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-rw-r--r--src/ipa/raspberrypi/controller/rpi/agc.cpp74
1 files changed, 58 insertions, 16 deletions
diff --git a/src/ipa/raspberrypi/controller/rpi/agc.cpp b/src/ipa/raspberrypi/controller/rpi/agc.cpp
index 4cf98e66..2533727e 100644
--- a/src/ipa/raspberrypi/controller/rpi/agc.cpp
+++ b/src/ipa/raspberrypi/controller/rpi/agc.cpp
@@ -145,6 +145,9 @@ void AgcConfig::Read(boost::property_tree::ptree const &params)
fast_reduce_threshold =
params.get<double>("fast_reduce_threshold", 0.4);
base_ev = params.get<double>("base_ev", 1.0);
+ // Start with quite a low value as ramping up is easier than ramping down.
+ default_exposure_time = params.get<double>("default_exposure_time", 1000);
+ default_analogue_gain = params.get<double>("default_analogue_gain", 1.0);
}
Agc::Agc(Controller *controller)
@@ -220,14 +223,42 @@ void Agc::SetConstraintMode(std::string const &constraint_mode_name)
void Agc::SwitchMode([[maybe_unused]] CameraMode const &camera_mode,
Metadata *metadata)
{
- // On a mode switch, it's possible the exposure profile could change,
- // so we run through the dividing up of exposure/gain again and
- // write the results into the metadata we've been given.
- if (status_.total_exposure_value) {
- housekeepConfig();
+ housekeepConfig();
+
+ if (fixed_shutter_ != 0.0 && fixed_analogue_gain_ != 0.0) {
+ // We're going to reset the algorithm here with these fixed values.
+
+ fetchAwbStatus(metadata);
+ double min_colour_gain = std::min({ awb_.gain_r, awb_.gain_g, awb_.gain_b, 1.0 });
+ ASSERT(min_colour_gain != 0.0);
+
+ // This is the equivalent of computeTargetExposure and applyDigitalGain.
+ target_.total_exposure_no_dg = fixed_shutter_ * fixed_analogue_gain_;
+ target_.total_exposure = target_.total_exposure_no_dg / min_colour_gain;
+
+ // Equivalent of filterExposure. This resets any "history".
+ filtered_ = target_;
+
+ // Equivalent of divideUpExposure.
+ filtered_.shutter = fixed_shutter_;
+ filtered_.analogue_gain = fixed_analogue_gain_;
+ } else if (status_.total_exposure_value) {
+ // On a mode switch, it's possible the exposure profile could change,
+ // or a fixed exposure/gain might be set so we divide up the exposure/
+ // gain again, but we don't change any target values.
divideUpExposure();
- writeAndFinish(metadata, false);
+ } else {
+ // We come through here on startup, when at least one of the shutter
+ // or gain has not been fixed. We must still write those values out so
+ // that they will be applied immediately. We supply some arbitrary defaults
+ // for any that weren't set.
+
+ // Equivalent of divideUpExposure.
+ filtered_.shutter = fixed_shutter_ ? fixed_shutter_ : config_.default_exposure_time;
+ filtered_.analogue_gain = fixed_analogue_gain_ ? fixed_analogue_gain_ : config_.default_analogue_gain;
}
+
+ writeAndFinish(metadata, false);
}
void Agc::Prepare(Metadata *image_metadata)
@@ -472,20 +503,31 @@ void Agc::computeGain(bcm2835_isp_stats *statistics, Metadata *image_metadata,
void Agc::computeTargetExposure(double gain)
{
- // The statistics reflect the image without digital gain, so the final
- // total exposure we're aiming for is:
- target_.total_exposure = current_.total_exposure_no_dg * gain;
- // The final target exposure is also limited to what the exposure
- // mode allows.
- double max_total_exposure =
- (status_.fixed_shutter != 0.0
+ if (status_.fixed_shutter != 0.0 && status_.fixed_analogue_gain != 0.0) {
+ // When ag and shutter are both fixed, we need to drive the
+ // total exposure so that we end up with a digital gain of at least
+ // 1/min_colour_gain. Otherwise we'd desaturate channels causing
+ // white to go cyan or magenta.
+ double min_colour_gain = std::min({ awb_.gain_r, awb_.gain_g, awb_.gain_b, 1.0 });
+ ASSERT(min_colour_gain != 0.0);
+ target_.total_exposure =
+ status_.fixed_shutter * status_.fixed_analogue_gain / min_colour_gain;
+ } else {
+ // The statistics reflect the image without digital gain, so the final
+ // total exposure we're aiming for is:
+ target_.total_exposure = current_.total_exposure_no_dg * gain;
+ // The final target exposure is also limited to what the exposure
+ // mode allows.
+ double max_total_exposure =
+ (status_.fixed_shutter != 0.0
? status_.fixed_shutter
: exposure_mode_->shutter.back()) *
- (status_.fixed_analogue_gain != 0.0
+ (status_.fixed_analogue_gain != 0.0
? status_.fixed_analogue_gain
: exposure_mode_->gain.back());
- target_.total_exposure = std::min(target_.total_exposure,
- max_total_exposure);
+ target_.total_exposure = std::min(target_.total_exposure,
+ max_total_exposure);
+ }
LOG(RPiAgc, Debug) << "Target total_exposure " << target_.total_exposure;
}