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-rw-r--r--src/ipa/rpi/vc4/data/imx219.json486
-rw-r--r--src/ipa/rpi/vc4/data/imx219_noir.json402
-rw-r--r--src/ipa/rpi/vc4/data/imx290.json200
-rw-r--r--src/ipa/rpi/vc4/data/imx296.json537
-rw-r--r--src/ipa/rpi/vc4/data/imx296_mono.json233
-rw-r--r--src/ipa/rpi/vc4/data/imx378.json413
-rw-r--r--src/ipa/rpi/vc4/data/imx477.json518
-rw-r--r--src/ipa/rpi/vc4/data/imx477_noir.json429
-rw-r--r--src/ipa/rpi/vc4/data/imx477_scientific.json479
-rw-r--r--src/ipa/rpi/vc4/data/imx477_v1.json516
-rw-r--r--src/ipa/rpi/vc4/data/imx519.json413
-rw-r--r--src/ipa/rpi/vc4/data/imx708.json556
-rw-r--r--src/ipa/rpi/vc4/data/imx708_noir.json556
-rw-r--r--src/ipa/rpi/vc4/data/imx708_wide.json459
-rw-r--r--src/ipa/rpi/vc4/data/imx708_wide_noir.json459
-rw-r--r--src/ipa/rpi/vc4/data/meson.build26
-rw-r--r--src/ipa/rpi/vc4/data/ov5647.json487
-rw-r--r--src/ipa/rpi/vc4/data/ov5647_noir.json403
-rw-r--r--src/ipa/rpi/vc4/data/ov9281_mono.json123
-rw-r--r--src/ipa/rpi/vc4/data/se327m12.json418
-rw-r--r--src/ipa/rpi/vc4/data/uncalibrated.json118
-rw-r--r--src/ipa/rpi/vc4/meson.build47
-rw-r--r--src/ipa/rpi/vc4/raspberrypi.cpp1853
23 files changed, 10131 insertions, 0 deletions
diff --git a/src/ipa/rpi/vc4/data/imx219.json b/src/ipa/rpi/vc4/data/imx219.json
new file mode 100644
index 00000000..efe7210a
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx219.json
@@ -0,0 +1,486 @@
+{
+ "version": 2.0,
+ "target": "bcm2835",
+ "algorithms": [
+ {
+ "rpi.black_level":
+ {
+ "black_level": 4096
+ }
+ },
+ {
+ "rpi.dpc": { }
+ },
+ {
+ "rpi.lux":
+ {
+ "reference_shutter_speed": 27685,
+ "reference_gain": 1.0,
+ "reference_aperture": 1.0,
+ "reference_lux": 998,
+ "reference_Y": 12744
+ }
+ },
+ {
+ "rpi.noise":
+ {
+ "reference_constant": 0,
+ "reference_slope": 3.67
+ }
+ },
+ {
+ "rpi.geq":
+ {
+ "offset": 204,
+ "slope": 0.01633
+ }
+ },
+ {
+ "rpi.sdn": { }
+ },
+ {
+ "rpi.awb":
+ {
+ "priors": [
+ {
+ "lux": 0,
+ "prior":
+ [
+ 2000, 1.0,
+ 3000, 0.0,
+ 13000, 0.0
+ ]
+ },
+ {
+ "lux": 800,
+ "prior":
+ [
+ 2000, 0.0,
+ 6000, 2.0,
+ 13000, 2.0
+ ]
+ },
+ {
+ "lux": 1500,
+ "prior":
+ [
+ 2000, 0.0,
+ 4000, 1.0,
+ 6000, 6.0,
+ 6500, 7.0,
+ 7000, 1.0,
+ 13000, 1.0
+ ]
+ }
+ ],
+ "modes":
+ {
+ "auto":
+ {
+ "lo": 2500,
+ "hi": 8000
+ },
+ "incandescent":
+ {
+ "lo": 2500,
+ "hi": 3000
+ },
+ "tungsten":
+ {
+ "lo": 3000,
+ "hi": 3500
+ },
+ "fluorescent":
+ {
+ "lo": 4000,
+ "hi": 4700
+ },
+ "indoor":
+ {
+ "lo": 3000,
+ "hi": 5000
+ },
+ "daylight":
+ {
+ "lo": 5500,
+ "hi": 6500
+ },
+ "cloudy":
+ {
+ "lo": 7000,
+ "hi": 8600
+ }
+ },
+ "bayes": 1,
+ "ct_curve":
+ [
+ 2498.0, 0.9309, 0.3599,
+ 2911.0, 0.8682, 0.4283,
+ 2919.0, 0.8358, 0.4621,
+ 3627.0, 0.7646, 0.5327,
+ 4600.0, 0.6079, 0.6721,
+ 5716.0, 0.5712, 0.7017,
+ 8575.0, 0.4331, 0.8037
+ ],
+ "sensitivity_r": 1.05,
+ "sensitivity_b": 1.05,
+ "transverse_pos": 0.04791,
+ "transverse_neg": 0.04881
+ }
+ },
+ {
+ "rpi.agc":
+ {
+ "metering_modes":
+ {
+ "centre-weighted":
+ {
+ "weights": [ 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ]
+ },
+ "spot":
+ {
+ "weights": [ 2, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
+ },
+ "matrix":
+ {
+ "weights": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ]
+ }
+ },
+ "exposure_modes":
+ {
+ "normal":
+ {
+ "shutter": [ 100, 10000, 30000, 60000, 66666 ],
+ "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ]
+ },
+ "short":
+ {
+ "shutter": [ 100, 5000, 10000, 20000, 33333 ],
+ "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ]
+ },
+ "long":
+ {
+ "shutter": [ 100, 10000, 30000, 60000, 120000 ],
+ "gain": [ 1.0, 2.0, 4.0, 6.0, 12.0 ]
+ }
+ },
+ "constraint_modes":
+ {
+ "normal": [
+ {
+ "bound": "LOWER",
+ "q_lo": 0.98,
+ "q_hi": 1.0,
+ "y_target":
+ [
+ 0, 0.5,
+ 1000, 0.5
+ ]
+ }
+ ],
+ "highlight": [
+ {
+ "bound": "LOWER",
+ "q_lo": 0.98,
+ "q_hi": 1.0,
+ "y_target":
+ [
+ 0, 0.5,
+ 1000, 0.5
+ ]
+ },
+ {
+ "bound": "UPPER",
+ "q_lo": 0.98,
+ "q_hi": 1.0,
+ "y_target":
+ [
+ 0, 0.8,
+ 1000, 0.8
+ ]
+ }
+ ],
+ "shadows": [
+ {
+ "bound": "LOWER",
+ "q_lo": 0.0,
+ "q_hi": 0.5,
+ "y_target":
+ [
+ 0, 0.17,
+ 1000, 0.17
+ ]
+ }
+ ]
+ },
+ "y_target":
+ [
+ 0, 0.16,
+ 1000, 0.165,
+ 10000, 0.17
+ ]
+ }
+ },
+ {
+ "rpi.alsc":
+ {
+ "omega": 1.3,
+ "n_iter": 100,
+ "luminance_strength": 0.7,
+ "calibrations_Cr": [
+ {
+ "ct": 3000,
+ "table":
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+ ]
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+ ]
+ }
+ ],
+ "calibrations_Cb": [
+ {
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+ ]
+ }
+ ],
+ "luminance_lut":
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+ -0.12035, -0.68256, 1.80292
+ ]
+ }
+ ]
+ }
+ },
+ {
+ "rpi.sharpen": { }
+ }
+ ]
+} \ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/imx219_noir.json b/src/ipa/rpi/vc4/data/imx219_noir.json
new file mode 100644
index 00000000..cfedb943
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx219_noir.json
@@ -0,0 +1,402 @@
+{
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+ {
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+ }
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+ {
+ "rpi.dpc": { }
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+ "reference_aperture": 1.0,
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+ "reference_Y": 12744
+ }
+ },
+ {
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+ "reference_slope": 3.67
+ }
+ },
+ {
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+ }
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+ {
+ "rpi.sdn": { }
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+ {
+ "rpi.awb":
+ {
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+ }
+ },
+ {
+ "rpi.agc":
+ {
+ "metering_modes":
+ {
+ "centre-weighted":
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+ },
+ "spot":
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+ },
+ "matrix":
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+ }
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+ "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ]
+ },
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+ },
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+ }
+ ]
+} \ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/imx290.json b/src/ipa/rpi/vc4/data/imx290.json
new file mode 100644
index 00000000..ace68d0e
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx290.json
@@ -0,0 +1,200 @@
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+ "reference_slope": 2.67
+ }
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+ "metering_modes":
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+ },
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+} \ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/imx296.json b/src/ipa/rpi/vc4/data/imx296.json
new file mode 100644
index 00000000..ae8722c4
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx296.json
@@ -0,0 +1,537 @@
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+ }
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+ {
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+ }
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+ {
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+ },
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+ {
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+ "prior":
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+ 3000, 0.0,
+ 13000, 0.0
+ ]
+ },
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+ ]
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+ ],
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+ "hi": 7600
+ },
+ "incandescent":
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+ },
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+ },
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+ },
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diff --git a/src/ipa/rpi/vc4/data/imx296_mono.json b/src/ipa/rpi/vc4/data/imx296_mono.json
new file mode 100644
index 00000000..30965b4b
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx296_mono.json
@@ -0,0 +1,233 @@
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diff --git a/src/ipa/rpi/vc4/data/imx378.json b/src/ipa/rpi/vc4/data/imx378.json
new file mode 100644
