diff options
Diffstat (limited to 'src/ipa/raspberrypi/controller/rpi/alsc.cpp')
| -rw-r--r-- | src/ipa/raspberrypi/controller/rpi/alsc.cpp | 641 |
1 files changed, 304 insertions, 337 deletions
diff --git a/src/ipa/raspberrypi/controller/rpi/alsc.cpp b/src/ipa/raspberrypi/controller/rpi/alsc.cpp index e575c14a..98b77154 100644 --- a/src/ipa/raspberrypi/controller/rpi/alsc.cpp +++ b/src/ipa/raspberrypi/controller/rpi/alsc.cpp @@ -26,31 +26,31 @@ LOG_DEFINE_CATEGORY(RPiAlsc) static const int X = ALSC_CELLS_X; static const int Y = ALSC_CELLS_Y; static const int XY = X * Y; -static const double INSUFFICIENT_DATA = -1.0; +static const double InsufficientData = -1.0; Alsc::Alsc(Controller *controller) : Algorithm(controller) { - async_abort_ = async_start_ = async_started_ = async_finished_ = false; - async_thread_ = std::thread(std::bind(&Alsc::asyncFunc, this)); + asyncAbort_ = asyncStart_ = asyncStarted_ = asyncFinished_ = false; + asyncThread_ = std::thread(std::bind(&Alsc::asyncFunc, this)); } Alsc::~Alsc() { { std::lock_guard<std::mutex> lock(mutex_); - async_abort_ = true; + asyncAbort_ = true; } - async_signal_.notify_one(); - async_thread_.join(); + asyncSignal_.notify_one(); + asyncThread_.join(); } -char const *Alsc::Name() const +char const *Alsc::name() const { return NAME; } -static void generate_lut(double *lut, boost::property_tree::ptree const ¶ms) +static void generateLut(double *lut, boost::property_tree::ptree const ¶ms) { double cstrength = params.get<double>("corner_strength", 2.0); if (cstrength <= 1.0) @@ -73,34 +73,34 @@ static void generate_lut(double *lut, boost::property_tree::ptree const ¶ms) } } -static void read_lut(double *lut, boost::property_tree::ptree const ¶ms) +static void readLut(double *lut, boost::property_tree::ptree const ¶ms) { int num = 0; - const int max_num = XY; + const int maxNum = XY; for (auto &p : params) { - if (num == max_num) + if (num == maxNum) throw std::runtime_error( "Alsc: too many entries in LSC table"); lut[num++] = p.second.get_value<double>(); } - if (num < max_num) + if (num < maxNum) throw std::runtime_error("Alsc: too few entries in LSC table"); } -static void read_calibrations(std::vector<AlscCalibration> &calibrations, - boost::property_tree::ptree const ¶ms, - std::string const &name) +static void readCalibrations(std::vector<AlscCalibration> &calibrations, + boost::property_tree::ptree const ¶ms, + std::string const &name) { if (params.get_child_optional(name)) { - double last_ct = 0; + double lastCt = 0; for (auto &p : params.get_child(name)) { double ct = p.second.get<double>("ct"); - if (ct <= last_ct) + if (ct <= lastCt) throw std::runtime_error( "Alsc: entries in " + name + " must be in increasing ct order"); AlscCalibration calibration; - calibration.ct = last_ct = ct; + calibration.ct = lastCt = ct; boost::property_tree::ptree const &table = p.second.get_child("table"); int num = 0; @@ -124,249 +124,239 @@ static void read_calibrations(std::vector<AlscCalibration> &calibrations, } } -void Alsc::Read(boost::property_tree::ptree const ¶ms) +void Alsc::read(boost::property_tree::ptree const ¶ms) { - config_.frame_period = params.get<uint16_t>("frame_period", 12); - config_.startup_frames = params.get<uint16_t>("startup_frames", 10); + config_.framePeriod = params.get<uint16_t>("frame_period", 12); + config_.startupFrames = params.get<uint16_t>("startup_frames", 10); config_.speed = params.get<double>("speed", 0.05); double sigma = params.get<double>("sigma", 0.01); - config_.sigma_Cr = params.get<double>("sigma_Cr", sigma); - config_.sigma_Cb = params.get<double>("sigma_Cb", sigma); - config_.min_count = params.get<double>("min_count", 10.0); - config_.min_G = params.get<uint16_t>("min_G", 50); + config_.sigmaCr = params.get<double>("sigma_Cr", sigma); + config_.sigmaCb = params.get<double>("sigma_Cb", sigma); + config_.minCount = params.get<double>("min_count", 10.0); + config_.minG = params.get<uint16_t>("min_G", 50); config_.omega = params.get<double>("omega", 1.3); - config_.n_iter = params.get<uint32_t>("n_iter", X + Y); - config_.luminance_strength = + config_.nIter = params.get<uint32_t>("n_iter", X + Y); + config_.luminanceStrength = params.get<double>("luminance_strength", 1.0); for (int i = 0; i < XY; i++) - config_.luminance_lut[i] = 1.0; + config_.luminanceLut[i] = 1.0; if (params.get_child_optional("corner_strength")) - generate_lut(config_.luminance_lut, params); + generateLut(config_.luminanceLut, params); else if (params.get_child_optional("luminance_lut")) - read_lut(config_.luminance_lut, - params.get_child("luminance_lut")); + readLut(config_.luminanceLut, + params.get_child("luminance_lut")); else LOG(RPiAlsc, Warning) << "no luminance table - assume unity