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-rw-r--r--src/ipa/raspberrypi/cam_helper.cpp2
-rw-r--r--src/ipa/raspberrypi/controller/agc_status.h12
-rw-r--r--src/ipa/raspberrypi/controller/device_status.h6
-rw-r--r--src/ipa/raspberrypi/controller/rpi/agc.cpp82
-rw-r--r--src/ipa/raspberrypi/controller/rpi/agc.hpp28
-rw-r--r--src/ipa/raspberrypi/controller/rpi/lux.cpp19
-rw-r--r--src/ipa/raspberrypi/controller/rpi/lux.hpp4
-rw-r--r--src/ipa/raspberrypi/raspberrypi.cpp13
8 files changed, 93 insertions, 73 deletions
diff --git a/src/ipa/raspberrypi/cam_helper.cpp b/src/ipa/raspberrypi/cam_helper.cpp
index 92a38007..062e94c4 100644
--- a/src/ipa/raspberrypi/cam_helper.cpp
+++ b/src/ipa/raspberrypi/cam_helper.cpp
@@ -184,7 +184,7 @@ void CamHelper::parseEmbeddedData(Span<const uint8_t> buffer,
return;
}
- deviceStatus.shutter_speed = Exposure(exposureLines).get<std::micro>();
+ deviceStatus.shutter_speed = Exposure(exposureLines);
deviceStatus.analogue_gain = Gain(gainCode);
LOG(IPARPI, Debug) << "Metadata updated - Exposure : "
diff --git a/src/ipa/raspberrypi/controller/agc_status.h b/src/ipa/raspberrypi/controller/agc_status.h
index 10381c90..5d50e177 100644
--- a/src/ipa/raspberrypi/controller/agc_status.h
+++ b/src/ipa/raspberrypi/controller/agc_status.h
@@ -6,6 +6,8 @@
*/
#pragma once
+#include "libcamera/internal/utils.h"
+
// The AGC algorithm should post the following structure into the image's
// "agc.status" metadata.
@@ -18,17 +20,17 @@ extern "C" {
// ignored until then.
struct AgcStatus {
- double total_exposure_value; // value for all exposure and gain for this image
- double target_exposure_value; // (unfiltered) target total exposure AGC is aiming for
- double shutter_time;
+ libcamera::utils::Duration total_exposure_value; // value for all exposure and gain for this image
+ libcamera::utils::Duration target_exposure_value; // (unfiltered) target total exposure AGC is aiming for
+ libcamera::utils::Duration shutter_time;
double analogue_gain;
char exposure_mode[32];
char constraint_mode[32];
char metering_mode[32];
double ev;
- double flicker_period;
+ libcamera::utils::Duration flicker_period;
int floating_region_enable;
- double fixed_shutter;
+ libcamera::utils::Duration fixed_shutter;
double fixed_analogue_gain;
double digital_gain;
int locked;
diff --git a/src/ipa/raspberrypi/controller/device_status.h b/src/ipa/raspberrypi/controller/device_status.h
index aa08608b..131b4cd3 100644
--- a/src/ipa/raspberrypi/controller/device_status.h
+++ b/src/ipa/raspberrypi/controller/device_status.h
@@ -6,6 +6,8 @@
*/
#pragma once
+#include "libcamera/internal/utils.h"
+
// Definition of "device metadata" which stores things like shutter time and
// analogue gain that downstream control algorithms will want to know.
