Auto Exposure:
- Filter results down to the three best.
- Changing exposure based on distance to the target or at random.
- Plumb exposure through the debug framework.
- Refactor into target finder.
Change-Id: Ia083f56859938bf0825472fd15d248c545f6f2fc
diff --git a/aos/vision/image/image_stream.h b/aos/vision/image/image_stream.h
index 57e06cb..8aab97d 100644
--- a/aos/vision/image/image_stream.h
+++ b/aos/vision/image/image_stream.h
@@ -37,6 +37,11 @@
void ReadEvent() override { reader_->HandleFrame(); }
+ bool SetExposure(int abs_exp) {
+ return reader_->SetCameraControl(V4L2_CID_EXPOSURE_ABSOLUTE,
+ "V4L2_CID_EXPOSURE_ABSOLUTE", abs_exp);
+ }
+
private:
void ProcessHelper(DataRef data, aos::monotonic_clock::time_point timestamp);
diff --git a/aos/vision/image/reader.cc b/aos/vision/image/reader.cc
index aaf9a10..23b58c2 100644
--- a/aos/vision/image/reader.cc
+++ b/aos/vision/image/reader.cc
@@ -85,17 +85,6 @@
}
--queued_;
- if (tick_id_ % 10 == 0) {
- if (!SetCameraControl(V4L2_CID_EXPOSURE_AUTO, "V4L2_CID_EXPOSURE_AUTO",
- V4L2_EXPOSURE_MANUAL)) {
- LOG(FATAL, "Failed to set exposure\n");
- }
-
- if (!SetCameraControl(V4L2_CID_EXPOSURE_ABSOLUTE,
- "V4L2_CID_EXPOSURE_ABSOLUTE", params_.exposure())) {
- LOG(FATAL, "Failed to set exposure\n");
- }
- }
++tick_id_;
// Get a timestamp now as proxy for when the image was taken
// TODO(ben): the image should come with a timestamp, parker
@@ -171,8 +160,6 @@
struct v4l2_control setArg = {id, value};
r = xioctl(fd_, VIDIOC_S_CTRL, &setArg);
if (r == 0) {
- LOG(DEBUG, "Set camera control %s from %d to %d\n", name, getArg.value,
- value);
return true;
}
diff --git a/aos/vision/image/reader.h b/aos/vision/image/reader.h
index adb3a3c..25fc0bd 100644
--- a/aos/vision/image/reader.h
+++ b/aos/vision/image/reader.h
@@ -32,10 +32,11 @@
}
int fd() { return fd_; }
+ bool SetCameraControl(uint32_t id, const char *name, int value);
+
private:
void QueueBuffer(v4l2_buffer *buf);
void InitMMap();
- bool SetCameraControl(uint32_t id, const char *name, int value);
void Init();
void Start();
void MMapBuffers();