diff options
Diffstat (limited to 'src/ipa/raspberrypi/raspberrypi.cpp')
| -rw-r--r-- | src/ipa/raspberrypi/raspberrypi.cpp | 1460 |
1 files changed, 0 insertions, 1460 deletions
diff --git a/src/ipa/raspberrypi/raspberrypi.cpp b/src/ipa/raspberrypi/raspberrypi.cpp deleted file mode 100644 index f8d37b87..00000000 --- a/src/ipa/raspberrypi/raspberrypi.cpp +++ /dev/null @@ -1,1460 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019-2021, Raspberry Pi (Trading) Ltd. - * - * rpi.cpp - Raspberry Pi Image Processing Algorithms - */ - -#include <algorithm> -#include <array> -#include <fcntl.h> -#include <math.h> -#include <stdint.h> -#include <string.h> -#include <sys/mman.h> - -#include <linux/bcm2835-isp.h> - -#include <libcamera/base/log.h> -#include <libcamera/base/shared_fd.h> -#include <libcamera/base/span.h> - -#include <libcamera/control_ids.h> -#include <libcamera/controls.h> -#include <libcamera/framebuffer.h> -#include <libcamera/ipa/ipa_interface.h> -#include <libcamera/ipa/ipa_module_info.h> -#include <libcamera/ipa/raspberrypi_ipa_interface.h> -#include <libcamera/request.h> - -#include "libcamera/internal/mapped_framebuffer.h" - -#include "agc_algorithm.hpp" -#include "agc_status.h" -#include "alsc_status.h" -#include "awb_algorithm.hpp" -#include "awb_status.h" -#include "black_level_status.h" -#include "cam_helper.hpp" -#include "ccm_algorithm.hpp" -#include "ccm_status.h" -#include "contrast_algorithm.hpp" -#include "contrast_status.h" -#include "controller.hpp" -#include "denoise_algorithm.hpp" -#include "denoise_status.h" -#include "dpc_status.h" -#include "focus_status.h" -#include "geq_status.h" -#include "lux_status.h" -#include "metadata.hpp" -#include "noise_status.h" -#include "sharpen_algorithm.hpp" -#include "sharpen_status.h" - -namespace libcamera { - -using namespace std::literals::chrono_literals; -using utils::Duration; - -/* Configure the sensor with these values initially. */ -constexpr double defaultAnalogueGain = 1.0; -constexpr Duration defaultExposureTime = 20.0ms; -constexpr Duration defaultMinFrameDuration = 1.0s / 30.0; -constexpr Duration defaultMaxFrameDuration = 250.0s; - -/* - * Determine the minimum allowable inter-frame duration to run the controller - * algorithms. If the pipeline handler provider frames at a rate higher than this, - * we rate-limit the controller Prepare() and Process() calls to lower than or - * equal to this rate. - */ -constexpr Duration controllerMinFrameDuration = 1.0s / 30.0; - -/* List of controls handled by the Raspberry Pi IPA */ -static const ControlInfoMap::Map ipaControls{ - { &controls::AeEnable, ControlInfo(false, true) }, - { &controls::ExposureTime, ControlInfo(0, 66666) }, - { &controls::AnalogueGain, ControlInfo(1.0f, 16.0f) }, - { &controls::AeMeteringMode, ControlInfo(controls::AeMeteringModeValues) }, - { &controls::AeConstraintMode, ControlInfo(controls::AeConstraintModeValues) }, - { &controls::AeExposureMode, ControlInfo(controls::AeExposureModeValues) }, - { &controls::ExposureValue, ControlInfo(-8.0f, 8.0f, 0.0f) }, - { &controls::AwbEnable, ControlInfo(false, true) }, - { &controls::ColourGains, ControlInfo(0.0f, 32.0f) }, - { &controls::AwbMode, ControlInfo(controls::AwbModeValues) }, - { &controls::Brightness, ControlInfo(-1.0f, 1.0f, 0.0f) }, - { &controls::Contrast, ControlInfo(0.0f, 32.0f, 1.0f) }, - { &controls::Saturation, ControlInfo(0.0f, 32.0f, 1.0f) }, - { &controls::Sharpness, ControlInfo(0.0f, 16.0f, 1.0f) }, - { &controls::ColourCorrectionMatrix, ControlInfo(-16.0f, 16.0f) }, - { &controls::ScalerCrop, ControlInfo(Rectangle{}, Rectangle(65535, 65535, 65535, 65535), Rectangle{}) }, - { &controls::FrameDurationLimits, ControlInfo(INT64_C(33333), INT64_C(120000)) }, - { &controls::draft::NoiseReductionMode, ControlInfo(controls::draft::NoiseReductionModeValues) } -}; - -LOG_DEFINE_CATEGORY(IPARPI) - -namespace ipa::RPi { - -class IPARPi : public IPARPiInterface -{ -public: - IPARPi() - : controller_(), frameCount_(0), checkCount_(0), mistrustCount_(0), - lastRunTimestamp_(0), lsTable_(nullptr), firstStart_(true) - { - } - - ~IPARPi() - { - if (lsTable_) - munmap(lsTable_, MaxLsGridSize); - } - - int init(const IPASettings &settings, IPAInitResult *result) override; - void start(const ControlList &controls, StartConfig *startConfig) override; - void stop() override {} - - int configure(const IPACameraSensorInfo &sensorInfo, - const std::map<unsigned int, IPAStream> &streamConfig, - const std::map<unsigned int, ControlInfoMap> &entityControls, - const IPAConfig &data, - ControlList *controls, IPAConfigResult *result) override; - void mapBuffers(const std::vector<IPABuffer> &buffers) override; - void unmapBuffers(const std::vector<unsigned int> &ids) override; - void signalStatReady(const uint32_t bufferId) override; - void signalQueueRequest(const ControlList &controls) override; - void signalIspPrepare(const ISPConfig &data) override; - -private: - void setMode(const IPACameraSensorInfo &sensorInfo); - bool validateSensorControls(); - bool validateIspControls(); - void queueRequest(const ControlList &controls); - void returnEmbeddedBuffer(unsigned int bufferId); - void prepareISP(const ISPConfig &data); - void reportMetadata(); - void fillDeviceStatus(const ControlList &sensorControls); - void processStats(unsigned int bufferId); - void applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration); - void applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls); - void applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls); - void applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls); - void applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls); - void applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, ControlList &ctrls); - void applyGamma(const struct ContrastStatus *contrastStatus, ControlList &ctrls); - void applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls); - void applyDenoise(const struct DenoiseStatus *denoiseStatus, ControlList &ctrls); - void applySharpen(const struct SharpenStatus *sharpenStatus, ControlList &ctrls); - void applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls); - void applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls); - void resampleTable(uint16_t dest[], double const src[12][16], int destW, int destH); - - std::map<unsigned int, MappedFrameBuffer> buffers_; - - ControlInfoMap sensorCtrls_; - ControlInfoMap ispCtrls_; - ControlList libcameraMetadata_; - - /* Camera sensor params. */ - CameraMode mode_; - - /* Raspberry Pi controller specific defines. */ - std::unique_ptr<RPiController::CamHelper> helper_; - RPiController::Controller controller_; - RPiController::Metadata rpiMetadata_; - - /* - * We count frames to decide if the frame must be hidden (e.g. from - * display) or mistrusted (i.e. not given to the control algos). - */ - uint64_t frameCount_; - - /* For checking the sequencing of Prepare/Process calls. */ - uint64_t checkCount_; - - /* How many frames we should avoid running control algos on. */ - unsigned int mistrustCount_; - - /* Number of frames that need to be dropped on startup. */ - unsigned int dropFrameCount_; - - /* Frame timestamp for the last run of the controller. */ - uint64_t lastRunTimestamp_; - - /* Do we run a Controller::process() for this frame? */ - bool processPending_; - - /* LS table allocation passed in from the pipeline handler. */ - SharedFD lsTableHandle_; - void *lsTable_; - - /* Distinguish the first camera start from others. */ - bool firstStart_; - - /* Frame duration (1/fps) limits. */ - Duration minFrameDuration_; - Duration maxFrameDuration_; - - /* Maximum gain code for the sensor. */ - uint32_t maxSensorGainCode_; -}; - -int IPARPi::init(const IPASettings &settings, IPAInitResult *result) -{ - /* - * Load the "helper" for this sensor. This tells us all the device specific stuff - * that the kernel driver doesn't. We only do this the first time; we don't need - * to re-parse the metadata after a simple mode-switch for no reason. - */ - helper_ = std::unique_ptr<RPiController::CamHelper>(RPiController::CamHelper::Create(settings.sensorModel)); - if (!helper_) { - LOG(IPARPI, Error) << "Could not create camera helper for " - << settings.sensorModel; - return -EINVAL; - } - - /* - * Pass out the sensor config to the pipeline handler in order - * to setup the staggered writer class. - */ - int gainDelay, exposureDelay, vblankDelay, sensorMetadata; - helper_->GetDelays(exposureDelay, gainDelay, vblankDelay); - sensorMetadata = helper_->SensorEmbeddedDataPresent(); - - result->sensorConfig.gainDelay = gainDelay; - result->sensorConfig.exposureDelay = exposureDelay; - result->sensorConfig.vblankDelay = vblankDelay; - result->sensorConfig.sensorMetadata = sensorMetadata; - - /* Load the tuning file for this sensor. */ - controller_.Read(settings.configurationFile.c_str()); - controller_.Initialise(); - - /* Return the controls handled by the IPA */ - ControlInfoMap::Map ctrlMap = ipaControls; - result->controlInfo = ControlInfoMap(std::move(ctrlMap), controls::controls); - - return 0; -} - -void IPARPi::start(const ControlList &controls, StartConfig *startConfig) -{ - RPiController::Metadata metadata; - - ASSERT(startConfig); - if (!controls.empty()) { - /* We have been given some controls to action before start. */ - queueRequest(controls); - } - - controller_.SwitchMode(mode_, &metadata); - - /* SwitchMode may supply updated exposure/gain values to use. */ - AgcStatus agcStatus; - agcStatus.shutter_time = 0.0s; - agcStatus.analogue_gain = 0.0; - - metadata.Get("agc.status", agcStatus); - if (agcStatus.shutter_time && agcStatus.analogue_gain) { - ControlList ctrls(sensorCtrls_); - applyAGC(&agcStatus, ctrls); - startConfig->controls = std::move(ctrls); - } - - /* - * Initialise frame counts, and decide how many frames must be hidden or - * "mistrusted", which depends on whether this is a startup from cold, - * or merely a mode switch in a running system. - */ - frameCount_ = 0; - checkCount_ = 0; - if (firstStart_) { - dropFrameCount_ = helper_->HideFramesStartup(); - mistrustCount_ = helper_->MistrustFramesStartup(); - - /* - * Query the AGC/AWB for how many frames they may take to - * converge sufficiently. Where these numbers are non-zero - * we must allow for the frames with bad statistics - * (mistrustCount_) that they won't see. But if zero (i.e. - * no convergence necessary), no frames need to be dropped. - */ - unsigned int agcConvergenceFrames = 0; - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.GetAlgorithm("agc")); - if (agc) { - agcConvergenceFrames = agc->GetConvergenceFrames(); - if (agcConvergenceFrames) - agcConvergenceFrames += mistrustCount_; - } - - unsigned int awbConvergenceFrames = 0; - RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( - controller_.GetAlgorithm("awb")); - if (awb) { - awbConvergenceFrames = awb->GetConvergenceFrames(); - if (awbConvergenceFrames) - awbConvergenceFrames += mistrustCount_; - } - - dropFrameCount_ = std::max({ dropFrameCount_, agcConvergenceFrames, awbConvergenceFrames }); - LOG(IPARPI, Debug) << "Drop " << dropFrameCount_ << " frames on startup"; - } else { - dropFrameCount_ = helper_->HideFramesModeSwitch(); - mistrustCount_ = helper_->MistrustFramesModeSwitch(); - } - - startConfig->dropFrameCount = dropFrameCount_; - const Duration maxSensorFrameDuration = mode_.max_frame_length * mode_.line_length; - startConfig->maxSensorFrameLengthMs = maxSensorFrameDuration.get<std::milli>(); - - firstStart_ = false; - lastRunTimestamp_ = 0; -} - -void IPARPi::setMode(const IPACameraSensorInfo &sensorInfo) -{ - mode_.bitdepth = sensorInfo.bitsPerPixel; - mode_.width = sensorInfo.outputSize.width; - mode_.height = sensorInfo.outputSize.height; - mode_.sensor_width = sensorInfo.activeAreaSize.width; - mode_.sensor_height = sensorInfo.activeAreaSize.height; - mode_.crop_x = sensorInfo.analogCrop.x; - mode_.crop_y = sensorInfo.analogCrop.y; - - /* - * Calculate scaling parameters. The scale_[xy] factors are determined - * by the ratio between the crop rectangle size and the output size. - */ - mode_.scale_x = sensorInfo.analogCrop.width / sensorInfo.outputSize.width; - mode_.scale_y = sensorInfo.analogCrop.height / sensorInfo.outputSize.height; - - /* - * We're not told by the pipeline handler how scaling is split between - * binning and digital scaling. For now, as a heuristic, assume that - * downscaling up to 2 is achieved through binning, and that any - * additional scaling is achieved through digital scaling. - * - * \todo Get the pipeline handle to provide the full data - */ - mode_.bin_x = std::min(2, static_cast<int>(mode_.scale_x)); - mode_.bin_y = std::min(2, static_cast<int>(mode_.scale_y)); - - /* The noise factor is the square root of the total binning factor. */ - mode_.noise_factor = sqrt(mode_.bin_x * mode_.bin_y); - - /* - * Calculate the line length as the ratio between the line length in - * pixels and the pixel rate. - */ - mode_.line_length = sensorInfo.lineLength * (1.0s / sensorInfo.pixelRate); - - /* - * Set the frame length limits for the mode to ensure exposure and - * framerate calculations are clipped appropriately. - */ - mode_.min_frame_length = sensorInfo.minFrameLength; - mode_.max_frame_length = sensorInfo.maxFrameLength; - - /* - * Some sensors may have different sensitivities in different modes; - * the CamHelper will know the correct value. - */ - mode_.sensitivity = helper_->GetModeSensitivity(mode_); -} - -int IPARPi::configure(const IPACameraSensorInfo &sensorInfo, - [[maybe_unused]] const std::map<unsigned int, IPAStream> &streamConfig, - const std::map<unsigned int, ControlInfoMap> &entityControls, - const IPAConfig &ipaConfig, - ControlList *controls, IPAConfigResult *result) -{ - if (entityControls.size() != 2) { - LOG(IPARPI, Error) << "No ISP or sensor controls found."; - return -1; - } - - sensorCtrls_ = entityControls.at(0); - ispCtrls_ = entityControls.at(1); - - if (!validateSensorControls()) { - LOG(IPARPI, Error) << "Sensor control validation failed."; - return -1; - } - - if (!validateIspControls()) { - LOG(IPARPI, Error) << "ISP control validation failed."; - return -1; - } - - maxSensorGainCode_ = sensorCtrls_.at(V4L2_CID_ANALOGUE_GAIN).max().get<int32_t>(); - - /* Setup a metadata ControlList to output metadata. */ - libcameraMetadata_ = ControlList(controls::controls); - - /* Re-assemble camera mode using the sensor info. */ - setMode(sensorInfo); - - mode_.transform = static_cast<libcamera::Transform>(ipaConfig.transform); - - /* Store the lens shading table pointer and handle if available. */ - if (ipaConfig.lsTableHandle.isValid()) { - /* Remove any previous table, if there was one. */ - if (lsTable_) { - munmap(lsTable_, MaxLsGridSize); - lsTable_ = nullptr; - } - - /* Map the LS table buffer into user space. */ - lsTableHandle_ = std::move(ipaConfig.lsTableHandle); - if (lsTableHandle_.isValid()) { - lsTable_ = mmap(nullptr, MaxLsGridSize, PROT_READ | PROT_WRITE, - MAP_SHARED, lsTableHandle_.get(), 0); - - if (lsTable_ == MAP_FAILED) { - LOG(IPARPI, Error) << "dmaHeap mmap failure for LS table."; - lsTable_ = nullptr; - } - } - } - - /* Pass the camera mode to the CamHelper to setup algorithms. */ - helper_->SetCameraMode(mode_); - - /* - * Initialise this ControlList correctly, even if empty, in case the IPA is - * running is isolation mode (passing the ControlList through the IPC layer). - */ - ControlList ctrls(sensorCtrls_); - - /* The pipeline handler passes out the mode's sensitivity. */ - result->modeSensitivity = mode_.sensitivity; - - if (firstStart_) { - /* Supply initial values for frame durations. */ - applyFrameDurations(defaultMinFrameDuration, defaultMaxFrameDuration); - - /* Supply initial values for gain and exposure. */ - AgcStatus agcStatus; - agcStatus.shutter_time = defaultExposureTime; - agcStatus.analogue_gain = defaultAnalogueGain; - applyAGC(&agcStatus, ctrls); - } - - ASSERT(controls); - *controls = std::move(ctrls); - - /* - * Apply the correct limits to the exposure, gain and frame duration controls - * based on the current sensor mode. - */ - ControlInfoMap::Map ctrlMap = ipaControls; - const Duration minSensorFrameDuration = mode_.min_frame_length * mode_.line_length; - const Duration maxSensorFrameDuration = mode_.max_frame_length * mode_.line_length; - ctrlMap[&controls::FrameDurationLimits] = - ControlInfo(static_cast<int64_t>(minSensorFrameDuration.get<std::micro>()), - static_cast<int64_t>(maxSensorFrameDuration.get<std::micro>())); - - ctrlMap[&controls::AnalogueGain] = - ControlInfo(1.0f, static_cast<float>(helper_->Gain(maxSensorGainCode_))); - - /* - * Calculate the max exposure limit from the frame duration limit as V4L2 - * will limit the maximum control value based on the current VBLANK value. - */ - Duration maxShutter = Duration::max(); - helper_->GetVBlanking(maxShutter, minSensorFrameDuration, maxSensorFrameDuration); - const uint32_t exposureMin = sensorCtrls_.at(V4L2_CID_EXPOSURE).min().get<int32_t>(); - - ctrlMap[&controls::ExposureTime] = - ControlInfo(static_cast<int32_t>(helper_->Exposure(exposureMin).get<std::micro>()), - static_cast<int32_t>(maxShutter.get<std::micro>())); - - result->controlInfo = ControlInfoMap(std::move(ctrlMap), controls::controls); - return 0; -} - -void IPARPi::mapBuffers(const std::vector<IPABuffer> &buffers) -{ - for (const IPABuffer &buffer : buffers) { - const FrameBuffer