everywhere"; - read_calibrations(config_.calibrations_Cr, params, "calibrations_Cr"); - read_calibrations(config_.calibrations_Cb, params, "calibrations_Cb"); - config_.default_ct = params.get<double>("default_ct", 4500.0); + readCalibrations(config_.calibrationsCr, params, "calibrations_Cr"); + readCalibrations(config_.calibrationsCb, params, "calibrations_Cb"); + config_.defaultCt = params.get<double>("default_ct", 4500.0); config_.threshold = params.get<double>("threshold", 1e-3); - config_.lambda_bound = params.get<double>("lambda_bound", 0.05); -} - -static double get_ct(Metadata *metadata, double default_ct); -static void get_cal_table(double ct, - std::vector<AlscCalibration> const &calibrations, - double cal_table[XY]); -static void resample_cal_table(double const cal_table_in[XY], - CameraMode const &camera_mode, - double cal_table_out[XY]); -static void compensate_lambdas_for_cal(double const cal_table[XY], - double const old_lambdas[XY], - double new_lambdas[XY]); -static void add_luminance_to_tables(double results[3][Y][X], - double const lambda_r[XY], double lambda_g, - double const lambda_b[XY], - double const luminance_lut[XY], - double luminance_strength); - -void Alsc::Initialise() -{ - frame_count2_ = frame_count_ = frame_phase_ = 0; - first_time_ = true; - ct_ = config_.default_ct; + config_.lambdaBound = params.get<double>("lambda_bound", 0.05); +} + +static double getCt(Metadata *metadata, double defaultCt); +static void getCalTable(double ct, std::vector<AlscCalibration> const &calibrations, + double calTable[XY]); +static void resampleCalTable(double const calTableIn[XY], CameraMode const &cameraMode, + double calTableOut[XY]); +static void compensateLambdasForCal(double const calTable[XY], double const oldLambdas[XY], + double newLambdas[XY]); +static void addLuminanceToTables(double results[3][Y][X], double const lambdaR[XY], double lambdaG, + double const lambdaB[XY], double const luminanceLut[XY], + double luminanceStrength); + +void Alsc::initialise() +{ + frameCount2_ = frameCount_ = framePhase_ = 0; + firstTime_ = true; + ct_ = config_.defaultCt; // The lambdas are initialised in the SwitchMode. } void Alsc::waitForAysncThread() { - if (async_started_) { - async_started_ = false; + if (asyncStarted_) { + asyncStarted_ = false; std::unique_lock<std::mutex> lock(mutex_); - sync_signal_.wait(lock, [&] { - return async_finished_; + syncSignal_.wait(lock, [&] { + return asyncFinished_; }); - async_finished_ = false; + asyncFinished_ = false; } } -static bool compare_modes(CameraMode const &cm0, CameraMode const &cm1) +static bool compareModes(CameraMode const &cm0, CameraMode const &cm1) { // Return true if the modes crop from the sensor significantly differently, // or if the user transform has changed. if (cm0.transform != cm1.transform) return true; - int left_diff = abs(cm0.crop_x - cm1.crop_x); - int top_diff = abs(cm0.crop_y - cm1.crop_y); - int right_diff = fabs(cm0.crop_x + cm0.scale_x * cm0.width - - cm1.crop_x - cm1.scale_x * cm1.width); - int bottom_diff = fabs(cm0.crop_y + cm0.scale_y * cm0.height - - cm1.crop_y - cm1.scale_y * cm1.height); + int leftDiff = abs(cm0.cropX - cm1.cropX); + int topDiff = abs(cm0.cropY - cm1.cropY); + int rightDiff = fabs(cm0.cropX + cm0.scaleX * cm0.width - + cm1.cropX - cm1.scaleX * cm1.width); + int bottomDiff = fabs(cm0.cropY + cm0.scaleY * cm0.height - + cm1.cropY - cm1.scaleY * cm1.height); // These thresholds are a rather arbitrary amount chosen to trigger // when carrying on with the previously calculated tables might be // worse than regenerating them (but without the adaptive algorithm). - int threshold_x = cm0.sensor_width >> 4; - int threshold_y = cm0.sensor_height >> 4; - return left_diff > threshold_x || right_diff > threshold_x || - top_diff > threshold_y || bottom_diff > threshold_y; + int thresholdX = cm0.sensorWidth >> 4; + int thresholdY = cm0.sensorHeight >> 4; + return leftDiff > thresholdX || rightDiff > thresholdX || + topDiff > thresholdY || bottomDiff > thresholdY; } -void Alsc::SwitchMode(CameraMode const &camera_mode, +void Alsc::switchMode(CameraMode const &cameraMode, [[maybe_unused]] Metadata *metadata) { // We're going to start over with the tables if there's any "significant" // change. - bool reset_tables = first_time_ || compare_modes(camera_mode_, camera_mode); + bool resetTables = firstTime_ || compareModes(cameraMode_, cameraMode); // Believe the colour temperature from the AWB, if there is one. - ct_ = get_ct(metadata, ct_); + ct_ = getCt(metadata, ct_); // Ensure the other thread isn't running while we do this. waitForAysncThread(); - camera_mode_ = camera_mode; + cameraMode_ = cameraMode; // We must resample the luminance table like we do the others, but it's // fixed so we can simply do it