index 00000000..8b4ed225
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+ {
+ "rpi.sharpen": { }
+ }
+ ]
+} \ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/imx477.json b/src/ipa/rpi/vc4/data/imx477.json
new file mode 100644
index 00000000..daffc268
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx477.json
@@ -0,0 +1,518 @@
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+ {
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+ }
+ ]
+} \ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/imx477_noir.json b/src/ipa/rpi/vc4/data/imx477_noir.json
new file mode 100644
index 00000000..52d7f072
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx477_noir.json
@@ -0,0 +1,429 @@
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+ },
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diff --git a/src/ipa/rpi/vc4/data/imx477_scientific.json b/src/ipa/rpi/vc4/data/imx477_scientific.json
new file mode 100644
index 00000000..26c692fd
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx477_scientific.json
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+} \ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/imx477_v1.json b/src/ipa/rpi/vc4/data/imx477_v1.json
new file mode 100644
index 00000000..d6402009
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx477_v1.json
@@ -0,0 +1,516 @@
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+ ]
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+ }
+ },
+ {
+ "rpi.sharpen": { }
+ }
+ ]
+} \ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/imx519.json b/src/ipa/rpi/vc4/data/imx519.json
new file mode 100644
index 00000000..8ccfd3a6
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx519.json
@@ -0,0 +1,413 @@
+{
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+ "target": "bcm2835",
+ "algorithms": [
+ {
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+ {
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+ }
+ },
+ {
+ "rpi.dpc": { }
+ },
+ {
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+ {
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+ "reference_aperture": 1.0,
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+ "reference_Y": 12064
+ }
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+ "reference_slope": 2.776
+ }
+ },
+ {
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+ {
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+ "slope": 0.01495
+ }
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+ {
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+ {
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+ {
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+ "prior":
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+ 3000, 0.0,
+ 13000, 0.0
+ ]
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+ 6000, 2.0,
+ 13000, 2.0
+ ]
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+ 4000, 1.0,
+ 6000, 6.0,
+ 6500, 7.0,
+ 7000, 1.0,
+ 13000, 1.0
+ ]
+ }
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+ },
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+ },
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+ "bayes": 1,
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+ }
+ },
+ {
+ "rpi.sharpen": { }
+ }
+ ]
+} \ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/imx708.json b/src/ipa/rpi/vc4/data/imx708.json
new file mode 100644
index 00000000..b9830a3b
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx708.json
@@ -0,0 +1,556 @@
+{
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+ "target": "bcm2835",
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+ {
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+ }
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+ {
+ "rpi.dpc": { }
+ },
+ {
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+ "reference_aperture": 1.0,
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+ }
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+ "reference_slope": 4.0
+ }
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+ }
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+ },
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+ },
+ "tungsten":
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+ },
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diff --git a/src/ipa/rpi/vc4/data/imx708_noir.json b/src/ipa/rpi/vc4/data/imx708_noir.json
new file mode 100644
index 00000000..075f7035
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx708_noir.json
@@ -0,0 +1,556 @@
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diff --git a/src/ipa/rpi/vc4/data/imx708_wide.json b/src/ipa/rpi/vc4/data/imx708_wide.json
new file mode 100644
index 00000000..b772efee
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx708_wide.json
@@ -0,0 +1,459 @@
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diff --git a/src/ipa/rpi/vc4/data/imx708_wide_noir.json b/src/ipa/rpi/vc4/data/imx708_wide_noir.json
new file mode 100644
index 00000000..c5f6b53d
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx708_wide_noir.json
@@ -0,0 +1,459 @@
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+ "weights": [ 2, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
+ },
+ "matrix":
+ {
+ "weights": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ]
+ }
+ },
+ "exposure_modes":
+ {
+ "normal":
+ {
+ "shutter": [ 100, 15000, 30000, 60000, 120000 ],
+ "gain": [ 1.0, 1.0, 2.0, 4.0, 6.0 ]
+ },
+ "short":
+ {
+ "shutter": [ 100, 5000, 10000, 20000, 120000 ],
+ "gain": [ 1.0, 2.0, 4.0, 6.0, 6.0 ]
+ }
+ },
+ "constraint_modes":
+ {
+ "normal": [
+ {
+ "bound": "LOWER",
+ "q_lo": 0.98,
+ "q_hi": 1.0,
+ "y_target":
+ [
+ 0, 0.2,
+ 1000, 0.2
+ ]
+ }
+ ],
+ "highlight": [
+ {
+ "bound": "LOWER",
+ "q_lo": 0.98,
+ "q_hi": 1.0,
+ "y_target":
+ [
+ 0, 0.2,
+ 1000, 0.2
+ ]
+ },
+ {
+ "bound": "UPPER",
+ "q_lo": 0.98,
+ "q_hi": 1.0,
+ "y_target":
+ [
+ 0, 0.8,
+ 1000, 0.8
+ ]
+ }
+ ]
+ },
+ "y_target":
+ [
+ 0, 0.16,
+ 1000, 0.165,
+ 10000, 0.17
+ ],
+ "startup_frames": 5,
+ "convergence_frames": 6,
+ "speed": 0.15
+ }
+ },
+ {
+ "rpi.alsc":
+ {
+ "omega": 1.3,
+ "n_iter": 100,
+ "luminance_strength": 0.5,
+ "calibrations_Cr": [
+ {
+ "ct": 3000,
+ "table":
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+ ]
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+ {
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+ 2.591, 2.576, 2.546, 2.519, 2.489, 2.464, 2.437, 2.427, 2.427, 2.441, 2.467, 2.492, 2.525, 2.553, 2.586, 2.605,
+ 2.588, 2.568, 2.534, 2.503, 2.472, 2.437, 2.423, 2.409, 2.411, 2.425, 2.441, 2.475, 2.513, 2.541, 2.577, 2.602,
+ 2.588, 2.565, 2.527, 2.494, 2.461, 2.425, 2.409, 2.399, 2.403, 2.409, 2.431, 2.466, 2.503, 2.534, 2.571, 2.601,
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+ 2.585, 2.571, 2.539, 2.516, 2.486, 2.458, 2.435, 2.424, 2.424, 2.435, 2.459, 2.489, 2.521, 2.546, 2.579, 2.601,
+ 2.589, 2.578, 2.557, 2.532, 2.506, 2.483, 2.458, 2.449, 2.449, 2.459, 2.485, 2.507, 2.535, 2.563, 2.591, 2.605,
+ 2.589, 2.586, 2.575, 2.551, 2.525, 2.503, 2.481, 2.476, 2.476, 2.481, 2.504, 2.526, 2.555, 2.583, 2.604, 2.611
+ ]
+ }
+ ],
+ "calibrations_Cb": [
+ {
+ "ct": 3000,
+ "table":
+ [
+ 3.311, 3.339, 3.369, 3.374, 3.371, 3.363, 3.356, 3.353, 3.353, 3.353, 3.357, 3.362, 3.362, 3.356, 3.328, 3.311,
+ 3.321, 3.354, 3.374, 3.374, 3.368, 3.359, 3.352, 3.349, 3.347, 3.347, 3.349, 3.357, 3.361, 3.359, 3.343, 3.324,
+ 3.334, 3.368, 3.375, 3.374, 3.365, 3.356, 3.349, 3.347, 3.346, 3.346, 3.347, 3.349, 3.358, 3.361, 3.357, 3.336,
+ 3.346, 3.378, 3.378, 3.369, 3.363, 3.358, 3.351, 3.348, 3.347, 3.346, 3.347, 3.348, 3.354, 3.364, 3.363, 3.345,
+ 3.351, 3.381, 3.381, 3.368, 3.361, 3.357, 3.349, 3.347, 3.347, 3.345, 3.345, 3.347, 3.353, 3.364, 3.364, 3.347,
+ 3.353, 3.379, 3.379, 3.366, 3.359, 3.351, 3.348, 3.343, 3.342, 3.342, 3.343, 3.345, 3.351, 3.363, 3.363, 3.347,
+ 3.353, 3.376, 3.376, 3.363, 3.351, 3.347, 3.343, 3.338, 3.336, 3.338, 3.339, 3.343, 3.351, 3.361, 3.361, 3.347,
+ 3.351, 3.374, 3.374, 3.359, 3.351, 3.345, 3.338, 3.334, 3.333, 3.334, 3.336, 3.339, 3.347, 3.358, 3.358, 3.345,
+ 3.346, 3.368, 3.368, 3.359, 3.349, 3.343, 3.336, 3.332, 3.327, 3.331, 3.333, 3.337, 3.346, 3.356, 3.356, 3.341,
+ 3.336, 3.362, 3.364, 3.359, 3.351, 3.342, 3.334, 3.324, 3.324, 3.325, 3.329, 3.336, 3.346, 3.351, 3.351, 3.333,
