通常，我们在使用 eisv3 的时候，对应的 xml 文件是 Scenario.Default/XML/SW_CONTROL 下的 eis15_sw.xml。该文件是 Qualcomm 平台 EIS（电子防抖）v3 版本的核心配置文件，它通过一系列参数定义了防抖算法在不同场景下的行为。下面我们先展示一份完整的 eis15_sw.xml 文件内容，方便大家对照参考；随后再针对其中需要重点调试的参数进行逐一说明。
1.完整的xml展示
xml
<?xml version="1.0" encoding="UTF-8" ?>
<!--
========================================================================
Copyright (c) Qualcomm Technologies, Inc. and/or its subsidiaries.
All rights reserved.
Confidential and Proprietary - Qualcomm Technologies, Inc.
========================================================================
-->
<eis15_sw
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="../../../../../../../api/chromatix/XSD/isp/eis_1_5_0.xsd">
<module_version major_revision="1" minor_revision="5" incr_revision="0"/>
<parameter_version>
<revision>0</revision>
</parameter_version>
<chromatix_eis15_reserve>
<top>
<requested_total_margins_x_fhd_30 type="float" range="[0, 0.67]" length="1">0.2</requested_total_margins_x_fhd_30>
<requested_total_margins_y_fhd_30 type="float" range="[0, 0.67]" length="1">0.4</requested_total_margins_y_fhd_30>
<requested_total_margins_x_fhd_60 type="float" range="[0, 0.67]" length="1">0.2</requested_total_margins_x_fhd_60>
<requested_total_margins_y_fhd_60 type="float" range="[0, 0.67]" length="1">0.4</requested_total_margins_y_fhd_60>
<requested_total_margins_x_fhd_120 type="float" range="[0, 0.67]" length="1">0.2</requested_total_margins_x_fhd_120>
<requested_total_margins_y_fhd_120 type="float" range="[0, 0.67]" length="1">0.4</requested_total_margins_y_fhd_120>
<requested_total_margins_x_4k_30 type="float" range="[0, 0.67]" length="1">0.2</requested_total_margins_x_4k_30>
<requested_total_margins_y_4k_30 type="float" range="[0, 0.67]" length="1">0.4</requested_total_margins_y_4k_30>
<requested_total_margins_x_4k_60 type="float" range="[0, 0.67]" length="1">0.2</requested_total_margins_x_4k_60>
<requested_total_margins_y_4k_60 type="float" range="[0, 0.67]" length="1">0.4</requested_total_margins_y_4k_60>
<requested_total_margins_x_4k_120 type="float" range="[0, 0.67]" length="1">0.2</requested_total_margins_x_4k_120>
<requested_total_margins_y_4k_120 type="float" range="[0, 0.67]" length="1">0.4</requested_total_margins_y_4k_120>
<requested_total_margins_x_8k_30 type="float" range="[0, 0.67]" length="1">0.2</requested_total_margins_x_8k_30>
<requested_total_margins_y_8k_30 type="float" range="[0, 0.67]" length="1">0.4</requested_total_margins_y_8k_30>
<requested_total_margins_x_8k_60 type="float" range="[0, 0.67]" length="1">0.2</requested_total_margins_x_8k_60>
<requested_total_margins_y_8k_60 type="float" range="[0, 0.67]" length="1">0.4</requested_total_margins_y_8k_60>
<requested_total_margins_x_8k_120 type="float" range="[0, 0.67]" length="1">0.2</requested_total_margins_x_8k_120>
<requested_total_margins_y_8k_120 type="float" range="[0, 0.67]" length="1">0.4</requested_total_margins_y_8k_120>