up front here. - resample_cal_table(config_.luminance_lut, camera_mode_, luminance_table_); + resampleCalTable(config_.luminanceLut, cameraMode_, luminanceTable_); - if (reset_tables) { + if (resetTables) { // Upon every "table reset", arrange for something sensible to be // generated. Construct the tables for the previous recorded colour // temperature. In order to start over from scratch we initialise // the lambdas, but the rest of this code then echoes the code in // doAlsc, without the adaptive algorithm. for (int i = 0; i < XY; i++) - lambda_r_[i] = lambda_b_[i] = 1.0; - double cal_table_r[XY], cal_table_b[XY], cal_table_tmp[XY]; - get_cal_table(ct_, config_.calibrations_Cr, cal_table_tmp); - resample_cal_table(cal_table_tmp, camera_mode_, cal_table_r); - get_cal_table(ct_, config_.calibrations_Cb, cal_table_tmp); - resample_cal_table(cal_table_tmp, camera_mode_, cal_table_b); - compensate_lambdas_for_cal(cal_table_r, lambda_r_, - async_lambda_r_); - compensate_lambdas_for_cal(cal_table_b, lambda_b_, - async_lambda_b_); - add_luminance_to_tables(sync_results_, async_lambda_r_, 1.0, - async_lambda_b_, luminance_table_, - config_.luminance_strength); - memcpy(prev_sync_results_, sync_results_, - sizeof(prev_sync_results_)); - frame_phase_ = config_.frame_period; // run the algo again asap - first_time_ = false; + lambdaR_[i] = lambdaB_[i] = 1.0; + double calTableR[XY], calTableB[XY], calTableTmp[XY]; + getCalTable(ct_, config_.calibrationsCr, calTableTmp); + resampleCalTable(calTableTmp, cameraMode_, calTableR); + getCalTable(ct_, config_.calibrationsCb, calTableTmp); + resampleCalTable(calTableTmp, cameraMode_, calTableB); + compensateLambdasForCal(calTableR, lambdaR_, asyncLambdaR_); + compensateLambdasForCal(calTableB, lambdaB_, asyncLambdaB_); + addLuminanceToTables(syncResults_, asyncLambdaR_, 1.0, asyncLambdaB_, + luminanceTable_, config_.luminanceStrength); + memcpy(prevSyncResults_, syncResults_, sizeof(prevSyncResults_)); + framePhase_ = config_.framePeriod; // run the algo again asap + firstTime_ = false; } } void Alsc::fetchAsyncResults() { LOG(RPiAlsc, Debug) << "Fetch ALSC results"; - async_finished_ = false; - async_started_ = false; - memcpy(sync_results_, async_results_, sizeof(sync_results_)); + asyncFinished_ = false; + asyncStarted_ = false; + memcpy(syncResults_, asyncResults_, sizeof(syncResults_)); } -double get_ct(Metadata *metadata, double default_ct) +double getCt(Metadata *metadata, double defaultCt) { - AwbStatus awb_status; - awb_status.temperature_K = default_ct; // in case nothing found - if (metadata->Get("awb.status", awb_status) != 0) + AwbStatus awbStatus; + awbStatus.temperatureK = defaultCt; // in case nothing found + if (metadata->get("awb.status", awbStatus) != 0) LOG(RPiAlsc, Debug) << "no AWB results found, using " - << awb_status.temperature_K; + << awbStatus.temperatureK; else LOG(RPiAlsc, Debug) << "AWB results found, using " - << awb_status.temperature_K; - return awb_status.temperature_K; + << awbStatus.temperatureK; + return awbStatus.temperatureK; } -static void copy_stats(bcm2835_isp_stats_region regions[XY], StatisticsPtr &stats, - AlscStatus const &status) +static void copyStats(bcm2835_isp_stats_region regions[XY], StatisticsPtr &stats, + AlscStatus const &status) { - bcm2835_isp_stats_region *input_regions = stats->awb_stats; - double *r_table = (double *)status.r; - double *g_table = (double *)status.g; - double *b_table = (double *)status.b; + bcm2835_isp_stats_region *inputRegions = stats->awb_stats; + double *rTable = (double *)status.r; + double *gTable = (double *)status.g; + double *bTable = (double *)status.b; for (int i = 0; i < XY; i++) { - regions[i].r_sum = input_regions[i].r_sum / r_table[i]; - regions[i].g_sum = input_regions[i].g_sum / g_table[i]; - regions[i].b_sum = input_regions[i].b_sum / b_table[i]; - regions[i].counted = input_regions[i].counted; + regions[i].r_sum = inputRegions[i].r_sum / rTable[i]; + regions[i].g_sum = inputRegions[i].g_sum / gTable[i]; + regions[i].b_sum = inputRegions[i].b_sum / bTable[i]; + regions[i].counted = inputRegions[i].counted; // (don't care about the uncounted value) } } -void Alsc::restartAsync(StatisticsPtr &stats, Metadata *image_metadata) +void Alsc::restartAsync(StatisticsPtr &stats, Metadata *imageMetadata) { LOG(RPiAlsc, Debug) << "Starting ALSC calculation"; // Get the current colour temperature. It's all we need from the // metadata. Default to the last CT value (which could be the default). - ct_ = get_ct(image_metadata, ct_); + ct_ = getCt(imageMetadata, ct_); // We have to copy the statistics here, dividing out our best guess of // the LSC table that the pipeline applied to them. - AlscStatus alsc_status; - if (image_metadata->Get("alsc.status", alsc_status) != 