+ 3.324, 3.349, 3.359, 3.358, 3.352, 3.341, 3.329, 3.323, 3.321, 3.322, 3.326, 3.336, 3.346, 3.347, 3.339, 3.319,
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+ ]
+ },
+ {
+ "ct": 5000,
+ "table":
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+ 1.645, 1.663, 1.669, 1.668, 1.667, 1.667, 1.667, 1.668, 1.668, 1.665, 1.662, 1.661, 1.662, 1.664, 1.661, 1.649,
+ 1.651, 1.669, 1.669, 1.667, 1.666, 1.668, 1.669, 1.672, 1.672, 1.668, 1.665, 1.661, 1.661, 1.665, 1.665, 1.655,
+ 1.654, 1.669, 1.669, 1.666, 1.666, 1.669, 1.672, 1.673, 1.673, 1.671, 1.666, 1.661, 1.661, 1.665, 1.665, 1.659,
+ 1.654, 1.669, 1.669, 1.666, 1.666, 1.669, 1.671, 1.673, 1.672, 1.669, 1.667, 1.661, 1.661, 1.665, 1.665, 1.659,
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+ 1.635, 1.645, 1.661, 1.661, 1.661, 1.655, 1.653, 1.649, 1.648, 1.647, 1.651, 1.653, 1.657, 1.657, 1.646, 1.638
+ ]
+ }
+ ],
+ "luminance_lut":
+ [
+ 3.535, 3.279, 3.049, 2.722, 2.305, 1.958, 1.657, 1.647, 1.647, 1.656, 1.953, 2.289, 2.707, 3.058, 3.325, 3.589,
+ 3.379, 3.157, 2.874, 2.421, 1.973, 1.735, 1.472, 1.388, 1.388, 1.471, 1.724, 1.963, 2.409, 2.877, 3.185, 3.416,
+ 3.288, 3.075, 2.696, 2.169, 1.735, 1.472, 1.311, 1.208, 1.208, 1.306, 1.471, 1.724, 2.159, 2.695, 3.092, 3.321,
+ 3.238, 3.001, 2.534, 1.981, 1.572, 1.311, 1.207, 1.082, 1.082, 1.204, 1.306, 1.563, 1.973, 2.529, 3.008, 3.259,
+ 3.211, 2.938, 2.414, 1.859, 1.468, 1.221, 1.082, 1.036, 1.031, 1.079, 1.217, 1.463, 1.851, 2.403, 2.931, 3.229,
+ 3.206, 2.904, 2.356, 1.802, 1.421, 1.181, 1.037, 1.002, 1.002, 1.032, 1.175, 1.414, 1.793, 2.343, 2.899, 3.223,
+ 3.206, 2.904, 2.356, 1.802, 1.421, 1.181, 1.037, 1.005, 1.005, 1.032, 1.175, 1.414, 1.793, 2.343, 2.899, 3.223,
+ 3.211, 2.936, 2.417, 1.858, 1.468, 1.222, 1.083, 1.037, 1.032, 1.083, 1.218, 1.463, 1.848, 2.403, 2.932, 3.226,
+ 3.234, 2.997, 2.536, 1.979, 1.569, 1.311, 1.206, 1.084, 1.084, 1.204, 1.305, 1.565, 1.966, 2.524, 2.996, 3.251,
+ 3.282, 3.069, 2.697, 2.166, 1.731, 1.471, 1.311, 1.207, 1.207, 1.305, 1.466, 1.729, 2.158, 2.689, 3.077, 3.304,
+ 3.369, 3.146, 2.873, 2.415, 1.964, 1.722, 1.471, 1.382, 1.382, 1.466, 1.722, 1.964, 2.408, 2.871, 3.167, 3.401,
+ 3.524, 3.253, 3.025, 2.691, 2.275, 1.939, 1.657, 1.628, 1.628, 1.654, 1.936, 2.275, 2.687, 3.029, 3.284, 3.574
+ ],
+ "sigma": 0.00195,
+ "sigma_Cb": 0.00241
+ }
+ },
+ {
+ "rpi.contrast":
+ {
+ "ce_enable": 1,
+ "gamma_curve":
+ [
+ 0, 0,
+ 1024, 5040,
+ 2048, 9338,
+ 3072, 12356,
+ 4096, 15312,
+ 5120, 18051,
+ 6144, 20790,
+ 7168, 23193,
+ 8192, 25744,
+ 9216, 27942,
+ 10240, 30035,
+ 11264, 32005,
+ 12288, 33975,
+ 13312, 35815,
+ 14336, 37600,
+ 15360, 39168,
+ 16384, 40642,
+ 18432, 43379,
+ 20480, 45749,
+ 22528, 47753,
+ 24576, 49621,
+ 26624, 51253,
+ 28672, 52698,
+ 30720, 53796,
+ 32768, 54876,
+ 36864, 57012,
+ 40960, 58656,
+ 45056, 59954,
+ 49152, 61183,
+ 53248, 62355,
+ 57344, 63419,
+ 61440, 64476,
+ 65535, 65535
+ ]
+ }
+ },
+ {
+ "rpi.ccm":
+ {
+ "ccms": [
+ {
+ "ct": 2750,
+ "ccm":
+ [
+ 1.13004, 0.36392, -0.49396,
+ -0.45885, 1.68171, -0.22286,
+ -0.06473, -0.86962, 1.93435
+ ]
+ },
+ {
+ "ct": 2940,
+ "ccm":
+ [
+ 1.29876, 0.09627, -0.39503,
+ -0.43085, 1.60258, -0.17172,
+ -0.02638, -0.92581, 1.95218
+ ]
+ },
+ {
+ "ct": 3650,
+ "ccm":
+ [
+ 1.57729, -0.29734, -0.27995,
+ -0.42965, 1.66231, -0.23265,
+ -0.02183, -0.62331, 1.64514
+ ]
+ },
+ {
+ "ct": 4625,
+ "ccm":
+ [
+ 1.52145, -0.22382, -0.29763,
+ -0.40445, 1.82186, -0.41742,
+ -0.05732, -0.56222, 1.61954
+ ]
+ },
+ {
+ "ct": 5715,
+ "ccm":
+ [
+ 1.67851, -0.39193, -0.28658,
+ -0.37169, 1.72949, -0.35781,
+ -0.09556, -0.41951, 1.51508
+ ]
+ }
+ ]
+ }
+ },
+ {
+ "rpi.sharpen": { }
+ },
+ {
+ "rpi.af":
+ {
+ "ranges":
+ {
+ "normal":
+ {
+ "min": 0.0,
+ "max": 12.0,
+ "default": 1.0
+ },
+ "macro":
+ {
+ "min": 4.0,
+ "max": 32.0,
+ "default": 6.0
+ }
+ },
+ "speeds":
+ {
+ "normal":
+ {
+ "step_coarse": 2.0,
+ "step_fine": 0.5,
+ "contrast_ratio": 0.75,
+ "pdaf_gain": -0.03,
+ "pdaf_squelch": 0.2,
+ "max_slew": 4.0,
+ "pdaf_frames": 20,
+ "dropout_frames": 6,
+ "step_frames": 4
+ },
+ "fast":
+ {
+ "step_coarse": 2.0,
+ "step_fine": 0.5,
+ "contrast_ratio": 0.75,
+ "pdaf_gain": -0.05,
+ "pdaf_squelch": 0.2,
+ "max_slew": 5.0,
+ "pdaf_frames": 16,
+ "dropout_frames": 6,
+ "step_frames": 4
+ }
+ },
+ "conf_epsilon": 8,
+ "conf_thresh": 12,
+ "conf_clip": 512,
+ "skip_frames": 5,
+ "map": [ 0.0, 420, 35.0, 920 ]
+ }
+ }
+ ]
+}
diff --git a/src/ipa/rpi/vc4/data/meson.build b/src/ipa/rpi/vc4/data/meson.build
new file mode 100644
index 00000000..bcf5658b
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/meson.build
@@ -0,0 +1,26 @@
+# SPDX-License-Identifier: CC0-1.0
+
+conf_files = files([
+ 'imx219.json',
+ 'imx219_noir.json',
+ 'imx290.json',
+ 'imx296.json',
+ 'imx296_mono.json',
+ 'imx378.json',
+ 'imx477.json',
+ 'imx477_noir.json',
+ 'imx477_scientific.json',
+ 'imx519.json',
+ 'imx708.json',
+ 'imx708_noir.json',
+ 'imx708_wide.json',
+ 'imx708_wide_noir.json',
+ 'ov5647.json',
+ 'ov5647_noir.json',
+ 'ov9281_mono.json',
+ 'se327m12.json',
+ 'uncalibrated.json',
+])
+
+install_data(conf_files,
+ install_dir : ipa_data_dir / 'rpi' / 'vc4')
diff --git a/src/ipa/rpi/vc4/data/ov5647.json b/src/ipa/rpi/vc4/data/ov5647.json
new file mode 100644
index 00000000..d770e44f
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/ov5647.json
@@ -0,0 +1,487 @@
+{
+ "version": 2.0,
+ "target": "bcm2835",
+ "algorithms": [
+ {
+ "rpi.black_level":
+ {
+ "black_level": 1024
+ }
+ },
+ {
+ "rpi.dpc": { }
+ },
+ {
+ "rpi.lux":
+ {
+ "reference_shutter_speed": 21663,
+ "reference_gain": 1.0,
+ "reference_aperture": 1.0,
+ "reference_lux": 987,
+ "reference_Y": 8961
+ }
+ },
+ {
+ "rpi.noise":
+ {
+ "reference_constant": 0,
+ "reference_slope": 4.25
+ }
+ },
+ {
+ "rpi.geq":
+ {
+ "offset": 401,
+ "slope": 0.05619
+ }
+ },
+ {
+ "rpi.sdn": { }
+ },
+ {
+ "rpi.awb":
+ {
+ "priors": [
+ {
+ "lux": 0,
+ "prior":
+ [
+ 2000, 1.0,
+ 3000, 0.0,
+ 13000, 0.0
+ ]
+ },
+ {
+ "lux": 800,
+ "prior":
+ [
+ 2000, 0.0,
+ 6000, 2.0,
+ 13000, 2.0
+ ]
+ },
+ {
+ "lux": 1500,
+ "prior":
+ [
+ 2000, 0.0,
+ 4000, 1.0,
+ 6000, 6.0,
+ 6500, 7.0,
+ 7000, 1.0,
+ 13000, 1.0
+ ]
+ }
+ ],
+ "modes":
+ {
+ "auto":
+ {
+ "lo": 2500,
+ "hi": 8000
+ },
+ "incandescent":
+ {
+ "lo": 2500,
+ "hi": 3000
+ },
+ "tungsten":
+ {
+ "lo": 3000,
+ "hi": 3500
+ },
+ "fluorescent":
+ {
+ "lo": 4000,
+ "hi": 4700
+ },
+ "indoor":
+ {
+ "lo": 3000,
+ "hi": 5000
+ },
+ "daylight":
+ {
+ "lo": 5500,
+ "hi": 6500
+ },
+ "cloudy":
+ {
+ "lo": 7000,
+ "hi": 8600
+ }
+ },
+ "bayes": 1,
+ "ct_curve":
+ [
+ 2500.0, 1.0289, 0.4503,
+ 2803.0, 0.9428, 0.5108,
+ 2914.0, 0.9406, 0.5127,
+ 3605.0, 0.8261, 0.6249,
+ 4540.0, 0.7331, 0.7533,
+ 5699.0, 0.6715, 0.8627,
+ 8625.0, 0.6081, 1.0012
+ ],
+ "sensitivity_r": 1.05,
+ "sensitivity_b": 1.05,
+ "transverse_pos": 0.0321,
+ "transverse_neg": 0.04313
+ }
+ },
+ {
+ "rpi.agc":
+ {
+ "metering_modes":
+ {
+ "centre-weighted":
+ {
+ "weights": [ 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ]
+ },
+ "spot":
+ {
+ "weights": [ 2, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
+ },
+ "matrix":
+ {
+ "weights": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ]
+ }
+ },
+ "exposure_modes":
+ {
+ "normal":
+ {
+ "shutter": [ 100, 10000, 30000, 60000, 66666 ],
+ "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ]
+ },
+ "short":
+ {
+ "shutter": [ 100, 5000, 10000, 20000, 33333 ],
+ "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ]
+ },
+ "long":
+ {
+ "shutter": [ 100, 10000, 30000, 60000, 120000 ],
+ "gain": [ 1.0, 2.0, 4.0, 6.0, 12.0 ]
+ }
+ },
+ "constraint_modes":
+ {
+ "normal": [
+ {
+ "bound": "LOWER",
+ "q_lo": 0.98,
+ "q_hi": 1.0,
+ "y_target":
+ [
+ 0, 0.5,
+ 1000, 0.5
+ ]
+ }
+ ],
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+ -0.02307, -0.83529, 1.85837
+ ]
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+ ]
+ }
+ },
+ {
+ "rpi.sharpen": { }
+ }
+ ]
+} \ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/ov5647_noir.json b/src/ipa/rpi/vc4/data/ov5647_noir.json
new file mode 100644
index 00000000..a6c6722f
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/ov5647_noir.json
@@ -0,0 +1,403 @@
+{
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+ "target": "bcm2835",
