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-rw-r--r--src/ipa/raspberrypi/cam_helper.cpp20
-rw-r--r--src/ipa/raspberrypi/cam_helper.hpp10
-rw-r--r--src/ipa/raspberrypi/controller/camera_mode.h6
-rw-r--r--src/ipa/raspberrypi/raspberrypi.cpp62
4 files changed, 53 insertions, 45 deletions
diff --git a/src/ipa/raspberrypi/cam_helper.cpp b/src/ipa/raspberrypi/cam_helper.cpp
index 09917f3c..92a38007 100644
--- a/src/ipa/raspberrypi/cam_helper.cpp
+++ b/src/ipa/raspberrypi/cam_helper.cpp
@@ -18,6 +18,7 @@
using namespace RPiController;
using namespace libcamera;
+using libcamera::utils::Duration;
namespace libcamera {
LOG_DECLARE_CATEGORY(IPARPI)
@@ -61,20 +62,21 @@ void CamHelper::Process([[maybe_unused]] StatisticsPtr &stats,
{
}
-uint32_t CamHelper::ExposureLines(double exposure_us) const
+uint32_t CamHelper::ExposureLines(const Duration exposure) const
{
assert(initialized_);
- return exposure_us * 1000.0 / mode_.line_length;
+ return exposure / mode_.line_length;
}
-double CamHelper::Exposure(uint32_t exposure_lines) const
+Duration CamHelper::Exposure(uint32_t exposure_lines) const
{
assert(initialized_);
- return exposure_lines * mode_.line_length / 1000.0;
+ return exposure_lines * mode_.line_length;
}
-uint32_t CamHelper::GetVBlanking(double &exposure, double minFrameDuration,
- double maxFrameDuration) const
+uint32_t CamHelper::GetVBlanking(Duration &exposure,
+ Duration minFrameDuration,
+ Duration maxFrameDuration) const
{
uint32_t frameLengthMin, frameLengthMax, vblank;
uint32_t exposureLines = ExposureLines(exposure);
@@ -85,8 +87,8 @@ uint32_t CamHelper::GetVBlanking(double &exposure, double minFrameDuration,
* minFrameDuration and maxFrameDuration are clamped by the caller
* based on the limits for the active sensor mode.
*/
- frameLengthMin = 1e3 * minFrameDuration / mode_.line_length;
- frameLengthMax = 1e3 * maxFrameDuration / mode_.line_length;
+ frameLengthMin = minFrameDuration / mode_.line_length;
+ frameLengthMax = maxFrameDuration / mode_.line_length;
/*
* Limit the exposure to the maximum frame duration requested, and
@@ -182,7 +184,7 @@ void CamHelper::parseEmbeddedData(Span<const uint8_t> buffer,
return;
}
- deviceStatus.shutter_speed = Exposure(exposureLines);
+ deviceStatus.shutter_speed = Exposure(exposureLines).get<std::micro>();
deviceStatus.analogue_gain = Gain(gainCode);
LOG(IPARPI, Debug) << "Metadata updated - Exposure : "
diff --git a/src/ipa/raspberrypi/cam_helper.hpp b/src/ipa/raspberrypi/cam_helper.hpp
index a52f3f0b..f53f5c39 100644
--- a/src/ipa/raspberrypi/cam_helper.hpp
+++ b/src/ipa/raspberrypi/cam_helper.hpp
@@ -15,6 +15,7 @@
#include "controller/metadata.hpp"
#include "md_parser.hpp"
+#include "libcamera/internal/utils.h"
#include "libcamera/internal/v4l2_videodevice.h"
namespace RPiController {
@@ -72,10 +73,11 @@ public:
virtual void Prepare(libcamera::Span<const uint8_t> buffer,
Metadata &metadata);
virtual void Process(StatisticsPtr &stats, Metadata &metadata);
- uint32_t ExposureLines(double exposure_us) const;
- double Exposure(uint32_t exposure_lines) const; // in us
- virtual uint32_t GetVBlanking(double &exposure_us, double minFrameDuration,
- double maxFrameDuration) const;
+ uint32_t ExposureLines(libcamera::utils::Duration exposure) const;
+ libcamera::utils::Duration Exposure(uint32_t exposure_lines) const;
+ virtual uint32_t GetVBlanking(libcamera::utils::Duration &exposure,
+ libcamera::utils::Duration minFrameDuration,
+ libcamera::utils::Duration maxFrameDuration) const;
virtual uint32_t GainCode(double gain) const = 0;
virtual double Gain(uint32_t gain_code) const = 0;
virtual void GetDelays(int &exposure_delay, int &gain_delay,
diff --git a/src/ipa/raspberrypi/controller/camera_mode.h b/src/ipa/raspberrypi/controller/camera_mode.h
index 256438c9..2aa2335d 100644
--- a/src/ipa/raspberrypi/controller/camera_mode.h
+++ b/src/ipa/raspberrypi/controller/camera_mode.h
@@ -8,6 +8,8 @@
#include <libcamera/transform.h>
+#include "libcamera/internal/utils.h"
+
// Description of a "camera mode", holding enough information for control
// algorithms to adapt their behaviour to the different modes of the camera,
// including binning, scaling, cropping etc.