@@ -14,8 +16,8 @@ extern "C" {
#endif
struct DeviceStatus {
- // time shutter is open, in microseconds
- double shutter_speed;
+ // time shutter is open
+ libcamera::utils::Duration shutter_speed;
double analogue_gain;
// 1.0/distance-in-metres, or 0 if unknown
double lens_position;
diff --git a/src/ipa/raspberrypi/controller/rpi/agc.cpp b/src/ipa/raspberrypi/controller/rpi/agc.cpp
index fd3359a7..55e80ac7 100644
--- a/src/ipa/raspberrypi/controller/rpi/agc.cpp
+++ b/src/ipa/raspberrypi/controller/rpi/agc.cpp
@@ -56,19 +56,26 @@ read_metering_modes(std::map<std::string, AgcMeteringMode> &metering_modes,
return first;
}
-static int read_double_list(std::vector<double> &list,
- boost::property_tree::ptree const &params)
+static int read_list(std::vector<double> &list,
+ boost::property_tree::ptree const &params)
{
for (auto &p : params)
list.push_back(p.second.get_value<double>());
return list.size();
}
+static int read_list(std::vector<Duration> &list,
+ boost::property_tree::ptree const &params)
+{
+ for (auto &p : params)
+ list.push_back(p.second.get_value<double>() * 1us);
+ return list.size();
+}
+
void AgcExposureMode::Read(boost::property_tree::ptree const &params)
{
- int num_shutters =
- read_double_list(shutter, params.get_child("shutter"));
- int num_ags = read_double_list(gain, params.get_child("gain"));
+ int num_shutters = read_list(shutter, params.get_child("shutter"));
+ int num_ags = read_list(gain, params.get_child("gain"));
if (num_shutters < 2 || num_ags < 2)
throw std::runtime_error(
"AgcConfig: must have at least two entries in exposure profile");
@@ -148,7 +155,7 @@ void AgcConfig::Read(boost::property_tree::ptree const &params)
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_exposure_time = params.get<double>("default_exposure_time", 1000) * 1us;
default_analogue_gain = params.get<double>("default_analogue_gain", 1.0);
}
@@ -156,9 +163,9 @@ Agc::Agc(Controller *controller)
: AgcAlgorithm(controller), metering_mode_(nullptr),
exposure_mode_(nullptr), constraint_mode_(nullptr),
frame_count_(0), lock_count_(0),
- last_target_exposure_(0.0),
- ev_(1.0), flicker_period_(0.0),
- max_shutter_(0), fixed_shutter_(0), fixed_analogue_gain_(0.0)
+ last_target_exposure_(0s),
+ ev_(1.0), flicker_period_(0s),
+ max_shutter_(0s), fixed_shutter_(0s), fixed_analogue_gain_(0.0)
{
memset(&awb_, 0, sizeof(awb_));
// Setting status_.total_exposure_value_ to zero initially tells us
@@ -204,7 +211,7 @@ void Agc::Pause()
void Agc::Resume()
{
- fixed_shutter_ = 0;
+ fixed_shutter_ = 0s;
fixed_analogue_gain_ = 0;
}
@@ -225,17 +232,17 @@ void Agc::SetEv(double ev)
void Agc::SetFlickerPeriod(Duration flicker_period)
{
- flicker_period_ = flicker_period.get<std::micro>();
+ flicker_period_ = flicker_period;
}
void Agc::SetMaxShutter(Duration max_shutter)
{
- max_shutter_ = max_shutter.get<std::micro>();
+ max_shutter_ = max_shutter;
}
void Agc::SetFixedShutter(Duration fixed_shutter)
{
- fixed_shutter_ = fixed_shutter.get<std::micro>();
+ fixed_shutter_ = fixed_shutter;
// Set this in case someone calls Pause() straight after.
status_.shutter_time = clipShutter(fixed_shutter_);
}
@@ -267,8 +274,8 @@ void Agc::SwitchMode([[maybe_unused]] CameraMode const &camera_mode,
{
housekeepConfig();
- double fixed_shutter = clipShutter(fixed_shutter_);
- if (fixed_shutter != 0.0 && fixed_analogue_gain_ != 0.0) {
+ Duration fixed_shutter = clipShutter(fixed_shutter_);
+ if (fixed_shutter && fixed_analogue_gain_) {
// We're going to reset the algorithm here with these fixed values.
fetchAwbStatus(metadata);
@@ -313,8 +320,8 @@ void Agc::Prepare(Metadata *image_metadata)
// Process has run, so we have meaningful values.