+ "algorithms": [
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+ }
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+ {
+ "rpi.dpc": { }
+ },
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+ "reference_gain": 1.0,
+ "reference_aperture": 1.0,
+ "reference_lux": 987,
+ "reference_Y": 8961
+ }
+ },
+ {
+ "rpi.noise":
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+ "reference_slope": 4.25
+ }
+ },
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+ "rpi.geq":
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+ "slope": 0.05619
+ }
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+ {
+ "rpi.sdn": { }
+ },
+ {
+ "rpi.awb":
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+ "bayes": 0
+ }
+ },
+ {
+ "rpi.agc":
+ {
+ "metering_modes":
+ {
+ "centre-weighted":
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+ },
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+ },
+ "matrix":
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+ }
+ },
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+ "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ]
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+ ]
+ }
+ ]
+ }
+ },
+ {
+ "rpi.sharpen": { }
+ }
+ ]
+} \ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/ov9281_mono.json b/src/ipa/rpi/vc4/data/ov9281_mono.json
new file mode 100644
index 00000000..37944c63
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/ov9281_mono.json
@@ -0,0 +1,123 @@
+{
+ "version": 2.0,
+ "target": "bcm2835",
+ "algorithms": [
+ {
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+ {
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+ }
+ },
+ {
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+ {
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+ "reference_gain": 1.0,
+ "reference_aperture": 1.0,
+ "reference_lux": 800,
+ "reference_Y": 20000
+ }
+ },
+ {
+ "rpi.noise":
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+ "reference_slope": 2.5
+ }
+ },
+ {
+ "rpi.sdn": { }
+ },
+ {
+ "rpi.agc":
+ {
+ "metering_modes":
+ {
+ "centre-weighted":
+ {
+ "weights": [ 4, 4, 4, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ]
+ }
+ },
+ "exposure_modes":
+ {
+ "normal":
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+ "gain": [ 1.0, 2.0, 3.0, 4.0, 8.0 ]
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+ "constraint_modes":
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+ 1000, 0.165,
+ 10000, 0.17
+ ]
+ }
+ },
+ {
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+ {
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+ "luminance_strength": 1.0,
+ "corner_strength": 1.5
+ }
+ },
+ {
+ "rpi.contrast":
+ {
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+ "gamma_curve":
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+ 2048, 9338,
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+} \ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/se327m12.json b/src/ipa/rpi/vc4/data/se327m12.json
new file mode 100644
index 00000000..ee69caea
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/se327m12.json
@@ -0,0 +1,418 @@
+{
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+ "target": "bcm2835",
+ "algorithms": [
+ {
+ "rpi.black_level":
+ {
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+ }
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+ {
+ "rpi.dpc": { }
+ },
+ {
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+ "reference_aperture": 1.0,
+ "reference_lux": 800,
+ "reference_Y": 12293
+ }
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+ "reference_slope": 1.986
+ }
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+ "slope": 0.00539
+ }
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+ {
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+ },
+ {
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+ {
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+ "prior":
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+ 3000, 0.0,
+ 13000, 0.0
+ ]
+ },
+ {
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+ "prior":
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+ 13000, 2.0
+ ]
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+ 4000, 1.0,
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+ 6500, 7.0,
+ 7000, 1.0,
+ 13000, 1.0
+ ]
+ }
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+ "hi": 8000
+ },
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+ "hi": 3000
+ },
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+ },
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+ },
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+ },
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+ "hi": 6500
+ },
+ "cloudy":
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+ "hi": 8600
+ }
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+ "bayes": 1,
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+ }
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+ {
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+ },
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+ },
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+ }
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+ "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ]
+ }
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+ 1000, 0.5
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+ 1000, 0.5
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+ ]
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+ ]
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+ {
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+ "ccm":
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+ -0.65839, 1.95441, -0.29602,
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+ ]
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+ ]
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+ }
+ },
+ {
+ "rpi.sharpen":
+ {
+ "threshold": 2.0,
+ "strength": 0.5,
+ "limit": 0.5
+ }
+ }
+ ]
+} \ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/uncalibrated.json b/src/ipa/rpi/vc4/data/uncalibrated.json
new file mode 100644
index 00000000..13eb3f17
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/uncalibrated.json
@@ -0,0 +1,118 @@
+{
+ "version": 2.0,
+ "target": "bcm2835",
+ "algorithms": [
+ {
+ "rpi.black_level":
+ {
+ "black_level": 4096
+ }
+ },
+ {
+ "rpi.awb":
+ {
+ "use_derivatives": 0,
+ "bayes": 0
+ }
+ },
+ {
+ "rpi.agc":
+ {
+ "metering_modes":
+ {
+ "centre-weighted":
+ {
+ "weights": [ 4, 4, 4, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ]
+ }
+ },
+ "exposure_modes":
+ {
+ "normal":
+ {
+ "shutter": [ 100, 15000, 30000, 60000, 120000 ],
+ "gain": [ 1.0, 2.0, 3.0, 4.0, 6.0 ]
+ }
+ },
+ "constraint_modes":
+ {
+ "normal": [
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+ ]
+ }
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+ },
+ "y_target":
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+ 1000, 0.165,
+ 10000, 0.17
+ ]
+ }
+ },
+ {
+ "rpi.ccm":
+ {
+ "ccms": [
+ {
+ "ct": 4000,
+ "ccm":
+ [
+ 2.0, -1.0, 0.0,
+ -0.5, 2.0, -0.5,
+ 0, -1.0, 2.0
+ ]
+ }
+ ]
+ }
+ },
+ {
+ "rpi.contrast":
+ {
+ "ce_enable": 0,
+ "gamma_curve":
+ [
+ 0, 0,
+ 1024, 5040,
+ 2048, 9338,
+ 3072, 12356,
+ 4096, 15312,
+ 5120, 18051,
+ 6144, 20790,
+ 7168, 23193,
+ 8192, 25744,
+ 9216, 27942,
+ 10240, 30035,
+ 11264, 32005,
+ 12288, 33975,
+ 13312, 35815,
+ 14336, 37600,
+ 15360, 39168,
+ 16384, 40642,
+ 18432, 43379,
+ 20480, 45749,
+ 22528, 47753,
+ 24576, 49621,
+ 26624, 51253,
+ 28672, 52698,
+ 30720, 53796,
+ 32768, 54876,
+ 36864, 57012,
+ 40960, 58656,
+ 45056, 59954,
+ 49152, 61183,
+ 53248, 62355,
+ 57344, 63419,
+ 61440, 64476,
+ 65535, 65535
+ ]
+ }
+ }
+ ]
+} \ No newline at end of file
diff --git a/src/ipa/rpi/vc4/meson.build b/src/ipa/rpi/vc4/meson.build
new file mode 100644
index 00000000..df01c150
--- /dev/null
+++ b/src/ipa/rpi/vc4/meson.build
@@ -0,0 +1,47 @@
+# SPDX-License-Identifier: CC0-1.0
+
+ipa_name = 'ipa_rpi_vc4'
+
+vc4_ipa_deps = [
+ libcamera_private,
+ libatomic,
+]
+
+vc4_ipa_libs = [
+ rpi_ipa_cam_helper_lib,
+ rpi_ipa_controller_lib
+]
+
+vc4_ipa_includes = [
+ ipa_includes,
+ libipa_includes,
+]
+
+vc4_ipa_sources = files([
+ 'raspberrypi.cpp',
+])
+
+vc4_ipa_includes += include_directories('..')