<future_buffer_size_fhd_30 type="uint" range="[10, 120]" length="1">30</future_buffer_size_fhd_30>
<future_buffer_size_fhd_60 type="uint" range="[10, 120]" length="1">40</future_buffer_size_fhd_60>
<future_buffer_size_fhd_120 type="uint" range="[10, 120]" length="1">40</future_buffer_size_fhd_120>
<future_buffer_size_4k_30 type="uint" range="[10, 120]" length="1">30</future_buffer_size_4k_30>
<future_buffer_size_4k_60 type="uint" range="[10, 120]" length="1">40</future_buffer_size_4k_60>
<future_buffer_size_4k_120 type="uint" range="[10, 120]" length="1">40</future_buffer_size_4k_120>
<future_buffer_size_8k_30 type="uint" range="[10, 120]" length="1">10</future_buffer_size_8k_30>
<future_buffer_size_8k_60 type="uint" range="[10, 120]" length="1">10</future_buffer_size_8k_60>
<future_buffer_size_8k_120 type="uint" range="[10, 120]" length="1">10</future_buffer_size_8k_120>
<gyro_frequency type="uint" range="[200, 2000]" length="1">498</gyro_frequency>
<ois_frequency type="uint" range="[0, 2000]" length="1">0</ois_frequency>
<acc_frequency type="uint" range="[0, 2000]" length="1">498</acc_frequency>
<mag_frequency type="uint" range="[0, 2000]" length="1">0</mag_frequency>
<ifovc_frequency type="uint" range="[0, 2000]" length="1">0</ifovc_frequency>
<gravity_frequency type="uint" range="[0, 200]" length="1">0</gravity_frequency>
<ois_delay_to_display_ms type="uint" range="[0, 33]" length="1">16</ois_delay_to_display_ms>
<lens_pos_orientation_axis_x type="int" range="[-3, 3]" length="1">1</lens_pos_orientation_axis_x>
<lens_pos_orientation_axis_y type="int" range="[-3, 3]" length="1">2</lens_pos_orientation_axis_y>
<lens_pos_orientation_axis_z type="int" range="[-3, 3]" length="1">3</lens_pos_orientation_axis_z>
<gyro_frequency_est_ratio_error_margin_vs_init type="float" range="[0, 0.3]" length="1">0.035</gyro_frequency_est_ratio_error_margin_vs_init>
<gyro_frequency_est_ratio_error_margin_vs_avg type="float" range="[0, 0.3]" length="1">0.01</gyro_frequency_est_ratio_error_margin_vs_avg>
<ois_frequency_est_ratio_error_margin_vs_init type="float" range="[0, 0.3]" length="1">0.035</ois_frequency_est_ratio_error_margin_vs_init>
<ois_frequency_est_ratio_error_margin_vs_avg type="float" range="[0, 0.3]" length="1">0.01</ois_frequency_est_ratio_error_margin_vs_avg>
<acc_frequency_est_ratio_error_margin_vs_init type="float" range="[0, 0.3]" length="1">0.035</acc_frequency_est_ratio_error_margin_vs_init>
<acc_frequency_est_ratio_error_margin_vs_avg type="float" range="[0, 0.3]" length="1">0.01</acc_frequency_est_ratio_error_margin_vs_avg>
<mag_frequency_est_ratio_error_margin_vs_init type="float" range="[0, 0.3]" length="1">0.035</mag_frequency_est_ratio_error_margin_vs_init>
<mag_frequency_est_ratio_error_margin_vs_avg type="float" range="[0, 0.3]" length="1">0.01</mag_frequency_est_ratio_error_margin_vs_avg>
