bebop_ae_awb module

Auto Exposure and Auto White Balancing for the front camera on the Parrot Bebop 1 and 2 and the Disco

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="bebop_ae_awb"/>

Module configuration options

Airframe file section

• section name: bebop_ae_awb
  • name BEBOP_AE_AWB_NICE value: 5
    Description: Nice setting for async thread
  • name BEBOP_AUTO_EXPOSURE value: true
    Description: perform auto exposure (Default: true)
  • name BEBOP_AE_AWB_VERBOSE value: TRUE|FALSE
    Description: Whether or not to print debug information to the terminal
  • name BEBOP_AE_EXPOSURE_GAIN value: 0.75
    Description: Gain to apply to autoexposure change
  • name BEBOP_AE_MIDDLE_INDEX value: 110
    Description: Bin index to be considered as the center of the brightness bins
  • name BEBOP_AE_DARK_IGNORE value: 0.2
    Description: Proportion of dark bins to ignore in the computation of the autoexposure
  • name BEBOP_AE_BRIGHT_IGNORE value: 0.6
    Description: Proportion of bright bins to ignore in the computation of the autoexposure
  • name BEBOP_AE_DARK_BINS value: 73
    Description: Number of dark bins to consider as dark in the autoexposure
  • name BEBOP_AE_BRIGHT_BINS value: 73
    Description: Number of bright bins to consider as bright in autoexposure
  • name BEBOP_AUTO_WHITE_BALANCE value: true
    Description: Perform auto white balance (Default: true)
  • name BEBOP_AWB_GAIN value: 0.5
    Description: Gain to apply to AWB changes
  • name BEBOP_AWB_MIN_GAINS value: 1
    Description: Minimum gain for AWB
  • name BEBOP_AWB_MAX_GAINS value: 63.5
    Description: Maximum gain for AWB
  • name BEBOP_AWB_GAIN_SCHEDULING value: TRUE|FALSE
    Description: Activates gain scheduling for the AWB, helps to handle fast changes in brightness
  • name BEBOP_AWB_GAIN_SCHEDULING_TARGET value: 10
    Description: Target white balance
  • name BEBOP_AWB_GAIN_SCHEDULING_TOLERANCE value: 7.5
    Description: Tolerance around the target exposure outside of which gain scheduling is activated
  • name BEBOP_AWB_GAIN_SCHEDULING_STEP value: 0.02
    Description: Step size of the AWB gain scheduling correction
  • name BEBOP_AWB_MIN_GREY_PIXELS value: 1000
    Description: Minimum number of grey pixels in image, when lower, the AWB is reset

Module functions

Init Functions

These initialization functions are called once on startup.

• bebop_ae_awb_init()