+
+mod = shared_module(ipa_name,
+ [vc4_ipa_sources, libcamera_generated_ipa_headers],
+ name_prefix : '',
+ include_directories : vc4_ipa_includes,
+ dependencies : vc4_ipa_deps,
+ link_with : libipa,
+ link_whole : vc4_ipa_libs,
+ install : true,
+ install_dir : ipa_install_dir)
+
+if ipa_sign_module
+ custom_target(ipa_name + '.so.sign',
+ input : mod,
+ output : ipa_name + '.so.sign',
+ command : [ipa_sign, ipa_priv_key, '@INPUT@', '@OUTPUT@'],
+ install : false,
+ build_by_default : true)
+endif
+
+subdir('data')
+
+ipa_names += ipa_name
diff --git a/src/ipa/rpi/vc4/raspberrypi.cpp b/src/ipa/rpi/vc4/raspberrypi.cpp
new file mode 100644
index 00000000..5d3bf4ca
--- /dev/null
+++ b/src/ipa/rpi/vc4/raspberrypi.cpp
@@ -0,0 +1,1853 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019-2021, Raspberry Pi Ltd
+ *
+ * rpi.cpp - Raspberry Pi Image Processing Algorithms
+ */
+
+#include <algorithm>
+#include <array>
+#include <cstring>
+#include <deque>
+#include <fcntl.h>
+#include <math.h>
+#include <stdint.h>
+#include <string.h>
+#include <sys/mman.h>
+#include <vector>
+
+#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/request.h>
+
+#include <libcamera/ipa/ipa_interface.h>
+#include <libcamera/ipa/ipa_module_info.h>
+#include <libcamera/ipa/raspberrypi_ipa_interface.h>
+
+#include "libcamera/internal/mapped_framebuffer.h"
+
+#include "cam_helper/cam_helper.h"
+#include "controller/af_algorithm.h"
+#include "controller/af_status.h"
+#include "controller/agc_algorithm.h"
+#include "controller/agc_status.h"
+#include "controller/alsc_status.h"
+#include "controller/awb_algorithm.h"
+#include "controller/awb_status.h"
+#include "controller/black_level_status.h"
+#include "controller/ccm_algorithm.h"
+#include "controller/ccm_status.h"
+#include "controller/contrast_algorithm.h"
+#include "controller/contrast_status.h"
+#include "controller/controller.h"
+#include "controller/denoise_algorithm.h"
+#include "controller/denoise_status.h"
+#include "controller/dpc_status.h"
+#include "controller/geq_status.h"
+#include "controller/lux_status.h"
+#include "controller/metadata.h"
+#include "controller/sharpen_algorithm.h"
+#include "controller/sharpen_status.h"
+#include "controller/statistics.h"
+
+namespace libcamera {
+
+using namespace std::literals::chrono_literals;
+using utils::Duration;
+
+/* Number of metadata objects available in the context list. */
+constexpr unsigned int numMetadataContexts = 16;
+
+/* Number of frame length times to hold in the queue. */
+constexpr unsigned int FrameLengthsQueueSize = 10;
+
+/* 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) }
+};
+
+/* IPA controls handled conditionally, if the lens has a focus control */
+static const ControlInfoMap::Map ipaAfControls{
+ { &controls::AfMode, ControlInfo(controls::AfModeValues) },
+ { &controls::AfRange, ControlInfo(controls::AfRangeValues) },
+ { &controls::AfSpeed, ControlInfo(controls::AfSpeedValues) },
+ { &controls::AfMetering, ControlInfo(controls::AfMeteringValues) },
+ { &controls::AfWindows, ControlInfo(Rectangle{}, Rectangle(65535, 65535, 65535, 65535), Rectangle{}) },
+ { &controls::AfTrigger, ControlInfo(controls::AfTriggerValues) },
+ { &controls::AfPause, ControlInfo(controls::AfPauseValues) },
+ { &controls::LensPosition, ControlInfo(0.0f, 32.0f, 1.0f) }
+};
+
+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),
+ lastTimeout_(0s)
+ {
+ }
+
+ ~IPARPi()
+ {
+ if (lsTable_)
+ munmap(lsTable_, MaxLsGridSize);
+ }
+
+ int init(const IPASettings &settings, bool lensPresent, IPAInitResult *result) override;
+ void start(const ControlList &controls, StartConfig *startConfig) override;
+ void stop() override {}
+
+ int configure(const IPACameraSensorInfo &sensorInfo, 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, uint32_t ipaContext) override;
+ void signalQueueRequest(const ControlList &controls) override;
+ void signalIspPrepare(const ISPConfig &data) override;
+
+private:
+ void setMode(const IPACameraSensorInfo &sensorInfo);
+ bool validateSensorControls();
+ bool validateIspControls();
+ bool validateLensControls();
+ void queueRequest(const ControlList &controls);
+ void returnEmbeddedBuffer(unsigned int bufferId);
+ void prepareISP(const ISPConfig &data);
+ void reportMetadata(unsigned int ipaContext);
+ void fillDeviceStatus(const ControlList &sensorControls, unsigned int ipaContext);
+ RPiController::StatisticsPtr fillStatistics(bcm2835_isp_stats *stats) const;
+ void processStats(unsigned int bufferId, unsigned int ipaContext);
+ void setCameraTimeoutValue();
+ 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 applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls);
+ void resampleTable(uint16_t dest[], const std::vector<double> &src, int destW, int destH);
+
+ std::map<unsigned int, MappedFrameBuffer> buffers_;
+
+ ControlInfoMap sensorCtrls_;
+ ControlInfoMap ispCtrls_;
+ ControlInfoMap lensCtrls_;
+ bool lensPresent_;
+ ControlList libcameraMetadata_;
+
+ /* Camera sensor params. */
+ CameraMode mode_;
+
+ /* Raspberry Pi controller specific defines. */
+ std::unique_ptr<RPiController::CamHelper> helper_;
+ RPiController::Controller controller_;
+ std::array<RPiController::Metadata, numMetadataContexts> 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_;
+
+ /* Track the frame length times over FrameLengthsQueueSize frames. */
+ std::deque<Duration> frameLengths_;
+ Duration lastTimeout_;
+};
+
+int IPARPi::init(const IPASettings &settings, bool lensPresent, 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, hblankDelay, sensorMetadata;
+ helper_->getDelays(exposureDelay, gainDelay, vblankDelay, hblankDelay);
+ sensorMetadata = helper_->sensorEmbeddedDataPresent();
+
+ result->sensorConfig.gainDelay = gainDelay;
+ result->sensorConfig.exposureDelay = exposureDelay;
+ result->sensorConfig.vblankDelay = vblankDelay;
+ result->sensorConfig.hblankDelay = hblankDelay;
+ result->sensorConfig.sensorMetadata = sensorMetadata;
+
+ /* Load the tuning file for this sensor. */
+ int ret = controller_.read(settings.configurationFile.c_str());
+ if (ret) {
+ LOG(IPARPI, Error)
+ << "Failed to load tuning data file "
+ << settings.configurationFile;
+ return ret;
+ }
+
+ const std::string &target = controller_.getTarget();
+ if (target != "bcm2835") {
+ LOG(IPARPI, Error)
+ << "Tuning data file target returned \"" << target << "\""
+ << ", expected \"bcm2835\"";
+ return -EINVAL;
+ }
+
+ lensPresent_ = lensPresent;
+
+ controller_.initialise();
+
+ /* Return the controls handled by the IPA */
+ ControlInfoMap::Map ctrlMap = ipaControls;
+ if (lensPresent_)
+ ctrlMap.merge(ControlInfoMap::Map(ipaAfControls));
+ 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);
+
+ /* Reset the frame lengths queue state. */
+ lastTimeout_ = 0s;
+ frameLengths_.clear();
+ frameLengths_.resize(FrameLengthsQueueSize, 0s);
+
+ /* SwitchMode may supply updated exposure/gain values to use. */
+ AgcStatus agcStatus;
+ agcStatus.shutterTime = 0.0s;
+ agcStatus.analogueGain = 0.0;
+
+ metadata.get("agc.status", agcStatus);
+ if (agcStatus.shutterTime && agcStatus.analogueGain) {
+ ControlList ctrls(sensorCtrls_);
+ applyAGC(&agcStatus, ctrls);
+ startConfig->controls = std::move(ctrls);
+ setCameraTimeoutValue();
+ }
+
+ /*
+ * 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_;
+
+ 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_.sensorWidth = sensorInfo.activeAreaSize.width;
+ mode_.sensorHeight = sensorInfo.activeAreaSize.height;
+ mode_.cropX = sensorInfo.analogCrop.x;
+ mode_.cropY = sensorInfo.analogCrop.y;
+ mode_.pixelRate = sensorInfo.pixelRate;
+
+ /*
+ * Calculate scaling parameters. The scale_[xy] factors are determined
+ * by the ratio between the crop rectangle size and the output size.
