diff options
Diffstat (limited to 'src/ipa')
223 files changed, 9829 insertions, 4445 deletions
diff --git a/src/ipa/ipa-sign-install.sh b/src/ipa/ipa-sign-install.sh index bcedb8b5..71696d5a 100755 --- a/src/ipa/ipa-sign-install.sh +++ b/src/ipa/ipa-sign-install.sh @@ -4,7 +4,7 @@ # # Author: Laurent Pinchart <laurent.pinchart@ideasonboard.com> # -# ipa-sign-install.sh - Regenerate IPA module signatures when installing +# Regenerate IPA module signatures when installing key=$1 shift diff --git a/src/ipa/ipa-sign.sh b/src/ipa/ipa-sign.sh index 8673dad1..69024213 100755 --- a/src/ipa/ipa-sign.sh +++ b/src/ipa/ipa-sign.sh @@ -4,7 +4,7 @@ # # Author: Laurent Pinchart <laurent.pinchart@ideasonboard.com> # -# ipa-sign.sh - Generate a signature for an IPA module +# Generate a signature for an IPA module key="$1" input="$2" diff --git a/src/ipa/ipu3/algorithms/af.cpp b/src/ipa/ipu3/algorithms/af.cpp index 12927eec..cf68fb59 100644 --- a/src/ipa/ipu3/algorithms/af.cpp +++ b/src/ipa/ipu3/algorithms/af.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Red Hat * - * af.cpp - IPU3 auto focus algorithm + * IPU3 auto focus algorithm */ #include "af.h" @@ -11,7 +11,6 @@ #include <chrono> #include <cmath> #include <fcntl.h> -#include <numeric> #include <sys/ioctl.h> #include <sys/stat.h> #include <sys/types.h> @@ -23,8 +22,6 @@ #include <libcamera/ipa/core_ipa_interface.h> -#include "libipa/histogram.h" - /** * \file af.h */ diff --git a/src/ipa/ipu3/algorithms/af.h b/src/ipa/ipu3/algorithms/af.h index c6168e30..68126d46 100644 --- a/src/ipa/ipu3/algorithms/af.h +++ b/src/ipa/ipu3/algorithms/af.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Red Hat * - * af.h - IPU3 Af algorithm + * IPU3 Af algorithm */ #pragma once diff --git a/src/ipa/ipu3/algorithms/agc.cpp b/src/ipa/ipu3/algorithms/agc.cpp index 606a237a..c5f3d8f0 100644 --- a/src/ipa/ipu3/algorithms/agc.cpp +++ b/src/ipa/ipu3/algorithms/agc.cpp @@ -2,19 +2,19 @@ /* * Copyright (C) 2021, Ideas On Board * - * ipu3_agc.cpp - AGC/AEC mean-based control algorithm + * AGC/AEC mean-based control algorithm */ #include "agc.h" #include <algorithm> #include <chrono> -#include <cmath> #include <libcamera/base/log.h> #include <libcamera/base/utils.h> #include <libcamera/control_ids.h> + #include <libcamera/ipa/core_ipa_interface.h> #include "libipa/histogram.h" @@ -56,24 +56,32 @@ static constexpr utils::Duration kMaxShutterSpeed = 60ms; /* Histogram constants */ static constexpr uint32_t knumHistogramBins = 256; -/* Target value to reach for the top 2% of the histogram */ -static constexpr double kEvGainTarget = 0.5; - -/* Number of frames to wait before calculating stats on minimum exposure */ -static constexpr uint32_t kNumStartupFrames = 10; +Agc::Agc() + : minShutterSpeed_(0s), maxShutterSpeed_(0s) +{ +} -/* - * Relative luminance target. +/** + * \brief Initialise the AGC algorithm from tuning files + * \param[in] context The shared IPA context + * \param[in] tuningData The YamlObject containing Agc tuning data + * + * This function calls the base class' tuningData parsers to discover which + * control values are supported. * - * It's a number that's chosen so that, when the camera points at a grey - * target, the resulting image brightness is considered right. + * \return 0 on success or errors from the base class */ -static constexpr double kRelativeLuminanceTarget = 0.16; - -Agc::Agc() - : frameCount_(0), minShutterSpeed_(0s), - maxShutterSpeed_(0s), filteredExposure_(0s) +int Agc::init(IPAContext &context, const YamlObject &tuningData) { + int ret; + + ret = parseTuningData(tuningData); + if (ret) + return ret; + + context.ctrlMap.merge(controls()); + + return 0; } /** @@ -90,6 +98,7 @@ int Agc::configure(IPAContext &context, IPAActiveState &activeState = context.activeState; stride_ = configuration.grid.stride; + bdsGrid_ = configuration.grid.bdsGrid; minShutterSpeed_ = configuration.agc.minShutterSpeed; maxShutterSpeed_ = std::min(configuration.agc.maxShutterSpeed, @@ -102,168 +111,53 @@ int Agc::configure(IPAContext &context, activeState.agc.gain = minAnalogueGain_; activeState.agc.exposure = 10ms / configuration.sensor.lineDuration; - frameCount_ = 0; + context.activeState.agc.constraintMode = constraintModes().begin()->first; + context.activeState.agc.exposureMode = exposureModeHelpers().begin()->first; + + /* \todo Run this again when FrameDurationLimits is passed in */ + setLimits(minShutterSpeed_, maxShutterSpeed_, minAnalogueGain_, + maxAnalogueGain_); + resetFrameCount(); + return 0; } -/** - * \brief Estimate the mean value of the top 2% of the histogram - * \param[in] stats The statistics computed by the ImgU - * \param[in] grid The grid used to store the statistics in the IPU3 - * \return The mean value of the top 2% of the histogram - */ -double Agc::measureBrightness(const ipu3_uapi_stats_3a *stats, - const ipu3_uapi_grid_config &grid) const +Histogram Agc::parseStatistics(const ipu3_uapi_stats_3a *stats, + const ipu3_uapi_grid_config &grid) { - /* Initialise the histogram array */ uint32_t hist[knumHistogramBins] = { 0 }; + rgbTriples_.clear(); + for (unsigned int cellY = 0; cellY < grid.height; cellY++) { for (unsigned int cellX = 0; cellX < grid.width; cellX++) { uint32_t cellPosition = cellY * stride_ + cellX; const ipu3_uapi_awb_set_item *cell = reinterpret_cast<const ipu3_uapi_awb_set_item *>( - &stats->awb_raw_buffer.meta_data[cellPosition] - ); + &stats->awb_raw_buffer.meta_data[cellPosition]); + + rgbTriples_.push_back({ + cell->R_avg, + (cell->Gr_avg + cell->Gb_avg) / 2, + cell->B_avg + }); - uint8_t gr = cell->Gr_avg; - uint8_t gb = cell->Gb_avg; /* * Store the average green value to estimate the * brightness. Even the overexposed pixels are * taken into account. */ - hist[(gr + gb) / 2]++; + hist[(cell->Gr_avg + cell->Gb_avg) / 2]++; } } - /* Estimate the quantile mean of the top 2% of the histogram. */ - return Histogram(Span<uint32_t>(hist)).interQuantileMean(0.98, 1.0); -} - -/** - * \brief Apply a filter on the exposure value to limit the speed of changes - * \param[in] exposureValue The target exposure from the AGC algorithm - * - * The speed of the filter is adaptive, and will produce the target quicker - * during startup, or when the target exposure is within 20% of the most recent - * filter output. - * - * \return The filtered exposure - */ -utils::Duration Agc::filterExposure(utils::Duration exposureValue) -{ - double speed = 0.2; - - /* Adapt instantly if we are in startup phase. */ - if (frameCount_ < kNumStartupFrames) - speed = 1.0; - - /* - * If we are close to the desired result, go faster to avoid making - * multiple micro-adjustments. - * \todo Make this customisable? - */ - if (filteredExposure_ < 1.2 * exposureValue && - filteredExposure_ > 0.8 * exposureValue) - speed = sqrt(speed); - - filteredExposure_ = speed * exposureValue + - filteredExposure_ * (1.0 - speed); - - LOG(IPU3Agc, Debug) << "After filtering, exposure " << filteredExposure_; - - return filteredExposure_; -} - -/** - * \brief Estimate the new exposure and gain values - * \param[inout] frameContext The shared IPA frame Context - * \param[in] yGain The gain calculated based on the relative luminance target - * \param[in] iqMeanGain The gain calculated based on the relative luminance target - */ -void Agc::computeExposure(IPAContext &context, IPAFrameContext &frameContext, - double yGain, double iqMeanGain) -{ - const IPASessionConfiguration &configuration = context.configuration; - /* Get the effective exposure and gain applied on the sensor. */ - uint32_t exposure = frameContext.sensor.exposure; - double analogueGain = frameContext.sensor.gain; - - /* Use the highest of the two gain estimates. */ - double evGain = std::max(yGain, iqMeanGain); - - /* Consider within 1% of the target as correctly exposed */ - if (utils::abs_diff(evGain, 1.0) < 0.01) - LOG(IPU3Agc, Debug) << "We are well exposed (evGain = " - << evGain << ")"; - - /* extracted from Rpi::Agc::computeTargetExposure */ - - /* Calculate the shutter time in seconds */ - utils::Duration currentShutter = exposure * configuration.sensor.lineDuration; - - /* - * Update the exposure value for the next computation using the values - * of exposure and gain really used by the sensor. - */ - utils::Duration effectiveExposureValue = currentShutter * analogueGain; - - LOG(IPU3Agc, Debug) << "Actual total exposure " << currentShutter * analogueGain - << " Shutter speed " << currentShutter - << " Gain " << analogueGain - << " Needed ev gain " << evGain; - - /* - * Calculate the current exposure value for the scene as the latest - * exposure value applied multiplied by the new estimated gain. - */ - utils::Duration exposureValue = effectiveExposureValue * evGain; - - /* Clamp the exposure value to the min and max authorized */ - utils::Duration maxTotalExposure = maxShutterSpeed_ * maxAnalogueGain_; - exposureValue = std::min(exposureValue, maxTotalExposure); - LOG(IPU3Agc, Debug) << "Target total exposure " << exposureValue - << ", maximum is " << maxTotalExposure; - - /* - * Filter the exposure. - * \todo estimate if we need to desaturate - */ - exposureValue = filterExposure(exposureValue); - - /* - * Divide the exposure value as new exposure and gain values. - * - * Push the shutter time up to the maximum first, and only then - * increase the gain. - */ - utils::Duration shutterTime = - std::clamp<utils::Duration>(exposureValue / minAnalogueGain_, - minShutterSpeed_, maxShutterSpeed_); - double stepGain = std::clamp(exposureValue / shutterTime, - minAnalogueGain_, maxAnalogueGain_); - LOG(IPU3Agc, Debug) << "Divided up shutter and gain are " - << shutterTime << " and " - << stepGain; - - IPAActiveState &activeState = context.activeState; - /* Update the estimated exposure and gain. */ - activeState.agc.exposure = shutterTime / configuration.sensor.lineDuration; - activeState.agc.gain = stepGain; + return Histogram(Span<uint32_t>(hist)); } /** * \brief Estimate the relative luminance of the frame with a given gain - * \param[in] frameContext The shared IPA frame context - * \param[in] grid The grid used to store the statistics in the IPU3 - * \param[in] stats The IPU3 statistics and ISP results - * \param[in] gain The gain to apply to the frame - * \return The relative luminance - * - * This function estimates the average relative luminance of the frame that - * would be output by the sensor if an additional \a gain was applied. + * \param[in] gain The gain to apply in estimating luminance * * The estimation is based on the AWB statistics for the current frame. Red, * green and blue averages for all cells are first multiplied by the gain, and @@ -278,40 +172,24 @@ void Agc::computeExposure(IPAContext &context, IPAFrameContext &frameContext, * * More detailed information can be found in: * https://en.wikipedia.org/wiki/Relative_luminance + * + * \return The relative luminance of the frame */ -double Agc::estimateLuminance(IPAActiveState &activeState, - const ipu3_uapi_grid_config &grid, - const ipu3_uapi_stats_3a *stats, - double gain) +double Agc::estimateLuminance(double gain) const { double redSum = 0, greenSum = 0, blueSum = 0; - /* Sum the per-channel averages, saturated to 255. */ - for (unsigned int cellY = 0; cellY < grid.height; cellY++) { - for (unsigned int cellX = 0; cellX < grid.width; cellX++) { - uint32_t cellPosition = cellY * stride_ + cellX; - - const ipu3_uapi_awb_set_item *cell = - reinterpret_cast<const ipu3_uapi_awb_set_item *>( - &stats->awb_raw_buffer.meta_data[cellPosition] - ); - const uint8_t G_avg = (cell->Gr_avg + cell->Gb_avg) / 2; - - redSum += std::min(cell->R_avg * gain, 255.0); - greenSum += std::min(G_avg * gain, 255.0); - blueSum += std::min(cell->B_avg * gain, 255.0); - } + for (unsigned int i = 0; i < rgbTriples_.size(); i++) { + redSum += std::min(std::get<0>(rgbTriples_[i]) * gain, 255.0); + greenSum += std::min(std::get<1>(rgbTriples_[i]) * gain, 255.0); + blueSum += std::min(std::get<2>(rgbTriples_[i]) * gain, 255.0); } - /* - * Apply the AWB gains to approximate colours correctly, use the Rec. - * 601 formula to calculate the relative luminance, and normalize it. - */ - double ySum = redSum * activeState.awb.gains.red * 0.299 - + greenSum * activeState.awb.gains.green * 0.587 - + blueSum * activeState.awb.gains.blue * 0.114; + double ySum = redSum * rGain_ * 0.299 + + greenSum * gGain_ * 0.587 + + blueSum * bGain_ * 0.114; - return ySum / (grid.height * grid.width) / 255; + return ySum / (bdsGrid_.height * bdsGrid_.width) / 255; } /** @@ -330,44 +208,36 @@ void Agc::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, const ipu3_uapi_stats_3a *stats, ControlList &metadata) { - /* - * Estimate the gain needed to have the proportion of pixels in a given - * desired range. iqMean is the mean value of the top 2% of the - * cumulative histogram, and we want it to be as close as possible to a - * configured target. - */ - double iqMean = measureBrightness(stats, context.configuration.grid.bdsGrid); - double iqMeanGain = kEvGainTarget * knumHistogramBins / iqMean; + Histogram hist = parseStatistics(stats, context.configuration.grid.bdsGrid); + rGain_ = context.activeState.awb.gains.red; + gGain_ = context.activeState.awb.gains.blue; + bGain_ = context.activeState.awb.gains.green; /* - * Estimate the gain needed to achieve a relative luminance target. To - * account for non-linearity caused by saturation, the value needs to be - * estimated in an iterative process, as multiplying by a gain will not - * increase the relative luminance by the same factor if some image - * regions are saturated. + * The Agc algorithm needs to know the effective exposure value that was + * applied to the sensor when the statistics were collected. */ - double yGain = 1.0; - double yTarget = kRelativeLuminanceTarget; - - for (unsigned int i = 0; i < 8; i++) { - double yValue = estimateLuminance(context.activeState, - context.configuration.grid.bdsGrid, - stats, yGain); - double extraGain = std::min(10.0, yTarget / (yValue + .001)); - - yGain *= extraGain; - LOG(IPU3Agc, Debug) << "Y value: " << yValue - << ", Y target: " << yTarget - << ", gives gain " << yGain; - if (extraGain < 1.01) - break; - } - - computeExposure(context, frameContext, yGain, iqMeanGain); - frameCount_++; - utils::Duration exposureTime = context.configuration.sensor.lineDuration * frameContext.sensor.exposure; + double analogueGain = frameContext.sensor.gain; + utils::Duration effectiveExposureValue = exposureTime * analogueGain; + + utils::Duration shutterTime; + double aGain, dGain; + std::tie(shutterTime, aGain, dGain) = + calculateNewEv(context.activeState.agc.constraintMode, + context.activeState.agc.exposureMode, hist, + effectiveExposureValue); + + LOG(IPU3Agc, Debug) + << "Divided up shutter, analogue gain and digital gain are " + << shutterTime << ", " << aGain << " and " << dGain; + + IPAActiveState &activeState = context.activeState; + /* Update the estimated exposure and gain. */ + activeState.agc.exposure = shutterTime / context.configuration.sensor.lineDuration; + activeState.agc.gain = aGain; + metadata.set(controls::AnalogueGain, frameContext.sensor.gain); metadata.set(controls::ExposureTime, exposureTime.get<std::micro>()); @@ -377,7 +247,6 @@ void Agc::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, utils::Duration frameDuration = context.configuration.sensor.lineDuration * vTotal; metadata.set(controls::FrameDuration, frameDuration.get<std::micro>()); - } REGISTER_IPA_ALGORITHM(Agc, "Agc") diff --git a/src/ipa/ipu3/algorithms/agc.h b/src/ipa/ipu3/algorithms/agc.h index 9d6e3ff1..411f4da0 100644 --- a/src/ipa/ipu3/algorithms/agc.h +++ b/src/ipa/ipu3/algorithms/agc.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas On Board * - * agc.h - IPU3 AGC/AEC mean-based control algorithm + * IPU3 AGC/AEC mean-based control algorithm */ #pragma once @@ -13,6 +13,9 @@ #include <libcamera/geometry.h> +#include "libipa/agc_mean_luminance.h" +#include "libipa/histogram.h" + #include "algorithm.h" namespace libcamera { @@ -21,12 +24,13 @@ struct IPACameraSensorInfo; namespace ipa::ipu3::algorithms { -class Agc : public Algorithm +class Agc : public Algorithm, public AgcMeanLuminance { public: Agc(); ~Agc() = default; + int init(IPAContext &context, const YamlObject &tuningData) override; int configure(IPAContext &context, const IPAConfigInfo &configInfo) override; void process(IPAContext &context, const uint32_t frame, IPAFrameContext &frameContext, @@ -34,17 +38,9 @@ public: ControlList &metadata) override; private: - double measureBrightness(const ipu3_uapi_stats_3a *stats, - const ipu3_uapi_grid_config &grid) const; - utils::Duration filterExposure(utils::Duration currentExposure); - void computeExposure(IPAContext &context, IPAFrameContext &frameContext, - double yGain, double iqMeanGain); - double estimateLuminance(IPAActiveState &activeState, - const ipu3_uapi_grid_config &grid, - const ipu3_uapi_stats_3a *stats, - double gain); - - uint64_t frameCount_; + double estimateLuminance(double gain) const override; + Histogram parseStatistics(const ipu3_uapi_stats_3a *stats, + const ipu3_uapi_grid_config &grid); utils::Duration minShutterSpeed_; utils::Duration maxShutterSpeed_; @@ -52,9 +48,12 @@ private: double minAnalogueGain_; double maxAnalogueGain_; - utils::Duration filteredExposure_; - uint32_t stride_; + double rGain_; + double gGain_; + double bGain_; + ipu3_uapi_grid_config bdsGrid_; + std::vector<std::tuple<uint8_t, uint8_t, uint8_t>> rgbTriples_; }; } /* namespace ipa::ipu3::algorithms */ diff --git a/src/ipa/ipu3/algorithms/algorithm.h b/src/ipa/ipu3/algorithms/algorithm.h index ae134a94..c7801f93 100644 --- a/src/ipa/ipu3/algorithms/algorithm.h +++ b/src/ipa/ipu3/algorithms/algorithm.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas On Board * - * algorithm.h - IPU3 control algorithm interface + * IPU3 control algorithm interface */ #pragma once diff --git a/src/ipa/ipu3/algorithms/awb.cpp b/src/ipa/ipu3/algorithms/awb.cpp index 5abd4621..4d6e3994 100644 --- a/src/ipa/ipu3/algorithms/awb.cpp +++ b/src/ipa/ipu3/algorithms/awb.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas On Board * - * awb.cpp - AWB control algorithm + * AWB control algorithm */ #include "awb.h" diff --git a/src/ipa/ipu3/algorithms/awb.h b/src/ipa/ipu3/algorithms/awb.h index 7a70854e..c0202823 100644 --- a/src/ipa/ipu3/algorithms/awb.h +++ b/src/ipa/ipu3/algorithms/awb.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas On Board * - * awb.h - IPU3 AWB control algorithm + * IPU3 AWB control algorithm */ #pragma once diff --git a/src/ipa/ipu3/algorithms/blc.cpp b/src/ipa/ipu3/algorithms/blc.cpp index e838072a..35748fb2 100644 --- a/src/ipa/ipu3/algorithms/blc.cpp +++ b/src/ipa/ipu3/algorithms/blc.cpp @@ -2,13 +2,11 @@ /* * Copyright (C) 2021, Google inc. * - * blc.cpp - IPU3 Black Level Correction control + * IPU3 Black Level Correction control */ #include "blc.h" -#include <string.h> - /** * \file blc.h * \brief IPU3 Black Level Correction control @@ -57,8 +55,8 @@ void BlackLevelCorrection::prepare([[maybe_unused]] IPAContext &context, * tuning processes. This is a first rough approximation. */ params->obgrid_param.gr = 64; - params->obgrid_param.r = 64; - params->obgrid_param.b = 64; + params->obgrid_param.r = 64; + params->obgrid_param.b = 64; params->obgrid_param.gb = 64; /* Enable the custom black level correction processing */ diff --git a/src/ipa/ipu3/algorithms/blc.h b/src/ipa/ipu3/algorithms/blc.h index 292bf67b..62748045 100644 --- a/src/ipa/ipu3/algorithms/blc.h +++ b/src/ipa/ipu3/algorithms/blc.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google inc. * - * black_correction.h - IPU3 Black Level Correction control + * IPU3 Black Level Correction control */ #pragma once diff --git a/src/ipa/ipu3/algorithms/tone_mapping.cpp b/src/ipa/ipu3/algorithms/tone_mapping.cpp index a169894c..160338c1 100644 --- a/src/ipa/ipu3/algorithms/tone_mapping.cpp +++ b/src/ipa/ipu3/algorithms/tone_mapping.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google inc. * - * tone_mapping.cpp - IPU3 ToneMapping and Gamma control + * IPU3 ToneMapping and Gamma control */ #include "tone_mapping.h" diff --git a/src/ipa/ipu3/algorithms/tone_mapping.h b/src/ipa/ipu3/algorithms/tone_mapping.h index 5ae35da5..b2b38010 100644 --- a/src/ipa/ipu3/algorithms/tone_mapping.h +++ b/src/ipa/ipu3/algorithms/tone_mapping.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google inc. * - * tone_mapping.h - IPU3 ToneMapping and Gamma control + * IPU3 ToneMapping and Gamma control */ #pragma once diff --git a/src/ipa/ipu3/ipa_context.cpp b/src/ipa/ipu3/ipa_context.cpp index 959f314f..917d0654 100644 --- a/src/ipa/ipu3/ipa_context.cpp +++ b/src/ipa/ipu3/ipa_context.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * ipa_context.cpp - IPU3 IPA Context + * IPU3 IPA Context */ #include "ipa_context.h" @@ -47,6 +47,9 @@ namespace libcamera::ipa::ipu3 { * * \var IPAContext::activeState * \brief The current state of IPA algorithms + * + * \var IPAContext::ctrlMap + * \brief A ControlInfoMap::Map of controls populated by the algorithms */ /** diff --git a/src/ipa/ipu3/ipa_context.h b/src/ipa/ipu3/ipa_context.h index e9a3863b..c85d1e34 100644 --- a/src/ipa/ipu3/ipa_context.h +++ b/src/ipa/ipu3/ipa_context.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * ipa_context.h - IPU3 IPA Context + * IPU3 IPA Context * */ @@ -12,6 +12,7 @@ #include <libcamera/base/utils.h> +#include <libcamera/controls.h> #include <libcamera/geometry.h> #include <libipa/fc_queue.h> @@ -55,6 +56,8 @@ struct IPAActiveState { struct { uint32_t exposure; double gain; + uint32_t constraintMode; + uint32_t exposureMode; } agc; struct { @@ -85,6 +88,8 @@ struct IPAContext { IPAActiveState activeState; FCQueue<IPAFrameContext> frameContexts; + + ControlInfoMap::Map ctrlMap; }; } /* namespace ipa::ipu3 */ diff --git a/src/ipa/ipu3/ipu3.cpp b/src/ipa/ipu3/ipu3.cpp index 08ee6eb3..10a8c86d 100644 --- a/src/ipa/ipu3/ipu3.cpp +++ b/src/ipa/ipu3/ipu3.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * ipu3.cpp - IPU3 Image Processing Algorithms + * IPU3 Image Processing Algorithms */ #include <algorithm> @@ -23,24 +23,22 @@ #include <libcamera/base/utils.h> #include <libcamera/control_ids.h> +#include <libcamera/controls.h> #include <libcamera/framebuffer.h> +#include <libcamera/geometry.h> +#include <libcamera/request.h> + #include <libcamera/ipa/ipa_interface.h> #include <libcamera/ipa/ipa_module_info.h> #include <libcamera/ipa/ipu3_ipa_interface.h> -#include <libcamera/request.h> #include "libcamera/internal/mapped_framebuffer.h" #include "libcamera/internal/yaml_parser.h" -#include "algorithms/af.h" -#include "algorithms/agc.h" -#include "algorithms/algorithm.h" -#include "algorithms/awb.h" -#include "algorithms/blc.h" -#include "algorithms/tone_mapping.h" #include "libipa/camera_sensor_helper.h" #include "ipa_context.h" +#include "module.h" /* Minimum grid width, expressed as a number of cells */ static constexpr uint32_t kMinGridWidth = 16; @@ -189,7 +187,7 @@ private: }; IPAIPU3::IPAIPU3() - : context_({ {}, {}, { kMaxFrameContexts } }) + : context_({ {}, {}, { kMaxFrameContexts }, {} }) { } @@ -287,6 +285,7 @@ void IPAIPU3::updateControls(const IPACameraSensorInfo &sensorInfo, frameDurations[1], frameDurations[2]); + controls.merge(context_.ctrlMap); *ipaControls = ControlInfoMap(std::move(controls), controls::controls); } @@ -312,8 +311,8 @@ int IPAIPU3::init(const IPASettings &settings, /* Clean context */ context_.configuration = {}; - context_.configuration.sensor.lineDuration = sensorInfo.minLineLength - * 1.0s / sensorInfo.pixelRate; + context_.configuration.sensor.lineDuration = + sensorInfo.minLineLength * 1.0s / sensorInfo.pixelRate; /* Load the tuning data file. */ File file(settings.configurationFile); @@ -476,8 +475,8 @@ int IPAIPU3::configure(const IPAConfigInfo &configInfo, context_.frameContexts.clear(); /* Initialise the sensor configuration. */ - context_.configuration.sensor.lineDuration = sensorInfo_.minLineLength - * 1.0s / sensorInfo_.pixelRate; + context_.configuration.sensor.lineDuration = + sensorInfo_.minLineLength * 1.0s / sensorInfo_.pixelRate; context_.configuration.sensor.size = sensorInfo_.outputSize; /* @@ -672,7 +671,7 @@ extern "C" { const struct IPAModuleInfo ipaModuleInfo = { IPA_MODULE_API_VERSION, 1, - "PipelineHandlerIPU3", + "ipu3", "ipu3", }; diff --git a/src/ipa/ipu3/meson.build b/src/ipa/ipu3/meson.build index 66c39843..34de6213 100644 --- a/src/ipa/ipu3/meson.build +++ b/src/ipa/ipu3/meson.build @@ -12,12 +12,10 @@ ipu3_ipa_sources = files([ ipu3_ipa_sources += ipu3_ipa_algorithms -mod = shared_module(ipa_name, - [ipu3_ipa_sources, libcamera_generated_ipa_headers], +mod = shared_module(ipa_name, ipu3_ipa_sources, name_prefix : '', - include_directories : [ipa_includes, libipa_includes], - dependencies : libcamera_private, - link_with : libipa, + include_directories : [ipa_includes], + dependencies : [libcamera_private, libipa_dep], install : true, install_dir : ipa_install_dir) diff --git a/src/ipa/ipu3/module.h b/src/ipa/ipu3/module.h index d94fc459..60f65cc4 100644 --- a/src/ipa/ipu3/module.h +++ b/src/ipa/ipu3/module.