<ifovc_frequency_est_ratio_error_margin_vs_init type="float" range="[0, 0.3]" length="1">0.035</ifovc_frequency_est_ratio_error_margin_vs_init>
<ifovc_frequency_est_ratio_error_margin_vs_avg type="float" range="[0, 0.3]" length="1">0.01</ifovc_frequency_est_ratio_error_margin_vs_avg>
<zoom_factor_smoothing_enable type="uint" range="[0, 1]" length="1">0</zoom_factor_smoothing_enable>
<sat_matrix_smoothing_enable type="uint" range="[0, 1]" length="1">0</sat_matrix_smoothing_enable>
<res_lut_param_0_tab type="float" range="[-99999999999, 99999999999]" length="32">
<res_lut_param_0>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</res_lut_param_0>
</res_lut_param_0_tab>
</top>
<general>
<minimal_total_margin type="float" range="[0.1, 0.67]" length="1">0.2</minimal_total_margin>
<focal_length type="uint" range="[0, 65535]" length="1">632</focal_length>
<gyro_noise_floor type="float" range="[0, 0.1]" length="1">0.005</gyro_noise_floor>
<ois_noise_floor_tab type="float" range="[0, 500]" length="6">
<ois_noise_floor>0 0 0 0 0 0</ois_noise_floor>
</ois_noise_floor_tab>
<acc_noise_floor type="float" range="[0, 10]" length="1">0</acc_noise_floor>
<mag_noise_floor type="float" range="[0, 500]" length="1">0</mag_noise_floor>
<output_grid_precision type="uint" range="[0, 1]" length="1">0</output_grid_precision>
<res_param_1 type="float" range="[-99999999999, 99999999999]" length="1">0</res_param_1>
<res_param_2 type="float" range="[-99999999999, 99999999999]" length="1">0</res_param_2>
<res_param_3 type="float" range="[-99999999999, 99999999999]" length="1">0</res_param_3>
<res_param_4 type="float" range="[-99999999999, 99999999999]" length="1">0</res_param_4>
<res_param_5 type="float" range="[-99999999999, 99999999999]" length="1">0</res_param_5>
<res_param_6 type="float" range="[-99999999999, 99999999999]" length="1">0</res_param_6>
<res_param_7 type="float" range="[-99999999999, 99999999999]" length="1">0</res_param_7>
<res_param_8 type="float" range="[-99999999999, 99999999999]" length="1">0</res_param_8>
<res_param_9 type="float" range="[-99999999999, 99999999999]" length="1">0</res_param_9>
<res_param_10 type="float" range="[-99999999999, 99999999999]" length="1">0</res_param_10>
<res_lut_param_1_tab type="float" range="[-99999999999, 99999999999]" length="32">
<res_lut_param_1>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</res_lut_param_1>
</res_lut_param_1_tab>
<res_lut_param_2_tab type="float" range="[-99999999999, 99999999999]" length="32">
<res_lut_param_2>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</res_lut_param_2>
</res_lut_param_2_tab>
<res_lut_param_3_tab type="uint" range="[0, 4294967295]" length="16">
<res_lut_param_3>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</res_lut_param_3>
</res_lut_param_3_tab>
</general>
<timing>
<s3d_offset type="int" range="[-30000, 30000]" length="1">1699</s3d_offset>
<ois_offset type="int" range="[-30000, 30000]" length="1">0</ois_offset>