+ */
+ mode_.scaleX = sensorInfo.analogCrop.width / sensorInfo.outputSize.width;
+ mode_.scaleY = 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_.binX = std::min(2, static_cast<int>(mode_.scaleX));
+ mode_.binY = std::min(2, static_cast<int>(mode_.scaleY));
+
+ /* The noise factor is the square root of the total binning factor. */
+ mode_.noiseFactor = sqrt(mode_.binX * mode_.binY);
+
+ /*
+ * Calculate the line length as the ratio between the line length in
+ * pixels and the pixel rate.
+ */
+ mode_.minLineLength = sensorInfo.minLineLength * (1.0s / sensorInfo.pixelRate);
+ mode_.maxLineLength = sensorInfo.maxLineLength * (1.0s / sensorInfo.pixelRate);
+
+ /*
+ * Set the frame length limits for the mode to ensure exposure and
+ * framerate calculations are clipped appropriately.
+ */
+ mode_.minFrameLength = sensorInfo.minFrameLength;
+ mode_.maxFrameLength = sensorInfo.maxFrameLength;
+
+ /* Store these for convenience. */
+ mode_.minFrameDuration = mode_.minFrameLength * mode_.minLineLength;
+ mode_.maxFrameDuration = mode_.maxFrameLength * mode_.maxLineLength;
+
+ /*
+ * Some sensors may have different sensitivities in different modes;
+ * the CamHelper will know the correct value.
+ */
+ mode_.sensitivity = helper_->getModeSensitivity(mode_);
+
+ const ControlInfo &gainCtrl = sensorCtrls_.at(V4L2_CID_ANALOGUE_GAIN);
+ const ControlInfo &shutterCtrl = sensorCtrls_.at(V4L2_CID_EXPOSURE);
+
+ mode_.minAnalogueGain = helper_->gain(gainCtrl.min().get<int32_t>());
+ mode_.maxAnalogueGain = helper_->gain(gainCtrl.max().get<int32_t>());
+
+ /* Shutter speed is calculated based on the limits of the frame durations. */
+ mode_.minShutter = helper_->exposure(shutterCtrl.min().get<int32_t>(), mode_.minLineLength);
+ mode_.maxShutter = Duration::max();
+ helper_->getBlanking(mode_.maxShutter,
+ mode_.minFrameDuration, mode_.maxFrameDuration);
+}
+
+int IPARPi::configure(const IPACameraSensorInfo &sensorInfo, const IPAConfig &ipaConfig,
+ ControlList *controls, IPAConfigResult *result)
+{
+ sensorCtrls_ = ipaConfig.sensorControls;
+ ispCtrls_ = ipaConfig.ispControls;
+
+ if (!validateSensorControls()) {
+ LOG(IPARPI, Error) << "Sensor control validation failed.";
+ return -1;
+ }
+
+ if (!validateIspControls()) {
+ LOG(IPARPI, Error) << "ISP control validation failed.";
+ return -1;
+ }
+
+ if (lensPresent_) {
+ lensCtrls_ = ipaConfig.lensControls;
+ if (!validateLensControls()) {
+ LOG(IPARPI, Warning) << "Lens validation failed, "
+ << "no lens control will be available.";
+ lensPresent_ = false;
+ }
+ }
+
+ /* 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.shutterTime = defaultExposureTime;
+ agcStatus.analogueGain = 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;
+ ctrlMap[&controls::FrameDurationLimits] =
+ ControlInfo(static_cast<int64_t>(mode_.minFrameDuration.get<std::micro>()),
+ static_cast<int64_t>(mode_.maxFrameDuration.get<std::micro>()));
+
+ ctrlMap[&controls::AnalogueGain] =
+ ControlInfo(static_cast<float>(mode_.minAnalogueGain),
+ static_cast<float>(mode_.maxAnalogueGain));
+
+ ctrlMap[&controls::ExposureTime] =
+ ControlInfo(static_cast<int32_t>(mode_.minShutter.get<std::micro>()),
+ static_cast<int32_t>(mode_.maxShutter.get<std::micro>()));
+
+ /* Declare Autofocus controls, only if we have a controllable lens */
+ if (lensPresent_)
+ ctrlMap.merge(ControlInfoMap::Map(ipaAfControls));
+
+ 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, uint32_t ipaContext)
+{
+ unsigned int context = ipaContext % rpiMetadata_.size();
+
+ if (++checkCount_ != frameCount_) /* assert here? */
+ LOG(IPARPI, Error) << "WARNING: Prepare/Process mismatch!!!";
+ if (processPending_ && frameCount_ > mistrustCount_)
+ processStats(bufferId, context);
+
+ reportMetadata(context);
+
+ statsMetadataComplete.emit(bufferId, 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);
+}
+
+void IPARPi::reportMetadata(unsigned int ipaContext)
+{
+ RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext];
+ 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->shutterSpeed.get<std::micro>());
+ libcameraMetadata_.set(controls::AnalogueGain, deviceStatus->analogueGain);
+ libcameraMetadata_.set(controls::FrameDuration,
+ helper_->exposure(deviceStatus->frameLength, deviceStatus->lineLength).get<std::micro>());
+ if (deviceStatus->sensorTemperature)
+ libcameraMetadata_.set(controls::SensorTemperature, *deviceStatus->sensorTemperature);
+ if (deviceStatus->lensPosition)
+ libcameraMetadata_.set(controls::LensPosition, *deviceStatus->lensPosition);
+ }
+
+ AgcStatus *agcStatus = rpiMetadata.getLocked<AgcStatus>("agc.status");
+ if (agcStatus) {
+ libcameraMetadata_.set(controls::AeLocked, agcStatus->locked);
+ libcameraMetadata_.set(controls::DigitalGain, agcStatus->digitalGain);
+ }
+
+ 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->gainR),
+ static_cast<float>(awbStatus->gainB) });
+ libcameraMetadata_.set(controls::ColourTemperature, awbStatus->temperatureK);
+ }
+
+ BlackLevelStatus *blackLevelStatus = rpiMetadata.getLocked<BlackLevelStatus>("black_level.status");
+ if (blackLevelStatus)
+ libcameraMetadata_.set(controls::SensorBlackLevels,
+ { static_cast<int32_t>(blackLevelStatus->blackLevelR),
+ static_cast<int32_t>(blackLevelStatus->blackLevelG),
+ static_cast<int32_t>(blackLevelStatus->blackLevelG),
+ static_cast<int32_t>(blackLevelStatus->blackLevelB) });
+
+ RPiController::FocusRegions *focusStatus =
+ rpiMetadata.getLocked<RPiController::FocusRegions>("focus.status");
+ if (focusStatus) {
+ /*
+ * Calculate the average FoM over the central (symmetric) positions
+ * to give an overall scene FoM. This can change later if it is
+ * not deemed suitable.
