cameras/camera_common.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ class Debayer {
public:
Debayer(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) {
char args[4096];
const CameraInfo *ci = &s->ci;
const CameraInfo *ci = s->ci.get();
snprintf(args, sizeof(args),
"-cl-fast-relaxed-math -cl-denorms-are-zero "
"-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
Expand Down Expand Up @@ -67,7 +67,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
this->yuv_type = init_yuv_type;
frame_buf_count = frame_cnt;

const CameraInfo *ci = &s->ci;
const CameraInfo *ci = s->ci.get();
// RAW frame
const int frame_size = (ci->frame_height + ci->extra_height) * ci->frame_stride;
camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
Expand Down Expand Up @@ -160,7 +160,7 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
framed.setProcessingTime(frame_data.processing_time);

const float ev = c->cur_ev[frame_data.frame_id % 3];
const float perc = util::map_val(ev, c->min_ev, c->max_ev, 0.0f, 100.0f);
const float perc = util::map_val(ev, c->ci->min_ev, c->ci->max_ev, 0.0f, 100.0f);
framed.setExposureValPercent(perc);

if (c->camera_id == CAMERA_ID_AR0231) {
Expand Down
20 changes: 20 additions & 0 deletions system/camerad/cameras/camera_common.h
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Expand Up @@ -42,13 +42,33 @@ const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;

#define ANALOG_GAIN_MAX_CNT 55
typedef struct CameraInfo {
uint32_t frame_width, frame_height;
uint32_t frame_stride;
uint32_t frame_offset = 0;
uint32_t extra_height = 0;
int registers_offset = -1;
int stats_offset = -1;

int exposure_time_min;
int exposure_time_max;

float dc_gain_factor;
int dc_gain_min_weight;
int dc_gain_max_weight;
float dc_gain_on_grey;
float dc_gain_off_grey;

float sensor_analog_gains[ANALOG_GAIN_MAX_CNT];
int analog_gain_min_idx;
int analog_gain_max_idx;
int analog_gain_rec_idx;
int analog_gain_cost_delta;
float analog_gain_cost_low;
float analog_gain_cost_high;
float target_grey_factor;
float min_ev, max_ev;
} CameraInfo;

typedef struct FrameMetadata {
Expand Down
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