DeviceStatus device_status;
if (image_metadata->Get("device.status", device_status) == 0) {
- double actual_exposure = device_status.shutter_speed *
- device_status.analogue_gain;
+ Duration actual_exposure = device_status.shutter_speed *
+ device_status.analogue_gain;
if (actual_exposure) {
status_.digital_gain =
status_.total_exposure_value /
@@ -327,7 +334,8 @@ void Agc::Prepare(Metadata *image_metadata)
std::min(status_.digital_gain, 4.0));
LOG(RPiAgc, Debug) << "Actual exposure " << actual_exposure;
LOG(RPiAgc, Debug) << "Use digital_gain " << status_.digital_gain;
- LOG(RPiAgc, Debug) << "Effective exposure " << actual_exposure * status_.digital_gain;
+ LOG(RPiAgc, Debug) << "Effective exposure "
+ << actual_exposure * status_.digital_gain;
// Decide whether AEC/AGC has converged.
updateLockStatus(device_status);
}
@@ -371,9 +379,9 @@ void Agc::updateLockStatus(DeviceStatus const &device_status)
const double RESET_MARGIN = 1.5;
// Add 200us to the exposure time error to allow for line quantisation.
- double exposure_error = last_device_status_.shutter_speed * ERROR_FACTOR + 200;
+ Duration exposure_error = last_device_status_.shutter_speed * ERROR_FACTOR + 200us;
double gain_error = last_device_status_.analogue_gain * ERROR_FACTOR;
- double target_error = last_target_exposure_ * ERROR_FACTOR;
+ Duration target_error = last_target_exposure_ * ERROR_FACTOR;
// Note that we don't know the exposure/gain limits of the sensor, so
// the values we keep requesting may be unachievable. For this reason
@@ -463,7 +471,7 @@ void Agc::fetchCurrentExposure(Metadata *image_metadata)
current_.analogue_gain = device_status->analogue_gain;
AgcStatus *agc_status =
image_metadata->GetLocked<AgcStatus>("agc.status");
- current_.total_exposure = agc_status ? agc_status->total_exposure_value : 0;
+ current_.total_exposure = agc_status ? agc_status->total_exposure_value : 0s;
current_.total_exposure_no_dg = current_.shutter * current_.analogue_gain;
}
@@ -574,7 +582,7 @@ void Agc::computeGain(bcm2835_isp_stats *statistics, Metadata *image_metadata,
void Agc::computeTargetExposure(double gain)
{
- if (status_.fixed_shutter != 0.0 && status_.fixed_analogue_gain != 0.0) {
+ if (status_.fixed_shutter && status_.fixed_analogue_gain) {
// 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
@@ -589,11 +597,11 @@ void Agc::computeTargetExposure(double gain)
target_.total_exposure = current_.total_exposure_no_dg * gain;
// The final target exposure is also limited to what the exposure
// mode allows.
- double max_shutter = status_.fixed_shutter != 0.0
+ Duration max_shutter = status_.fixed_shutter
? status_.fixed_shutter
: exposure_mode_->shutter.back();
max_shutter = clipShutter(max_shutter);
- double max_total_exposure =
+ Duration max_total_exposure =
max_shutter *
(status_.fixed_analogue_gain != 0.0
? status_.fixed_analogue_gain
@@ -638,7 +646,7 @@ void Agc::filterExposure(bool desaturate)
if ((status_.fixed_shutter && status_.fixed_analogue_gain) ||
frame_count_ <= config_.startup_frames)
speed = 1.0;
- if (filtered_.total_exposure == 0.0) {
+ if (!filtered_.total_exposure) {
filtered_.total_exposure = target_.total_exposure;
filtered_.total_exposure_no_dg = target_.total_exposure_no_dg;
} else {
@@ -675,9 +683,10 @@ void Agc::divideUpExposure()
// Sending the fixed shutter/gain cases through the same code may seem
// unnecessary, but it will make more sense when extend this to cover
// variable aperture.
