bebop_ae_awb.c File Reference

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

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Macros
#define	MAX_HIST_Y   255
#define	MIN_HIST_Y   1
#define	BEBOP_AE_AWB_CAMERA   front_camera
#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   180
#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   0.25
#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 void	bebop_awb_reset (void)
static void	bebop_ae_reset (void)
static struct image_t *	update_ae_awb (struct image_t *img)
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 Bebop 1 and 2

Definition in file bebop_ae_awb.c.

Macro Definition Documentation

#define BEBOP_AE_AWB_CAMERA   front_camera

Definition at line 36 of file bebop_ae_awb.c.

Referenced by bebop_ae_awb_init().

#define BEBOP_AE_AWB_NICE   5

Definition at line 56 of file bebop_ae_awb.c.

Referenced by bebop_ae_awb_init().

#define BEBOP_AE_AWB_VERBOSE   0

Definition at line 41 of file bebop_ae_awb.c.

#define BEBOP_AE_BRIGHT_BINS   20

Definition at line 95 of file bebop_ae_awb.c.

Referenced by bebop_ae_awb_init().

#define BEBOP_AE_BRIGHT_IGNORE   0.2

Definition at line 83 of file bebop_ae_awb.c.

Referenced by bebop_ae_awb_init().

#define BEBOP_AE_DARK_BINS   80

Definition at line 89 of file bebop_ae_awb.c.

Referenced by bebop_ae_awb_init().

#define BEBOP_AE_DARK_IGNORE   0.4

Definition at line 77 of file bebop_ae_awb.c.

Referenced by bebop_ae_awb_init().

#define BEBOP_AE_EXPOSURE_GAIN   0.8

Definition at line 65 of file bebop_ae_awb.c.

Referenced by bebop_ae_awb_init().

#define BEBOP_AE_MIDDLE_INDEX   180

Definition at line 71 of file bebop_ae_awb.c.

Referenced by bebop_ae_awb_init().

#define BEBOP_AUTO_EXPOSURE   true

Definition at line 60 of file bebop_ae_awb.c.

Referenced by bebop_ae_awb_init().

#define BEBOP_AUTO_WHITE_BALANCE   true

Definition at line 100 of file bebop_ae_awb.c.

Referenced by bebop_ae_awb_init().

#define BEBOP_AWB_GAIN   0.25

Definition at line 117 of file bebop_ae_awb.c.

Referenced by bebop_ae_awb_init().

#define BEBOP_AWB_GAIN_SCHEDULING   false

Definition at line 123 of file bebop_ae_awb.c.

Referenced by bebop_ae_awb_init().

#define BEBOP_AWB_GAIN_SCHEDULING_STEP   0.02

Definition at line 141 of file bebop_ae_awb.c.

Referenced by bebop_ae_awb_init().

#define BEBOP_AWB_GAIN_SCHEDULING_TARGET   10.0

Definition at line 129 of file bebop_ae_awb.c.

Referenced by bebop_ae_awb_init().

#define BEBOP_AWB_GAIN_SCHEDULING_TOLERANCE   7.5

Definition at line 135 of file bebop_ae_awb.c.

Referenced by bebop_ae_awb_init().

#define BEBOP_AWB_MAX_GAINS   63.5

Definition at line 111 of file bebop_ae_awb.c.

Referenced by update_ae_awb().

#define BEBOP_AWB_MIN_GAINS   1.0

Definition at line 105 of file bebop_ae_awb.c.

Referenced by update_ae_awb().

#define BEBOP_AWB_MIN_GREY_PIXELS   1000

Definition at line 147 of file bebop_ae_awb.c.

Referenced by update_ae_awb().

#define MAX_HIST_Y   255

Definition at line 32 of file bebop_ae_awb.c.

Referenced by update_ae_awb().

#define MIN_HIST_Y   1

Definition at line 33 of file bebop_ae_awb.c.

Referenced by update_ae_awb().

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

Definition at line 45 of file bebop_ae_awb.c.

#define VERBOSE_PRINT

(

...

)

Definition at line 51 of file bebop_ae_awb.c.

Referenced by update_ae_awb().

Function Documentation

void bebop_ae_awb_init

(

void

)

Definition at line 357 of file bebop_ae_awb.c.

References ae_setting_t::active, awb_setting_t::active, ae_set, awb_set, BEBOP_AE_AWB_CAMERA, 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_ae_reset(), 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, bebop_awb_reset(), 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, 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().

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static void bebop_ae_reset ( void  )

static

Definition at line 164 of file bebop_ae_awb.c.

References mt9f002, mt9f002_set_exposure(), MT9F002_TARGET_EXPOSURE, and mt9f002_t::target_exposure.

Referenced by bebop_ae_awb_init(), and update_ae_awb().

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static void bebop_awb_reset ( void  )

static

Definition at line 154 of file bebop_ae_awb.c.

References mt9f002_t::gain_blue, mt9f002_t::gain_green1, mt9f002_t::gain_green2, mt9f002_t::gain_red, mt9f002, MT9F002_GAIN_BLUE, MT9F002_GAIN_GREEN1, MT9F002_GAIN_GREEN2, MT9F002_GAIN_RED, and mt9f002_set_gains().

Referenced by bebop_ae_awb_init(), and update_ae_awb().

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static struct image_t* update_ae_awb ( struct image_t *  img )

static

Definition at line 170 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_ae_reset(), BEBOP_AWB_MAX_GAINS, BEBOP_AWB_MIN_GAINS, BEBOP_AWB_MIN_GREY_PIXELS, bebop_awb_reset(), 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_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().

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Variable Documentation

struct ae_setting_t ae_set

Definition at line 151 of file bebop_ae_awb.c.

Referenced by bebop_ae_awb_init(), and update_ae_awb().

struct awb_setting_t awb_set

Definition at line 152 of file bebop_ae_awb.c.

Referenced by bebop_ae_awb_init(), and update_ae_awb().