+ */
+ libcamera::Size size = focusStatus->size();
+ unsigned rows = size.height;
+ unsigned cols = size.width;
+
+ uint64_t sum = 0;
+ unsigned int numRegions = 0;
+ for (unsigned r = rows / 3; r < rows - rows / 3; ++r) {
+ for (unsigned c = cols / 4; c < cols - cols / 4; ++c) {
+ sum += focusStatus->get({ (int)c, (int)r }).val;
+ numRegions++;
+ }
+ }
+
+ uint32_t focusFoM = (sum / numRegions) >> 16;
+ 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);
+ }
+
+ const AfStatus *afStatus = rpiMetadata.getLocked<AfStatus>("af.status");
+ if (afStatus) {
+ int32_t s, p;
+ switch (afStatus->state) {
+ case AfState::Scanning:
+ s = controls::AfStateScanning;
+ break;
+ case AfState::Focused:
+ s = controls::AfStateFocused;
+ break;
+ case AfState::Failed:
+ s = controls::AfStateFailed;
+ break;
+ default:
+ s = controls::AfStateIdle;
+ }
+ switch (afStatus->pauseState) {
+ case AfPauseState::Pausing:
+ p = controls::AfPauseStatePausing;
+ break;
+ case AfPauseState::Paused:
+ p = controls::AfPauseStatePaused;
+ break;
+ default:
+ p = controls::AfPauseStateRunning;
+ }
+ libcameraMetadata_.set(controls::AfState, s);
+ libcameraMetadata_.set(controls::AfPauseState, p);
+ }
+}
+
+bool IPARPi::validateSensorControls()
+{
+ static const uint32_t ctrls[] = {
+ V4L2_CID_ANALOGUE_GAIN,
+ V4L2_CID_EXPOSURE,
+ V4L2_CID_VBLANK,
+ V4L2_CID_HBLANK,
+ };
+
+ 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;
+}
+
+bool IPARPi::validateLensControls()
+{
+ if (lensCtrls_.find(V4L2_CID_FOCUS_ABSOLUTE) == lensCtrls_.end()) {
+ LOG(IPARPI, Error) << "Unable to find Lens control V4L2_CID_FOCUS_ABSOLUTE";
+ 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::ConstraintShadows, "shadows" },
+ { 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 },
+};
+
+static const std::map<int32_t, RPiController::AfAlgorithm::AfMode> AfModeTable = {
+ { controls::AfModeManual, RPiController::AfAlgorithm::AfModeManual },
+ { controls::AfModeAuto, RPiController::AfAlgorithm::AfModeAuto },
+ { controls::AfModeContinuous, RPiController::AfAlgorithm::AfModeContinuous },
+};
+
+static const std::map<int32_t, RPiController::AfAlgorithm::AfRange> AfRangeTable = {
+ { controls::AfRangeNormal, RPiController::AfAlgorithm::AfRangeNormal },
+ { controls::AfRangeMacro, RPiController::AfAlgorithm::AfRangeMacro },
+ { controls::AfRangeFull, RPiController::AfAlgorithm::AfRangeFull },
+};
+
+static const std::map<int32_t, RPiController::AfAlgorithm::AfPause> AfPauseTable = {
+ { controls::AfPauseImmediate, RPiController::AfAlgorithm::AfPauseImmediate },
+ { controls::AfPauseDeferred, RPiController::AfAlgorithm::AfPauseDeferred },
+ { controls::AfPauseResume, RPiController::AfAlgorithm::AfPauseResume },
+};
+
+void IPARPi::queueRequest(const ControlList &controls)
+{
+ using RPiController::AfAlgorithm;
+
+ /* Clear the return metadata buffer. */
+ libcameraMetadata_.clear();
+
+ /* Because some AF controls are mode-specific, handle AF mode change first. */
+ if (controls.contains(controls::AF_MODE)) {
+ AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af"));
+ if (!af) {
+ LOG(IPARPI, Warning)
+ << "Could not set AF_MODE - no AF algorithm";
+ }
+
+ int32_t idx = controls.get(controls::AF_MODE).get<int32_t>();
+ auto mode = AfModeTable.find(idx);
+ if (mode == AfModeTable.end()) {
+ LOG(IPARPI, Error) << "AF mode " << idx
+ << " not recognised";
+ } else
+ af->setMode(mode->second);
+ }
+
+ /* Iterate over controls */
+ 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::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>(
+ controller_.getAlgorithm("agc"));
+ if (!agc) {
+ LOG(IPARPI, Warning)
+ << "Could not set AE_ENABLE - no AGC algorithm";
+ break;
+ }
+
+ if (ctrl.second.get<bool>() == false)
+ agc->disableAuto();
+ else
+ agc->enableAuto();
+
+ 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::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>(
+ controller_.getAlgorithm("awb"));
+ if (!awb) {
+ LOG(IPARPI, Warning)
+ << "Could not set AWB_ENABLE - no AWB algorithm";
+ break;
+ }
+
+ if (ctrl.second.get<bool>() == false)
+ awb->disableAuto();
+ else
+ awb->enableAuto();
+
+ 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;
+ }
+
+ case controls::AF_MODE:
+ break; /* We already handled this one above */
+
+ case controls::AF_RANGE: {
+ AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af"));
+ if (!af) {
+ LOG(IPARPI, Warning)
+ << "Could not set AF_RANGE - no focus algorithm";
+ break;
+ }
+
+ auto range = AfRangeTable.find(ctrl.second.get<int32_t>());
+ if (range == AfRangeTable.end()) {
+ LOG(IPARPI, Error) << "AF range " << ctrl.second.get<int32_t>()
+ << " not recognised";
+ break;
+ }
+ af->setRange(range->second);
+ break;
+ }
+
+ case controls::AF_SPEED: {
+ AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af"));
+ if (!af) {
+ LOG(IPARPI, Warning)
+ << "Could not set AF_SPEED - no focus algorithm";
+ break;
+ }
+
+ AfAlgorithm::AfSpeed speed = ctrl.second.get<int32_t>() == controls::AfSpeedFast ?
+ AfAlgorithm::AfSpeedFast : AfAlgorithm::AfSpeedNormal;
+ af->setSpeed(speed);
+ break;
+ }
+
+ case controls::AF_METERING: {
+ AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af"));
+ if (!af) {
+ LOG(IPARPI, Warning)
+ << "Could not set AF_METERING - no AF algorithm";
+ break;
+ }
+ af->setMetering(ctrl.second.get<int32_t>() == controls::AfMeteringWindows);
+ break;
+ }
+
+ case controls::AF_WINDOWS: {
+ AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af"));
+ if (!af) {
+ LOG(IPARPI, Warning)
+ << "Could not set AF_WINDOWS - no AF algorithm";
+ break;
+ }
+ af->setWindows(ctrl.second.get<Span<const Rectangle>>());
+ break;
+ }
+
+ case controls::AF_PAUSE: {
+ AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af"));
+ if (!af || af->getMode() != AfAlgorithm::AfModeContinuous) {
+ LOG(IPARPI, Warning)
+ << "Could not set AF_PAUSE - no AF algorithm or not Continuous";
+ break;
+ }
+ auto pause = AfPauseTable.find(ctrl.second.get<int32_t>());
+ if (pause == AfPauseTable.end()) {
+ LOG(IPARPI, Error) << "AF pause " << ctrl.second.get<int32_t>()
+ << " not recognised";
+ break;
+ }
+ af->pause(pause->second);
+ break;
+ }
+
+ case controls::AF_TRIGGER: {
+ AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af"));
+ if (!af || af->getMode() != AfAlgorithm::AfModeAuto) {
+ LOG(IPARPI, Warning)
+ << "Could not set AF_TRIGGER - no AF algorithm or not Auto";
+ break;
+ } else {
+ if (ctrl.second.get<int32_t>() == controls::AfTriggerStart)
+ af->triggerScan();
+ else
+ af->cancelScan();
+ }
+ break;
+ }
+
+ case controls::LENS_POSITION: {
+ AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af"));
+ if (af) {
+ int32_t hwpos;
+ if (af->setLensPosition(ctrl.second.get<float>(), &hwpos)) {
+ ControlList lensCtrls(lensCtrls_);
+ lensCtrls.set(V4L2_CID_FOCUS_ABSOLUTE, hwpos);
+ setLensControls.emit(lensCtrls);
+ }
+ } else {
+ LOG(IPARPI, Warning)
+ << "Could not set LENS_POSITION - no AF algorithm";
+ }
+ 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);
+}
+
+void IPARPi::prepareISP(const ISPConfig &data)
+{
+ int64_t frameTimestamp = data.controls.get(controls::SensorTimestamp).value_or(0);
+ unsigned int ipaContext = data.ipaContext % rpiMetadata_.size();
+ RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext];
+ Span<uint8_t> embeddedBuffer;
+
+ rpiMetadata.clear();
+ fillDeviceStatus(data.controls, ipaContext);
+
+ 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];
+ }
+
+ /*
+ * AGC wants to know the algorithm status from the time it actioned the
+ * sensor exposure/gain changes. So fetch it from the metadata list
+ * indexed by the IPA cookie returned, and put it in the current frame
+ * metadata.
+ */
+ AgcStatus agcStatus;
+ RPiController::Metadata &delayedMetadata = rpiMetadata_[data.delayContext];
+ if (!delayedMetadata.get<AgcStatus>("agc.status", agcStatus))
+ rpiMetadata.set("agc.delayed_status", agcStatus);
+
+ /*
+ * 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().
