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d/wmr: Centralize exposure and gain update logic

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Also use the new draggable_u16 UI input for exposure.
This commit is contained in:
Mateo de Mayo 2022-05-14 17:01:12 -03:00 committed by Jakob Bornecrantz
parent 7d266c76b5
commit 84422acd74
2 changed files with 49 additions and 35 deletions
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78
src/xrt/drivers/wmr/wmr_camera.c
View file

@ -25,6 +25,8 @@
#include "wmr_protocol.h"
#include "wmr_camera.h"
static int
update_expgain(struct wmr_camera *cam);
/*
*
@ -49,8 +51,6 @@
#define DEFAULT_EXPOSURE 6000
#define DEFAULT_GAIN 127
#define UI_EXPOSURE_STEP_SIZE 200
struct wmr_camera_active_cmd
{
__le32 magic;
@ -92,8 +92,9 @@ struct wmr_camera
struct libusb_transfer *xfers[NUM_XFERS];
uint8_t last_gain, debug_gain;
uint8_t last_exposure, debug_exposure;
uint16_t last_exposure, exposure;
uint8_t last_gain, gain;
struct u_var_draggable_u16 exposure_ui; //! Widget to control `exposure` value
struct u_sink_debug debug_sinks[2];
@ -360,6 +361,8 @@ img_xfer_cb(struct libusb_transfer *xfer)
u_frame_create_roi(xf, cam->configs[0].roi, &xf_left);
u_frame_create_roi(xf, cam->configs[1].roi, &xf_right);
update_expgain(cam);
if (cam->left_sink != NULL) {
xrt_sink_push_frame(cam->left_sink, xf_left);
}
@ -374,19 +377,6 @@ img_xfer_cb(struct libusb_transfer *xfer)
xrt_frame_reference(&xf, NULL);
if (cam->last_exposure != cam->debug_exposure || cam->last_gain != cam->debug_gain) {
int i;
for (i = 0; i < cam->config_count; i++) {
const struct wmr_camera_config *config = &cam->configs[i];
if (config->purpose != WMR_CAMERA_PURPOSE_HEAD_TRACKING) {
continue;
}
wmr_camera_set_exposure_gain(cam, config->location, cam->debug_exposure * UI_EXPOSURE_STEP_SIZE,
cam->debug_gain);
}
}
out:
libusb_submit_transfer(xfer);
}
@ -411,8 +401,8 @@ wmr_camera_open(struct xrt_prober_device *dev_holo,
int i;
cam->log_level = log_level;
cam->debug_gain = DEFAULT_GAIN;
cam->debug_exposure = DEFAULT_EXPOSURE / UI_EXPOSURE_STEP_SIZE;
cam->exposure = DEFAULT_EXPOSURE;
cam->gain = DEFAULT_GAIN;
if (os_thread_helper_init(&cam->usb_thread) != 0) {
WMR_CAM_ERROR(cam, "Failed to initialise threading");
@ -449,12 +439,17 @@ wmr_camera_open(struct xrt_prober_device *dev_holo,
}
}
cam->exposure_ui.val = &cam->exposure;
cam->exposure_ui.max = WMR_MAX_EXPOSURE;
cam->exposure_ui.min = WMR_MIN_EXPOSURE;
cam->exposure_ui.step = 25;
u_sink_debug_init(&cam->debug_sinks[0]);
u_sink_debug_init(&cam->debug_sinks[1]);
u_var_add_root(cam, "WMR Camera", true);
u_var_add_log_level(cam, &cam->log_level, "Log level");
u_var_add_u8(cam, &cam->debug_gain, "Gain");
u_var_add_u8(cam, &cam->debug_exposure, "Exposure * 200");
u_var_add_draggable_u16(cam, &cam->exposure_ui, "Exposure (usec)");
u_var_add_u8(cam, &cam->gain, "Gain");
u_var_add_sink_debug(cam, &cam->debug_sinks[0], "Tracking Streams");
u_var_add_sink_debug(cam, &cam->debug_sinks[1], "Controller Streams");
@ -532,18 +527,9 @@ wmr_camera_start(struct wmr_camera *cam, const struct wmr_camera_config *cam_con
goto fail;
}
for (int i = 0; i < cam->config_count; i++) {
const struct wmr_camera_config *config = &cam->configs[i];
if (config->purpose != WMR_CAMERA_PURPOSE_HEAD_TRACKING) {
continue;
}
res = wmr_camera_set_exposure_gain(cam, config->location, cam->debug_exposure * UI_EXPOSURE_STEP_SIZE,
cam->debug_gain);
if (res < 0) {
WMR_CAM_ERROR(cam, "Failed to set initial gain for camera %d", i);
goto fail;
}
res = update_expgain(cam);
if (res < 0) {
goto fail;
}
for (int i = 0; i < NUM_XFERS; i++) {
@ -610,6 +596,30 @@ fail:
return false;
}
static int
update_expgain(struct wmr_camera *cam)
{
if (cam->last_exposure == cam->exposure && cam->last_gain == cam->gain) {
return 0;
}
cam->last_exposure = cam->exposure;
cam->last_gain = cam->gain;
int res = 0;
for (int i = 0; i < cam->config_count; i++) {
const struct wmr_camera_config *config = &cam->configs[i];
if (config->purpose != WMR_CAMERA_PURPOSE_HEAD_TRACKING) {
continue;
}
res = wmr_camera_set_exposure_gain(cam, config->location, cam->exposure, cam->gain);
if (res != 0) {
WMR_CAM_ERROR(cam, "Failed to set exposure and gain for camera %d", i);
return res;
}
}
return res;
}
int
wmr_camera_set_exposure_gain(struct wmr_camera *cam, uint8_t camera_id, uint16_t exposure, uint8_t gain)
{
@ -625,7 +635,5 @@ wmr_camera_set_exposure_gain(struct wmr_camera *cam, uint8_t camera_id, uint16_t
.camera_id2 = __cpu_to_le16(camera_id),
};
cam->last_gain = gain;
return send_buffer_to_device(cam, (uint8_t *)&cmd, sizeof(cmd));
}

6
src/xrt/drivers/wmr/wmr_protocol.h
View file

@ -55,6 +55,12 @@ extern "C" {
#define STR_TO_U32(s) ((uint32_t)(((s)[0]) | ((s)[1] << 8) | ((s)[2] << 16) | ((s)[3] << 24)))
#define WMR_MAGIC STR_TO_U32("Dlo+")
#define WMR_MIN_EXPOSURE 120
#define WMR_MAX_OBSERVED_EXPOSURE 6000
#define WMR_MAX_EXPOSURE 9000
#define WMR_MIN_GAIN 16
#define WMR_MAX_GAIN 255
static const unsigned char hololens_sensors_imu_on[64] = {0x02, 0x07};