0) { + AlscStatus alscStatus; + if (imageMetadata->get("alsc.status", alscStatus) != 0) { LOG(RPiAlsc, Warning) << "No ALSC status found for applied gains!"; for (int y = 0; y < Y; y++) for (int x = 0; x < X; x++) { - alsc_status.r[y][x] = 1.0; - alsc_status.g[y][x] = 1.0; - alsc_status.b[y][x] = 1.0; + alscStatus.r[y][x] = 1.0; + alscStatus.g[y][x] = 1.0; + alscStatus.b[y][x] = 1.0; } } - copy_stats(statistics_, stats, alsc_status); - frame_phase_ = 0; - async_started_ = true; + copyStats(statistics_, stats, alscStatus); + framePhase_ = 0; + asyncStarted_ = true; { std::lock_guard<std::mutex> lock(mutex_); - async_start_ = true; + asyncStart_ = true; } - async_signal_.notify_one(); + asyncSignal_.notify_one(); } -void Alsc::Prepare(Metadata *image_metadata) +void Alsc::prepare(Metadata *imageMetadata) { // Count frames since we started, and since we last poked the async // thread. - if (frame_count_ < (int)config_.startup_frames) - frame_count_++; - double speed = frame_count_ < (int)config_.startup_frames + if (frameCount_ < (int)config_.startupFrames) + frameCount_++; + double speed = frameCount_ < (int)config_.startupFrames ? 1.0 : config_.speed; LOG(RPiAlsc, Debug) - << "frame_count " << frame_count_ << " speed " << speed; + << "frame count " << frameCount_ << " speed " << speed; { std::unique_lock<std::mutex> lock(mutex_); - if (async_started_ && async_finished_) + if (asyncStarted_ && asyncFinished_) fetchAsyncResults(); } // Apply IIR filter to results and program into the pipeline. - double *ptr = (double *)sync_results_, - *pptr = (double *)prev_sync_results_; - for (unsigned int i = 0; - i < sizeof(sync_results_) / sizeof(double); i++) + double *ptr = (double *)syncResults_, + *pptr = (double *)prevSyncResults_; + for (unsigned int i = 0; i < sizeof(syncResults_) / sizeof(double); i++) pptr[i] = speed * ptr[i] + (1.0 - speed) * pptr[i]; // Put output values into status metadata. AlscStatus status; - memcpy(status.r, prev_sync_results_[0], sizeof(status.r)); - memcpy(status.g, prev_sync_results_[1], sizeof(status.g)); - memcpy(status.b, prev_sync_results_[2], sizeof(status.b)); - image_metadata->Set("alsc.status", status); + memcpy(status.r, prevSyncResults_[0], sizeof(status.r)); + memcpy(status.g, prevSyncResults_[1], sizeof(status.g)); + memcpy(status.b, prevSyncResults_[2], sizeof(status.b)); + imageMetadata->set("alsc.status", status); } -void Alsc::Process(StatisticsPtr &stats, Metadata *image_metadata) +void Alsc::process(StatisticsPtr &stats, Metadata *imageMetadata) { // Count frames since we started, and since we last poked the async // thread. - if (frame_phase_ < (int)config_.frame_period) - frame_phase_++; - if (frame_count2_ < (int)config_.startup_frames) - frame_count2_++; - LOG(RPiAlsc, Debug) << "frame_phase " << frame_phase_; - if (frame_phase_ >= (int)config_.frame_period || - frame_count2_ < (int)config_.startup_frames) { - if (async_started_ == false) - restartAsync(stats, image_metadata); + if (framePhase_ < (int)config_.framePeriod) + framePhase_++; + if (frameCount2_ < (int)config_.startupFrames) + frameCount2_++; + LOG(RPiAlsc, Debug) << "frame_phase " << framePhase_; + if (framePhase_ >= (int)config_.framePeriod || + frameCount2_ < (int)config_.startupFrames) { + if (asyncStarted_ == false) + restartAsync(stats, imageMetadata); } } @@ -375,143 +365,140 @@ void Alsc::asyncFunc() while (true) { { std::unique_lock<std::mutex> lock(mutex_); - async_signal_.wait(lock, [&] { - return async_start_ || async_abort_; + asyncSignal_.wait(lock, [&] { + return asyncStart_ || asyncAbort_; }); - async_start_ = false; - if (async_abort_) + asyncStart_ = false; + if (asyncAbort_) break; } doAlsc(); { std::lock_guard<std::mutex> lock(mutex_); - async_finished_ = true; + asyncFinished_ = true; } - sync_signal_.notify_one(); + syncSignal_.notify_one(); } } -void get_cal_table(double ct, std::vector<AlscCalibration> const &calibrations, - double cal_table[XY]) +void getCalTable(double ct, std::vector<AlscCalibration> const &calibrations, + double calTable[XY]) { if (calibrations.empty()) { for (int i = 0; i < XY; i++) - cal_table[i] = 1.0; + calTable[i] = 1.0; LOG(RPiAlsc, Debug) << "no calibrations found"; } else if (ct <= calibrations.front().ct) { - memcpy(cal_table, calibrations.front().table, - XY * sizeof(double)); + memcpy(calTable, calibrations.front().table, XY * sizeof(double)); LOG(RPiAlsc, Debug) << "using calibration for " << calibrations.front().ct; } else if (ct >= calibrations.back().ct) { - memcpy(cal_table, calibrations.back().table, - XY * sizeof(double)); + memcpy(calTable, calibrations.back().table, XY * sizeof(double)); LOG(RPiAlsc, Debug) << "using calibration for " << calibrations.back().ct; } else { int idx = 0; while (ct > calibrations[idx + 1].ct) idx++; - double ct0 = calibrations[idx].ct, - ct1 = calibrations[idx + 1].ct; + double ct0 = calibrations[idx].ct, ct1 = calibrations[idx + 1].ct; LOG(RPiAlsc, Debug) << "ct is " << ct << ", interpolating between " << ct0 << " and " << ct1; for (int i = 0; i < XY; i++) - cal_table[i] = + calTable[i] = (calibrations[idx].table[i] * (ct1 - ct) + calibrations[idx + 1].table[i] * (ct - ct0)) / (ct1 - ct0); } } -void resample_cal_table(double const cal_table_in[XY], - CameraMode const &camera_mode, double cal_table_out[XY]) +void resampleCalTable(double const calTableIn[XY], + CameraMode const &cameraMode, double calTableOut[XY]) { // Precalculate and cache the x sampling locations and phases to save // recomputing them on every row. - int x_lo[X], x_hi[X]; + int xLo[X], xHi[X]; double xf[X]; - double scale_x = camera_mode.sensor_width / - (camera_mode.width * camera_mode.scale_x); - double x_off = camera_mode.crop_x / (double)camera_mode.sensor_width; - double x = .5 / scale_x + x_off * X - .5; - double x_inc = 1 / scale_x; - for (int i = 0; i < X; i++, x += x_inc) { - x_lo[i] = floor(x); - xf[i] = x - x_lo[i]; - x_hi[i] = std::min(x_lo[i] + 1, X - 1); - x_lo[i] = std::max(x_lo[i], 0); - if (!!(camera_mode.transform & libcamera::Transform::HFlip)) { - x_lo[i] = X - 1 - x_lo[i]; - x_hi[i] = X - 1 - x_hi[i]; + double scaleX = cameraMode.sensorWidth / + (cameraMode.width * cameraMode.scaleX); + double xOff = cameraMode.cropX / (double)cameraMode.sensorWidth; + double x = .5 / scaleX + xOff * X - .5; + double xInc = 1 / scaleX; + for (int i = 0; i < X; i++, x += xInc) { + xLo[i] = floor(x); + xf[i] = x - xLo[i]; + xHi[i] = std::min(xLo[i] + 1, X - 1); + xLo[i] = std::max(xLo[i], 0); + if (!!(cameraMode.transform & libcamera::Transform::HFlip)) { + xLo[i] = X - 1 - xLo[i]; + xHi[i] = X - 1 - xHi[i]; } } // Now march over the output table generating the new values. - double scale_y = camera_mode.sensor_height / - (camera_mode.height * camera_mode.scale_y); - double y_off = camera_mode.crop_y / (double)camera_mode.sensor_height; - double y = .5 / scale_y + y_off * Y - .5; - double y_inc = 1 / scale_y; - for (int j = 0; j < Y; j++, y += y_inc) { - int y_lo = floor(y); - double yf = y - y_lo; - int y_hi = std::min(y_lo + 1, Y - 1); - y_lo = std::max(y_lo, 0); - if (!!(camera_mode.transform & libcamera::Transform::VFlip)) { - y_lo = Y - 1 - y_lo; - y_hi = Y - 1 - y_hi; + double scaleY = cameraMode.sensorHeight / + (cameraMode.height * cameraMode.scaleY); + double yOff = cameraMode.cropY / (double)cameraMode.sensorHeight; + double y = .5 / scaleY + yOff * Y - .5; + double yInc = 1 / scaleY; + for (int j = 0; j < Y; j++, y += yInc) { + int yLo = floor(y); + double yf = y - yLo; + int yHi = std::min(yLo + 1, Y - 1); + yLo = std::max(yLo, 0); + if (!!(cameraMode.transform & libcamera::Transform::VFlip)) { + yLo = Y - 1 - yLo; + yHi = Y - 1 - yHi; } - double const *row_above = cal_table_in + X * y_lo; - double const *row_below = cal_table_in + X * y_hi; + double const *rowAbove = calTableIn + X * yLo; + double const *rowBelow = calTableIn + X * yHi; for (int i = 0; i < X; i++) { - double above = row_above[x_lo[i]] * (1 - xf[i]) + - row_above[x_hi[i]] * xf[i]; - double below = row_below[x_lo[i]] * (1 - xf[i]) + - row_below[x_hi[i]] * xf[i]; - *(cal_table_out++) = above * (1 - yf) + below * yf; + double above = rowAbove[xLo[i]] * (1 - xf[i]) + + rowAbove[xHi[i]] * xf[i]; + double below = rowBelow[xLo[i]] * (1 - xf[i]) + + rowBelow[xHi[i]] * xf[i]; + *(calTableOut++) = above * (1 - yf) + below * yf; } } } // Calculate chrominance statistics (R/G and B/G) for each region. static_assert(XY == AWB_REGIONS, "ALSC/AWB statistics region mismatch"); -static void calculate_Cr_Cb(bcm2835_isp_stats_region *awb_region, double Cr[XY], - double Cb[XY], uint32_t min_count, uint16_t min_G) +static void calculateCrCb(bcm2835_isp_stats_region *awbRegion, double cr[XY], + double cb[XY], uint32_t minCount, uint16_t minG) { for (int i = 0; i < XY; i++) { - bcm2835_isp_stats_region &zone = awb_region[i]; - if (zone.counted <= min_count || - zone.g_sum / zone.counted <= min_G) { - Cr[i] = Cb[i] = INSUFFICIENT_DATA; + bcm2835_isp_stats_region &zone = awbRegion[i]; + if (zone.counted <= minCount || + zone.g_sum / zone.counted <= minG) { + cr[i] = cb[i] = InsufficientData; continue; } - Cr[i] = zone.r_sum / (double)zone.g_sum; - Cb[i] = zone.b_sum / (double)zone.g_sum; + cr[i] = zone.r_sum / (double)zone.g_sum; + cb[i] = zone.b_sum / (double)zone.g_sum; } } -static void apply_cal_table(double const cal_table[XY], double C[XY]) +static void applyCalTable(double const calTable[XY], double C[XY]) { for (int i = 0; i < XY; i++) - if (C[i] != INSUFFICIENT_DATA) - C[i] *= cal_table[i]; + if (C[i] != InsufficientData) + C[i] *= calTable[i]; } -void compensate_lambdas_for_cal(double const cal_table[XY], - double const old_lambdas[XY], - double new_lambdas[XY]) +void compensateLambdasForCal(double const calTable[XY], + double const oldLambdas[XY], + double newLambdas[XY]) { - double min_new_lambda = std::numeric_limits<double>::max(); + double minNewLambda = std::numeric_limits<double>::max(); for (int i = 0; i < XY; i++) { - new_lambdas[i] = old_lambdas[i] * cal_table[i]; - min_new_lambda = std::min(min_new_lambda, new_lambdas[i]); + newLambdas[i] = oldLambdas[i] * calTable[i]; + minNewLambda = std::min(minNewLambda, newLambdas[i]); } for (int i = 0; i < XY; i++) - new_lambdas[i] /= min_new_lambda; + newLambdas[i] /= minNewLambda; } -[[maybe_unused]] static void print_cal_table(double const C[XY]) +[[maybe_unused]] static void printCalTable(double const C[XY]) { printf("table: [\n"); for (int j = 0; j < Y; j++) { @@ -527,31 +514,29 @@ void compensate_lambdas_for_cal(double const cal_table[XY], // Compute weight out of 1.0 which reflects how similar we wish to make the // colours of these two regions. -static double compute_weight(double C_i, double C_j, double sigma) +static double computeWeight(double Ci, double Cj, double sigma) { - if (C_i == INSUFFICIENT_DATA || C_j == INSUFFICIENT_DATA) + if (Ci == InsufficientData || Cj == InsufficientData) return 0; - double diff = (C_i - C_j) / sigma; + double diff = (Ci - Cj) / sigma; return exp(-diff * diff / 2); } // Compute all weights. -static void compute_W(double const C[XY], double sigma, double W[XY][4]) +static void computeW(double const C[XY], double sigma, double W[XY][4]) { for (int i = 0; i < XY; i++) { // Start with neighbour above and go clockwise. - W[i][0] = i >= X ? compute_weight(C[i], C[i - X], sigma) : 0; - W[i][1] = i % X < X - 1 ? compute_weight(C[i], C[i + 1], sigma) - : 0; - W[i][2] = - i < XY - X ? compute_weight(C[i], C[i + X], sigma) : 0; - W[i][3] = i % X ? compute_weight(C[i], C[i - 1], sigma) : 0; + W[i][0] = i >= X ? computeWeight(C[i], C[i - X], sigma) : 0; + W[i][1] = i % X < X - 1 ? computeWeight(C[i], C[i + 1], sigma) : 0; + W[i][2] = i < XY - X ? computeWeight(C[i], C[i + X], sigma) : 0; + W[i][3] = i % X ? computeWeight(C[i], C[i - 1], sigma) : 0; } } // Compute M, the large but sparse matrix such that M * lambdas = 0. -static void construct_M(double const C[XY], double const W[XY][4], - double M[XY][4]) +static void constructM(double const C[XY], double const W[XY][4], + double M[XY][4]) { double epsilon = 0.001; for (int i = 0; i < XY; i++) { @@ -560,108 +545,96 @@ static void construct_M(double const C[XY], double const W[XY][4], int m = !!(i >= X) + !!(i % X < X - 1) + !!(i < XY - X) + !!(i % X); // total number of neighbours // we'll divide the diagonal out straight away - double diagonal = - (epsilon + W[i][0] + W[i][1] + W[i][2] + W[i][3]) * - C[i]; - M[i][0] = i >= X ? (W[i][0] * C[i - X] + epsilon / m * C[i]) / - diagonal - : 0; - M[i][1] = i % X < X - 1 - ? (W[i][1] * C[i + 1] + epsilon / m * C[i]) / - diagonal - : 0; - M[i][2] = i < XY - X - ? (W[i][2] * C[i + X] + epsilon / m * C[i]) / - diagonal - : 0; - M[i][3] = i % X ? (W[i][3] * C[i - 1] + epsilon / m * C[i]) / - diagonal - : 0; + double diagonal = (epsilon + W[i][0] + W[i][1] + W[i][2] + W[i][3]) * C[i]; + M[i][0] = i >= X ? (W[i][0] * C[i - X] + epsilon / m * C[i]) / diagonal : 0; + M[i][1] = i % X < X - 1 ? (W[i][1] * C[i + 1] + epsilon / m * C[i]) / diagonal : 0; + M[i][2] = i < XY - X ? (W[i][2] * C[i + X] + epsilon / m * C[i]) / diagonal : 0; + M[i][3] = i % X ? (W[i][3] * C[i - 1] + epsilon / m * C[i]) / diagonal : 0; } } // In the compute_lambda_ functions, note that the matrix coefficients for the // left/right neighbours are zero down the left/right edges, so we don't need // need to test the i value to exclude them. -static double compute_lambda_bottom(int i, double const M[XY][4], - double lambda[XY]) +static double computeLambdaBottom(int i, double const M[XY][4], + double lambda[XY]) { return M[i][1] * lambda[i + 1] + M[i][2] * lambda[i + X] + M[i][3] * lambda[i - 1]; } -static double compute_lambda_bottom_start(int i, double const M[XY][4], - double lambda[XY]) +static double computeLambdaBottomStart(int i, double const M[XY][4], + double lambda[XY]) { return M[i][1] * lambda[i + 1] + M[i][2] * lambda[i + X]; } -static double compute_lambda_interior(int i, double const M[XY][4], - double lambda[XY]) +static double computeLambdaInterior(int i, double const M[XY][4], + double lambda[XY]) { return M[i][0] * lambda[i - X] + M[i][1] * lambda[i + 1] + M[i][2] * lambda[i + X] + M[i][3] * lambda[i - 1]; } -static double compute_lambda_top(int i, double const M[XY][4], - double lambda[XY]) +static double