Files

Header Files

The following headers are automatically included in modules.h

• bebop_ae_awb.h

Source Files

• modules/computer_vision/bebop_ae_awb.c

Raw bebop_ae_awb.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="bebop_ae_awb" dir="computer_vision">
  <doc>
    <description>Auto Exposure and Auto White Balancing for the front camera on the Parrot Bebop 1 and 2 and the Disco</description>
    <section name="bebop_ae_awb">
      <define  name="BEBOP_AE_AWB_NICE" value="5" description="Nice setting for async thread"/>
      <define name="BEBOP_AUTO_EXPOSURE" value="true" description="perform auto exposure (Default: true)"/>
      <define name="BEBOP_AE_AWB_VERBOSE" value="TRUE|FALSE" description="Whether or not to print debug information to the terminal"/>
      <define name="BEBOP_AE_EXPOSURE_GAIN" value="0.75" description="Gain to apply to autoexposure change"/>
      <define name="BEBOP_AE_MIDDLE_INDEX" value="110" description="Bin index to be considered as the center of the brightness bins"/>
      <define name="BEBOP_AE_DARK_IGNORE" value="0.2" description="Proportion of dark bins to ignore in the computation of the autoexposure"/>
      <define name="BEBOP_AE_BRIGHT_IGNORE" value="0.6" description="Proportion of bright bins to ignore in the computation of the autoexposure"/>
      <define name="BEBOP_AE_DARK_BINS" value="73" description="Number of dark bins to consider as dark in the autoexposure"/>
      <define name="BEBOP_AE_BRIGHT_BINS" value="73" description="Number of bright bins to consider as bright in autoexposure"/>
      <define name="BEBOP_AUTO_WHITE_BALANCE" value="true" description="Perform auto white balance (Default: true)"/>
      <define name="BEBOP_AWB_GAIN" value="0.5" description="Gain to apply to AWB changes"/>
      <define name="BEBOP_AWB_MIN_GAINS" value="1" description="Minimum gain for AWB"/>
      <define name="BEBOP_AWB_MAX_GAINS" value="63.5" description="Maximum gain for AWB"/>
      <define name="BEBOP_AWB_GAIN_SCHEDULING" value="TRUE|FALSE" description="Activates gain scheduling for the AWB, helps to handle fast changes in brightness"/>
      <define name="BEBOP_AWB_GAIN_SCHEDULING_TARGET" value="10" description="Target white balance"/>
      <define name="BEBOP_AWB_GAIN_SCHEDULING_TOLERANCE" value="7.5" description="Tolerance around the target exposure outside of which gain scheduling is activated"/>
      <define name="BEBOP_AWB_GAIN_SCHEDULING_STEP" value="0.02" description="Step size of the AWB gain scheduling correction"/>
      <define name="BEBOP_AWB_MIN_GREY_PIXELS" value="1000" description="Minimum number of grey pixels in image, when lower, the AWB is reset"/>
    </section>
  </doc>
  <settings>
  <dl_settings>
    <dl_settings NAME="AE/AWB">
      <dl_setting var="ae_set.active" values="OFF|ON" min="0" step="1" max="1" module="computer_vision/bebop_ae_awb" shortname="AE active"/>
      <dl_setting var="ae_set.exposure_gain" min="0" step="0.02" max="2" module="computer_vision/bebop_ae_awb" shortname="AE gain"/>
      <dl_setting var="ae_set.middle_index" min="6" step="1" max="249" module="computer_vision/bebop_ae_awb" shortname="AE center bin"/>
      <dl_setting var="ae_set.dark_bins" min="0" step="1" max="127" module="computer_vision/bebop_ae_awb" shortname="AE dark bins"/>
      <dl_setting var="ae_set.bright_bins" min="0" step="1" max="127" module="computer_vision/bebop_ae_awb" shortname="AE bright bins"/>
      <dl_setting var="ae_set.dark_ignore" min="0" step="0.01" max="1" module="computer_vision/bebop_ae_awb" shortname="AE ignore dark (%)"/>
      <dl_setting var="ae_set.bright_ignore" min="0" step="0.01" max="1" module="computer_vision/bebop_ae_awb" shortname="AE ignore bright (%)"/>
      <dl_setting var="awb_set.active" values="OFF|ON" min="0" step="1" max="1" module="computer_vision/bebop_ae_awb" shortname="AWB Active"/>
      <dl_setting var="awb_set.gain" min="0" step="0.02" max="2" module="computer_vision/bebop_ae_awb" shortname="AWB gain"/>
      <dl_setting var="awb_set.gain_scheduling" values="OFF|ON" min="0" step="1" max="1" module="computer_vision/bebop_ae_awb" shortname="AE gain sched"/>
      <dl_setting var="awb_set.gain_scheduling_target" min="1" step="0.5" max="20" module="computer_vision/bebop_ae_awb" shortname="sched target"/>
      <dl_setting var="awb_set.gain_scheduling_tolerance" min="1" step="0.5" max="20" module="computer_vision/bebop_ae_awb" shortname="sched tolerance"/>
      <dl_setting var="awb_set.gain_scheduling_step" min="0.005" step="0.005" max="0.1" module="computer_vision/bebop_ae_awb" shortname="sched step"/>
    </dl_settings>
  </dl_settings>
</settings>
  <header>
    <file name="bebop_ae_awb.h"/>
  </header>
  <init fun="bebop_ae_awb_init()"/>
  <makefile target="ap">
    <file name="bebop_ae_awb.c"/>
  </makefile>
</module>