- double exposure_value = filtered_.total_exposure_no_dg;
- double shutter_time, analogue_gain;
- shutter_time = status_.fixed_shutter != 0.0
+ Duration exposure_value = filtered_.total_exposure_no_dg;
+ Duration shutter_time;
+ double analogue_gain;
+ shutter_time = status_.fixed_shutter
? status_.fixed_shutter
: exposure_mode_->shutter[0];
shutter_time = clipShutter(shutter_time);
@@ -687,8 +696,8 @@ void Agc::divideUpExposure()
if (shutter_time * analogue_gain < exposure_value) {
for (unsigned int stage = 1;
stage < exposure_mode_->gain.size(); stage++) {
- if (status_.fixed_shutter == 0.0) {
- double stage_shutter =
+ if (!status_.fixed_shutter) {
+ Duration stage_shutter =
clipShutter(exposure_mode_->shutter[stage]);
if (stage_shutter * analogue_gain >=
exposure_value) {
@@ -714,12 +723,11 @@ void Agc::divideUpExposure()
<< analogue_gain;
// Finally adjust shutter time for flicker avoidance (require both
// shutter and gain not to be fixed).
- if (status_.fixed_shutter == 0.0 &&
- status_.fixed_analogue_gain == 0.0 &&
- status_.flicker_period != 0.0) {
+ if (!status_.fixed_shutter && !status_.fixed_analogue_gain &&
+ status_.flicker_period) {
int flicker_periods = shutter_time / status_.flicker_period;
- if (flicker_periods > 0) {
- double new_shutter_time = flicker_periods * status_.flicker_period;
+ if (flicker_periods) {
+ Duration new_shutter_time = flicker_periods * status_.flicker_period;
analogue_gain *= shutter_time / new_shutter_time;
// We should still not allow the ag to go over the
// largest value in the exposure mode. Note that this
@@ -739,7 +747,7 @@ void Agc::divideUpExposure()
void Agc::writeAndFinish(Metadata *image_metadata, bool desaturate)
{
status_.total_exposure_value = filtered_.total_exposure;
- status_.target_exposure_value = desaturate ? 0 : target_.total_exposure_no_dg;
+ status_.target_exposure_value = desaturate ? 0s : target_.total_exposure_no_dg;
status_.shutter_time = filtered_.shutter;
status_.analogue_gain = filtered_.analogue_gain;
// Write to metadata as well, in case anyone wants to update the camera
@@ -751,7 +759,7 @@ void Agc::writeAndFinish(Metadata *image_metadata, bool desaturate)
<< " analogue gain " << filtered_.analogue_gain;
}
-double Agc::clipShutter(double shutter)
+Duration Agc::clipShutter(Duration shutter)
{
if (max_shutter_)
shutter = std::min(shutter, max_shutter_);
diff --git a/src/ipa/raspberrypi/controller/rpi/agc.hpp b/src/ipa/raspberrypi/controller/rpi/agc.hpp
index b52aaa23..75078948 100644
--- a/src/ipa/raspberrypi/controller/rpi/agc.hpp
+++ b/src/ipa/raspberrypi/controller/rpi/agc.hpp
@@ -9,6 +9,8 @@
#include <vector>
#include <mutex>
+#include "libcamera/internal/utils.h"
+
#include "../agc_algorithm.hpp"
#include "../agc_status.h"
#include "../pwl.hpp"
@@ -22,13 +24,15 @@
namespace RPiController {
+using namespace std::literals::chrono_literals;
+
struct AgcMeteringMode {
double weights[AGC_STATS_SIZE];
void Read(boost::property_tree::ptree const &params);
};
struct AgcExposureMode {
- std::vector<double> shutter;
+ std::vector<libcamera::utils::Duration> shutter;
std::vector<double> gain;
void Read(boost::property_tree::ptree const &params);
};
@@ -61,7 +65,7 @@ struct AgcConfig {
std::string default_exposure_mode;
std::string default_constraint_mode;
double base_ev;
- double default_exposure_time;
+ libcamera::utils::Duration default_exposure_time;
double default_analogue_gain;
};
@@ -101,19 +105,19 @@ private:
void filterExposure(bool desaturate);
void divideUpExposure();
void writeAndFinish(Metadata *image_metadata, bool desaturate);
- double clipShutter(double shutter);
+ libcamera::utils::Duration clipShutter(libcamera::utils::Duration shutter);
AgcMeteringMode *metering_mode_;
AgcExposureMode *exposure_mode_;
AgcConstraintMode *constraint_mode_;
uint64_t frame_count_;
AwbStatus awb_;
struct ExposureValues {
- ExposureValues() : shutter(0), analogue_gain(0),
- total_exposure(0), total_exposure_no_dg(0) {}
- double shutter;
+ ExposureValues() : shutter(0s), analogue_gain(0),
+ total_exposure(0s), total_exposure_no_dg(0s) {}
+ libcamera::utils::Duration shutter;
double analogue_gain;
- double total_exposure;
- double total_exposure_no_dg; // without digital gain
+ libcamera::utils::Duration total_exposure;
+ libcamera::utils::Duration total_exposure_no_dg; // without digital gain
};
ExposureValues current_; // values for the current frame
ExposureValues target_; // calculate the values we want here
@@ -121,15 +125,15 @@ private:
AgcStatus status_;
int lock_count_;
DeviceStatus last_device_status_;
- double last_target_exposure_;
+ libcamera::utils::Duration last_target_exposure_;
// Below here the "settings" that applications can change.
