#include "bebop_ae_awb.h"
#include "boards/bebop.h"
#include "boards/bebop/mt9f002.h"
#include "boards/bebop/isp/libisp.h"
#include "modules/computer_vision/cv.h"

Include dependency graph for bebop_ae_awb.c:

Macros
#define	MAX_HIST_Y 255

#define	MIN_HIST_Y 1

#define	BEBOP_AE_AWB_VERBOSE 0

#define	PRINT(string, ...) fprintf(stderr, "[bebop_ae_awb->%s()] " string,__FUNCTION__ , ##__VA_ARGS__)

#define	VERBOSE_PRINT(...)

#define	BEBOP_AE_AWB_NICE 5

#define	BEBOP_AUTO_EXPOSURE true

#define	BEBOP_AE_EXPOSURE_GAIN 0.8

#define	BEBOP_AE_MIDDLE_INDEX 160

#define	BEBOP_AE_DARK_IGNORE 0.4

#define	BEBOP_AE_BRIGHT_IGNORE 0.2

#define	BEBOP_AE_DARK_BINS 80

#define	BEBOP_AE_BRIGHT_BINS 20

#define	BEBOP_AUTO_WHITE_BALANCE true

#define	BEBOP_AWB_MIN_GAINS 1.0

#define	BEBOP_AWB_MAX_GAINS 63.5

#define	BEBOP_AWB_GAIN 0.5

#define	BEBOP_AWB_GAIN_SCHEDULING false

#define	BEBOP_AWB_GAIN_SCHEDULING_TARGET 10.0

#define	BEBOP_AWB_GAIN_SCHEDULING_TOLERANCE 7.5

#define	BEBOP_AWB_GAIN_SCHEDULING_STEP 0.02

#define	BEBOP_AWB_MIN_GREY_PIXELS 1000

Functions
static struct image_t *	update_ae_awb (struct image_t *img, uint8_t camera_id)

void	bebop_ae_awb_init (void)

Variables
struct ae_setting_t	ae_set

struct awb_setting_t	awb_set

Detailed Description

Author: Freek van Tienen, Kirk Scheper Auto exposure and Auto white balancing for the front camera on the Parrot Bebop 1 and 2 and the Disco

Definition in file bebop_ae_awb.c.

Macro Definition Documentation

◆ BEBOP_AE_AWB_NICE

#define BEBOP_AE_AWB_NICE 5

Definition at line 51 of file bebop_ae_awb.c.

◆ BEBOP_AE_AWB_VERBOSE

#define BEBOP_AE_AWB_VERBOSE 0

Definition at line 36 of file bebop_ae_awb.c.

◆ BEBOP_AE_BRIGHT_BINS

#define BEBOP_AE_BRIGHT_BINS 20

Definition at line 90 of file bebop_ae_awb.c.

◆ BEBOP_AE_BRIGHT_IGNORE

#define BEBOP_AE_BRIGHT_IGNORE 0.2

Definition at line 78 of file bebop_ae_awb.c.

◆ BEBOP_AE_DARK_BINS

#define BEBOP_AE_DARK_BINS 80

Definition at line 84 of file bebop_ae_awb.c.

◆ BEBOP_AE_DARK_IGNORE

#define BEBOP_AE_DARK_IGNORE 0.4

Definition at line 72 of file bebop_ae_awb.c.

◆ BEBOP_AE_EXPOSURE_GAIN

#define BEBOP_AE_EXPOSURE_GAIN 0.8

Definition at line 60 of file bebop_ae_awb.c.

◆ BEBOP_AE_MIDDLE_INDEX

#define BEBOP_AE_MIDDLE_INDEX 160

Definition at line 66 of file bebop_ae_awb.c.

◆ BEBOP_AUTO_EXPOSURE

#define BEBOP_AUTO_EXPOSURE true

Definition at line 55 of file bebop_ae_awb.c.

◆ BEBOP_AUTO_WHITE_BALANCE

#define BEBOP_AUTO_WHITE_BALANCE true

Definition at line 95 of file bebop_ae_awb.c.

◆ BEBOP_AWB_GAIN

#define BEBOP_AWB_GAIN 0.5

Definition at line 112 of file bebop_ae_awb.c.

◆ BEBOP_AWB_GAIN_SCHEDULING

#define BEBOP_AWB_GAIN_SCHEDULING false

Definition at line 118 of file bebop_ae_awb.c.

◆ BEBOP_AWB_GAIN_SCHEDULING_STEP

#define BEBOP_AWB_GAIN_SCHEDULING_STEP 0.02

Definition at line 136 of file bebop_ae_awb.c.

◆ BEBOP_AWB_GAIN_SCHEDULING_TARGET

#define BEBOP_AWB_GAIN_SCHEDULING_TARGET 10.0

Definition at line 124 of file bebop_ae_awb.c.

