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authorJacopo Mondi <jacopo.mondi@ideasonboard.com>2023-09-21 18:55:38 +0200
committerLaurent Pinchart <laurent.pinchart@ideasonboard.com>2023-09-27 14:35:33 +0300
commit9780f46f64070cc40405ab678797334e251458a4 (patch)
tree83a41a2e18fddd1ee564ca7bb7cbba906194c9c5
parente991a2887ebf065d9d62e5dd11d6128eb58f628e (diff)
Documentation: Introduce Camera Sensor Model
Introduce a documentation page about the 'camera sensor model' implemented by libcamera. The camera sensor model serves to provide to applications a reference description of the processing steps that take place in a camera sensor in order to precisely control the sensor configuration through the forthcoming SensorConfiguration class. Signed-off-by: Jacopo Mondi <jacopo.mondi@ideasonboard.com> Reviewed-by: Naushir Patuck <naush@raspberrypi.com> Reviewed-by: Kieran Bingham <kieran.bingham@ideasonboard.com> Reviewed-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com> Signed-off-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
Diffstat
-rw-r--r--.reuse/dep56
-rw-r--r--Documentation/binning.svg5053
-rw-r--r--Documentation/camera-sensor-model.rst174
-rw-r--r--Documentation/index.rst1
-rw-r--r--Documentation/meson.build1
-rw-r--r--Documentation/sensor_model.svg4870
-rw-r--r--Documentation/skipping.svg1720
7 files changed, 11825 insertions, 0 deletions
diff --git a/.reuse/dep5 b/.reuse/dep5
index d283a0c9..c5ef5e01 100644
--- a/.reuse/dep5
+++ b/.reuse/dep5
@@ -3,6 +3,12 @@ Upstream-Name: libcamera
Upstream-Contact: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
Source: https://git.libcamera.org/libcamera/libcamera.git/
+Files: Documentation/binning.svg
+ Documentation/camera-sensor-model.rst
+ Documentation/sensor_model.svg
+Copyright: Copyright 2023 Ideas On Board Oy
+License: CC-BY-SA-4.0
+
Files: Documentation/theme/static/search.png
Copyright: 2022 Fonticons, Inc.
License: CC-BY-4.0
diff --git a/Documentation/binning.svg b/Documentation/binning.svg
new file mode 100644
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diff --git a/Documentation/camera-sensor-model.rst b/Documentation/camera-sensor-model.rst
new file mode 100644
index 00000000..58bf70e1
--- /dev/null
+++ b/Documentation/camera-sensor-model.rst
@@ -0,0 +1,174 @@
+.. SPDX-License-Identifier: CC-BY-SA-4.0
+
+.. _camera-sensor-model:
+
+.. todo: Move to Doxygen-generated documentation
+
+The libcamera camera sensor model
+=================================
+
+libcamera defines an abstract camera sensor model in order to provide
+a description of each of the processing steps that result in image data being
+sent on the media bus and that form the image stream delivered to applications.
+
+Applications should use the abstract camera sensor model defined here to
+precisely control the operations of the camera sensor.
+
+The libcamera camera sensor model targets image sensors producing frames in
+RAW format, delivered through a MIPI CSI-2 compliant bus implementation.
+
+The abstract sensor model maps libcamera components to the characteristics and
+operations of an image sensor, and serves as a reference to model the libcamera
+CameraSensor class and SensorConfiguration classes and operations.
+
+In order to control the configuration of the camera sensor through the
+SensorConfiguration class, applications should understand this model and map it
+to the combination of image sensor and kernel driver in use.
+
+The camera sensor model defined here is based on the *MIPI CCS specification*,
+particularly on *Section 8.2 - Image readout* of *Chapter 8 - Video Timings*.
+
+
+Glossary
+--------
+
+.. glossary::
+
+ Pixel array
+ The full grid of pixels, active and inactive ones
+
+ Pixel array active area
+ The portion(s) of the pixel array that contains valid and readable pixels;
+ corresponds to the libcamera properties::PixelArrayActiveAreas
+
+ Analog crop rectangle
+ The portion of the *pixel array active area* which is read out and passed
+ to further processing stages
+
+ Subsampling
+ Pixel processing techniques that reduce the image size by binning or by
+ skipping adjacent pixels
+
+ Digital crop
+ Crop of the sub-sampled image data before scaling
+
+ Frame output
+ The frame (image) as output on the media bus by the camera sensor
+
+Camera sensor model
+-------------------
+
+The abstract sensor model is described in the following diagram.
+
+.. figure:: sensor_model.svg
+
+
+1. The sensor reads pixels from the *pixel array*. The pixels being read out are
+ selected by the *analog crop rectangle*.