std::string metering_mode_name_;
std::string exposure_mode_name_;
std::string constraint_mode_name_;
double ev_;
- double flicker_period_;
- double max_shutter_;
- double fixed_shutter_;
+ libcamera::utils::Duration flicker_period_;
+ libcamera::utils::Duration max_shutter_;
+ libcamera::utils::Duration fixed_shutter_;
double fixed_analogue_gain_;
};
diff --git a/src/ipa/raspberrypi/controller/rpi/lux.cpp b/src/ipa/raspberrypi/controller/rpi/lux.cpp
index f74381ca..258e44f4 100644
--- a/src/ipa/raspberrypi/controller/rpi/lux.cpp
+++ b/src/ipa/raspberrypi/controller/rpi/lux.cpp
@@ -16,6 +16,7 @@
using namespace RPiController;
using namespace libcamera;
+using namespace std::literals::chrono_literals;
LOG_DEFINE_CATEGORY(RPiLux)
@@ -38,7 +39,7 @@ char const *Lux::Name() const
void Lux::Read(boost::property_tree::ptree const &params)
{
reference_shutter_speed_ =
- params.get<double>("reference_shutter_speed");
+ params.get<double>("reference_shutter_speed") * 1.0us;
reference_gain_ = params.get<double>("reference_gain");
reference_aperture_ = params.get<double>("reference_aperture", 1.0);
reference_Y_ = params.get<double>("reference_Y");
@@ -60,15 +61,15 @@ void Lux::Prepare(Metadata *image_metadata)
void Lux::Process(StatisticsPtr &stats, Metadata *image_metadata)
{
// set some initial values to shut the compiler up
- DeviceStatus device_status =
- { .shutter_speed = 1.0,
- .analogue_gain = 1.0,
- .lens_position = 0.0,
- .aperture = 0.0,
- .flash_intensity = 0.0 };
+ DeviceStatus device_status = {
+ .shutter_speed = 1.0ms,
+ .analogue_gain = 1.0,
+ .lens_position = 0.0,
+ .aperture = 0.0,
+ .flash_intensity = 0.0
+ };
if (image_metadata->Get("device.status", device_status) == 0) {
double current_gain = device_status.analogue_gain;
- double current_shutter_speed = device_status.shutter_speed;
double current_aperture = device_status.aperture;
if (current_aperture == 0)
current_aperture = current_aperture_;
@@ -83,7 +84,7 @@ void Lux::Process(StatisticsPtr &stats, Metadata *image_metadata)
double current_Y = sum / (double)num + .5;
double gain_ratio = reference_gain_ / current_gain;
double shutter_speed_ratio =
- reference_shutter_speed_ / current_shutter_speed;
+ reference_shutter_speed_ / device_status.shutter_speed;
double aperture_ratio = reference_aperture_ / current_aperture;
double Y_ratio = current_Y * (65536 / num_bins) / reference_Y_;
double estimated_lux = shutter_speed_ratio * gain_ratio *
diff --git a/src/ipa/raspberrypi/controller/rpi/lux.hpp b/src/ipa/raspberrypi/controller/rpi/lux.hpp
index f9090484..45c84439 100644
--- a/src/ipa/raspberrypi/controller/rpi/lux.hpp
+++ b/src/ipa/raspberrypi/controller/rpi/lux.hpp
@@ -8,6 +8,8 @@
#include <mutex>
+#include "libcamera/internal/utils.h"
+
#include "../lux_status.h"
#include "../algorithm.hpp"
@@ -28,7 +30,7 @@ public:
private:
// These values define the conditions of the reference image, against
// which we compare the new image.