computeLambdaTop(int i, double const M[XY][4], + double lambda[XY]) { return M[i][0] * lambda[i - X] + M[i][1] * lambda[i + 1] + M[i][3] * lambda[i - 1]; } -static double compute_lambda_top_end(int i, double const M[XY][4], - double lambda[XY]) +static double computeLambdaTopEnd(int i, double const M[XY][4], + double lambda[XY]) { return M[i][0] * lambda[i - X] + M[i][3] * lambda[i - 1]; } // Gauss-Seidel iteration with over-relaxation. -static double gauss_seidel2_SOR(double const M[XY][4], double omega, - double lambda[XY], double lambda_bound) +static double gaussSeidel2Sor(double const M[XY][4], double omega, + double lambda[XY], double lambdaBound) { - const double min = 1 - lambda_bound, max = 1 + lambda_bound; - double old_lambda[XY]; + const double min = 1 - lambdaBound, max = 1 + lambdaBound; + double oldLambda[XY]; int i; for (i = 0; i < XY; i++) - old_lambda[i] = lambda[i]; - lambda[0] = compute_lambda_bottom_start(0, M, lambda); + oldLambda[i] = lambda[i]; + lambda[0] = computeLambdaBottomStart(0, M, lambda); lambda[0] = std::clamp(lambda[0], min, max); for (i = 1; i < X; i++) { - lambda[i] = compute_lambda_bottom(i, M, lambda); + lambda[i] = computeLambdaBottom(i, M, lambda); lambda[i] = std::clamp(lambda[i], min, max); } for (; i < XY - X; i++) { - lambda[i] = compute_lambda_interior(i, M, lambda); + lambda[i] = computeLambdaInterior(i, M, lambda); lambda[i] = std::clamp(lambda[i], min, max); } for (; i < XY - 1; i++) { - lambda[i] = compute_lambda_top(i, M, lambda); + lambda[i] = computeLambdaTop(i, M, lambda); lambda[i] = std::clamp(lambda[i], min, max); } - lambda[i] = compute_lambda_top_end(i, M, lambda); + lambda[i] = computeLambdaTopEnd(i, M, lambda); lambda[i] = std::clamp(lambda[i], min, max); // Also solve the system from bottom to top, to help spread the updates // better. - lambda[i] = compute_lambda_top_end(i, M, lambda); + lambda[i] = computeLambdaTopEnd(i, M, lambda); lambda[i] = std::clamp(lambda[i], min, max); for (i = XY - 2; i >= XY - X; i--) { - lambda[i] = compute_lambda_top(i, M, lambda); + lambda[i] = computeLambdaTop(i, M, lambda); lambda[i] = std::clamp(lambda[i], min, max); } for (; i >= X; i--) { - lambda[i] = compute_lambda_interior(i, M, lambda); + lambda[i] = computeLambdaInterior(i, M, lambda); lambda[i] = std::clamp(lambda[i], min, max); } for (; i >= 1; i--) { - lambda[i] = compute_lambda_bottom(i, M, lambda); + lambda[i] = computeLambdaBottom(i, M, lambda); lambda[i] = std::clamp(lambda[i], min, max); } - lambda[0] = compute_lambda_bottom_start(0, M, lambda); + lambda[0] = computeLambdaBottomStart(0, M, lambda); lambda[0] = std::clamp(lambda[0], min, max); - double max_diff = 0; + double maxDiff = 0; for (i = 0; i < XY; i++) { - lambda[i] = old_lambda[i] + (lambda[i] - old_lambda[i]) * omega; - if (fabs(lambda[i] - old_lambda[i]) > fabs(max_diff)) - max_diff = lambda[i] - old_lambda[i]; + lambda[i] = oldLambda[i] + (lambda[i] - oldLambda[i]) * omega; + if (fabs(lambda[i] - oldLambda[i]) > fabs(maxDiff)) + maxDiff = lambda[i] - oldLambda[i]; } - return max_diff; + return maxDiff; } // Normalise the values so that the smallest value is 1. @@ -683,105 +656,99 @@ static void reaverage(Span<double> data) d *= ratio; } -static void run_matrix_iterations(double const C[XY], double lambda[XY], - double const W[XY][4], double omega, - int n_iter, double threshold, double lambda_bound) +static void runMatrixIterations(double const C[XY], double lambda[XY], + double const W[XY][4], double omega, + int nIter, double threshold, double lambdaBound) { double M[XY][4]; - construct_M(C, W, M); - double last_max_diff = std::numeric_limits<double>::max(); - for (int i = 0; i < n_iter; i++) { - double max_diff = fabs(gauss_seidel2_SOR(M, omega, lambda, lambda_bound)); - if (max_diff < threshold) { + constructM(C, W, M); + double lastMaxDiff = std::numeric_limits<double>::max(); + for (int i = 0; i < nIter; i++) { + double maxDiff = fabs(gaussSeidel2Sor(M, omega, lambda, lambdaBound)); + if (maxDiff < threshold) { LOG(RPiAlsc, Debug) << "Stop after " << i + 1 << " iterations"; break; } // this happens very occasionally (so make a note), though // doesn't seem to matter - if (max_diff > last_max_diff) + if (maxDiff > lastMaxDiff) LOG(RPiAlsc, Debug) - << "Iteration " << i << ": max_diff gone up " - << last_max_diff << " to " << max_diff; - last_max_diff = max_diff; + << "Iteration " << i << ": maxDiff gone up " + << lastMaxDiff << " to " << maxDiff; + lastMaxDiff = maxDiff; } // We're going to normalise the lambdas so the total average is 1. reaverage({ lambda, XY }); } -static void add_luminance_rb(double result[XY], double const lambda[XY], - double const luminance_lut[XY], - double luminance_strength) +static void addLuminanceRb(double result[XY], double