@@ -33,8 +35,8 @@ struct CameraMode {
double scale_x, scale_y;
// scaling of the noise compared to the native sensor mode
double noise_factor;
- // line time in nanoseconds
- double line_length;
+ // line time
+ libcamera::utils::Duration line_length;
// any camera transform *not* reflected already in the camera tuning
libcamera::Transform transform;
// minimum and maximum fame lengths in units of lines
diff --git a/src/ipa/raspberrypi/raspberrypi.cpp b/src/ipa/raspberrypi/raspberrypi.cpp
index 0c4752ec..33b316b9 100644
--- a/src/ipa/raspberrypi/raspberrypi.cpp
+++ b/src/ipa/raspberrypi/raspberrypi.cpp
@@ -54,19 +54,22 @@
namespace libcamera {
+using namespace std::literals::chrono_literals;
+using utils::Duration;
+
/* Configure the sensor with these values initially. */
constexpr double DefaultAnalogueGain = 1.0;
-constexpr unsigned int DefaultExposureTime = 20000;
-constexpr double defaultMinFrameDuration = 1e6 / 30.0;
-constexpr double defaultMaxFrameDuration = 1e6 / 0.01;
+constexpr Duration DefaultExposureTime = 20.0ms;
+constexpr Duration defaultMinFrameDuration = 1.0s / 30.0;
+constexpr Duration defaultMaxFrameDuration = 100.0s;
/*
- * Determine the minimum allowable inter-frame duration (in us) 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.
+ * 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 double controllerMinFrameDuration = 1e6 / 60.0;
+constexpr Duration controllerMinFrameDuration = 1.0s / 60.0;
LOG_DEFINE_CATEGORY(IPARPI)
@@ -110,7 +113,7 @@ private:
void reportMetadata();
void fillDeviceStatus(const ControlList &sensorControls);
void processStats(unsigned int bufferId);
- void applyFrameDurations(double minFrameDuration, double maxFrameDuration);
+ 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);
@@ -166,9 +169,9 @@ private:
/* Distinguish the first camera start from others. */
bool firstStart_;
- /* Frame duration (1/fps) limits, given in microseconds. */
- double minFrameDuration_;
- double maxFrameDuration_;
+ /* Frame duration (1/fps) limits. */
+ Duration minFrameDuration_;
+ Duration maxFrameDuration_;
};
int IPARPi::init(const IPASettings &settings, ipa::RPi::SensorConfig *sensorConfig)
@@ -310,10 +313,10 @@ void IPARPi::setMode(const IPACameraSensorInfo &sensorInfo)
mode_.noise_factor = sqrt(mode_.bin_x * mode_.bin_y);
/*
- * Calculate the line length in nanoseconds as the ratio between
- * the line length in pixels and the pixel rate.
+ * Calculate the line length as the ratio between the line length in
+ * pixels and the pixel rate.