- double reference_shutter_speed_; // in micro-seconds
+ libcamera::utils::Duration reference_shutter_speed_;
double reference_gain_;
double reference_aperture_; // units of 1/f
double reference_Y_; // out of 65536
diff --git a/src/ipa/raspberrypi/raspberrypi.cpp b/src/ipa/raspberrypi/raspberrypi.cpp
index 4aa8ccaa..1c1e802a 100644
--- a/src/ipa/raspberrypi/raspberrypi.cpp
+++ b/src/ipa/raspberrypi/raspberrypi.cpp
@@ -222,11 +222,11 @@ void IPARPi::start(const ControlList &controls, ipa::RPi::StartConfig *startConf
/* SwitchMode may supply updated exposure/gain values to use. */
AgcStatus agcStatus;
- agcStatus.shutter_time = 0.0;
+ agcStatus.shutter_time = 0.0s;
agcStatus.analogue_gain = 0.0;
metadata.Get("agc.status", agcStatus);
- if (agcStatus.shutter_time != 0.0 && agcStatus.analogue_gain != 0.0) {
+ if (agcStatus.shutter_time && agcStatus.analogue_gain) {
ControlList ctrls(sensorCtrls_);
applyAGC(&agcStatus, ctrls);
startConfig->controls = std::move(ctrls);
@@ -389,7 +389,7 @@ int IPARPi::configure(const IPACameraSensorInfo &sensorInfo,
/* Supply initial values for gain and exposure. */
ControlList ctrls(sensorCtrls_);
AgcStatus agcStatus;
- agcStatus.shutter_time = DefaultExposureTime.get<std::micro>();
+ agcStatus.shutter_time = DefaultExposureTime;
agcStatus.analogue_gain = DefaultAnalogueGain;
applyAGC(&agcStatus, ctrls);
@@ -461,7 +461,8 @@ void IPARPi::reportMetadata()
*/
DeviceStatus *deviceStatus = rpiMetadata_.GetLocked<DeviceStatus>("device.status");
if (deviceStatus) {
- libcameraMetadata_.set(controls::ExposureTime, deviceStatus->shutter_speed);
+ libcameraMetadata_.set(controls::ExposureTime,
+ deviceStatus->shutter_speed.get<std::micro>());
libcameraMetadata_.set(controls::AnalogueGain, deviceStatus->analogue_gain);
}
@@ -1014,7 +1015,7 @@ void IPARPi::fillDeviceStatus(const ControlList &sensorControls)
int32_t exposureLines = sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>();
int32_t gainCode = sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>();
- deviceStatus.shutter_speed = helper_->Exposure(exposureLines).get<std::micro>();
+ deviceStatus.shutter_speed = helper_->Exposure(exposureLines);
deviceStatus.analogue_gain = helper_->Gain(gainCode);
LOG(IPARPI, Debug) << "Metadata - Exposure : "
@@ -1099,7 +1100,7 @@ void IPARPi::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls)
int32_t gainCode = helper_->GainCode(agcStatus->analogue_gain);
/* GetVBlanking might clip exposure time to the fps limits. */
- Duration exposure = agcStatus->shutter_time * 1.0us;
+ Duration exposure = agcStatus->shutter_time;
int32_t vblanking = helper_->GetVBlanking(exposure, minFrameDuration_, maxFrameDuration_);
int32_t exposureLines = helper_->ExposureLines(exposure);
generated by cgit v1.2.1 (git 2.18.0) at 2024-11-22 07:10:36 +0000