◆ BEBOP_AWB_GAIN_SCHEDULING_TOLERANCE

#define BEBOP_AWB_GAIN_SCHEDULING_TOLERANCE 7.5

Definition at line 130 of file bebop_ae_awb.c.

◆ BEBOP_AWB_MAX_GAINS

#define BEBOP_AWB_MAX_GAINS 63.5

Definition at line 106 of file bebop_ae_awb.c.

◆ BEBOP_AWB_MIN_GAINS

#define BEBOP_AWB_MIN_GAINS 1.0

Definition at line 100 of file bebop_ae_awb.c.

◆ BEBOP_AWB_MIN_GREY_PIXELS

#define BEBOP_AWB_MIN_GREY_PIXELS 1000

Definition at line 142 of file bebop_ae_awb.c.

◆ MAX_HIST_Y

#define MAX_HIST_Y 255

Definition at line 32 of file bebop_ae_awb.c.

◆ MIN_HIST_Y

#define MIN_HIST_Y 1

Definition at line 33 of file bebop_ae_awb.c.

◆ PRINT

#define PRINT	(	string,
		...
	)	fprintf(stderr, "[bebop_ae_awb->%s()] " string,__FUNCTION__ , ##__VA_ARGS__)

Definition at line 40 of file bebop_ae_awb.c.

◆ VERBOSE_PRINT

#define VERBOSE_PRINT ( ... )

Definition at line 46 of file bebop_ae_awb.c.

Function Documentation

◆ bebop_ae_awb_init()

void bebop_ae_awb_init ( void )

Definition at line 336 of file bebop_ae_awb.c.

References ae_setting_t::active, awb_setting_t::active, ae_set, awb_set, BEBOP_AE_AWB_NICE, BEBOP_AE_BRIGHT_BINS, BEBOP_AE_BRIGHT_IGNORE, BEBOP_AE_DARK_BINS, BEBOP_AE_DARK_IGNORE, BEBOP_AE_EXPOSURE_GAIN, BEBOP_AE_MIDDLE_INDEX, BEBOP_AUTO_EXPOSURE, BEBOP_AUTO_WHITE_BALANCE, BEBOP_AWB_GAIN, BEBOP_AWB_GAIN_SCHEDULING, BEBOP_AWB_GAIN_SCHEDULING_STEP, BEBOP_AWB_GAIN_SCHEDULING_TARGET, BEBOP_AWB_GAIN_SCHEDULING_TOLERANCE, ae_setting_t::bright_bins, ae_setting_t::bright_ignore, cv_add_to_device_async(), ae_setting_t::dark_bins, ae_setting_t::dark_ignore, ae_setting_t::exposure_gain, front_camera, awb_setting_t::gain, awb_setting_t::gain_scheduling, awb_setting_t::gain_scheduling_step, awb_setting_t::gain_scheduling_target, awb_setting_t::gain_scheduling_tolerance, ae_setting_t::middle_index, ae_setting_t::prev_active, awb_setting_t::prev_active, and update_ae_awb().

Here is the call graph for this function:

◆ update_ae_awb()

static struct image_t* update_ae_awb	(	struct image_t *	img,
		uint8_t	camera_id
	)

static

Definition at line 149 of file bebop_ae_awb.c.

References ae_setting_t::active, awb_setting_t::active, isp_yuv_stats_t::ae_histogram_Y, ae_set, isp_yuv_stats_t::awb_nb_grey_pixels, awb_set, isp_yuv_stats_t::awb_sum_U, isp_yuv_stats_t::awb_sum_V, isp_yuv_stats_t::awb_sum_Y, BEBOP_AWB_MAX_GAINS, BEBOP_AWB_MIN_GAINS, BEBOP_AWB_MIN_GREY_PIXELS, ae_setting_t::bright_bins, ae_setting_t::bright_ignore, ae_setting_t::dark_bins, ae_setting_t::dark_ignore, ae_setting_t::exposure_gain, awb_setting_t::gain, mt9f002_t::gain_blue, mt9f002_t::gain_green1, mt9f002_t::gain_green2, mt9f002_t::gain_red, awb_setting_t::gain_scheduling, awb_setting_t::gain_scheduling_step, awb_setting_t::gain_scheduling_target, awb_setting_t::gain_scheduling_tolerance, isp_get_statistics_yuv(), MAX_HIST_Y, ae_setting_t::middle_index, MIN_HIST_Y, mt9f002, mt9f002_reset_color(), mt9f002_reset_exposure(), mt9f002_set_exposure(), mt9f002_set_gains(), isp_yuv_stats_t::nb_valid_Y, image_t::pprz_ts, ae_setting_t::prev_active, awb_setting_t::prev_active, mt9f002_t::real_exposure, mt9f002_t::target_exposure, and VERBOSE_PRINT.

Referenced by bebop_ae_awb_init().