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Ideas On Board * - * module.h - IPU3 IPA Module + * IPU3 IPA Module */ #pragma once diff --git a/src/ipa/libipa/agc_mean_luminance.cpp b/src/ipa/libipa/agc_mean_luminance.cpp new file mode 100644 index 00000000..f97ef117 --- /dev/null +++ b/src/ipa/libipa/agc_mean_luminance.cpp @@ -0,0 +1,577 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Ideas on Board Oy + * + * Base class for mean luminance AGC algorithms + */ + +#include "agc_mean_luminance.h" + +#include <cmath> + +#include <libcamera/base/log.h> +#include <libcamera/control_ids.h> + +#include "exposure_mode_helper.h" + +using namespace libcamera::controls; + +/** + * \file agc_mean_luminance.h + * \brief Base class implementing mean luminance AEGC + */ + +namespace libcamera { + +using namespace std::literals::chrono_literals; + +LOG_DEFINE_CATEGORY(AgcMeanLuminance) + +namespace ipa { + +/* + * Number of frames for which to run the algorithm at full speed, before slowing + * down to prevent large and jarring changes in exposure from frame to frame. + */ +static constexpr uint32_t kNumStartupFrames = 10; + +/* + * Default relative luminance target + * + * This value should be chosen so that when the camera points at a grey target, + * the resulting image brightness looks "right". Custom values can be passed + * as the relativeLuminanceTarget value in sensor tuning files. + */ +static constexpr double kDefaultRelativeLuminanceTarget = 0.16; + +/** + * \struct AgcMeanLuminance::AgcConstraint + * \brief The boundaries and target for an AeConstraintMode constraint + * + * This structure describes an AeConstraintMode constraint for the purposes of + * this algorithm. These constraints are expressed as a pair of quantile + * boundaries for a histogram, along with a luminance target and a bounds-type. + * The algorithm uses the constraints by ensuring that the defined portion of a + * luminance histogram (I.E. lying between the two quantiles) is above or below + * the given luminance value. + */ + +/** + * \enum AgcMeanLuminance::AgcConstraint::Bound + * \brief Specify whether the constraint defines a lower or upper bound + * \var AgcMeanLuminance::AgcConstraint::Lower + * \brief The constraint defines a lower bound + * \var AgcMeanLuminance::AgcConstraint::Upper + * \brief The constraint defines an upper bound + */ + +/** + * \var AgcMeanLuminance::AgcConstraint::bound + * \brief The type of constraint bound + */ + +/** + * \var AgcMeanLuminance::AgcConstraint::qLo + * \brief The lower quantile to use for the constraint + */ + +/** + * \var AgcMeanLuminance::AgcConstraint::qHi + * \brief The upper quantile to use for the constraint + */ + +/** + * \var AgcMeanLuminance::AgcConstraint::yTarget + * \brief The luminance target for the constraint + */ + +/** + * \class AgcMeanLuminance + * \brief A mean-based auto-exposure algorithm + * + * This algorithm calculates a shutter time, analogue and digital gain such that + * the normalised mean luminance value of an image is driven towards a target, + * which itself is discovered from tuning data. The algorithm is a two-stage + * process. + * + * In the first stage, an initial gain value is derived by iteratively comparing + * the gain-adjusted mean luminance across the entire image against a target, + * and selecting a value which pushes it as closely as possible towards the + * target. + * + * In the second stage we calculate the gain required to drive the average of a + * section of a histogram to a target value, where the target and the boundaries + * of the section of the histogram used in the calculation are taken from the + * values defined for the currently configured AeConstraintMode within the + * tuning data. This class provides a helper function to parse those tuning data + * to discover the constraints, and so requires a specific format for those + * data which is described in \ref parseTuningData(). The gain from the first + * stage is then clamped to the gain from this stage. + * + * The final gain is used to adjust the effective exposure value of the image, + * and that new exposure value is divided into shutter time, analogue gain and + * digital gain according to the selected AeExposureMode. This class uses the + * \ref ExposureModeHelper class to assist in that division, and expects the + * data needed to initialise that class to be present in tuning data in a + * format described in \ref parseTuningData(). + * + * In order to be able to use this algorithm an IPA module needs to be able to + * do the following: + * + * 1. Provide a luminance estimation across an entire image. + * 2. Provide a luminance Histogram for the image to use in calculating + * constraint compliance. The precision of the Histogram that is available + * will determine the supportable precision of the constraints. + * + * IPA modules that want to use this class to implement their AEGC algorithm + * should derive it and provide an overriding estimateLuminance() function for + * this class to use. They must call parseTuningData() in init(), and must also + * call setLimits() and resetFrameCounter() in configure(). They may then use + * calculateNewEv() in process(). If the limits passed to setLimits() change for + * any reason (for example, in response to a FrameDurationLimit control being + * passed in queueRequest()) then setLimits() must be called again with the new + * values. + */ + +AgcMeanLuminance::AgcMeanLuminance() + : frameCount_(0), filteredExposure_(0s), relativeLuminanceTarget_(0) +{ +} + +AgcMeanLuminance::~AgcMeanLuminance() = default; + +void AgcMeanLuminance::parseRelativeLuminanceTarget(const YamlObject &tuningData) +{ + relativeLuminanceTarget_ = + tuningData["relativeLuminanceTarget"].get<double>(kDefaultRelativeLuminanceTarget); +} + +void AgcMeanLuminance::parseConstraint(const YamlObject &modeDict, int32_t id) +{ + for (const auto &[boundName, content] : modeDict.asDict()) { + if (boundName != "upper" && boundName != "lower") { + LOG(AgcMeanLuminance, Warning) + << "Ignoring unknown constraint bound '" << boundName << "'"; + continue; + } + + unsigned int idx = static_cast<unsigned int>(boundName == "upper"); + AgcConstraint::Bound bound = static_cast<AgcConstraint::Bound>(idx); + double qLo = content["qLo"].get<double>().value_or(0.98); + double qHi = content["qHi"].get<double>().value_or(1.0); + double yTarget = + content["yTarget"].getList<double>().value_or(std::vector<double>{ 0.5 }).at(0); + + AgcConstraint constraint = { bound, qLo, qHi, yTarget }; + + if (!constraintModes_.count(id)) + constraintModes_[id] = {}; + + if (idx) + constraintModes_[id].push_back(constraint); + else + constraintModes_[id].insert(constraintModes_[id].begin(), constraint); + } +} + +int AgcMeanLuminance::parseConstraintModes(const YamlObject &tuningData) +{ + std::vector<ControlValue> availableConstraintModes; + + const YamlObject &yamlConstraintModes = tuningData[controls::AeConstraintMode.name()]; + if (yamlConstraintModes.isDictionary()) { + for (const auto &[modeName, modeDict] : yamlConstraintModes.asDict()) { + if (AeConstraintModeNameValueMap.find(modeName) == + AeConstraintModeNameValueMap.end()) { + LOG(AgcMeanLuminance, Warning) + << "Skipping unknown constraint mode '" << modeName << "'"; + continue; + } + + if (!modeDict.isDictionary()) { + LOG(AgcMeanLuminance, Error) + << "Invalid constraint mode '" << modeName << "'"; + return -EINVAL; + } + + parseConstraint(modeDict, + AeConstraintModeNameValueMap.at(modeName)); + availableConstraintModes.push_back( + AeConstraintModeNameValueMap.at(modeName)); + } + } + + /* + * If the tuning data file contains no constraints then we use the + * default constraint that the IPU3/RkISP1 Agc algorithms were adhering + * to anyway before centralisation; this constraint forces the top 2% of + * the histogram to be at least 0.5. + */ + if (constraintModes_.empty()) { + AgcConstraint constraint = { + AgcConstraint::Bound::Lower, + 0.98, + 1.0, + 0.5 + }; + + constraintModes_[controls::ConstraintNormal].insert( + constraintModes_[controls::ConstraintNormal].begin(), + constraint); + availableConstraintModes.push_back( + AeConstraintModeNameValueMap.at("ConstraintNormal")); + } + + controls_[&controls::AeConstraintMode] = ControlInfo(availableConstraintModes); + + return 0; +} + +int AgcMeanLuminance::parseExposureModes(const YamlObject &tuningData) +{ + std::vector<ControlValue> availableExposureModes; + + const YamlObject &yamlExposureModes = tuningData[controls::AeExposureMode.name()]; + if (yamlExposureModes.isDictionary()) { + for (const auto &[modeName, modeValues] : yamlExposureModes.asDict()) { + if (AeExposureModeNameValueMap.find(modeName) == + AeExposureModeNameValueMap.end()) { + LOG(AgcMeanLuminance, Warning) + << "Skipping unknown exposure mode '" << modeName << "'"; + continue; + } + + if (!modeValues.isDictionary()) { + LOG(AgcMeanLuminance, Error) + << "Invalid exposure mode '" << modeName << "'"; + return -EINVAL; + } + + std::vector<uint32_t> shutters = + modeValues["shutter"].getList<uint32_t>().value_or(std::vector<uint32_t>{}); + std::vector<double> gains = + modeValues["gain"].getList<double>().value_or(std::vector<double>{}); + + if (shutters.size() != gains.size()) { + LOG(AgcMeanLuminance, Error) + << "Shutter and gain array sizes unequal"; + return -EINVAL; + } + + if (shutters.empty()) { + LOG(AgcMeanLuminance, Error) + << "Shutter and gain arrays are empty"; + return -EINVAL; + } + + std::vector<std::pair<utils::Duration, double>> stages; + for (unsigned int i = 0; i < shutters.size(); i++) { + stages.push_back({ + std::chrono::microseconds(shutters[i]), + gains[i] + }); + } + + std::shared_ptr<ExposureModeHelper> helper = + std::make_shared<ExposureModeHelper>(stages); + + exposureModeHelpers_[AeExposureModeNameValueMap.at(modeName)] = helper; + availableExposureModes.push_back(AeExposureModeNameValueMap.at(modeName)); + } + } + + /* + * If we don't have any exposure modes in the tuning data we create an + * ExposureModeHelper using an empty vector of stages. This will result + * in the ExposureModeHelper simply driving the shutter as high as + * possible before touching gain. + */ + if (availableExposureModes.empty()) { + int32_t exposureModeId = AeExposureModeNameValueMap.at("ExposureNormal"); + std::vector<std::pair<utils::Duration, double>> stages = { }; + + std::shared_ptr<ExposureModeHelper> helper = + std::make_shared<ExposureModeHelper>(stages); + + exposureModeHelpers_[exposureModeId] = helper; + availableExposureModes.push_back(exposureModeId); + } + + controls_[&controls::AeExposureMode] = ControlInfo(availableExposureModes); + + return 0; +} + +/** + * \brief Parse tuning data for AeConstraintMode and AeExposureMode controls + * \param[in] tuningData the YamlObject representing the tuning data + * + * This function parses tuning data to build the list of allowed values for the + * AeConstraintMode and AeExposureMode controls. Those tuning data must provide + * the data in a specific format; the Agc algorithm's tuning data should contain + * a dictionary called AeConstraintMode containing per-mode setting dictionaries + * with the key being a value from \ref controls::AeConstraintModeNameValueMap. + * Each mode dict may contain either a "lower" or "upper" key or both, for + * example: + * + * \code{.unparsed} + * algorithms: + * - Agc: + * AeConstraintMode: + * ConstraintNormal: + * lower: + * qLo: 0.98 + * qHi: 1.0 + * yTarget: 0.5 + * ConstraintHighlight: + * lower: + * qLo: 0.98 + * qHi: 1.0 + * yTarget: 0.5 + * upper: + * qLo: 0.98 + * qHi: 1.0 + * yTarget: 0.8 + * + * \endcode + * + * For the AeExposureMode control the data should contain a dictionary called + * AeExposureMode containing per-mode setting dictionaries with the key being a + * value from \ref controls::AeExposureModeNameValueMap. Each mode dict should + * contain an array of shutter times with the key "shutter" and an array of gain + * values with the key "gain", in this format: + * + * \code{.unparsed} + * algorithms: + * - Agc: + * AeExposureMode: + * ExposureNormal: + * shutter: [ 100, 10000, 30000, 60000, 120000 ] + * gain: [ 2.0, 4.0, 6.0, 8.0, 10.0 ] + * ExposureShort: + * shutter: [ 100, 10000, 30000, 60000, 120000 ] + * gain: [ 2.0, 4.0, 6.0, 8.0, 10.0 ] + * + * \endcode + * + * \return 0 on success or a negative error code + */ +int AgcMeanLuminance::parseTuningData(const YamlObject &tuningData) +{ + int ret; + + parseRelativeLuminanceTarget(tuningData); + + ret = parseConstraintModes(tuningData); + if (ret) + return ret; + + return parseExposureModes(tuningData); +} + +/** + * \brief Set the ExposureModeHelper limits for this class + * \param[in] minShutter Minimum shutter time to allow + * \param[in] maxShutter Maximum shutter time to allow + * \param[in] minGain Minimum gain to allow + * \param[in] maxGain Maximum gain to allow + * + * This function calls \ref ExposureModeHelper::setLimits() for each + * ExposureModeHelper that has been created for this class. + */ +void AgcMeanLuminance::setLimits(utils::Duration minShutter, + utils::Duration maxShutter, + double minGain, double maxGain) +{ + for (auto &[id, helper] : exposureModeHelpers_) + helper->setLimits(minShutter, maxShutter, minGain, maxGain); +} + +/** + * \fn AgcMeanLuminance::constraintModes() + * \brief Get the constraint modes that have been parsed from tuning data + */ + +/** + * \fn AgcMeanLuminance::exposureModeHelpers() + * \brief Get the ExposureModeHelpers that have been parsed from tuning data + */ + +/** + * \fn AgcMeanLuminance::controls() + * \brief Get the controls that have been generated after parsing tuning data + */ + +/** + * \fn AgcMeanLuminance::estimateLuminance(const double gain) + * \brief Estimate the luminance of an image, adjusted by a given gain + * \param[in] gain The gain with which to adjust the luminance estimate + * + * This function estimates the average relative luminance of the frame that + * would be output by the sensor if an additional \a gain was applied. It is a + * pure virtual function because estimation of luminance is a hardware-specific + * operation, which depends wholly on the format of the stats that are delivered + * to libcamera from the ISP. Derived classes must override this function with + * one that calculates the normalised mean luminance value across the entire + * image. + * + * \return The normalised relative luminance of the image + */ + +/** + * \brief Estimate the initial gain needed to achieve a relative luminance + * target + * \return The calculated initial gain + */ +double AgcMeanLuminance::estimateInitialGain() const +{ + double yTarget = relativeLuminanceTarget_; + double yGain = 1.0; + + /* + * To account for non-linearity caused by saturation, the value needs to + * be estimated in an iterative process, as multiplying by a gain will + * not increase the relative luminance by the same factor if some image + * regions are saturated. + */ + for (unsigned int i = 0; i < 8; i++) { + double yValue = estimateLuminance(yGain); + double extra_gain = std::min(10.0, yTarget / (yValue + .001)); + + yGain *= extra_gain; + LOG(AgcMeanLuminance, Debug) << "Y value: " << yValue + << ", Y target: " << yTarget + << ", gives gain " << yGain; + + if (utils::abs_diff(extra_gain, 1.0) < 0.01) + break; + } + + return yGain; +} + +/** + * \brief Clamp gain within the bounds of a defined constraint + * \param[in] constraintModeIndex The index of the constraint to adhere to + * \param[in] hist A histogram over