The open source OpenXR runtime
d/wmr: Add auto exposure
authored by
Mateo de Mayo
and committed by
Jakob Bornecrantz
df5b5f40
77139b02
+25
-4
+25
-4
src/xrt/drivers/wmr/wmr_camera.c
+25
-4
src/xrt/drivers/wmr/wmr_camera.c
···
17
17
#include <inttypes.h>
18
18
19
19
#include "os/os_threading.h"
20
+
#include "util/u_autoexpgain.h"
21
+
#include "util/u_debug.h"
20
22
#include "util/u_var.h"
21
23
#include "util/u_sink.h"
22
24
#include "util/u_frame.h"
···
25
27
#include "wmr_protocol.h"
26
28
#include "wmr_camera.h"
27
29
30
+
//! Specifies whether the user wants to enable autoexposure from the start.
31
+
DEBUG_GET_ONCE_BOOL_OPTION(wmr_autoexposure, "WMR_AUTOEXPOSURE", true)
32
+
28
33
static int
29
-
update_expgain(struct wmr_camera *cam);
34
+
update_expgain(struct wmr_camera *cam, struct xrt_frame *xf);
30
35
31
36
/*
32
37
*
···
92
97
93
98
struct libusb_transfer *xfers[NUM_XFERS];
94
99
100
+
bool manual_control; //!< Whether to control exp/gain manually or with aeg
95
101
uint16_t last_exposure, exposure;
96
102
uint8_t last_gain, gain;
97
103
struct u_var_draggable_u16 exposure_ui; //! Widget to control `exposure` value
104
+
struct u_autoexpgain *aeg;
98
105
99
106
struct u_sink_debug debug_sinks[2];
100
107
···
361
368
u_frame_create_roi(xf, cam->configs[0].roi, &xf_left);
362
369
u_frame_create_roi(xf, cam->configs[1].roi, &xf_right);
363
370
364
-
update_expgain(cam);
371
+
update_expgain(cam, xf_left);
365
372
366
373
if (cam->left_sink != NULL) {
367
374
xrt_sink_push_frame(cam->left_sink, xf_left);
···
438
445
goto fail;
439
446
}
440
447
}
448
+
449
+
bool enable_aeg = debug_get_bool_option_wmr_autoexposure();
450
+
int aeg_update_every = 3; // WMR takes about three frames until the cmd changes the image
451
+
cam->aeg = u_autoexpgain_create(U_AEG_STRATEGY_TRACKING, enable_aeg, aeg_update_every);
441
452
442
453
cam->exposure_ui.val = &cam->exposure;
443
454
cam->exposure_ui.max = WMR_MAX_EXPOSURE;
···
448
459
u_sink_debug_init(&cam->debug_sinks[1]);
449
460
u_var_add_root(cam, "WMR Camera", true);
450
461
u_var_add_log_level(cam, &cam->log_level, "Log level");
462
+
u_var_add_bool(cam, &cam->manual_control, "Manual exposure and gain control");
451
463
u_var_add_draggable_u16(cam, &cam->exposure_ui, "Exposure (usec)");
452
464
u_var_add_u8(cam, &cam->gain, "Gain");
465
+
u_var_add_gui_header(cam, NULL, "Auto exposure and gain control");
466
+
u_autoexpgain_add_vars(cam->aeg, cam);
467
+
u_var_add_gui_header(cam, NULL, "Camera Streams");
453
468
u_var_add_sink_debug(cam, &cam->debug_sinks[0], "Tracking Streams");
454
469
u_var_add_sink_debug(cam, &cam->debug_sinks[1], "Controller Streams");
455
470
···
527
542
goto fail;
528
543
}
529
544
530
-
res = update_expgain(cam);
545
+
res = update_expgain(cam, NULL);
531
546
if (res < 0) {
532
547
goto fail;
533
548
}
···
597
612
}
598
613
599
614
static int
600
-
update_expgain(struct wmr_camera *cam)
615
+
update_expgain(struct wmr_camera *cam, struct xrt_frame *xf)
601
616
{
617
+
if (!cam->manual_control && xf != NULL) {
618
+
u_autoexpgain_update(cam->aeg, xf);
619
+
cam->exposure = u_autoexpgain_get_exposure(cam->aeg);
620
+
cam->gain = u_autoexpgain_get_gain(cam->aeg);
621
+
}
622
+
602
623
if (cam->last_exposure == cam->exposure && cam->last_gain == cam->gain) {
603
624
return 0;
604
625
}