+ */
+ RPiController::Metadata &lastMetadata =
+ rpiMetadata_[(ipaContext ? ipaContext : rpiMetadata_.size()) - 1];
+ rpiMetadata.mergeCopy(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);
+
+ const AfStatus *afStatus = rpiMetadata.getLocked<AfStatus>("af.status");
+ if (afStatus) {
+ ControlList lensctrls(lensCtrls_);
+ applyAF(afStatus, lensctrls);
+ if (!lensctrls.empty())
+ setLensControls.emit(lensctrls);
+ }
+
+ if (!ctrls.empty())
+ setIspControls.emit(ctrls);
+}
+
+void IPARPi::fillDeviceStatus(const ControlList &sensorControls, unsigned int ipaContext)
+{
+ 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>();
+ int32_t hblank = sensorControls.get(V4L2_CID_HBLANK).get<int32_t>();
+
+ deviceStatus.lineLength = helper_->hblankToLineLength(hblank);
+ deviceStatus.shutterSpeed = helper_->exposure(exposureLines, deviceStatus.lineLength);
+ deviceStatus.analogueGain = helper_->gain(gainCode);
+ deviceStatus.frameLength = mode_.height + vblank;
+
+ RPiController::AfAlgorithm *af = dynamic_cast<RPiController::AfAlgorithm *>(
+ controller_.getAlgorithm("af"));
+ if (af)
+ deviceStatus.lensPosition = af->getLensPosition();
+
+ LOG(IPARPI, Debug) << "Metadata - " << deviceStatus;
+
+ rpiMetadata_[ipaContext].set("device.status", deviceStatus);
+}
+
+RPiController::StatisticsPtr IPARPi::fillStatistics(bcm2835_isp_stats *stats) const
+{
+ using namespace RPiController;
+
+ const Controller::HardwareConfig &hw = controller_.getHardwareConfig();
+ unsigned int i;
+ StatisticsPtr statistics =
+ std::make_unique<Statistics>(Statistics::AgcStatsPos::PreWb, Statistics::ColourStatsPos::PostLsc);
+
+ /* RGB histograms are not used, so do not populate them. */
+ statistics->yHist = RPiController::Histogram(stats->hist[0].g_hist,
+ hw.numHistogramBins);
+
+ /* All region sums are based on a 16-bit normalised pipeline bit-depth. */
+ unsigned int scale = Statistics::NormalisationFactorPow2 - hw.pipelineWidth;
+
+ statistics->awbRegions.init(hw.awbRegions);
+ for (i = 0; i < statistics->awbRegions.numRegions(); i++)
+ statistics->awbRegions.set(i, { { stats->awb_stats[i].r_sum << scale,
+ stats->awb_stats[i].g_sum << scale,
+ stats->awb_stats[i].b_sum << scale },
+ stats->awb_stats[i].counted,
+ stats->awb_stats[i].notcounted });
+
+ statistics->agcRegions.init(hw.agcRegions);
+ for (i = 0; i < statistics->agcRegions.numRegions(); i++)
+ statistics->agcRegions.set(i, { { stats->agc_stats[i].r_sum << scale,
+ stats->agc_stats[i].g_sum << scale,
+ stats->agc_stats[i].b_sum << scale },
+ stats->agc_stats[i].counted,
+ stats->awb_stats[i].notcounted });
+
+ statistics->focusRegions.init(hw.focusRegions);
+ for (i = 0; i < statistics->focusRegions.numRegions(); i++)
+ statistics->focusRegions.set(i, { stats->focus_stats[i].contrast_val[1][1] / 1000,
+ stats->focus_stats[i].contrast_val_num[1][1],
+ stats->focus_stats[i].contrast_val_num[1][0] });
+ return statistics;
+}
+
+void IPARPi::processStats(unsigned int bufferId, unsigned int ipaContext)
+{
+ RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext];
+
+ 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 = fillStatistics(stats);
+
+ /* Save the focus stats in the metadata structure to report out later. */
+ rpiMetadata_[ipaContext].set("focus.status", statistics->focusRegions);
+
+ 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, ipaContext);
+ setCameraTimeoutValue();
+ }
+}
+
+void IPARPi::setCameraTimeoutValue()
+{
+ /*
+ * Take the maximum value of the exposure queue as the camera timeout
+ * value to pass back to the pipeline handler. Only signal if it has changed
+ * from the last set value.
+ */
+ auto max = std::max_element(frameLengths_.begin(), frameLengths_.end());
+
+ if (*max != lastTimeout_) {
+ setCameraTimeout.emit(max->get<std::milli>());
+ lastTimeout_ = *max;
+ }
+}
+
+void IPARPi::applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls)
+{
+ LOG(IPARPI, Debug) << "Applying WB R: " << awbStatus->gainR << " B: "
+ << awbStatus->gainB;
+
+ ctrls.set(V4L2_CID_RED_BALANCE,
+ static_cast<int32_t>(awbStatus->gainR * 1000));
+ ctrls.set(V4L2_CID_BLUE_BALANCE,
+ static_cast<int32_t>(awbStatus->gainB * 1000));
+}
+
+void IPARPi::applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration)
+{
+ /*
+ * 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 : defaultMinFrameDuration;
+ maxFrameDuration_ = maxFrameDuration ? maxFrameDuration : defaultMaxFrameDuration;
+ minFrameDuration_ = std::clamp(minFrameDuration_,
+ mode_.minFrameDuration, mode_.maxFrameDuration);
+ maxFrameDuration_ = std::clamp(maxFrameDuration_,
+ mode_.minFrameDuration, mode_.maxFrameDuration);
+ 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.
+ * getBlanking() will update maxShutter with the largest exposure
+ * value possible.
+ */
+ Duration maxShutter = Duration::max();
+ helper_->getBlanking(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)
+{
+ const int32_t minGainCode = helper_->gainCode(mode_.minAnalogueGain);
+ const int32_t maxGainCode = helper_->gainCode(mode_.maxAnalogueGain);
+ int32_t gainCode = helper_->gainCode(agcStatus->analogueGain);
+
+ /*
+ * 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::clamp<int32_t>(gainCode, minGainCode, maxGainCode);
+
+ /* getBlanking might clip exposure time to the fps limits. */
+ Duration exposure = agcStatus->shutterTime;
+ auto [vblank, hblank] = helper_->getBlanking(exposure, minFrameDuration_, maxFrameDuration_);
+ int32_t exposureLines = helper_->exposureLines(exposure,
+ helper_->hblankToLineLength(hblank));
+
+ LOG(IPARPI, Debug) << "Applying AGC Exposure: " << exposure
+ << " (Shutter lines: " << exposureLines << ", AGC requested "
+ << agcStatus->shutterTime << ") Gain: "
+ << agcStatus->analogueGain << " (Gain Code: "
+ << gainCode << ")";
+
+ ctrls.set(V4L2_CID_VBLANK, static_cast<int32_t>(vblank));
+ ctrls.set(V4L2_CID_EXPOSURE, exposureLines);
+ ctrls.set(V4L2_CID_ANALOGUE_GAIN, gainCode);
+
+ /*
+ * At present, there is no way of knowing if a control is read-only.
+ * As a workaround, assume that if the minimum and maximum values of
+ * the V4L2_CID_HBLANK control are the same, it implies the control
+ * is read-only. This seems to be the case for all the cameras our IPA
+ * works with.
+ *
+ * \todo The control API ought to have a flag to specify if a control
+ * is read-only which could be used below.
+ */
+ if (mode_.minLineLength != mode_.maxLineLength)
+ ctrls.set(V4L2_CID_HBLANK, static_cast<int32_t>(hblank));
+
+ /*
+ * Store the frame length times in a circular queue, up-to FrameLengthsQueueSize
+ * elements. This will be used to advertise a camera timeout value to the
+ * pipeline handler.
+ */
+ frameLengths_.pop_front();
+ frameLengths_.push_back(helper_->exposure(vblank + mode_.height,
+ helper_->hblankToLineLength(hblank)));
+}
+
+void IPARPi::applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls)
+{
+ ctrls.set(V4L2_CID_DIGITAL_GAIN,
+ static_cast<int32_t>(dgStatus->digitalGain * 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)
+{
+ const unsigned int numGammaPoints = controller_.getHardwareConfig().numGammaPoints;
+ struct bcm2835_isp_gamma gamma;
+
+ for (unsigned int i = 0; i < numGammaPoints - 1; i++) {
+ int x = i < 16 ? i * 1024
+ : (i < 24 ? (i - 16) * 2048 + 16384
+ : (i - 24) * 4096 + 32768);
+ gamma.x[i] = x;
+ gamma.y[i] = std::min<uint16_t>(65535, contrastStatus->gammaCurve.eval(x));
+ }
+
+ gamma.x[numGammaPoints - 1] = 65535;
+ gamma.y[numGammaPoints - 1] = 65535;
+ gamma.enabled = 1;
+
+ 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->blackLevelR;
+ blackLevel.black_level_g = blackLevelStatus->blackLevelG;
+ blackLevel.black_level_b = blackLevelStatus->blackLevelB;
+
+ 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->noiseConstant;
+ denoise.slope.num = 1000 * denoiseStatus->noiseSlope;
+ 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);
+}
+
+void IPARPi::applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls)
+{
+ if (afStatus->lensSetting) {
+ ControlValue v(afStatus->lensSetting.value());
+ lensCtrls.set(V4L2_CID_FOCUS_ABSOLUTE, v);
+ }
+}
+
+/*
+ * Resamples a 16x12 table with central sampling to destW x destH with corner
+ * sampling.
+ */
+void IPARPi::resampleTable(uint16_t dest[], const std::vector<double> &src,
+ 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.data() + yLo * 16;
+ double const *rowBelow = src.data() + yHi * 16;
+ 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",
+ "rpi/vc4",
+};
+
+IPAInterface *ipaCreate()
+{
+ return new ipa::RPi::IPARPi();
+}
+
+} /* extern "C" */
+
+} /* namespace libcamera */