which to calculate inter-quantile means + * \param[in] gain The gain to clamp + * + * \return The gain clamped within the constraint bounds + */ +double AgcMeanLuminance::constraintClampGain(uint32_t constraintModeIndex, + const Histogram &hist, + double gain) +{ + std::vector<AgcConstraint> &constraints = constraintModes_[constraintModeIndex]; + for (const AgcConstraint &constraint : constraints) { + double newGain = constraint.yTarget * hist.bins() / + hist.interQuantileMean(constraint.qLo, constraint.qHi); + + if (constraint.bound == AgcConstraint::Bound::Lower && + newGain > gain) + gain = newGain; + + if (constraint.bound == AgcConstraint::Bound::Upper && + newGain < gain) + gain = newGain; + } + + return gain; +} + +/** + * \brief Apply a filter on the exposure value to limit the speed of changes + * \param[in] exposureValue The target exposure from the AGC algorithm + * + * The speed of the filter is adaptive, and will produce the target quicker + * during startup, or when the target exposure is within 20% of the most recent + * filter output. + * + * \return The filtered exposure + */ +utils::Duration AgcMeanLuminance::filterExposure(utils::Duration exposureValue) +{ + double speed = 0.2; + + /* Adapt instantly if we are in startup phase. */ + if (frameCount_ < kNumStartupFrames) + speed = 1.0; + + /* + * If we are close to the desired result, go faster to avoid making + * multiple micro-adjustments. + * \todo Make this customisable? + */ + if (filteredExposure_ < 1.2 * exposureValue && + filteredExposure_ > 0.8 * exposureValue) + speed = sqrt(speed); + + filteredExposure_ = speed * exposureValue + + filteredExposure_ * (1.0 - speed); + + return filteredExposure_; +} + +/** + * \brief Calculate the new exposure value and splut it between shutter time and gain + * \param[in] constraintModeIndex The index of the current constraint mode + * \param[in] exposureModeIndex The index of the current exposure mode + * \param[in] yHist A Histogram from the ISP statistics to use in constraining + * the calculated gain + * \param[in] effectiveExposureValue The EV applied to the frame from which the + * statistics in use derive + * + * Calculate a new exposure value to try to obtain the target. The calculated + * exposure value is filtered to prevent rapid changes from frame to frame, and + * divided into shutter time, analogue and digital gain. + * + * \return Tuple of shutter time, analogue gain, and digital gain + */ +std::tuple<utils::Duration, double, double> +AgcMeanLuminance::calculateNewEv(uint32_t constraintModeIndex, + uint32_t exposureModeIndex, + const Histogram &yHist, + utils::Duration effectiveExposureValue) +{ + /* + * The pipeline handler should validate that we have received an allowed + * value for AeExposureMode. + */ + std::shared_ptr<ExposureModeHelper> exposureModeHelper = + exposureModeHelpers_.at(exposureModeIndex); + + double gain = estimateInitialGain(); + gain = constraintClampGain(constraintModeIndex, yHist, gain); + + /* + * We don't check whether we're already close to the target, because + * even if the effective exposure value is the same as the last frame's + * we could have switched to an exposure mode that would require a new + * pass through the splitExposure() function. + */ + + utils::Duration newExposureValue = effectiveExposureValue * gain; + + /* + * We filter the exposure value to make sure changes are not too jarring + * from frame to frame. + */ + newExposureValue = filterExposure(newExposureValue); + + frameCount_++; + return exposureModeHelper->splitExposure(newExposureValue); +} + +/** + * \fn AgcMeanLuminance::resetFrameCount() + * \brief Reset the frame counter + * + * This function resets the internal frame counter, which exists to help the + * algorithm decide whether it should respond instantly or not. The expectation + * is for derived classes to call this function before each camera start call in + * their configure() function. + */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/agc_mean_luminance.h b/src/ipa/libipa/agc_mean_luminance.h new file mode 100644 index 00000000..576d28be --- /dev/null +++ b/src/ipa/libipa/agc_mean_luminance.h @@ -0,0 +1,98 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Ideas on Board Oy + * + agc_mean_luminance.h - Base class for mean luminance AGC algorithms + */ + +#pragma once + +#include <map> +#include <memory> +#include <tuple> +#include <vector> + +#include <libcamera/base/utils.h> + +#include <libcamera/controls.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "exposure_mode_helper.h" +#include "histogram.h" + +namespace libcamera { + +namespace ipa { + +class AgcMeanLuminance +{ +public: + AgcMeanLuminance(); + virtual ~AgcMeanLuminance(); + + struct AgcConstraint { + enum class Bound { + Lower = 0, + Upper = 1 + }; + Bound bound; + double qLo; + double qHi; + double yTarget; + }; + + int parseTuningData(const YamlObject &tuningData); + + void setLimits(utils::Duration minShutter, utils::Duration maxShutter, + double minGain, double maxGain); + + std::map<int32_t, std::vector<AgcConstraint>> constraintModes() + { + return constraintModes_; + } + + std::map<int32_t, std::shared_ptr<ExposureModeHelper>> exposureModeHelpers() + { + return exposureModeHelpers_; + } + + ControlInfoMap::Map controls() + { + return controls_; + } + + std::tuple<utils::Duration, double, double> + calculateNewEv(uint32_t constraintModeIndex, uint32_t exposureModeIndex, + const Histogram &yHist, utils::Duration effectiveExposureValue); + + void resetFrameCount() + { + frameCount_ = 0; + } + +private: + virtual double estimateLuminance(const double gain) const = 0; + + void parseRelativeLuminanceTarget(const YamlObject &tuningData); + void parseConstraint(const YamlObject &modeDict, int32_t id); + int parseConstraintModes(const YamlObject &tuningData); + int parseExposureModes(const YamlObject &tuningData); + double estimateInitialGain() const; + double constraintClampGain(uint32_t constraintModeIndex, + const Histogram &hist, + double gain); + utils::Duration filterExposure(utils::Duration exposureValue); + + uint64_t frameCount_; + utils::Duration filteredExposure_; + double relativeLuminanceTarget_; + + std::map<int32_t, std::vector<AgcConstraint>> constraintModes_; + std::map<int32_t, std::shared_ptr<ExposureModeHelper>> exposureModeHelpers_; + ControlInfoMap::Map controls_; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/algorithm.cpp b/src/ipa/libipa/algorithm.cpp index bc1c29a6..201efdfd 100644 --- a/src/ipa/libipa/algorithm.cpp +++ b/src/ipa/libipa/algorithm.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas On Board * - * algorithm.cpp - IPA control algorithm interface + * IPA control algorithm interface */ #include "algorithm.h" diff --git a/src/ipa/libipa/algorithm.h b/src/ipa/libipa/algorithm.h index 987e3e4c..9a19dbd6 100644 --- a/src/ipa/libipa/algorithm.h +++ b/src/ipa/libipa/algorithm.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas On Board * - * algorithm.h - ISP control algorithm interface + * ISP control algorithm interface */ #pragma once diff --git a/src/ipa/libipa/camera_sensor_helper.cpp b/src/ipa/libipa/camera_sensor_helper.cpp index ce29f423..c6169bdc 100644 --- a/src/ipa/libipa/camera_sensor_helper.cpp +++ b/src/ipa/libipa/camera_sensor_helper.cpp @@ -2,12 +2,13 @@ /* * Copyright (C) 2021, Google Inc. * - * camera_sensor_helper.cpp - Helper class that performs sensor-specific + * Helper class that performs sensor-specific * parameter computations */ #include "camera_sensor_helper.h" #include <cmath> +#include <limits> #include <libcamera/base/log.h> @@ -40,6 +41,7 @@ namespace ipa { */ /** + * \fn CameraSensorHelper::CameraSensorHelper() * \brief Construct a CameraSensorHelper instance * * CameraSensorHelper derived class instances shall never be constructed @@ -48,6 +50,33 @@ namespace ipa { */ /** + * \fn CameraSensorHelper::blackLevel() + * \brief Fetch the black level of the sensor + * + * This function returns the black level of the sensor scaled to a 16bit pixel + * width. If it is unknown an empty optional is returned. + * + * \todo Fill the blanks and add pedestal values for all supported sensors. Once + * done, drop the std::optional<>. + * + * Black levels are typically the result of the following phenomena: + * - Pedestal added by the sensor to pixel values. They are typically fixed, + * sometimes programmable and should be reported in datasheets (but + * documentation is not always available). + * - Dark currents and other physical effects that add charge to pixels in the + * absence of light. Those can depend on the integration time and the sensor + * die temperature, and their contribution to pixel values depend on the + * sensor gains. + * + * The pedestal is usually the value with the biggest contribution to the + * overall black level. In most cases it is either known before or in rare cases + * (there is not a single driver with such a control in the linux kernel) can be + * queried from the sensor. This function provides that fixed, known value. + * + * \return The black level of the sensor, or std::nullopt if not known + */ + +/** * \brief Compute gain code from the analogue gain absolute value * \param[in] gain The real gain to pass * @@ -205,6 +234,12 @@ double CameraSensorHelper::gain(uint32_t gainCode) const */ /** + * \var CameraSensorHelper::blackLevel_ + * \brief The black level of the sensor + * \sa CameraSensorHelper::blackLevel() + */ + +/** * \var CameraSensorHelper::gainType_ * \brief The analogue gain model type */ @@ -366,40 +401,144 @@ static constexpr double expGainDb(double step) return log2_10 * step / 20; } -class CameraSensorHelperAr0521 : public CameraSensorHelper +class CameraSensorHelperAr0144 : public CameraSensorHelper { public: - uint32_t gainCode(double gain) const override; - double gain(uint32_t gainCode) const override; + CameraSensorHelperAr0144() + { + /* Power-on default value: 168 at 12bits. */ + blackLevel_ = 2688; + } + + uint32_t gainCode(double gain) const override + { + /* The recommended minimum gain is 1.6842 to avoid artifacts. */ + gain = std::clamp(gain, 1.0 / (1.0 - 13.0 / 32.0), 18.45); + + /* + * The analogue gain is made of a coarse exponential gain in + * the range [2^0, 2^4] and a fine inversely linear gain in the + * range [1.0, 2.0[. There is an additional fixed 1.153125 + * multiplier when the coarse gain reaches 2^2. + */ + + if (gain > 4.0) + gain /= 1.153125; + + unsigned int coarse = std::log2(gain); + unsigned int fine = (1 - (1 << coarse) / gain) * 32; + + /* The fine gain rounding depends on the coarse gain. */ + if (coarse == 1 || coarse == 3) + fine &= ~1; + else if (coarse == 4) + fine &= ~3; + + return (coarse << 4) | (fine & 0xf); + } + + double gain(uint32_t gainCode) const override + { + unsigned int coarse = gainCode >> 4; + unsigned int fine = gainCode & 0xf; + unsigned int d1; + double d2, m; + + switch (coarse) { + default: + case 0: + d1 = 1; + d2 = 32.0; + m = 1.0; + break; + case 1: + d1 = 2; + d2 = 16.0; + m = 1.0; + break; + case 2: + d1 = 1; + d2 = 32.0; + m = 1.153125; + break; + case 3: + d1 = 2; + d2 = 16.0; + m = 1.153125; + break; + case 4: + d1 = 4; + d2 = 8.0; + m = 1.153125; + break; + } + + /* + * With infinite precision, the calculated gain would be exact, + * and the reverse conversion with gainCode() would produce the + * same gain code. In the real world, rounding errors may cause + * the calculated gain to be lower by an amount negligible for + * all purposes, except for the reverse conversion. Converting + * the gain to a gain code could then return the quantized value + * just lower than the original gain code. To avoid this, tests + * showed that adding the machine epsilon to the multiplier m is + * sufficient. + */ + m += std::numeric_limits<decltype(m)>::epsilon(); + + return m * (1 << coarse) / (1.0 - (fine / d1) / d2); + } private: static constexpr double kStep_ = 16; }; +REGISTER_CAMERA_SENSOR_HELPER("ar0144", CameraSensorHelperAr0144) -uint32_t CameraSensorHelperAr0521::gainCode(double gain) const +class CameraSensorHelperAr0521 : public CameraSensorHelper { - gain = std::clamp(gain, 1.0, 15.5); - unsigned int coarse = std::log2(gain); - unsigned int fine = (gain / (1 << coarse) - 1) * kStep_; +public: + uint32_t gainCode(double gain) const override + { + gain = std::clamp(gain, 1.0, 15.5); + unsigned int coarse = std::log2(gain); + unsigned int fine = (gain / (1 << coarse) - 1) * kStep_; - return (coarse << 4) | (fine & 0xf); -} + return (coarse << 4) | (fine & 0xf); + } -double CameraSensorHelperAr0521::gain(uint32_t gainCode) const -{ - unsigned int coarse = gainCode >> 4; - unsigned int fine = gainCode & 0xf; + double gain(uint32_t gainCode) const override + { + unsigned int coarse = gainCode >> 4; + unsigned int fine = gainCode & 0xf; - return (1 << coarse) * (1 + fine / kStep_); -} + return (1 << coarse) * (1 + fine / kStep_); + } +private: + static constexpr double kStep_ = 16; +}; REGISTER_CAMERA_SENSOR_HELPER("ar0521", CameraSensorHelperAr0521) +class CameraSensorHelperImx214 : public CameraSensorHelper +{ +public: + CameraSensorHelperImx214() + { + /* From datasheet: 64 at 10bits. */ + blackLevel_ = 4096; + gainType_ = AnalogueGainLinear; + gainConstants_.linear = { 0, 512, -1, 512 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("imx214", CameraSensorHelperImx214) + class CameraSensorHelperImx219 : public CameraSensorHelper { public: CameraSensorHelperImx219() { + /* From datasheet: 64 at 10bits. */ + blackLevel_ = 4096; gainType_ = AnalogueGainLinear; gainConstants_.linear = { 0, 256, -1, 256 }; } @@ -411,12 +550,27 @@ class CameraSensorHelperImx258 : public CameraSensorHelper public: CameraSensorHelperImx258() { + /* From datasheet: 0x40 at 10bits. */ + blackLevel_ = 4096; gainType_ = AnalogueGainLinear; gainConstants_.linear = { 0, 512, -1, 512 }; } }; REGISTER_CAMERA_SENSOR_HELPER("imx258", CameraSensorHelperImx258) +class CameraSensorHelperImx283 : public CameraSensorHelper +{ +public: + CameraSensorHelperImx283() + { + /* From datasheet: 0x32 at 10bits. */ + blackLevel_ = 3200; + gainType_ = AnalogueGainLinear; + gainConstants_.linear = { 0, 2048, -1, 2048 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("imx283", CameraSensorHelperImx283) + class CameraSensorHelperImx290 : public CameraSensorHelper { public: @@ -444,6 +598,30 @@ class CameraSensorHelperImx327 : public CameraSensorHelperImx290 }; REGISTER_CAMERA_SENSOR_HELPER("imx327", CameraSensorHelperImx327) +class CameraSensorHelperImx335 : public CameraSensorHelper +{ +public: + CameraSensorHelperImx335() + { + /* From datasheet: 0x32 at 10bits. */ + blackLevel_ = 3200; + gainType_ = AnalogueGainExponential; + gainConstants_.exp = { 1.0, expGainDb(0.3) }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("imx335", CameraSensorHelperImx335) + +class CameraSensorHelperImx415 : public CameraSensorHelper +{ +public: + CameraSensorHelperImx415() + { + gainType_ = AnalogueGainExponential; + gainConstants_.exp = { 1.0, expGainDb(0.3) }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("imx415", CameraSensorHelperImx415) + class CameraSensorHelperImx477 : public CameraSensorHelper { public: @@ -486,6 +664,8 @@ class CameraSensorHelperOv4689 : public CameraSensorHelper public: CameraSensorHelperOv4689() { + /* From datasheet: 0x40 at 12bits. */ + blackLevel_ = 1024; gainType_ = AnalogueGainLinear; gainConstants_.linear = { 1, 0, 0, 128 }; } @@ -497,6 +677,8 @@ class CameraSensorHelperOv5640 : public CameraSensorHelper public: CameraSensorHelperOv5640() { + /* From datasheet: 0x10 at 10bits. */ + blackLevel_ = 1024; gainType_ = AnalogueGainLinear; gainConstants_.linear = { 1, 0, 0, 16 }; } @@ -530,6 +712,8 @@ class CameraSensorHelperOv5675 : public CameraSensorHelper public: CameraSensorHelperOv5675() { + /* From Linux kernel driver: 0x40 at 10bits. */ + blackLevel_ = 4096; gainType_ = AnalogueGainLinear; gainConstants_.linear = { 1, 0, 0, 128 }; } diff --git a/src/ipa/libipa/camera_sensor_helper.h b/src/ipa/libipa/camera_sensor_helper.h index 1ca9371b..75868205 100644 --- a/src/ipa/libipa/camera_sensor_helper.h +++ b/src/ipa/libipa/camera_sensor_helper.h @@ -2,14 +2,14 @@ /* * Copyright (C) 2021, Google Inc. * - * camera_sensor_helper.h - Helper class that performs sensor-specific parameter computations + * Helper class that performs sensor-specific parameter computations */ #pragma once -#include <stdint.h> - #include <memory> +#include <optional> +#include <stdint.h> #include <string> #include <vector> @@ -25,6 +25,7 @@ public: CameraSensorHelper() = default; virtual ~CameraSensorHelper() = default; + std::optional<int16_t> blackLevel() const { return blackLevel_; } virtual uint32_t gainCode(double gain) const; virtual double gain(uint32_t gainCode) const; @@ -51,6 +52,7 @@ protected: AnalogueGainExpConstants exp; }; + std::optional<int16_t> blackLevel_; AnalogueGainType gainType_; AnalogueGainConstants gainConstants_; diff --git a/src/ipa/libipa/exposure_mode_helper.cpp b/src/ipa/libipa/exposure_mode_helper.cpp new file mode 100644 index 00000000..30da0c89 --- /dev/null +++ b/src/ipa/libipa/exposure_mode_helper.cpp @@ -0,0 +1,240 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Helper class that performs computations relating to exposure + */ +#include "exposure_mode_helper.h" + +#include <algorithm> + +#include <libcamera/base/log.h> + +/** + * \file exposure_mode_helper.h + * \brief Helper class that performs computations relating to exposure + * + * AEGC algorithms have a need to split exposure between shutter time, analogue + * and digital gain. Multiple implementations do so based on paired stages of + * shutter time and gain limits; provide a helper to avoid duplicating the code. + */ + +namespace libcamera { + +using namespace std::literals::chrono_literals; + +LOG_DEFINE_CATEGORY(ExposureModeHelper) + +namespace ipa { + +/** + * \class ExposureModeHelper + * \brief Class for splitting exposure into shutter time and total gain + * + * The ExposureModeHelper class provides a standard interface through which an + * AEGC algorithm can divide exposure between shutter time and gain. It is + * configured with a set of shutter time and gain pairs and works by initially + * fixing gain at 1.0 and increasing shutter time up to the shutter time value + * from the first pair in the set in an attempt to meet the required exposure + * value. + * + * If the required exposure is not achievable by the first shutter time value + * alone it ramps gain up to the value from the first pair in the set. If the + * required exposure is still not met it then allows shutter time to ramp up to + * the shutter time value from the second pair in the set, and continues in this + * vein until either the required exposure time is met, or else the hardware's + * shutter time or gain limits are reached. + * + * This method allows users to strike a balance between a well-exposed image and + * an acceptable frame-rate, as opposed to simply maximising shutter time + * followed by gain. The same helpers can be used to perform the latter + * operation if needed by passing an empty set of pairs to the initialisation + * function. + * + * The gain values may exceed a camera sensor's analogue gain limits if either + * it or the IPA is also capable of digital gain. The configure() function must + * be called with the hardware's limits to inform the helper of those + * constraints. Any gain that is needed will be applied as analogue gain first + * until the hardware's limit is reached, following which digital gain will be + * used. + */ + +/** + * \brief Construct an ExposureModeHelper instance + * \param[in] stages The vector of paired shutter time and gain limits + * + * The input stages are shutter time and _total_ gain pairs; the gain + * encompasses both analogue and digital gain. + * + * The vector of stages may be empty. In that case, the helper will simply use + * the runtime limits set through setLimits() instead. + */ +ExposureModeHelper::ExposureModeHelper(const Span<std::pair<utils::Duration, double>> stages) +{ + minShutter_ = 0us; + maxShutter_ = 0us; + minGain_ = 0; + maxGain_ = 0; + + for (const auto &[s, g] : stages) { + shutters_.push_back(s); + gains_.push_back(g); + } +} + +/** + * \brief Set the shutter time and gain limits + * \param[in] minShutter The minimum shutter time supported + * \param[in] maxShutter The maximum shutter time supported + * \param[in] minGain The minimum analogue gain supported + * \param[in] maxGain The maximum analogue gain supported + * + * This function configures the shutter time and analogue gain limits that need + * to be adhered to as the helper divides up exposure. Note that this function + * *must* be called whenever those limits change and before splitExposure() is + * used. + * + * If the algorithm using the helpers needs to indicate that either shutter time + * or analogue gain or both should be fixed it can do so by setting both the + * minima and maxima to the same value. + */ +void ExposureModeHelper::setLimits(utils::Duration minShutter, + utils::Duration maxShutter, + double minGain, double maxGain) +{ + minShutter_ = minShutter; + maxShutter_ = maxShutter; + minGain_ = minGain; + maxGain_ = maxGain; +} + +utils::Duration ExposureModeHelper::clampShutter(utils::Duration shutter) const +{ + return std::clamp(shutter, minShutter_, maxShutter_); +} + +double ExposureModeHelper::clampGain(double gain) const +{ + return std::clamp(gain, minGain_, maxGain_); +} + +/** + * \brief Split exposure time into shutter time and gain + * \param[in] exposure Exposure time + * + * This function divides a given exposure time into shutter time, analogue and + * digital gain by iterating through stages of shutter time and gain limits. At + * each stage the current stage's shutter time limit is multiplied by the + * previous stage's gain limit (or 1.0 initially) to see if the combination of + * the two can meet the required exposure time. If they cannot then the current + * stage's shutter time limit is multiplied by the same stage's gain limit to + * see if that combination can meet the required exposure time. If they cannot + * then the function moves to consider the next stage. + * + * When a combination of shutter time and gain _stage_ limits are found that are + * sufficient to meet the required exposure time, the function attempts to + * reduce shutter time as much as possible whilst fixing gain and still meeting + * the exposure time. If a _runtime_ limit prevents shutter time from being + * lowered enough to meet the exposure time with gain fixed at the stage limit, + * gain is also lowered to compensate. + * + * Once the shutter time and gain values are ascertained, gain is assigned as + * analogue gain as much as possible, with digital gain only in use if the + * maximum analogue gain runtime limit is unable to accommodate the exposure + * value. + * + * If no combination of shutter time and gain limits is found that meets the + * required exposure time, the helper falls-back to simply maximising the + * shutter time first, followed by analogue gain, followed by digital gain. + * + * \return Tuple of shutter time, analogue gain, and digital gain + */ +std::tuple<utils::Duration, double, double> +ExposureModeHelper::splitExposure(utils::Duration exposure) const +{ + ASSERT(maxShutter_); + ASSERT(maxGain_); + + bool gainFixed = minGain_ == maxGain_; + bool shutterFixed = minShutter_ == maxShutter_; + + /* + * There's no point entering the loop if we cannot change either gain + * nor shutter anyway. + */ + if (shutterFixed && gainFixed) + return { minShutter_, minGain_, exposure / (minShutter_ * minGain_) }; + + utils::Duration shutter; + double stageGain = 1.0; + double gain; + + for (unsigned int stage = 0; stage < gains_.size(); stage++) { + double lastStageGain = stage == 0 ? 1.0 : clampGain(gains_[stage - 1]); + utils::Duration stageShutter = clampShutter(shutters_[stage]); + stageGain = clampGain(gains_[stage]); + + /* + * We perform the clamping on both shutter and gain in case the + * helper has had limits set that prevent those values being + * lowered beyond a certain minimum...this can happen at runtime + * for various reasons and so would not be known when the stage + * limits are initialised. + */ + + if (stageShutter * lastStageGain >= exposure) { + shutter = clampShutter(exposure / clampGain(lastStageGain)); + gain = clampGain(exposure / shutter); + + return { shutter, gain, exposure / (shutter * gain) }; + } + + if (stageShutter * stageGain >= exposure) { + shutter = clampShutter(exposure / clampGain(stageGain)); + gain = clampGain(exposure / shutter); + + return { shutter, gain, exposure / (shutter * gain) }; + } + } + + /* + * From here on all we can do is max out the shutter time, followed by + * the analogue gain. If we still haven't achieved the target we send + * the rest of the exposure time to digital gain. If we were given no + * stages to use then the default stageGain of 1.0 is used so that + * shutter time is maxed before gain is touched at all. + */ + shutter = clampShutter(exposure / clampGain(stageGain)); + gain = clampGain(exposure / shutter); + + return { shutter, gain, exposure / (shutter * gain) }; +} + +/** + * \fn ExposureModeHelper::minShutter() + * \brief Retrieve the configured minimum shutter time limit set through + * setLimits() + * \return The minShutter_ value + */ + +/** + * \fn ExposureModeHelper::maxShutter() + * \brief Retrieve the configured maximum shutter time set through setLimits() + * \return The maxShutter_ value + */ + +/** + * \fn ExposureModeHelper::minGain() + * \brief Retrieve the configured minimum gain set through setLimits() + * \return The minGain_ value + */ + +/** + * \fn ExposureModeHelper::maxGain() + * \brief Retrieve the configured maximum gain set through setLimits() + * \return The maxGain_ value + */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/exposure_mode_helper.h b/src/ipa/libipa/exposure_mode_helper.h new file mode 100644 index 00000000..85c665d7 --- /dev/null +++ b/src/ipa/libipa/exposure_mode_helper.h @@ -0,0 +1,53 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Helper class that performs computations relating to exposure + */ + +#pragma once + +#include <tuple> +#include <utility> +#include <vector> + +#include <libcamera/base/span.h> +#include <libcamera/base/utils.h> + +namespace libcamera { + +namespace ipa { + +class ExposureModeHelper +{ +public: + ExposureModeHelper(const Span<std::pair<utils::Duration, double>> stages); + ~ExposureModeHelper() = default; + + void setLimits(utils::Duration minShutter, utils::Duration maxShutter, + double minGain, double maxGain); + + std::tuple<utils::Duration, double, double> + splitExposure(utils::Duration exposure) const; + + utils::Duration minShutter() const { return minShutter_; } + utils::Duration maxShutter() const { return maxShutter_; } + double minGain() const { return minGain_; } + double maxGain() const { return maxGain_; } + +private: + utils::Duration clampShutter(utils::Duration shutter) const; + double clampGain(double gain) const; + + std::vector<utils::Duration> shutters_; + std::vector<double> gains_; + + utils::Duration minShutter_; + utils::Duration maxShutter_; + double minGain_; + double maxGain_; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/fc_queue.cpp b/src/ipa/libipa/fc_queue.cpp index e812faa5..0365e919 100644 --- a/src/ipa/libipa/fc_queue.cpp +++ b/src/ipa/libipa/fc_queue.