<acc_offset type="int" range="[-30000, 30000]" length="1">0</acc_offset>
<mag_offset type="int" range="[-30000, 30000]" length="1">0</mag_offset>
<ifovc_offset type="int" range="[-30000, 30000]" length="1">0</ifovc_offset>
</timing>
<blur_masking>
<enable type="uint" range="[0, 2]" length="1">1</enable>
<min_strength type="float" range="[0, 1]" length="1">0.8</min_strength>
<exposure_time_th type="float" range="[0, 0.04]" length="1">0.019</exposure_time_th>
<start_decrease_at_blur type="float" range="[5, 100]" length="1">10</start_decrease_at_blur>
<end_decrease_at_blur type="float" range="[5, 100]" length="1">20</end_decrease_at_blur>
<pan_min_threshold type="float" range="[0, 3.14]" length="1">0.1</pan_min_threshold>
<pan_max_threshold type="float" range="[0, 3.14]" length="1">0.2</pan_max_threshold>
<exposure_time_th_2 type="float" range="[0, 0.1]" length="1">0.029</exposure_time_th_2>
<min_strength_exp_th_2 type="float" range="[0, 1]" length="1">0.8</min_strength_exp_th_2>
<exposure_time_th_3 type="float" range="[0, 0.1]" length="1">0.039</exposure_time_th_3>
<min_strength_exp_th_3 type="float" range="[0, 1]" length="1">0.4</min_strength_exp_th_3>
<blur_masking_res_lut_tab type="float" range="[-99999999999, 99999999999]" length="32">
<blur_masking_res_lut>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</blur_masking_res_lut>
</blur_masking_res_lut_tab>
</blur_masking>
<lens_distortion_correction>
<ldc_grid_source type="uint" range="[0, 1]" length="1">0</ldc_grid_source>
<ldc_grid_enable type="uint" range="[0, 1]" length="1">0</ldc_grid_enable>
<ldc_calib_domain type="uint" range="[0, 2]" length="1">0</ldc_calib_domain>
<distorted_input_to_undistorted_ldc_grid_x_tab type="float" range="[-99999999999, 99999999999]" length="3417">
<distorted_input_to_undistorted_ldc_grid_x>0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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</eis15_sw>2. 基于陀螺仪的EIS原理
简单来说，陀螺仪(gyro)直接提供角度变化（旋转），加速度计(acc)辅助感知位移（平移），两者融合后，通过积分和滤波，最终换算为像素级别的平移和旋转量。
具体的转换流程可以分为以下四个关键步骤：
2.1 数据预处理与坐标系对齐
- 原始数据：陀螺仪输出角速度（rad/s，弧度/秒），加速度计输出加速度（m/s²，米/秒²）。
- 校准：扣除零偏误差，去除温度漂移。
- 对齐：将传感器坐标系映射到相机成像平面坐标系（通常为三维笛卡尔坐标系，X向右，Y向上，Z向前）。这一步需要标定参数。
2.2 姿态解算（积分与融合）------目的是获得设备在每一帧时的绝对姿态。
- 陀螺仪积分：对时间间隔（dt，如1/240秒）内的角速度进行积分，得到从上一帧到当前帧的旋转增量（用欧拉角或四元数表示）。
- 加速度计辅助：陀螺仪积分会随时间累积漂移（误差变大）。加速度计通过检测重力方向（9.8m/s²），能提供绝对的水平参考（俯仰和横滚角）。通过互补滤波或卡尔曼滤波，将陀螺仪的高频动态响应与加速度计的低频稳定性融合，得到更准确的姿态四元数。
2.3 运动路径平滑------生成"虚拟轨迹"
这也是EIS区别于机械防抖的关键，它不做物理补偿，而是重绘运动轨迹。
- 将第2.2 步得到的原始真实姿态（曲线A）送入一个平滑滤波器（如高斯滤波、卡尔曼平滑或低通滤波）。
- 输出一个平滑后的虚拟姿态（曲线B）。这条曲线去除了高频抖动（手持微颤），只保留了低频有意的移动（如平移镜头）。
- 补偿量 = 虚拟姿态（B） - 真实姿态（A）。结果就是一个3×3的旋转矩阵或一个三维平移向量。
2.4 几何变换------将角度换算为像素位移
这是最后一步，也是将角度变成像素点的数学映射。
- 纯旋转补偿（陀螺仪主力）：
如果设备绕Y轴旋转了角度θ，为了让画面保持静止，图像必须反向旋转角度θ。对于焦距为f（像素单位）的镜头，像素位移量为：dx = f × tan(θ)。对于小角度（<5°），近似为：dx ≈ f × θ。 - 平移补偿（加速度计辅助）：
如果设备发生左右晃动（平移），加速度计对加速度进行二次积分得到位移量，再映射到像素平面：像素位移 = 位移量 × (f / 物距)。但由于物距未知且误差极大，现代EIS更多依赖陀螺仪（因为人类手持抖动主要表现为旋转），加速度计主要用于在陀螺仪失效（漂移过大）时进行约束，或辅助OIS（光学防抖）的镜头位置追踪。