fb(buffer.planes); - buffers_.emplace(buffer.id, - MappedFrameBuffer(&fb, MappedFrameBuffer::MapFlag::ReadWrite)); - } -} - -void IPARPi::unmapBuffers(const std::vector<unsigned int> &ids) -{ - for (unsigned int id : ids) { - auto it = buffers_.find(id); - if (it == buffers_.end()) - continue; - - buffers_.erase(id); - } -} - -void IPARPi::signalStatReady(uint32_t bufferId) -{ - if (++checkCount_ != frameCount_) /* assert here? */ - LOG(IPARPI, Error) << "WARNING: Prepare/Process mismatch!!!"; - if (processPending_ && frameCount_ > mistrustCount_) - processStats(bufferId); - - reportMetadata(); - - statsMetadataComplete.emit(bufferId & MaskID, libcameraMetadata_); -} - -void IPARPi::signalQueueRequest(const ControlList &controls) -{ - queueRequest(controls); -} - -void IPARPi::signalIspPrepare(const ISPConfig &data) -{ - /* - * At start-up, or after a mode-switch, we may want to - * avoid running the control algos for a few frames in case - * they are "unreliable". - */ - prepareISP(data); - frameCount_++; - - /* Ready to push the input buffer into the ISP. */ - runIsp.emit(data.bayerBufferId & MaskID); -} - -void IPARPi::reportMetadata() -{ - std::unique_lock<RPiController::Metadata> lock(rpiMetadata_); - - /* - * Certain information about the current frame and how it will be - * processed can be extracted and placed into the libcamera metadata - * buffer, where an application could query it. - */ - DeviceStatus *deviceStatus = rpiMetadata_.GetLocked<DeviceStatus>("device.status"); - if (deviceStatus) { - libcameraMetadata_.set(controls::ExposureTime, - deviceStatus->shutter_speed.get<std::micro>()); - libcameraMetadata_.set(controls::AnalogueGain, deviceStatus->analogue_gain); - libcameraMetadata_.set(controls::FrameDuration, - helper_->Exposure(deviceStatus->frame_length).get<std::micro>()); - if (deviceStatus->sensor_temperature) - libcameraMetadata_.set(controls::SensorTemperature, *deviceStatus->sensor_temperature); - } - - AgcStatus *agcStatus = rpiMetadata_.GetLocked<AgcStatus>("agc.status"); - if (agcStatus) { - libcameraMetadata_.set(controls::AeLocked, agcStatus->locked); - libcameraMetadata_.set(controls::DigitalGain, agcStatus->digital_gain); - } - - LuxStatus *luxStatus = rpiMetadata_.GetLocked<LuxStatus>("lux.status"); - if (luxStatus) - libcameraMetadata_.set(controls::Lux, luxStatus->lux); - - AwbStatus *awbStatus = rpiMetadata_.GetLocked<AwbStatus>("awb.status"); - if (awbStatus) { - libcameraMetadata_.set(controls::ColourGains, { static_cast<float>(awbStatus->gain_r), - static_cast<float>(awbStatus->gain_b) }); - libcameraMetadata_.set(controls::ColourTemperature, awbStatus->temperature_K); - } - - BlackLevelStatus *blackLevelStatus = rpiMetadata_.GetLocked<BlackLevelStatus>("black_level.status"); - if (blackLevelStatus) - libcameraMetadata_.set(controls::SensorBlackLevels, - { static_cast<int32_t>(blackLevelStatus->black_level_r), - static_cast<int32_t>(blackLevelStatus->black_level_g), - static_cast<int32_t>(blackLevelStatus->black_level_g), - static_cast<int32_t>(blackLevelStatus->black_level_b) }); - - FocusStatus *focusStatus = rpiMetadata_.GetLocked<FocusStatus>("focus.status"); - if (focusStatus && focusStatus->num == 12) { - /* - * We get a 4x3 grid of regions by default. Calculate the average - * FoM over the central two positions to give an overall scene FoM. - * This can change later if it is not deemed suitable. - */ - int32_t focusFoM = (focusStatus->focus_measures[5] + focusStatus->focus_measures[6]) / 2; - libcameraMetadata_.set(controls::FocusFoM, focusFoM); - } - - CcmStatus *ccmStatus = rpiMetadata_.GetLocked<CcmStatus>("ccm.status"); - if (ccmStatus) { - float m[9]; - for (unsigned int i = 0; i < 9; i++) - m[i] = ccmStatus->matrix[i]; - libcameraMetadata_.set(controls::ColourCorrectionMatrix, m); - } -} - -bool IPARPi::validateSensorControls() -{ - static const uint32_t ctrls[] = { - V4L2_CID_ANALOGUE_GAIN, - V4L2_CID_EXPOSURE, - V4L2_CID_VBLANK, - }; - - for (auto c : ctrls) { - if (sensorCtrls_.find(c) == sensorCtrls_.end()) { - LOG(IPARPI, Error) << "Unable to find sensor control " - << utils::hex(c); - return false; - } - } - - return true; -} - -bool IPARPi::validateIspControls() -{ - static const uint32_t ctrls[] = { - V4L2_CID_RED_BALANCE, - V4L2_CID_BLUE_BALANCE, - V4L2_CID_DIGITAL_GAIN, - V4L2_CID_USER_BCM2835_ISP_CC_MATRIX, - V4L2_CID_USER_BCM2835_ISP_GAMMA, - V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL, - V4L2_CID_USER_BCM2835_ISP_GEQ, - V4L2_CID_USER_BCM2835_ISP_DENOISE, - V4L2_CID_USER_BCM2835_ISP_SHARPEN, - V4L2_CID_USER_BCM2835_ISP_DPC, - V4L2_CID_USER_BCM2835_ISP_LENS_SHADING, - V4L2_CID_USER_BCM2835_ISP_CDN, - }; - - for (auto c : ctrls) { - if (ispCtrls_.find(c) == ispCtrls_.end()) { - LOG(IPARPI, Error) << "Unable to find ISP control " - << utils::hex(c); - return false; - } - } - - return true; -} - -/* - * Converting between enums (used in the libcamera API) and the names that - * we use to identify different modes. Unfortunately, the conversion tables - * must be kept up-to-date by hand. - */ -static const std::map<int32_t, std::string> MeteringModeTable = { - { controls::MeteringCentreWeighted, "centre-weighted" }, - { controls::MeteringSpot, "spot" }, - { controls::MeteringMatrix, "matrix" }, - { controls::MeteringCustom, "custom" }, -}; - -static const std::map<int32_t, std::string> ConstraintModeTable = { - { controls::ConstraintNormal, "normal" }, - { controls::ConstraintHighlight, "highlight" }, - { controls::ConstraintCustom, "custom" }, -}; - -static const std::map<int32_t, std::string> ExposureModeTable = { - { controls::ExposureNormal, "normal" }, - { controls::ExposureShort, "short" }, - { controls::ExposureLong, "long" }, - { controls::ExposureCustom, "custom" }, -}; - -static const std::map<int32_t, std::string> AwbModeTable = { - { controls::AwbAuto, "auto" }, - { controls::AwbIncandescent, "incandescent" }, - { controls::AwbTungsten, "tungsten" }, - { controls::AwbFluorescent, "fluorescent" }, - { controls::AwbIndoor, "indoor" }, - { controls::AwbDaylight, "daylight" }, - { controls::AwbCloudy, "cloudy" }, - { controls::AwbCustom, "custom" }, -}; - -static const std::map<int32_t, RPiController::DenoiseMode> DenoiseModeTable = { - { controls::draft::NoiseReductionModeOff, RPiController::DenoiseMode::Off }, - { controls::draft::NoiseReductionModeFast, RPiController::DenoiseMode::ColourFast }, - { controls::draft::NoiseReductionModeHighQuality, RPiController::DenoiseMode::ColourHighQuality }, - { controls::draft::NoiseReductionModeMinimal, RPiController::DenoiseMode::ColourOff }, - { controls::draft::NoiseReductionModeZSL, RPiController::DenoiseMode::ColourHighQuality }, -}; - -void IPARPi::queueRequest(const ControlList &controls) -{ - /* Clear the return metadata buffer. */ - libcameraMetadata_.clear(); - - for (auto const &ctrl : controls) { - LOG(IPARPI, Debug) << "Request ctrl: " - << controls::controls.at(ctrl.first)->name() - << " = " << ctrl.second.toString(); - - switch (ctrl.first) { - case controls::AE_ENABLE: { - RPiController::Algorithm *agc = controller_.GetAlgorithm("agc"); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set AE_ENABLE - no AGC algorithm"; - break; - } - - if (ctrl.second.get<bool>() == false) - agc->Pause(); - else - agc->Resume(); - - libcameraMetadata_.set(controls::AeEnable, ctrl.second.get<bool>()); - break; - } - - case controls::EXPOSURE_TIME: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.GetAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set EXPOSURE_TIME - no AGC algorithm"; - break; - } - - /* The control provides units of microseconds. */ - agc->SetFixedShutter(ctrl.second.get<int32_t>() * 1.0us); - - libcameraMetadata_.set(controls::ExposureTime, ctrl.second.get<int32_t>()); - break; - } - - case controls::ANALOGUE_GAIN: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.GetAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set ANALOGUE_GAIN - no AGC algorithm"; - break; - } - - agc->SetFixedAnalogueGain(ctrl.second.get<float>()); - - libcameraMetadata_.set(controls::AnalogueGain, - ctrl.second.get<float>()); - break; - } - - case controls::AE_METERING_MODE: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.GetAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set AE_METERING_MODE - no AGC algorithm"; - break; - } - - int32_t idx = ctrl.second.get<int32_t>(); - if (MeteringModeTable.count(idx)) { - agc->SetMeteringMode(MeteringModeTable.at(idx)); - libcameraMetadata_.set(controls::AeMeteringMode, idx); - } else { - LOG(IPARPI, Error) << "Metering mode " << idx - << " not recognised"; - } - break; - } - - case controls::AE_CONSTRAINT_MODE: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.GetAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set AE_CONSTRAINT_MODE - no AGC algorithm"; - break; - } - - int32_t idx = ctrl.second.get<int32_t>(); - if (ConstraintModeTable.count(idx)) { - agc->SetConstraintMode(ConstraintModeTable.at(idx)); - libcameraMetadata_.set(controls::AeConstraintMode, idx); - } else { - LOG(IPARPI, Error) << "Constraint mode " << idx - << " not recognised"; - } - break; - } - - case controls::AE_EXPOSURE_MODE: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.GetAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set AE_EXPOSURE_MODE - no AGC algorithm"; - break; - } - - int32_t idx = ctrl.second.get<int32_t>(); - if (ExposureModeTable.count(idx)) { - agc->SetExposureMode(ExposureModeTable.at(idx)); - libcameraMetadata_.set(controls::AeExposureMode, idx); - } else { - LOG(IPARPI, Error) << "Exposure mode " << idx - << " not recognised"; - } - break; - } - - case controls::EXPOSURE_VALUE: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.GetAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set EXPOSURE_VALUE - no AGC algorithm"; - break; - } - - /* - * The SetEv() function takes in a direct exposure multiplier. - * So convert to 2^EV - */ - double ev = pow(2.0, ctrl.second.get<float>()); - agc->SetEv(ev); - libcameraMetadata_.set(controls::ExposureValue, - ctrl.second.get<float>()); - break; - } - - case controls::AWB_ENABLE: { - RPiController::Algorithm *awb = controller_.GetAlgorithm("awb"); - if (!awb) { - LOG(IPARPI, Warning) - << "Could not set AWB_ENABLE - no AWB algorithm"; - break; - } - - if (ctrl.second.get<bool>() == false) - awb->Pause(); - else - awb->Resume(); - - libcameraMetadata_.set(controls::AwbEnable, - ctrl.second.get<bool>()); - break; - } - - case controls::AWB_MODE: { - RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( - controller_.GetAlgorithm("awb")); - if (!awb) { - LOG(IPARPI, Warning) - << "Could not set AWB_MODE - no AWB algorithm"; - break; - } - - int32_t idx = ctrl.second.get<int32_t>(); - if (AwbModeTable.count(idx)) { - awb->SetMode(AwbModeTable.at(idx)); - libcameraMetadata_.set(controls::AwbMode, idx); - } else { - LOG(IPARPI, Error) << "AWB mode " << idx - << " not recognised"; - } - break; - } - - case controls::COLOUR_GAINS: { - auto gains = ctrl.second.get<Span<const float>>(); - RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( - controller_.GetAlgorithm("awb")); - if (!awb) { - LOG(IPARPI, Warning) - << "Could not set COLOUR_GAINS - no AWB algorithm"; - break; - } - - awb->SetManualGains(gains[0], gains[1]); - if (gains[0] != 0.0f && gains[1] != 0.0f) - /* A gain of 0.0f will switch back to auto mode. */ - libcameraMetadata_.set(controls::ColourGains, - { gains[0], gains[1] }); - break; - } - - case controls::BRIGHTNESS: { - RPiController::ContrastAlgorithm *contrast = dynamic_cast<RPiController::ContrastAlgorithm *>( - controller_.GetAlgorithm("contrast")); - if (!contrast) { - LOG(IPARPI, Warning) - << "Could not set BRIGHTNESS - no contrast algorithm"; - break; - } - - contrast->SetBrightness(ctrl.second.get<float>() * 65536); - libcameraMetadata_.set(controls::Brightness, - ctrl.second.get<float>()); - break; - } - - case controls::CONTRAST: { - RPiController::ContrastAlgorithm *contrast = dynamic_cast<RPiController::ContrastAlgorithm *>( - controller_.GetAlgorithm("contrast")); - if (!contrast) { - LOG(IPARPI, Warning) - << "Could not set CONTRAST - no contrast algorithm"; - break; - } - - contrast->SetContrast(ctrl.second.get<float>()); - libcameraMetadata_.set(controls::Contrast, - ctrl.second.get<float>()); - break; - } - - case controls::SATURATION: { - RPiController::CcmAlgorithm *ccm = dynamic_cast<RPiController::CcmAlgorithm *>( - controller_.GetAlgorithm("ccm")); - if (!ccm) { - LOG(IPARPI, Warning) - << "Could not set SATURATION - no ccm algorithm"; - break; - } - - ccm->SetSaturation(ctrl.second.get<float>()); - libcameraMetadata_.set(controls::Saturation, - ctrl.second.get<float>()); - break; - } - - case controls::SHARPNESS: { - RPiController::SharpenAlgorithm *sharpen = dynamic_cast<RPiController::SharpenAlgorithm *>( - controller_.GetAlgorithm("sharpen")); - if (!sharpen) { - LOG(IPARPI, Warning) - << "Could not set SHARPNESS - no sharpen algorithm"; - break; - } - - sharpen->SetStrength(ctrl.second.get<float>()); - libcameraMetadata_.set(controls::Sharpness, - ctrl.second.get<float>()); - break; - } - - case controls::SCALER_CROP: { - /* We do nothing with this, but should avoid the warning below. */ - break; - } - - case controls::FRAME_DURATION_LIMITS: { - auto frameDurations = ctrl.second.get<Span<const int64_t>>(); - applyFrameDurations(frameDurations[0] * 1.0us, frameDurations[1] * 1.0us); - break; - } - - case controls::NOISE_REDUCTION_MODE: { - RPiController::DenoiseAlgorithm *sdn = dynamic_cast<RPiController::DenoiseAlgorithm *>( - controller_.GetAlgorithm("SDN")); - if (!sdn) { - LOG(IPARPI, Warning) - << "Could not set NOISE_REDUCTION_MODE - no SDN algorithm"; - break; - } - - int32_t idx = ctrl.second.get<int32_t>(); - auto mode = DenoiseModeTable.find(idx); - if (mode != DenoiseModeTable.end()) { - sdn->SetMode(mode->second); - - /* - * \todo If the colour denoise is not going to run due to an - * analysis image resolution or format mismatch, we should - * report the status correctly in the metadata. - */ - libcameraMetadata_.set(controls::draft::NoiseReductionMode, idx); - } else { - LOG(IPARPI, Error) << "Noise reduction mode " << idx - << " not recognised"; - } - break; - } - - default: - LOG(IPARPI, Warning) - << "Ctrl " << controls::controls.at(ctrl.first)->name() - << " is not handled."; - break; - } - } -} - -void IPARPi::returnEmbeddedBuffer(unsigned int bufferId) -{ - embeddedComplete.emit(bufferId & MaskID); -} - -void IPARPi::prepareISP(const ISPConfig &data) -{ - int64_t frameTimestamp = data.controls.get(controls::SensorTimestamp); - RPiController::Metadata lastMetadata; - Span<uint8_t> embeddedBuffer; - - lastMetadata = std::move(rpiMetadata_); - fillDeviceStatus(data.controls); - - if (data.embeddedBufferPresent) { - /* - * Pipeline handler has supplied us with an embedded data buffer, - * we must pass it to the CamHelper for parsing. - */ - auto it = buffers_.find(data.embeddedBufferId); - ASSERT(it != buffers_.end()); - embeddedBuffer = it->second.planes()[0]; - } - - /* - * This may overwrite the DeviceStatus using values from the sensor - * metadata, and may also do additional custom processing. - */ - helper_->Prepare(embeddedBuffer, rpiMetadata_); - - /* Done with embedded data now, return to pipeline handler asap. */ - if (data.embeddedBufferPresent) - returnEmbeddedBuffer(data.embeddedBufferId); - - /* Allow a 10% margin on the comparison below. */ - Duration delta = (frameTimestamp - lastRunTimestamp_) * 1.0ns; - if (lastRunTimestamp_ && frameCount_ > dropFrameCount_ && - delta < controllerMinFrameDuration * 0.9) { - /* - * Ensure we merge the previous frame's metadata with the current - * frame. This will not overwrite exposure/gain values for the - * current frame, or any other bits of metadata that were added - * in helper_->Prepare(). - */ - rpiMetadata_.Merge(lastMetadata); - processPending_ = false; - return; - } - - lastRunTimestamp_ = frameTimestamp; - processPending_ = true; - - ControlList ctrls(ispCtrls_); - - controller_.Prepare(&rpiMetadata_); - - /* Lock the metadata buffer to avoid constant locks/unlocks. */ - std::unique_lock<RPiController::Metadata> lock(rpiMetadata_); - - AwbStatus *awbStatus = rpiMetadata_.GetLocked<AwbStatus>("awb.status"); - if (awbStatus) - applyAWB(awbStatus, ctrls); - - CcmStatus *ccmStatus = rpiMetadata_.GetLocked<CcmStatus>("ccm.status"); - if (ccmStatus) - applyCCM(ccmStatus, ctrls); - - AgcStatus *dgStatus = rpiMetadata_.GetLocked<AgcStatus>("agc.status"); - if (dgStatus) - applyDG(dgStatus, ctrls); - - AlscStatus *lsStatus = rpiMetadata_.GetLocked<AlscStatus>("alsc.status"); - if (lsStatus) - applyLS(lsStatus, ctrls); - - ContrastStatus *contrastStatus = rpiMetadata_.GetLocked<ContrastStatus>("contrast.status"); - if (contrastStatus) - applyGamma(contrastStatus, ctrls); - - BlackLevelStatus *blackLevelStatus = rpiMetadata_.GetLocked<BlackLevelStatus>("black_level.status"); - if (blackLevelStatus) - applyBlackLevel(blackLevelStatus, ctrls); - - GeqStatus *geqStatus = rpiMetadata_.GetLocked<GeqStatus>("geq.status"); - if (geqStatus) - applyGEQ(geqStatus, ctrls); - - DenoiseStatus *denoiseStatus = rpiMetadata_.GetLocked<DenoiseStatus>("denoise.status"); - if (denoiseStatus) - applyDenoise(denoiseStatus, ctrls); - - SharpenStatus *sharpenStatus = rpiMetadata_.GetLocked<SharpenStatus>("sharpen.status"); - if (sharpenStatus) - applySharpen(sharpenStatus, ctrls); - - DpcStatus *dpcStatus = rpiMetadata_.GetLocked<DpcStatus>("dpc.status"); - if (dpcStatus) - applyDPC(dpcStatus, ctrls); - - if (!ctrls.empty()) - setIspControls.emit(ctrls); -} - -void IPARPi::fillDeviceStatus(const ControlList &sensorControls) -{ - DeviceStatus deviceStatus = {}; - - int32_t exposureLines = sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>(); - int32_t gainCode = sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>(); - int32_t vblank = sensorControls.get(V4L2_CID_VBLANK).get<int32_t>(); - - deviceStatus.shutter_speed = helper_->Exposure(exposureLines); - deviceStatus.analogue_gain = helper_->Gain(gainCode); - deviceStatus.frame_length = mode_.height + vblank; - - LOG(IPARPI, Debug) << "Metadata - " << deviceStatus; - - rpiMetadata_.Set("device.status", deviceStatus); -} - -void IPARPi::processStats(unsigned int bufferId) -{ - auto it = buffers_.find(bufferId); - if (it == buffers_.end()) { - LOG(IPARPI, Error) << "Could not find stats buffer!"; - return; - } - - Span<uint8_t> mem = it->second.planes()[0]; - bcm2835_isp_stats *stats = reinterpret_cast<bcm2835_isp_stats *>(mem.data()); - RPiController::StatisticsPtr statistics = std::make_shared<bcm2835_isp_stats>(*stats); - helper_->Process(statistics, rpiMetadata_); - controller_.Process(statistics, &rpiMetadata_); - - struct AgcStatus agcStatus; - if (rpiMetadata_.Get("agc.status", agcStatus) == 0) { - ControlList ctrls(sensorCtrls_); - applyAGC(&agcStatus, ctrls); - - setDelayedControls.emit(ctrls); - } -} - -void IPARPi::applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls) -{ - LOG(IPARPI, Debug) << "Applying WB R: " << awbStatus->gain_r << " B: " - << awbStatus->gain_b; - - ctrls.set(V4L2_CID_RED_BALANCE, - static_cast<int32_t>(awbStatus->gain_r * 1000)); - ctrls.set(V4L2_CID_BLUE_BALANCE, - static_cast<int32_t>(awbStatus->gain_b * 1000)); -} - -void IPARPi::applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration) -{ - const Duration minSensorFrameDuration = mode_.min_frame_length * mode_.line_length; - const Duration maxSensorFrameDuration = mode_.max_frame_length * mode_.line_length; - - /* - * This will only be applied once AGC recalculations occur. - * The values may be clamped based on the sensor mode capabilities as well. - */ - minFrameDuration_ = minFrameDuration ? minFrameDuration : defaultMaxFrameDuration; - maxFrameDuration_ = maxFrameDuration ? maxFrameDuration : defaultMinFrameDuration; - minFrameDuration_ = std::clamp(minFrameDuration_, - minSensorFrameDuration, maxSensorFrameDuration); - maxFrameDuration_ = std::clamp(maxFrameDuration_, - minSensorFrameDuration, maxSensorFrameDuration); - maxFrameDuration_ = std::max(maxFrameDuration_, minFrameDuration_); - - /* Return the validated limits via metadata. */ - libcameraMetadata_.set(controls::FrameDurationLimits, - { static_cast<int64_t>(minFrameDuration_.get<std::micro>()), - static_cast<int64_t>(maxFrameDuration_.get<std::micro>()) }); - - /* - * Calculate the maximum exposure time possible for the AGC to use. - * GetVBlanking() will update maxShutter with the largest exposure - * value possible. - */ - Duration maxShutter = Duration::max(); - helper_->GetVBlanking(maxShutter, minFrameDuration_, maxFrameDuration_); - - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.GetAlgorithm("agc")); - agc->SetMaxShutter(maxShutter); -} - -void IPARPi::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls) -{ - int32_t gainCode = helper_->GainCode(agcStatus->analogue_gain); - - /* - * Ensure anything larger than the max gain code will not be passed to - * DelayedControls. The AGC will correctly handle a lower gain returned - * by the sensor, provided it knows the actual gain used. - */ - gainCode = std::min<int32_t>(gainCode, maxSensorGainCode_); - - /* GetVBlanking might clip exposure time to the fps limits. */ - Duration exposure = agcStatus->shutter_time; - int32_t vblanking = helper_->GetVBlanking(exposure, minFrameDuration_, maxFrameDuration_); - int32_t exposureLines = helper_->ExposureLines(exposure); - - LOG(IPARPI, Debug) << "Applying AGC Exposure: " << exposure - << " (Shutter lines: " << exposureLines << ", AGC requested " - << agcStatus->shutter_time << ") Gain: " - << agcStatus->analogue_gain << " (Gain Code: " - << gainCode << ")"; - - /* - * Due to the behavior of V4L2, the current value of VBLANK could clip the - * exposure time without us knowing. The next time though this function should - * clip exposure correctly. - */ - ctrls.set(V4L2_CID_VBLANK, vblanking); - ctrls.set(V4L2_CID_EXPOSURE, exposureLines); - ctrls.set(V4L2_CID_ANALOGUE_GAIN, gainCode); -} - -void IPARPi::applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls) -{ - ctrls.set(V4L2_CID_DIGITAL_GAIN, - static_cast<int32_t>(dgStatus->digital_gain * 1000)); -} - -void IPARPi::applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls) -{ - bcm2835_isp_custom_ccm ccm; - - for (int i = 0; i < 9; i++) { - ccm.ccm.ccm[i / 3][i % 3].den = 1000; - ccm.ccm.ccm[i / 3][i % 3].num = 1000 * ccmStatus->matrix[i]; - } - - ccm.enabled = 1; - ccm.ccm.offsets[0] = ccm.ccm.offsets[1] = ccm.ccm.offsets[2] = 0; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&ccm), - sizeof(ccm) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_CC_MATRIX, c); -} - -void IPARPi::applyGamma(const struct ContrastStatus *contrastStatus, ControlList &ctrls) -{ - struct bcm2835_isp_gamma gamma; - - gamma.enabled = 1; - for (int i = 0; i < CONTRAST_NUM_POINTS; i++) { - gamma.x[i] = contrastStatus->points[i].x; - gamma.y[i] = contrastStatus->points[i].y; - } - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&gamma), - sizeof(gamma) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_GAMMA, c); -} - -void IPARPi::applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, ControlList &ctrls) -{ - bcm2835_isp_black_level blackLevel; - - blackLevel.enabled = 1; - blackLevel.black_level_r = blackLevelStatus->black_level_r; - blackLevel.black_level_g = blackLevelStatus->black_level_g; - blackLevel.black_level_b = blackLevelStatus->black_level_b; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&blackLevel), - sizeof(blackLevel) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL, c); -} - -void IPARPi::applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls) -{ - bcm2835_isp_geq geq; - - geq.enabled = 1; - geq.offset = geqStatus->offset; - geq.slope.den = 1000; - geq.slope.num = 1000 * geqStatus->slope; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&geq), - sizeof(geq) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_GEQ, c); -} - -void IPARPi::applyDenoise(const struct DenoiseStatus *denoiseStatus, ControlList &ctrls) -{ - using RPiController::DenoiseMode; - - bcm2835_isp_denoise denoise; - DenoiseMode mode = static_cast<DenoiseMode>(denoiseStatus->mode); - - denoise.enabled = mode != DenoiseMode::Off; - denoise.constant = denoiseStatus->noise_constant; - denoise.slope.num = 1000 * denoiseStatus->noise_slope; - denoise.slope.den = 1000; - denoise.strength.num = 1000 * denoiseStatus->strength; - denoise.strength.den = 1000; - - /* Set the CDN mode to match the SDN operating mode. */ - bcm2835_isp_cdn cdn; - switch (mode) { - case DenoiseMode::ColourFast: - cdn.enabled = 1; - cdn.mode = CDN_MODE_FAST; - break; - case DenoiseMode::ColourHighQuality: - cdn.enabled = 1; - cdn.mode = CDN_MODE_HIGH_QUALITY; - break; - default: - cdn.enabled = 0; - } - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&denoise), - sizeof(denoise) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_DENOISE, c); - - c = ControlValue(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&cdn), - sizeof(cdn) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_CDN, c); -} - -void IPARPi::applySharpen(const struct SharpenStatus *sharpenStatus, ControlList &ctrls) -{ - bcm2835_isp_sharpen sharpen; - - sharpen.enabled = 1; - sharpen.threshold.num = 1000 * sharpenStatus->threshold; - sharpen.threshold.den = 1000; - sharpen.strength.num = 1000 * sharpenStatus->strength; - sharpen.strength.den = 1000; - sharpen.limit.num = 1000 * sharpenStatus->limit; - sharpen.limit.den = 1000; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&sharpen), - sizeof(sharpen) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_SHARPEN, c); -} - -void IPARPi::applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls) -{ - bcm2835_isp_dpc dpc; - - dpc.enabled = 1; - dpc.strength = dpcStatus->strength; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&dpc), - sizeof(dpc) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_DPC, c); -} - -void IPARPi::applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls) -{ - /* - * Program lens shading tables into pipeline. - * Choose smallest cell size that won't exceed 63x48 cells. - */ - const int cellSizes[] = { 16, 32, 64, 128, 256 }; - unsigned int numCells = std::size(cellSizes); - unsigned int i, w, h, cellSize; - for (i = 0; i < numCells; i++) { - cellSize = cellSizes[i]; - w = (mode_.width + cellSize - 1) / cellSize; - h = (mode_.height + cellSize - 1) / cellSize; - if (w < 64 && h <= 48) - break; - } - - if (i == numCells) { - LOG(IPARPI, Error) << "Cannot find cell size"; - return; - } - - /* We're going to supply corner sampled tables, 16 bit samples. */ - w++, h++; - bcm2835_isp_lens_shading ls = { - .enabled = 1, - .grid_cell_size = cellSize, - .grid_width = w, - .grid_stride = w, - .grid_height = h, - /* .dmabuf will be filled in by pipeline handler. */ - .dmabuf = 0, - .ref_transform = 0, - .corner_sampled = 1, - .gain_format = GAIN_FORMAT_U4P10 - }; - - if (!lsTable_ || w * h * 4 * sizeof(uint16_t) > MaxLsGridSize) { - LOG(IPARPI, Error) << "Do not have a correctly allocate lens shading table!"; - return; - } - - if (lsStatus) { - /* Format will be u4.10 */ - uint16_t *grid = static_cast<uint16_t *>(lsTable_); - - resampleTable(grid, lsStatus->r, w, h); - resampleTable(grid + w * h, lsStatus->g, w, h); - std::memcpy(grid + 2 * w * h, grid + w * h, w * h * sizeof(uint16_t)); - resampleTable(grid + 3 * w * h, lsStatus->b, w, h); - } - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&ls), - sizeof(ls) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING, c); -} - -/* - * Resamples a 16x12 table with central sampling to destW x destH with corner - * sampling. - */ -void IPARPi::resampleTable(uint16_t dest[], double const src[12][16], - int destW, int destH) -{ - /* - * Precalculate and cache the x sampling locations and phases to - * save recomputing them on every row. - */ - assert(destW > 1 && destH > 1 && destW <= 64); - int xLo[64], xHi[64]; - double xf[64]; - double x = -0.5, xInc = 16.0 / (destW - 1); - for (int i = 0; i < destW; i++, x += xInc) { - xLo[i] = floor(x); - xf[i] = x - xLo[i]; - xHi[i] = xLo[i] < 15 ? xLo[i] + 1 : 15; - xLo[i] = xLo[i] > 0 ? xLo[i] : 0; - } - - /* Now march over the output table generating the new values. */ - double y = -0.5, yInc = 12.0 / (destH - 1); - for (int j = 0; j < destH; j++, y += yInc) { - int yLo = floor(y); - double yf = y - yLo; - int yHi = yLo < 11 ? yLo + 1 : 11; - yLo = yLo > 0 ? yLo : 0; - double const *rowAbove = src[yLo]; - double const *rowBelow = src[yHi]; - for (int i = 0; i < destW; i++) { - 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]; - int result = floor(1024 * (above * (1 - yf) + below * yf) + .5); - *(dest++) = result > 16383 ? 16383 : result; /* want u4.10 */ - } - } -} - -} /* namespace ipa::RPi */ - -/* - * External IPA module interface - */ -extern "C" { -const struct IPAModuleInfo ipaModuleInfo = { - IPA_MODULE_API_VERSION, - 1, - "PipelineHandlerRPi", - "raspberrypi", -}; - -IPAInterface *ipaCreate() -{ - return new ipa::RPi::IPARPi(); -} - -} /* extern "C" */ - -} /* namespace libcamera */ |