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Google Inc. * - * fc_queue.cpp - IPA Frame context queue + * IPA Frame context queue */ #include "fc_queue.h" diff --git a/src/ipa/libipa/fc_queue.h b/src/ipa/libipa/fc_queue.h index a589e7e1..24d9e82b 100644 --- a/src/ipa/libipa/fc_queue.h +++ b/src/ipa/libipa/fc_queue.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Google Inc. * - * fc_queue.h - IPA Frame context queue + * IPA Frame context queue */ #pragma once diff --git a/src/ipa/libipa/histogram.cpp b/src/ipa/libipa/histogram.cpp index 6b5cde8e..5fbfadf5 100644 --- a/src/ipa/libipa/histogram.cpp +++ b/src/ipa/libipa/histogram.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * histogram.cpp - histogram calculations + * histogram calculations */ #include "histogram.h" @@ -29,18 +29,34 @@ namespace ipa { */ /** + * \fn Histogram::Histogram() + * \brief Construct an empty Histogram + * + * This empty constructor exists largely to allow Histograms to be embedded in + * other classes which may be created before the contents of the Histogram are + * known. + */ + +/** * \brief Create a cumulative histogram - * \param[in] data A pre-sorted histogram to be passed + * \param[in] data A (non-cumulative) histogram */ Histogram::Histogram(Span<const uint32_t> data) { - cumulative_.reserve(data.size()); - cumulative_.push_back(0); - for (const uint32_t &value : data) - cumulative_.push_back(cumulative_.back() + value); + cumulative_.resize(data.size() + 1); + cumulative_[0] = 0; + for (const auto &[i, value] : utils::enumerate(data)) + cumulative_[i + 1] = cumulative_[i] + value; } /** + * \fn Histogram::Histogram(Span<const uint32_t> data, Transform transform) + * \brief Create a cumulative histogram + * \param[in] data A (non-cumulative) histogram + * \param[in] transform The transformation function to apply to every bin + */ + +/** * \fn Histogram::bins() * \brief Retrieve the number of bins currently used by the Histogram * \return Number of bins diff --git a/src/ipa/libipa/histogram.h b/src/ipa/libipa/histogram.h index 05bb4b80..6fd64168 100644 --- a/src/ipa/libipa/histogram.h +++ b/src/ipa/libipa/histogram.h @@ -2,18 +2,18 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * histogram.h - histogram calculation interface + * histogram calculation interface */ #pragma once -#include <assert.h> #include <limits.h> #include <stdint.h> - +#include <type_traits> #include <vector> #include <libcamera/base/span.h> +#include <libcamera/base/utils.h> namespace libcamera { @@ -22,7 +22,19 @@ namespace ipa { class Histogram { public: + Histogram() { cumulative_.push_back(0); } Histogram(Span<const uint32_t> data); + + template<typename Transform, + std::enable_if_t<std::is_invocable_v<Transform, uint32_t>> * = nullptr> + Histogram(Span<const uint32_t> data, Transform transform) + { + cumulative_.resize(data.size() + 1); + cumulative_[0] = 0; + for (const auto &[i, value] : utils::enumerate(data)) + cumulative_[i + 1] = cumulative_[i] + transform(value); + } + size_t bins() const { return cumulative_.size() - 1; } uint64_t total() const { return cumulative_[cumulative_.size() - 1]; } uint64_t cumulativeFrequency(double bin) const; diff --git a/src/ipa/libipa/interpolator.cpp b/src/ipa/libipa/interpolator.cpp new file mode 100644 index 00000000..73e8d3b7 --- /dev/null +++ b/src/ipa/libipa/interpolator.cpp @@ -0,0 +1,157 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Helper class for interpolating objects + */ +#include "interpolator.h" + +#include <algorithm> +#include <string> + +#include <libcamera/base/log.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "interpolator.h" + +/** + * \file interpolator.h + * \brief Helper class for linear interpolating a set of objects + */ + +namespace libcamera { + +LOG_DEFINE_CATEGORY(Interpolator) + +namespace ipa { + +/** + * \class Interpolator + * \brief Class for storing, retrieving, and interpolating objects + * \tparam T Type of objects stored in the interpolator + * + * The main use case is to pass a map from color temperatures to corresponding + * objects (eg. matrices for color correction), and then requesting a + * interpolated object for a specific color temperature. This class will + * abstract away the interpolation portion. + */ + +/** + * \fn Interpolator::Interpolator() + * \brief Construct an empty interpolator + */ + +/** + * \fn Interpolator::Interpolator(const std::map<unsigned int, T> &data) + * \brief Construct an interpolator from a map of objects + * \param data Map from which to construct the interpolator + */ + +/** + * \fn Interpolator::Interpolator(std::map<unsigned int, T> &&data) + * \brief Construct an interpolator from a map of objects + * \param data Map from which to construct the interpolator + */ + +/** + * \fn int Interpolator<T>::readYaml(const libcamera::YamlObject &yaml, + const std::string &key_name, + const std::string &value_name) + * \brief Initialize an Interpolator instance from yaml + * \tparam T Type of data stored in the interpolator + * \param[in] yaml The yaml object that contains the map of unsigned integers to + * objects + * \param[in] key_name The name of the key in the yaml object + * \param[in] value_name The name of the value in the yaml object + * + * The yaml object is expected to be a list of maps. Each map has two or more + * pairs: one of \a key_name to the key value (usually color temperature), and + * one or more of \a value_name to the object. This is a bit difficult to + * explain, so here is an example (in python, as it is easier to parse than + * yaml): + * [ + * { + * 'ct': 2860, + * 'ccm': [ 2.12089, -0.52461, -0.59629, + * -0.85342, 2.80445, -0.95103, + * -0.26897, -1.14788, 2.41685 ], + * 'offsets': [ 0, 0, 0 ] + * }, + * + * { + * 'ct': 2960, + * 'ccm': [ 2.26962, -0.54174, -0.72789, + * -0.77008, 2.60271, -0.83262, + * -0.26036, -1.51254, 2.77289 ], + * 'offsets': [ 0, 0, 0 ] + * }, + * + * { + * 'ct': 3603, + * 'ccm': [ 2.18644, -0.66148, -0.52496, + * -0.77828, 2.69474, -0.91645, + * -0.25239, -0.83059, 2.08298 ], + * 'offsets': [ 0, 0, 0 ] + * }, + * ] + * + * In this case, \a key_name would be 'ct', and \a value_name can be either + * 'ccm' or 'offsets'. This way multiple interpolators can be defined in + * one set of color temperature ranges in the tuning file, and they can be + * retrieved separately with the \a value_name parameter. + * + * \return Zero on success, negative error code otherwise + */ + +/** + * \fn void Interpolator<T>::setQuantization(const unsigned int q) + * \brief Set the quantization value + * \param[in] q The quantization value + * + * Sets the quantization value. When this is set, 'key' gets quantized to this + * size, before doing the interpolation. This can help in reducing the number of + * updates pushed to the hardware. + * + * Note that normally a threshold needs to be combined with quantization. + * Otherwise a value that swings around the edge of the quantization step will + * lead to constant updates. + */ + +/** + * \fn void Interpolator<T>::setData(std::map<unsigned int, T> &&data) + * \brief Set the internal map + * + * Overwrites the internal map using move semantics. + */ + +/** + * \fn const T& Interpolator<T>::getInterpolated() + * \brief Retrieve an interpolated value for the given key + * \param[in] key The unsigned integer key of the object to retrieve + * \param[out] quantizedKey If provided, the key value after quantization + * \return The object corresponding to the key. The object is cached internally, + * so on successive calls with the same key (after quantization) interpolation + * is not recalculated. + */ + +/** + * \fn void Interpolator<T>::interpolate(const T &a, const T &b, T &dest, double + * lambda) + * \brief Interpolate between two instances of T + * \param a The first value to interpolate + * \param b The second value to interpolate + * \param dest The destination for the interpolated value + * \param lambda The interpolation factor (0..1) + * + * Interpolates between \a a and \a b according to \a lambda. It calculates + * dest = a * (1.0 - lambda) + b * lambda; + * + * If T supports multiplication with double and addition, this function can be + * used as is. For other types this function can be overwritten using partial + * template specialization. + */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/interpolator.h b/src/ipa/libipa/interpolator.h new file mode 100644 index 00000000..fffce214 --- /dev/null +++ b/src/ipa/libipa/interpolator.h @@ -0,0 +1,131 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Helper class for interpolating maps of objects + */ + +#pragma once + +#include <algorithm> +#include <cmath> +#include <map> +#include <string> +#include <tuple> + +#include <libcamera/base/log.h> + +#include "libcamera/internal/yaml_parser.h" + +namespace libcamera { + +LOG_DECLARE_CATEGORY(Interpolator) + +namespace ipa { + +template<typename T> +class Interpolator +{ +public: + Interpolator() = default; + Interpolator(const std::map<unsigned int, T> &data) + : data_(data) + { + } + Interpolator(std::map<unsigned int, T> &&data) + : data_(std::move(data)) + { + } + + ~Interpolator() = default; + + int readYaml(const libcamera::YamlObject &yaml, + const std::string &key_name, + const std::string &value_name) + { + data_.clear(); + lastInterpolatedKey_.reset(); + + if (!yaml.isList()) { + LOG(Interpolator, Error) << "yaml object must be a list"; + return -EINVAL; + } + + for (const auto &value : yaml.asList()) { + unsigned int ct = std::stoul(value[key_name].get<std::string>("")); + std::optional<T> data = + value[value_name].get<T>(); + if (!data) { + return -EINVAL; + } + + data_[ct] = *data; + } + + if (data_.size() < 1) { + LOG(Interpolator, Error) << "Need at least one element"; + return -EINVAL; + } + + return 0; + } + + void setQuantization(const unsigned int q) + { + quantization_ = q; + } + + void setData(std::map<unsigned int, T> &&data) + { + data_ = std::move(data); + lastInterpolatedKey_.reset(); + } + + const T &getInterpolated(unsigned int key, unsigned int *quantizedKey = nullptr) + { + ASSERT(data_.size() > 0); + + if (quantization_ > 0) + key = std::lround(key / static_cast<double>(quantization_)) * quantization_; + + if (quantizedKey) + *quantizedKey = key; + + if (lastInterpolatedKey_.has_value() && + *lastInterpolatedKey_ == key) + return lastInterpolatedValue_; + + auto it = data_.lower_bound(key); + + if (it == data_.begin()) + return it->second; + + if (it == data_.end()) + return std::prev(it)->second; + + if (it->first == key) + return it->second; + + auto it2 = std::prev(it); + double lambda = (key - it2->first) / static_cast<double>(it->first - it2->first); + interpolate(it2->second, it->second, lastInterpolatedValue_, lambda); + lastInterpolatedKey_ = key; + + return lastInterpolatedValue_; + } + + void interpolate(const T &a, const T &b, T &dest, double lambda) + { + dest = a * (1.0 - lambda) + b * lambda; + } + +private: + std::map<unsigned int, T> data_; + T lastInterpolatedValue_; + std::optional<unsigned int> lastInterpolatedKey_; + unsigned int quantization_ = 0; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/lsc_polynomial.cpp b/src/ipa/libipa/lsc_polynomial.cpp new file mode 100644 index 00000000..f607d86c --- /dev/null +++ b/src/ipa/libipa/lsc_polynomial.cpp @@ -0,0 +1,81 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * Polynomial class to represent lens shading correction + */ + +#include "lsc_polynomial.h" + +#include <libcamera/base/log.h> + +/** + * \file lsc_polynomial.h + * \brief LscPolynomial class + */ + +namespace libcamera { + +LOG_DEFINE_CATEGORY(LscPolynomial) + +namespace ipa { + +/** + * \class LscPolynomial + * \brief Class for handling even polynomials used in lens shading correction + * + * Shading artifacts of camera lenses can be modeled using even radial + * polynomials. This class implements a polynomial with 5 coefficients which + * follows the definition of the FixVignetteRadial opcode in the Adobe DNG + * specification. + */ + +/** + * \fn LscPolynomial::LscPolynomial(double cx = 0.0, double cy = 0.0, double k0 = 0.0, + double k1 = 0.0, double k2 = 0.0, double k3 = 0.0, + double k4 = 0.0) + * \brief Construct a polynomial using the given coefficients + * \param cx Center-x relative to the image in normalized coordinates (0..1) + * \param cy Center-y relative to the image in normalized coordinates (0..1) + * \param k0 Coefficient of the polynomial + * \param k1 Coefficient of the polynomial + * \param k2 Coefficient of the polynomial + * \param k3 Coefficient of the polynomial + * \param k4 Coefficient of the polynomial + */ + +/** + * \fn LscPolynomial::sampleAtNormalizedPixelPos(double x, double y) + * \brief Sample the polynomial at the given normalized pixel position + * + * This functions samples the polynomial at the given pixel position divided by + * the value returned by getM(). + * + * \param x x position in normalized coordinates + * \param y y position in normalized coordinates + * \return The sampled value + */ + +/** + * \fn LscPolynomial::getM() + * \brief Get the value m as described in the dng specification + * + * Returns m according to dng spec. m represents the Euclidean distance + * (in pixels) from the optical center to the farthest pixel in the + * image. + * + * \return The sampled value + */ + +/** + * \fn LscPolynomial::setReferenceImageSize(const Size &size) + * \brief Set the reference image size + * + * Set the reference image size that is used for subsequent calls to getM() and + * sampleAtNormalizedPixelPos() + * + * \param size The size of the reference image + */ + +} // namespace ipa +} // namespace libcamera diff --git a/src/ipa/libipa/lsc_polynomial.h b/src/ipa/libipa/lsc_polynomial.h new file mode 100644 index 00000000..c898faeb --- /dev/null +++ b/src/ipa/libipa/lsc_polynomial.h @@ -0,0 +1,105 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * Helper for radial polynomial used in lens shading correction. + */ +#pragma once + +#include <algorithm> +#include <array> +#include <assert.h> +#include <cmath> + +#include <libcamera/base/log.h> +#include <libcamera/base/span.h> + +#include "libcamera/internal/yaml_parser.h" + +namespace libcamera { + +LOG_DECLARE_CATEGORY(LscPolynomial) + +namespace ipa { + +class LscPolynomial +{ +public: + LscPolynomial(double cx = 0.0, double cy = 0.0, double k0 = 0.0, + double k1 = 0.0, double k2 = 0.0, double k3 = 0.0, + double k4 = 0.0) + : cx_(cx), cy_(cy), cnx_(0), cny_(0), + coefficients_({ k0, k1, k2, k3, k4 }) + { + } + + double sampleAtNormalizedPixelPos(double x, double y) const + { + double dx = x - cnx_; + double dy = y - cny_; + double r = sqrt(dx * dx + dy * dy); + double res = 1.0; + for (unsigned int i = 0; i < coefficients_.size(); i++) { + res += coefficients_[i] * std::pow(r, (i + 1) * 2); + } + return res; + } + + double getM() const + { + double cpx = imageSize_.width * cx_; + double cpy = imageSize_.height * cy_; + double mx = std::max(cpx, std::fabs(imageSize_.width - cpx)); + double my = std::max(cpy, std::fabs(imageSize_.height - cpy)); + + return sqrt(mx * mx + my * my); + } + + void setReferenceImageSize(const Size &size) + { + assert(!size.isNull()); + imageSize_ = size; + + /* Calculate normalized centers */ + double m = getM(); + cnx_ = (size.width * cx_) / m; + cny_ = (size.height * cy_) / m; + } + +private: + double cx_; + double cy_; + double cnx_; + double cny_; + std::array<double, 5> coefficients_; + + Size imageSize_; +}; + +} /* namespace ipa */ + +#ifndef __DOXYGEN__ + +template<> +struct YamlObject::Getter<ipa::LscPolynomial> { + std::optional<ipa::LscPolynomial> get(const YamlObject &obj) const + { + std::optional<double> cx = obj["cx"].get<double>(); + std::optional<double> cy = obj["cy"].get<double>(); + std::optional<double> k0 = obj["k0"].get<double>(); + std::optional<double> k1 = obj["k1"].get<double>(); + std::optional<double> k2 = obj["k2"].get<double>(); + std::optional<double> k3 = obj["k3"].get<double>(); + std::optional<double> k4 = obj["k4"].get<double>(); + + if (!(cx && cy && k0 && k1 && k2 && k3 && k4)) + LOG(LscPolynomial, Error) + << "Polynomial is missing a parameter"; + + return ipa::LscPolynomial(*cx, *cy, *k0, *k1, *k2, *k3, *k4); + } +}; + +#endif + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/matrix.cpp b/src/ipa/libipa/matrix.cpp new file mode 100644 index 00000000..8346f0d3 --- /dev/null +++ b/src/ipa/libipa/matrix.cpp @@ -0,0 +1,149 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Matrix and related operations + */ + +#include "matrix.h" + +#include <libcamera/base/log.h> + +/** + * \file matrix.h + * \brief Matrix class + */ + +namespace libcamera { + +LOG_DEFINE_CATEGORY(Matrix) + +namespace ipa { + +/** + * \class Matrix + * \brief Matrix class + * \tparam T Type of numerical values to be stored in the matrix + * \tparam Rows Number of rows in the matrix + * \tparam Cols Number of columns in the matrix + */ + +/** + * \fn Matrix::Matrix() + * \brief Construct a zero matrix + */ + +/** + * \fn Matrix::Matrix(const std::vector<T> &data) + * \brief Construct a matrix from supplied data + * \param[in] data Data from which to construct a matrix + * + * \a data is a one-dimensional vector and will be turned into a matrix in + * row-major order. The size of \a data must be equal to the product of the + * number of rows and columns of the matrix (Rows x Cols). + */ + +/** + * \fn Matrix::identity() + * \brief Construct an identity matrix + */ + +/** + * \fn Matrix::toString() + * \brief Assemble and return a string describing the matrix + * \return A string describing the matrix + */ + +/** + * \fn Span<const T, Cols> Matrix::operator[](size_t i) const + * \brief Index to a row in the matrix + * \param[in] i Index of row to retrieve + * + * This operator[] returns a Span, which can then be indexed into again with + * another operator[], allowing a convenient m[i][j] to access elements of the + * matrix. Note that the lifetime of the Span returned by this first-level + * operator[] is bound to that of the Matrix itself, so it is not recommended + * to save the Span that is the result of this operator[]. + * + * \return Row \a i from the matrix, as a Span + */ + +/** + * \fn Matrix::operator[](size_t i) + * \copydoc Matrix::operator[](size_t i) const + */ + +/** + * \fn Matrix<T, Rows, Cols> &Matrix::operator*=(U d) + * \brief Multiply the matrix by a scalar in-place + * \tparam U Type of the numerical scalar value + * \param d The scalar multiplier + * \return Product of this matrix and scalar \a d + */ + +/** + * \fn Matrix::Matrix<U, Rows, Cols> operator*(T d, const Matrix<U, Rows, Cols> &m) + * \brief Multiply the matrix by a scalar + * \tparam T Type of the numerical scalar value + * \tparam U Type of numerical values in the matrix + * \tparam Rows Number of rows in the matrix + * \tparam Cols Number of columns in the matrix + * \param d The scalar multiplier + * \param m The matrix + * \return Product of scalar \a d and matrix \a m + */ + +/** + * \fn Matrix::Matrix<U, Rows, Cols> operator*(const Matrix<U, Rows, Cols> &m, T d) + * \copydoc operator*(T d, const Matrix<U, Rows, Cols> &m) + */ + +/** + * \fn Matrix<T, R1, C2> operator*(const Matrix<T, R1, C1> &m1, const Matrix<T, R2, C2> &m2) + * \brief Matrix multiplication + * \tparam T Type of numerical values in the matrices + * \tparam R1 Number of rows in the first matrix + * \tparam C1 Number of columns in the first matrix + * \tparam R2 Number of rows in the second matrix + * \tparam C2 Number of columns in the second matrix + * \param m1 Multiplicand matrix + * \param m2 Multiplier matrix + * \return Matrix product of matrices \a m1 and \a m2 + */ + +/** + * \fn Matrix<T, Rows, Cols> operator+(const Matrix<T, Rows, Cols> &m1, const Matrix<T, Rows, Cols> &m2) + * \brief Matrix addition + * \tparam T Type of numerical values in the matrices + * \tparam Rows Number of rows in the matrices + * \tparam Cols Number of columns in the matrices + * \param m1 Summand matrix + * \param m2 Summand matrix + * \return Matrix sum of matrices \a m1 and \a m2 + */ + +#ifndef __DOXYGEN__ +/* + * The YAML data shall be a list of numerical values. Its size shall be equal + * to the product of the number of rows and columns of the matrix (Rows x + * Cols). The values shall be stored in row-major order. + */ +bool matrixValidateYaml(const YamlObject &obj, unsigned int size) +{ + if (!obj.isList()) + return false; + + if (obj.size() != size) { + LOG(Matrix, Error) + << "Wrong number of values in matrix: expected " + << size << ", got " << obj.size(); + return false; + } + + return true; +} +#endif /* __DOXYGEN__ */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/matrix.h b/src/ipa/libipa/matrix.h new file mode 100644 index 00000000..5471e697 --- /dev/null +++ b/src/ipa/libipa/matrix.h @@ -0,0 +1,203 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Matrix and related operations + */ +#pragma once + +#include <algorithm> +#include <sstream> +#include <vector> + +#include <libcamera/base/log.h> +#include <libcamera/base/span.h> + +#include "libcamera/internal/yaml_parser.h" + +namespace libcamera { + +LOG_DECLARE_CATEGORY(Matrix) + +namespace ipa { + +#ifndef __DOXYGEN__ +template<typename T, unsigned int Rows, unsigned int Cols, + std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr> +#else +template<typename T, unsigned int Rows, unsigned int Cols> +#endif /* __DOXYGEN__ */ +class Matrix +{ +public: + Matrix() + { + data_.fill(static_cast<T>(0)); + } + + Matrix(const std::vector<T> &data) + { + std::copy(data.begin(), data.end(), data_.begin()); + } + + static Matrix identity() + { + Matrix ret; + for (size_t i = 0; i < std::min(Rows, Cols); i++) + ret[i][i] = static_cast<T>(1); + return ret; + } + + ~Matrix() = default; + + const std::string toString() const + { + std::stringstream out; + + out << "Matrix { "; + for (unsigned int i = 0; i < Rows; i++) { + out << "[ "; + for (unsigned int j = 0; j < Cols; j++) { + out << (*this)[i][j]; + out << ((j + 1 < Cols) ? ", " : " "); + } + out << ((i + 1 < Rows) ? "], " : "]"); + } + out << " }"; + + return out.str(); + } + + Span<const T, Cols> operator[](size_t i) const + { + return Span<const T, Cols>{ &data_.data()[i * Cols], Cols }; + } + + Span<T, Cols> operator[](size_t i) + { + return Span<T, Cols>{ &data_.data()[i * Cols], Cols }; + } + +#ifndef __DOXYGEN__ + template<typename U, std::enable_if_t<std::is_arithmetic_v<U>>> +#else + template<typename U> +#endif /* __DOXYGEN__ */ + Matrix<T, Rows, Cols> &operator*=(U d) + { + for (unsigned int i = 0; i < Rows * Cols; i++) + data_[i] *= d; + return *this; + } + +private: + std::array<T, Rows * Cols> data_; +}; + +#ifndef __DOXYGEN__ +template<typename T, typename U, unsigned int Rows, unsigned int Cols, + std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr> +#else +template<typename T, typename U, unsigned int Rows, unsigned int Cols> +#endif /* __DOXYGEN__ */ +Matrix<U, Rows, Cols> operator*(T d, const Matrix<U, Rows, Cols> &m) +{ + Matrix<U, Rows, Cols> result; + + for (unsigned int i = 0; i < Rows; i++) { + for (unsigned int j = 0; j < Cols; j++) + result[i][j] = d * m[i][j]; + } + + return result; +} + +#ifndef __DOXYGEN__ +template<typename T, typename U, unsigned int Rows, unsigned int Cols, + std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr> +#else +template<typename T, typename U, unsigned int Rows, unsigned int Cols> +#endif /* __DOXYGEN__ */ +Matrix<U, Rows, Cols> operator*(const Matrix<U, Rows, Cols> &m, T d) +{ + return d * m; +} + +#ifndef __DOXYGEN__ +template<typename T, + unsigned int R1, unsigned int C1, + unsigned int R2, unsigned int C2, + std::enable_if_t<C1 == R2> * = nullptr> +#else +template<typename T, unsigned int R1, unsigned int C1, unsigned int R2, unsigned in C2> +#endif /* __DOXYGEN__ */ +Matrix<T, R1, C2> operator*(const Matrix<T, R1, C1> &m1, const Matrix<T, R2, C2> &m2) +{ + Matrix<T, R1, C2> result; + + for (unsigned int i = 0; i < R1; i++) { + for (unsigned int j = 0; j < C2; j++) { + T sum = 0; + + for (unsigned int k = 0; k < C1; k++) + sum += m1[i][k] * m2[k][j]; + + result[i][j] = sum; + } + } + + return result; +} + +template<typename T, unsigned int Rows, unsigned int Cols> +Matrix<T, Rows, Cols> operator+(const Matrix<T, Rows, Cols> &m1, const Matrix<T, Rows, Cols> &m2) +{ + Matrix<T, Rows, Cols> result; + + for (unsigned int i = 0; i < Rows; i++) { + for (unsigned int j = 0; j < Cols; j++) + result[i][j] = m1[i][j] + m2[i][j]; + } + + return result; +} + +#ifndef __DOXYGEN__ +bool matrixValidateYaml(const YamlObject &obj, unsigned int size); +#endif /* __DOXYGEN__ */ + +} /* namespace ipa */ + +#ifndef __DOXYGEN__ +template<typename T, unsigned int Rows, unsigned int Cols> +std::ostream &operator<<(std::ostream &out, const ipa::Matrix<T, Rows, Cols> &m) +{ + out << m.toString(); + return out; +} + +template<typename T, unsigned int Rows, unsigned int Cols> +struct YamlObject::Getter<ipa::Matrix<T, Rows, Cols>> { + std::optional<ipa::Matrix<T, Rows, Cols>> get(const YamlObject &obj) const + { + if (!ipa::matrixValidateYaml(obj, Rows * Cols)) + return std::nullopt; + + ipa::Matrix<T, Rows, Cols> matrix; + T *data = &matrix[0][0]; + + unsigned int i = 0; + for (const YamlObject &entry : obj.asList()) { + const auto value = entry.get<T>(); + if (!value) + return std::nullopt; + + data[i++] = *value; + } + + return matrix; + } +}; +#endif /* __DOXYGEN__ */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/meson.build b/src/ipa/libipa/meson.build index 016b8e0e..e78cbcd6 100644 --- a/src/ipa/libipa/meson.build +++ b/src/ipa/libipa/meson.build @@ -1,19 +1,33 @@ # SPDX-License-Identifier: CC0-1.0 libipa_headers = files([ + 'agc_mean_luminance.h', 'algorithm.h', 'camera_sensor_helper.h', + 'exposure_mode_helper.h', 'fc_queue.h', 'histogram.h', + 'interpolator.h', + 'lsc_polynomial.h', + 'matrix.h', 'module.h', + 'pwl.h', + 'vector.h', ]) libipa_sources = files([ + 'agc_mean_luminance.cpp', 'algorithm.cpp', 'camera_sensor_helper.cpp', + 'exposure_mode_helper.cpp', 'fc_queue.cpp', 'histogram.cpp', + 'interpolator.cpp', + 'lsc_polynomial.cpp', + 'matrix.cpp', 'module.cpp', + 'pwl.cpp', + 'vector.cpp', ]) libipa_includes = include_directories('..') @@ -21,3 +35,7 @@ libipa_includes = include_directories('..') libipa = static_library('ipa', [libipa_sources, libipa_headers], include_directories : ipa_includes, dependencies : libcamera_private) + +libipa_dep = declare_dependency(sources : libipa_headers, + include_directories : libipa_includes, + link_with : libipa) diff --git a/src/ipa/libipa/module.cpp b/src/ipa/libipa/module.cpp index ee01f12a..64ca9141 100644 --- a/src/ipa/libipa/module.cpp +++ b/src/ipa/libipa/module.