*/
- mode_.line_length = 1e9 * sensorInfo.lineLength / sensorInfo.pixelRate;
+ mode_.line_length = sensorInfo.lineLength * (1.0s / sensorInfo.pixelRate);
/*
* Set the frame length limits for the mode to ensure exposure and
@@ -386,7 +389,7 @@ int IPARPi::configure(const IPACameraSensorInfo &sensorInfo,
/* Supply initial values for gain and exposure. */
ControlList ctrls(sensorCtrls_);
AgcStatus agcStatus;
- agcStatus.shutter_time = DefaultExposureTime;
+ agcStatus.shutter_time = DefaultExposureTime.get<std::micro>();
agcStatus.analogue_gain = DefaultAnalogueGain;
applyAGC(&agcStatus, ctrls);
@@ -861,7 +864,7 @@ void IPARPi::queueRequest(const ControlList &controls)
case controls::FRAME_DURATION_LIMITS: {
auto frameDurations = ctrl.second.get<Span<const int64_t>>();
- applyFrameDurations(frameDurations[0], frameDurations[1]);
+ applyFrameDurations(frameDurations[0] * 1.0us, frameDurations[1] * 1.0us);
break;
}
@@ -936,9 +939,9 @@ void IPARPi::prepareISP(const ipa::RPi::ISPConfig &data)
returnEmbeddedBuffer(data.embeddedBufferId);
/* Allow a 10% margin on the comparison below. */
- constexpr double eps = controllerMinFrameDuration * 1e3 * 0.1;
+ Duration delta = (frameTimestamp - lastRunTimestamp_) * 1.0ns;
if (lastRunTimestamp_ && frameCount_ > dropFrameCount_ &&
- frameTimestamp - lastRunTimestamp_ + eps < controllerMinFrameDuration * 1e3) {
+ 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
@@ -1011,7 +1014,7 @@ 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);
+ deviceStatus.shutter_speed = helper_->Exposure(exposureLines).get<std::micro>();
deviceStatus.analogue_gain = helper_->Gain(gainCode);
LOG(IPARPI, Debug) << "Metadata - Exposure : "
@@ -1056,10 +1059,10 @@ void IPARPi::applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls)
static_cast<int32_t>(awbStatus->gain_b * 1000));
}
-void IPARPi::applyFrameDurations(double minFrameDuration, double maxFrameDuration)
+void IPARPi::applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration)
{
- const double minSensorFrameDuration = 1e-3 * mode_.min_frame_length * mode_.line_length;
- const double maxSensorFrameDuration = 1e-3 * mode_.max_frame_length * mode_.line_length;
+ 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.
@@ -1075,20 +1078,20 @@ void IPARPi::applyFrameDurations(double minFrameDuration, double maxFrameDuratio
/* Return the validated limits via metadata. */
libcameraMetadata_.set(controls::FrameDurationLimits,
- { static_cast<int64_t>(minFrameDuration_),
- static_cast<int64_t>(maxFrameDuration_) });
+ { 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.
*/
- double maxShutter = std::numeric_limits<double>::max();
+ Duration maxShutter = Duration::max();
helper_->GetVBlanking(maxShutter, minFrameDuration_, maxFrameDuration_);
RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>(
controller_.GetAlgorithm("agc"));
- agc->SetMaxShutter(maxShutter);
+ agc->SetMaxShutter(maxShutter.get<std::micro>());
}
void IPARPi::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls)
@@ -1096,9 +1099,8 @@ 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. */
- double exposure = agcStatus->shutter_time;
- int32_t vblanking = helper_->GetVBlanking(exposure, minFrameDuration_,
- maxFrameDuration_);
+ Duration exposure = agcStatus->shutter_time * 1.0us;
+ int32_t vblanking = helper_->GetVBlanking(exposure, minFrameDuration_, maxFrameDuration_);
int32_t exposureLines = helper_->ExposureLines(exposure);
LOG(IPARPI, Debug) << "Applying AGC Exposure: " << exposure
generated by cgit v1.2.1 (git 2.18.0) at 2024-11-02 19:45:46 +0000