const lambda[XY], + double const luminanceLut[XY], + double luminanceStrength) { for (int i = 0; i < XY; i++) - result[i] = lambda[i] * - ((luminance_lut[i] - 1) * luminance_strength + 1); + result[i] = lambda[i] * ((luminanceLut[i] - 1) * luminanceStrength + 1); } -static void add_luminance_g(double result[XY], double lambda, - double const luminance_lut[XY], - double luminance_strength) +static void addLuminanceG(double result[XY], double lambda, + double const luminanceLut[XY], + double luminanceStrength) { for (int i = 0; i < XY; i++) - result[i] = lambda * - ((luminance_lut[i] - 1) * luminance_strength + 1); + result[i] = lambda * ((luminanceLut[i] - 1) * luminanceStrength + 1); } -void add_luminance_to_tables(double results[3][Y][X], double const lambda_r[XY], - double lambda_g, double const lambda_b[XY], - double const luminance_lut[XY], - double luminance_strength) +void addLuminanceToTables(double results[3][Y][X], double const lambdaR[XY], + double lambdaG, double const lambdaB[XY], + double const luminanceLut[XY], + double luminanceStrength) { - add_luminance_rb((double *)results[0], lambda_r, luminance_lut, - luminance_strength); - add_luminance_g((double *)results[1], lambda_g, luminance_lut, - luminance_strength); - add_luminance_rb((double *)results[2], lambda_b, luminance_lut, - luminance_strength); + addLuminanceRb((double *)results[0], lambdaR, luminanceLut, luminanceStrength); + addLuminanceG((double *)results[1], lambdaG, luminanceLut, luminanceStrength); + addLuminanceRb((double *)results[2], lambdaB, luminanceLut, luminanceStrength); normalise((double *)results, 3 * XY); } void Alsc::doAlsc() { - double Cr[XY], Cb[XY], Wr[XY][4], Wb[XY][4], cal_table_r[XY], - cal_table_b[XY], cal_table_tmp[XY]; + double cr[XY], cb[XY], wr[XY][4], wb[XY][4], calTableR[XY], calTableB[XY], calTableTmp[XY]; // Calculate our R/B ("Cr"/"Cb") colour statistics, and assess which are // usable. - calculate_Cr_Cb(statistics_, Cr, Cb, config_.min_count, config_.min_G); + calculateCrCb(statistics_, cr, cb, config_.minCount, config_.minG); // Fetch the new calibrations (if any) for this CT. Resample them in // case the camera mode is not full-frame. - get_cal_table(ct_, config_.calibrations_Cr, cal_table_tmp); - resample_cal_table(cal_table_tmp, camera_mode_, cal_table_r); - get_cal_table(ct_, config_.calibrations_Cb, cal_table_tmp); - resample_cal_table(cal_table_tmp, camera_mode_, cal_table_b); + getCalTable(ct_, config_.calibrationsCr, calTableTmp); + resampleCalTable(calTableTmp, cameraMode_, calTableR); + getCalTable(ct_, config_.calibrationsCb, calTableTmp); + resampleCalTable(calTableTmp, cameraMode_, calTableB); // You could print out the cal tables for this image here, if you're // tuning the algorithm... // Apply any calibration to the statistics, so the adaptive algorithm // makes only the extra adjustments. - apply_cal_table(cal_table_r, Cr); - apply_cal_table(cal_table_b, Cb); + applyCalTable(calTableR, cr); + applyCalTable(calTableB, cb); // Compute weights between zones. - compute_W(Cr, config_.sigma_Cr, Wr); - compute_W(Cb, config_.sigma_Cb, Wb); + computeW(cr, config_.sigmaCr, wr); + computeW(cb, config_.sigmaCb, wb); // Run Gauss-Seidel iterations over the resulting matrix, for R and B. - run_matrix_iterations(Cr, lambda_r_, Wr, config_.omega, config_.n_iter, - config_.threshold, config_.lambda_bound); - run_matrix_iterations(Cb, lambda_b_, Wb, config_.omega, config_.n_iter, - config_.threshold, config_.lambda_bound); + runMatrixIterations(cr, lambdaR_, wr, config_.omega, config_.nIter, + config_.threshold, config_.lambdaBound); + runMatrixIterations(cb, lambdaB_, wb, config_.omega, config_.nIter, + config_.threshold, config_.lambdaBound); // Fold the calibrated gains into our final lambda values. (Note that on // the next run, we re-start with the lambda values that don't have the // calibration gains included.) - compensate_lambdas_for_cal(cal_table_r, lambda_r_, async_lambda_r_); - compensate_lambdas_for_cal(cal_table_b, lambda_b_, async_lambda_b_); + compensateLambdasForCal(calTableR, lambdaR_, asyncLambdaR_); + compensateLambdasForCal(calTableB, lambdaB_, asyncLambdaB_); // Fold in the luminance table at the appropriate strength. - add_luminance_to_tables(async_results_, async_lambda_r_, 1.0, - async_lambda_b_, luminance_table_, - config_.luminance_strength); + addLuminanceToTables(asyncResults_, asyncLambdaR_, 1.0, + asyncLambdaB_, luminanceTable_, + config_.luminanceStrength); } // Register algorithm with the system. -static Algorithm *Create(Controller *controller) +static Algorithm *create(Controller *controller) { return (Algorithm *)new Alsc(controller); } -static RegisterAlgorithm reg(NAME, &Create); +static RegisterAlgorithm reg(NAME, &create); |