3. 需要调试的变量（在不开OIS的情况下）
| 变量名 | 变量含义 | 变量作用 |
|---|---|---|
| requested_total_margins_x | 边缘裁剪 | 消除黑边 |
| requested_total_margins_y | 边缘裁剪 | 消除黑边 |
| future_buffer_size_fhd | 缓冲池大小 | DIS用，类似帧间参考大小 |
| gyro_frequency | gyro采样频率 | |
| acc_frequency | acc采样频率 | |
| mag_frequency | 磁罗盘采样频率 | |
| lens_pos_orientation_axis_x | x坐标轴方向 | |
| lens_pos_orientation_axis_y | x坐标轴方向 | |
| lens_pos_orientation_axis_z | z坐标轴方向 | |
| est_ratio_error_margin_vs_init | 当前估计频率与初始化请求频率的允许相对误差 | |
| est_ratio_error_margin_vs_avg | 当前估计频率与运行期间平均频率的允许相对误差 | |
| zoom_factor_smoothing_enable | 变焦平滑 | 对 EIS 使用的 zoom factor 做时间平滑，避免变焦或多摄切换时焦距、裁剪比例突然变化，导致防抖网格突变。 |
| sat_matrix_smoothing_enable | 时间平滑 | 对 EIS 的 SAT 矩阵做时间平滑，抑制 SAT 矩阵在帧间突变造成的画面跳变或镜头切换抖动 |
| minimal_total_margin | EIS 为防抖变形保留的最小总边缘余量，单位是相对于输入图像宽度/高度的比例，并且是左右或上下两侧余量之和。 | 增大：可容纳更大的防抖运动，减少边缘裁剪不足、补偿饱和和突然回弹；但 FOV 变窄、裁剪增加，虚拟边缘插值也可能更明显。减小：FOV 更大，但防抖余量不足时容易出现补偿受限、边缘拉伸或画面回弹。 |
| focal_length | 像素焦距 | 具有作用见基于陀螺仪的EIS原理 |
| noise_floor | 去噪阈值 | 大于该阈值的值保留，小于该阈值的值认为是噪声去除 |
| res_lut_param_x_tab | 不同版本含义不一样 | 比如1.3版本里面是RCS相关参数，1.5里面没有实际含义，RCS需要在CAMX中直接修改 |
| s3d_offset | imu和camera直接软件同步时间戳差值 | -- |
| robustness_threshold | 当 MV robustness >= robustness_threshold 时，该 MV 结果才认为有效 | 调高：更保守，弱纹理、重复纹理或离群匹配更容易被拒绝，可能减少错误 MV 引起的软性摆动；调低：更容易接受 MV，DIS 参与率更高，但错误视觉运动也更容易进入融合； |
| confidence_threshold | 判断计算出的变换置信度是否足够，低于门限时忽略 DIS 变换 |
注：
3.1 什么是SAT矩阵
SAT 矩阵是 Spatial Alignment Transform，空间对齐变换矩阵。工程定义为 3×3 矩阵，用于把一个摄像头的图像坐标变换到参考摄像头或统一输出坐标系：
x', y', w'\] = SAT × \[x, y, 1
再通过 x'/w'、y'/w' 得到输出坐标。
它主要用于：
广角、中长焦、长焦之间的视场对齐；
多摄切换时的画面位置、缩放和透视匹配；
不同 sensor 光心、FOV、裁剪区域之间的空间变换。
3.2 minimal_total_margin和requested_total_margins_x/y关系requested_total_margins_x/y：请求的物理余量；
inimal_total_margin：物理余量不足时允许补足的最低总余量；
实际余量会在 requested margin 和 minimal margin 之间。
3.3 什么是DIS/DMM 的 MV 矩阵DIS/DMM 的 MV 矩阵，是视觉运动估计根据前后帧特征匹配得到的"整帧运动变换"。它不是原始陀螺仪数据，也不是最终输出的 EIS 防抖矩阵。通常是一个 3×3 透视变换矩阵：
a b tx
c d ty
p q 1
它可以表示：
- tx/ty：画面平移；
- a/b/c/d：旋转、缩放、剪切；
- p/q：透视变化；
- confidence：该视觉运动结果的可信度；
- enable：该 MV 变换是否有效。
简单来说，它描述"这一帧相对于参考帧，画面中的整体移动了多少"。
EISv3 的典型链路是：
前后帧匹配
-> DIS/DMM MV 矩阵
-> 与 gyro 运动融合
-> 生成最终 stabilization grid
-> 输出防抖画面
因此，如果 MV 矩阵本身错误，例如：- confidence 突然下降；
- tx/ty 单帧大幅跳变；
- 旋转角度正负来回反转；
- 与 gyro 估计方向明显相反；
融合后就可能出现画面来回摆动或果冻感。
3.4什么是RSC 动态畸变网格RSC 动态畸变网格是 Rolling Shutter Correction 的空间变形网格，用来补偿 CMOS 滚动快门在读出期间产生的逐行几何变形。
滚动快门不是整帧同时曝光：
上面的行先采集
下面的行后采集
当相机在读出期间发生旋转或振动时，每一行对应的相机姿态不同。因此不能只用一个统一的平移/旋转矩阵，而要为画面不同位置使用不同的变换：
(x_out, y_out) = Warp(x, y, row_time)
RSC 动态网格的每个网格点包含类似这样的空间映射：
输入坐标 -> 输出坐标
它主要补偿：
- rolling shutter 行间时差；
- gyro 反映的读出期间角运动；
- 与 EIS 稳定变换叠加后的空间变化；
- 部分镜头畸变与防抖网格变形。
与其它数据的区别：
-> MV 矩阵：视觉估计整帧运动；- gyro：提供时间上的角速度；
- RSC 动态网格：把运动按画面空间位置展开成逐点 warp；
- SAT 矩阵：多摄像头之间的空间对齐。
如果 RSC 参数或时序错误，例如 sensor_rolling_shutter_skew、s3d_offset 不准确，就可能出现：- 楼顶和楼底运动不同步；
- 竖线弯曲或摆动；
- 上半部分看起来像果冻；
- 画面恢复时产生软性回弹。
但飞机平移产生的近景视差不能靠 RSC 完全消除，因为不同距离物体本来就会有不同位移。