commit a0a2e06b811100e6871cbdda17db7de26015eb1f
author Ravago Jones <ravagojones@gmail.com> Tue Jan 03 21:45:18 2023 -0800
committer Ravago Jones <ravagojones@gmail.com> Sat Jan 14 16:52:11 2023 -0800
tree e97b347816ce2790d53c1cdb1684efabfb45f73c
parent d3a96b51749f86a2ee39f5821a1a51f6af209e0d

Switch rockpi to use imx290 camera

Our sensor, imx462 is similar enough that the imx290 driver supports it.
This change relies on changes to frc971/linux

Signed-off-by: Ravago Jones <ravagojones@gmail.com>
Change-Id: I7a1ba5367e9ead7cc2b4c1a098102fc4b535d612

y2023/vision/camera_reader.cc

diff --git a/y2023/vision/camera_reader.cc b/y2023/vision/camera_reader.cc
index 5105e86..560e9ee 100644
--- a/y2023/vision/camera_reader.cc
+++ b/y2023/vision/camera_reader.cc
@@ -7,6 +7,7 @@
 #include "frc971/vision/v4l2_reader.h"
 
 DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
+DEFINE_bool(lowlight_camera, false, "Switch to use imx462 image sensor.");
 
 namespace y2023 {
 namespace vision {
@@ -21,48 +22,59 @@
     media_device->Log();
   }
 
+  int width = 1296;
+  int height = 972;
+  int color_format = MEDIA_BUS_FMT_SBGGR10_1X10;
+  std::string camera_device_string = "ov5647 4-0036";
+  if (FLAGS_lowlight_camera) {
+    width = 1920;
+    height = 1080;
+    color_format = MEDIA_BUS_FMT_SRGGB10_1X10;
+    camera_device_string = "imx290 4-0036";
+  }
+
   media_device->Reset();
 
-  Entity *ov5647 = media_device->FindEntity("ov5647 4-0036");
-  ov5647->pads()[0]->SetSubdevFormat(1296, 972, MEDIA_BUS_FMT_SBGGR10_1X10);
+  Entity *camera = media_device->FindEntity(camera_device_string);
+  camera->pads()[0]->SetSubdevFormat(width, height, color_format);
 
   Entity *rkisp1_csi = media_device->FindEntity("rkisp1_csi");
-  rkisp1_csi->pads()[0]->SetSubdevFormat(1296, 972, MEDIA_BUS_FMT_SBGGR10_1X10);
-  rkisp1_csi->pads()[1]->SetSubdevFormat(1296, 972, MEDIA_BUS_FMT_SBGGR10_1X10);
+  rkisp1_csi->pads()[0]->SetSubdevFormat(width, height, color_format);
+  rkisp1_csi->pads()[1]->SetSubdevFormat(width, height, color_format);
 
   // TODO(austin): Should we set this on the link?
   Entity *rkisp1_isp = media_device->FindEntity("rkisp1_isp");
-  rkisp1_isp->pads(0)->SetSubdevFormat(1296, 972, MEDIA_BUS_FMT_SBGGR10_1X10);
-  rkisp1_isp->pads(0)->SetSubdevCrop(1296, 972);
+  rkisp1_isp->pads(0)->SetSubdevFormat(width, height, color_format);
+  rkisp1_isp->pads(0)->SetSubdevCrop(width, height);
 
-  rkisp1_isp->pads(2)->SetSubdevFormat(1296, 972, MEDIA_BUS_FMT_YUYV8_2X8);
-  rkisp1_isp->pads(2)->SetSubdevCrop(1296, 972);
+  rkisp1_isp->pads(2)->SetSubdevFormat(width, height, MEDIA_BUS_FMT_YUYV8_2X8);
+  rkisp1_isp->pads(2)->SetSubdevCrop(width, height);
 
   Entity *rkisp1_resizer_selfpath =
       media_device->FindEntity("rkisp1_resizer_selfpath");
-  rkisp1_resizer_selfpath->pads(0)->SetSubdevFormat(1296, 972,
+  rkisp1_resizer_selfpath->pads(0)->SetSubdevFormat(width, height,
                                                     MEDIA_BUS_FMT_YUYV8_2X8);
-  rkisp1_resizer_selfpath->pads(1)->SetSubdevFormat(1296, 972,
+  rkisp1_resizer_selfpath->pads(1)->SetSubdevFormat(width, height,
                                                     MEDIA_BUS_FMT_YUYV8_2X8);
-  rkisp1_resizer_selfpath->pads(0)->SetSubdevCrop(1296, 972);
+  rkisp1_resizer_selfpath->pads(0)->SetSubdevCrop(width, height);
 
   Entity *rkisp1_resizer_mainpath =
       media_device->FindEntity("rkisp1_resizer_mainpath");
-  rkisp1_resizer_mainpath->pads(0)->SetSubdevFormat(1296, 972,
+  rkisp1_resizer_mainpath->pads(0)->SetSubdevFormat(width, height,
                                                     MEDIA_BUS_FMT_YUYV8_2X8);
-  rkisp1_resizer_mainpath->pads(0)->SetSubdevCrop(1296, 972);
 
-  rkisp1_resizer_mainpath->pads(1)->SetSubdevFormat(1296 / 2, 972 / 2,
+  rkisp1_resizer_mainpath->pads(0)->SetSubdevCrop(width, height);
+  rkisp1_resizer_mainpath->pads(1)->SetSubdevFormat(width / 2, height / 2,
                                                     MEDIA_BUS_FMT_YUYV8_2X8);
 
   Entity *rkisp1_mainpath = media_device->FindEntity("rkisp1_mainpath");
-  rkisp1_mainpath->SetFormat(1296 / 2, 972 / 2, V4L2_PIX_FMT_YUV422P);
+  rkisp1_mainpath->SetFormat(width / 2, height / 2, V4L2_PIX_FMT_YUV422P);
 
   Entity *rkisp1_selfpath = media_device->FindEntity("rkisp1_selfpath");
-  rkisp1_selfpath->SetFormat(1296, 972, V4L2_PIX_FMT_YUYV);
+  rkisp1_selfpath->SetFormat(width, height, V4L2_PIX_FMT_YUYV);
 
   media_device->Enable(
-      media_device->FindLink("ov5647 4-0036", 0, "rkisp1_csi", 0));
+      media_device->FindLink(camera_device_string, 0, "rkisp1_csi", 0));
   media_device->Enable(
       media_device->FindLink("rkisp1_csi", 1, "rkisp1_isp", 0));
   media_device->Enable(
@@ -78,12 +90,17 @@
   event_loop.SetRuntimeRealtimePriority(55);
   event_loop.SetRuntimeAffinity(aos::MakeCpusetFromCpus({2}));
 
-
   RockchipV4L2Reader v4l2_reader(&event_loop, event_loop.epoll(),
-                                 rkisp1_selfpath->device(), ov5647->device());
+                                 rkisp1_selfpath->device(), camera->device());
 
-  v4l2_reader.SetGain(1000);
-  v4l2_reader.SetExposure(1000);
+  if (FLAGS_lowlight_camera) {
+    v4l2_reader.SetGain(72);
+    v4l2_reader.SetExposure(30);
+    v4l2_reader.SetBlanking(2480, 45);
+  } else {
+    v4l2_reader.SetGainExt(1000);
+    v4l2_reader.SetExposure(1000);
+  }
 
   event_loop.Run();
 }