+
+2. The pixels can be subsampled to reduce the image size without affecting the
+ field of view. Two subsampling techniques can be used:
+
+ - Binning: combines adjacent pixels of the same colour by averaging or
+ summing their values, in the analog domain and/or the digital domain.
+
+ .. figure:: binning.svg
+
+
+ - Skipping: skips the read out of a number of adjacent pixels.
+
+ .. figure:: skipping.svg
+
+
+3. The output of the optional sub-sampling stage is then cropped after the
+ conversion of the analogue pixel values in the digital domain.
+
+4. The resulting output frame is sent on the media bus by the sensor.
+
+Camera Sensor configuration parameters
+--------------------------------------
+
+The libcamera camera sensor model defines parameters that allow users to
+control:
+
+1. The image format bit depth
+
+2. The size and position of the *Analog crop rectangle*
+
+3. The subsampling factors used to downscale the pixel array readout data to a
+ smaller frame size without reducing the image *field of view*. Two
+ configuration parameters are made available to control the downscaling
+ factor:
+
+ - binning
+ A vertical and horizontal binning factor can be specified, the image
+ will be downscaled in its vertical and horizontal sizes by the specified
+ factor.
+
+ .. code-block::
+ :caption: Definition: The horizontal and vertical binning factors
+
+ horizontal_binning = xBin;
+ vertical_binning = yBin;
+
+
+ - skipping
+ Skipping reduces the image resolution by skipping the read-out of a number
+ of adjacent pixels. The skipping factor is specified by the 'increment'
+ number (number of pixels to 'skip') in the vertical and horizontal
+ directions and for even and odd rows and columns.
+
+ .. code-block::
+ :caption: Definition: The horizontal and vertical skipping factors
+
+ horizontal_skipping = (xOddInc + xEvenInc) / 2
+ vertical_skipping = (yOddInc + yEvenInc) / 2
+
+ Different sensors perform the binning and skipping stages in different
+ orders. For the sake of computing the final output image size the order of
+ execution is not relevant. The overall down-scaling factor is obtained by
+ combining the binning and skipping factors.
+
+ .. code-block::
+ :caption: Definition: The total scaling factor (binning + sub-sampling)
+
+ total_horizontal_downscale = horizontal_binning + horizontal_skipping
+ total_vertical_downscale = vertical_binning + vertical_skipping
+
+
+4. The output size is used to specify any additional cropping on the sub-sampled
+ frame.
+
+5. The total line length and frame height (*visibile* pixels + *blankings*) as
+ sent on the MIPI CSI-2 bus.
+
+6. The pixel transmission rate on the MIPI CSI-2 bus.
+
+The above parameters are combined to obtain the following high-level
+configurations:
+
+- **frame output size**
+
+ Obtained by applying a crop to the physical pixel array size in the analog
+ domain, followed by optional binning and sub-sampling (in any order),
+ followed by an optional crop step in the output digital domain.
+
+- **frame rate**
+
+ The combination of the *total frame size*, the image format *bit depth* and
+ the *pixel rate* of the data sent on the MIPI CSI-2 bus allows to compute the
+ image stream frame rate. The equation is the well known:
+
+ .. code-block::
+
+ frame_duration = total_frame_size / pixel_rate
+ frame_rate = 1 / frame_duration
+
+
+ where the *pixel_rate* parameter is the result of the sensor's configuration
+ of the MIPI CSI-2 bus *(the following formula applies to MIPI CSI-2 when
+ used on MIPI D-PHY physical protocol layer only)*
+
+ .. code-block::
+
+ pixel_rate = CSI-2_link_freq * 2 * nr_of_lanes / bits_per_sample
diff --git a/Documentation/index.rst b/Documentation/index.rst
index 43d8b017..63fac72d 100644
--- a/Documentation/index.rst
+++ b/Documentation/index.rst
@@ -23,3 +23,4 @@
Sensor driver requirements <sensor_driver_requirements>
Lens driver requirements <lens_driver_requirements>
Python Bindings <python-bindings>
+ Camera Sensor Model <camera-sensor-model>
diff --git a/Documentation/meson.build b/Documentation/meson.build
index b2a5bf15..7c150259 100644
--- a/Documentation/meson.build
+++ b/Documentation/meson.build
@@ -63,6 +63,7 @@ endif
if sphinx.found()
docs_sources = [
+ 'camera-sensor-model.rst',
'coding-style.rst',
'conf.py',
'contributing.rst',
diff --git a/Documentation/sensor_model.svg b/Documentation/sensor_model.svg
new file mode 100644
index 00000000..02dc55a8
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