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Ideas On Board * - * module.cpp - IPA Module + * IPA Module */ #include "module.h" diff --git a/src/ipa/libipa/module.h b/src/ipa/libipa/module.h index 4149a353..0fb51916 100644 --- a/src/ipa/libipa/module.h +++ b/src/ipa/libipa/module.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Ideas On Board * - * module.h - IPA module + * IPA module */ #pragma once diff --git a/src/ipa/libipa/pwl.cpp b/src/ipa/libipa/pwl.cpp new file mode 100644 index 00000000..88fe2022 --- /dev/null +++ b/src/ipa/libipa/pwl.cpp @@ -0,0 +1,457 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * Copyright (C) 2024, Ideas on Board Oy + * + * Piecewise linear functions + */ + +#include "pwl.h" + +#include <cmath> +#include <sstream> + +/** + * \file pwl.h + * \brief Piecewise linear functions + */ + +namespace libcamera { + +namespace ipa { + +/** + * \class Pwl + * \brief Describe a univariate piecewise linear function in two-dimensional + * real space + * + * A piecewise linear function is a univariate function that maps reals to + * reals, and it is composed of multiple straight-line segments. + * + * While a mathematical piecewise linear function would usually be defined by + * a list of linear functions and for which values of the domain they apply, + * this Pwl class is instead defined by a list of points at which these line + * segments intersect. These intersecting points are known as knots. + * + * https://en.wikipedia.org/wiki/Piecewise_linear_function + * + * A consequence of the Pwl class being defined by knots instead of linear + * functions is that the values of the piecewise linear function past the ends + * of the function are constants as opposed to linear functions. In a + * mathematical piecewise linear function that is defined by multiple linear + * functions, the ends of the function are also linear functions and hence grow + * to infinity (or negative infinity). However, since this Pwl class is defined + * by knots, the y-value of the leftmost and rightmost knots will hold for all + * x values to negative infinity and positive infinity, respectively. + */ + +/** + * \typedef Pwl::Point + * \brief Describe a point in two-dimensional real space + */ + +/** + * \class Pwl::Interval + * \brief Describe an interval in one-dimensional real space + */ + +/** + * \fn Pwl::Interval::Interval(double _start, double _end) + * \brief Construct an interval + * \param[in] _start Start of the interval + * \param[in] _end End of the interval + */ + +/** + * \fn Pwl::Interval::contains + * \brief Check if a given value falls within the interval + * \param[in] value Value to check + * \return True if the value falls within the interval, including its bounds, + * or false otherwise + */ + +/** + * \fn Pwl::Interval::clamp + * \brief Clamp a value such that it is within the interval + * \param[in] value Value to clamp + * \return The clamped value + */ + +/** + * \fn Pwl::Interval::length + * \brief Compute the length of the interval + * \return The length of the interval + */ + +/** + * \var Pwl::Interval::start + * \brief Start of the interval + */ + +/** + * \var Pwl::Interval::end + * \brief End of the interval + */ + +/** + * \brief Construct an empty piecewise linear function + */ +Pwl::Pwl() +{ +} + +/** + * \brief Construct a piecewise linear function from a list of 2D points + * \param[in] points Vector of points from which to construct the piecewise + * linear function + * + * \a points must be in ascending order of x-value. + */ +Pwl::Pwl(const std::vector<Point> &points) + : points_(points) +{ +} + +/** + * \copydoc Pwl::Pwl(const std::vector<Point> &points) + * + * The contents of the \a points vector is moved to the newly constructed Pwl + * instance. + */ +Pwl::Pwl(std::vector<Point> &&points) + : points_(std::move(points)) +{ +} + +/** + * \brief Append a point to the end of the piecewise linear function + * \param[in] x x-coordinate of the point to add to the piecewise linear function + * \param[in] y y-coordinate of the point to add to the piecewise linear function + * \param[in] eps Epsilon for the minimum x distance between points (optional) + * + * The point's x-coordinate must be greater than the x-coordinate of the last + * (= greatest) point already in the piecewise linear function. + */ +void Pwl::append(double x, double y, const double eps) +{ + if (points_.empty() || points_.back().x() + eps < x) + points_.push_back(Point({ x, y })); +} + +/** + * \brief Prepend a point to the beginning of the piecewise linear function + * \param[in] x x-coordinate of the point to add to the piecewise linear function + * \param[in] y y-coordinate of the point to add to the piecewise linear function + * \param[in] eps Epsilon for the minimum x distance between points (optional) + * + * The point's x-coordinate must be less than the x-coordinate of the first + * (= smallest) point already in the piecewise linear function. + */ +void Pwl::prepend(double x, double y, const double eps) +{ + if (points_.empty() || points_.front().x() - eps > x) + points_.insert(points_.begin(), Point({ x, y })); +} + +/** + * \fn Pwl::empty() const + * \brief Check if the piecewise linear function is empty + * \return True if there are no points in the function, false otherwise + */ + +/** + * \fn Pwl::size() const + * \brief Retrieve the number of points in the piecewise linear function + * \return The number of points in the piecewise linear function + */ + +/** + * \brief Get the domain of the piecewise linear function + * \return An interval representing the domain + */ +Pwl::Interval Pwl::domain() const +{ + return Interval(points_[0].x(), points_[points_.size() - 1].x()); +} + +/** + * \brief Get the range of the piecewise linear function + * \return An interval representing the range + */ +Pwl::Interval Pwl::range() const +{ + double lo = points_[0].y(), hi = lo; + for (auto &p : points_) + lo = std::min(lo, p.y()), hi = std::max(hi, p.y()); + return Interval(lo, hi); +} + +/** + * \brief Evaluate the piecewise linear function + * \param[in] x The x value to input into the function + * \param[inout] span Initial guess for span + * \param[in] updateSpan Set to true to update span + * + * Evaluate Pwl, optionally supplying an initial guess for the + * "span". The "span" may be optionally be updated. If you want to know + * the "span" value but don't have an initial guess you can set it to + * -1. + * + * \return The result of evaluating the piecewise linear function at position \a x + */ +double Pwl::eval(double x, int *span, bool updateSpan) const +{ + int index = findSpan(x, span && *span != -1 + ? *span + : points_.size() / 2 - 1); + if (span && updateSpan) + *span = index; + return points_[index].y() + + (x - points_[index].x()) * (points_[index + 1].y() - points_[index].y()) / + (points_[index + 1].x() - points_[index].x()); +} + +int Pwl::findSpan(double x, int span) const +{ + /* + * Pwls are generally small, so linear search may well be faster than + * binary, though could review this if large Pwls start turning up. + */ + int lastSpan = points_.size() - 2; + /* + * some algorithms may call us with span pointing directly at the last + * control point + */ + span = std::max(0, std::min(lastSpan, span)); + while (span < lastSpan && x >= points_[span + 1].x()) + span++; + while (span && x < points_[span].x()) + span--; + return span; +} + +/** + * \brief Compute the inverse function + * \param[in] eps Epsilon for the minimum x distance between points (optional) + * + * The output includes whether the resulting inverse function is a proper + * (true) inverse, or only a best effort (e.g. input was non-monotonic). + * + * \return A pair of the inverse piecewise linear function, and whether or not + * the result is a proper/true inverse + */ +std::pair<Pwl, bool> Pwl::inverse(const double eps) const +{ + bool appended = false, prepended = false, neither = false; + Pwl inverse; + + for (Point const &p : points_) { + if (inverse.empty()) { + inverse.append(p.y(), p.x(), eps); + } else if (std::abs(inverse.points_.back().x() - p.y()) <= eps || + std::abs(inverse.points_.front().x() - p.y()) <= eps) { + /* do nothing */; + } else if (p.y() > inverse.points_.back().x()) { + inverse.append(p.y(), p.x(), eps); + appended = true; + } else if (p.y() < inverse.points_.front().x()) { + inverse.prepend(p.y(), p.x(), eps); + prepended = true; + } else { + neither = true; + } + } + + /* + * This is not a proper inverse if we found ourselves putting points + * onto both ends of the inverse, or if there were points that couldn't + * go on either. + */ + bool trueInverse = !(neither || (appended && prepended)); + + return { inverse, trueInverse }; +} + +/** + * \brief Compose two piecewise linear functions together + * \param[in] other The "other" piecewise linear function + * \param[in] eps Epsilon for the minimum x distance between points (optional) + * + * The "this" function is done first, and "other" after. + * + * \return The composed piecewise linear function + */ +Pwl Pwl::compose(Pwl const &other, const double eps) const +{ + double thisX = points_[0].x(), thisY = points_[0].y(); + int thisSpan = 0, otherSpan = other.findSpan(thisY, 0); + Pwl result({ Point({ thisX, other.eval(thisY, &otherSpan, false) }) }); + + while (thisSpan != (int)points_.size() - 1) { + double dx = points_[thisSpan + 1].x() - points_[thisSpan].x(), + dy = points_[thisSpan + 1].y() - points_[thisSpan].y(); + if (std::abs(dy) > eps && + otherSpan + 1 < (int)other.points_.size() && + points_[thisSpan + 1].y() >= other.points_[otherSpan + 1].x() + eps) { + /* + * next control point in result will be where this + * function's y reaches the next span in other + */ + thisX = points_[thisSpan].x() + + (other.points_[otherSpan + 1].x() - + points_[thisSpan].y()) * + dx / dy; + thisY = other.points_[++otherSpan].x(); + } else if (std::abs(dy) > eps && otherSpan > 0 && + points_[thisSpan + 1].y() <= + other.points_[otherSpan - 1].x() - eps) { + /* + * next control point in result will be where this + * function's y reaches the previous span in other + */ + thisX = points_[thisSpan].x() + + (other.points_[otherSpan + 1].x() - + points_[thisSpan].y()) * + dx / dy; + thisY = other.points_[--otherSpan].x(); + } else { + /* we stay in the same span in other */ + thisSpan++; + thisX = points_[thisSpan].x(), + thisY = points_[thisSpan].y(); + } + result.append(thisX, other.eval(thisY, &otherSpan, false), + eps); + } + return result; +} + +/** + * \brief Apply function to (x, y) values at every control point + * \param[in] f Function to be applied + */ +void Pwl::map(std::function<void(double x, double y)> f) const +{ + for (auto &pt : points_) + f(pt.x(), pt.y()); +} + +/** + * \brief Apply function to (x, y0, y1) values wherever either Pwl has a + * control point. + * \param[in] pwl0 First piecewise linear function + * \param[in] pwl1 Second piecewise linear function + * \param[in] f Function to be applied + * + * This applies the function \a f to every parameter (x, y0, y1), where x is + * the combined list of x-values from \a pwl0 and \a pwl1, y0 is the y-value + * for the given x in \a pwl0, and y1 is the y-value for the same x in \a pwl1. + */ +void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1, + std::function<void(double x, double y0, double y1)> f) +{ + int span0 = 0, span1 = 0; + double x = std::min(pwl0.points_[0].x(), pwl1.points_[0].x()); + f(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false)); + + while (span0 < (int)pwl0.points_.size() - 1 || + span1 < (int)pwl1.points_.size() - 1) { + if (span0 == (int)pwl0.points_.size() - 1) + x = pwl1.points_[++span1].x(); + else if (span1 == (int)pwl1.points_.size() - 1) + x = pwl0.points_[++span0].x(); + else if (pwl0.points_[span0 + 1].x() > pwl1.points_[span1 + 1].x()) + x = pwl1.points_[++span1].x(); + else + x = pwl0.points_[++span0].x(); + f(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false)); + } +} + +/** + * \brief Combine two Pwls + * \param[in] pwl0 First piecewise linear function + * \param[in] pwl1 Second piecewise linear function + * \param[in] f Function to be applied + * \param[in] eps Epsilon for the minimum x distance between points (optional) + * + * Create a new Pwl where the y values are given by running \a f wherever + * either pwl has a knot. + * + * \return The combined pwl + */ +Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1, + std::function<double(double x, double y0, double y1)> f, + const double eps) +{ + Pwl result; + map2(pwl0, pwl1, [&](double x, double y0, double y1) { + result.append(x, f(x, y0, y1), eps); + }); + return result; +} + +/** + * \brief Multiply the piecewise linear function + * \param[in] d Scalar multiplier to multiply the function by + * \return This function, after it has been multiplied by \a d + */ +Pwl &Pwl::operator*=(double d) +{ + for (auto &pt : points_) + pt[1] *= d; + return *this; +} + +/** + * \brief Assemble and return a string describing the piecewise linear function + * \return A string describing the piecewise linear function + */ +std::string Pwl::toString() const +{ + std::stringstream ss; + ss << "Pwl { "; + for (auto &p : points_) + ss << "(" << p.x() << ", " << p.y() << ") "; + ss << "}"; + return ss.str(); +} + +} /* namespace ipa */ + +#ifndef __DOXYGEN__ +/* + * The YAML data shall be a list of numerical values with an even number of + * elements. They are parsed in pairs into x and y points in the piecewise + * linear function, and added in order. x must be monotonically increasing. + */ +template<> +std::optional<ipa::Pwl> +YamlObject::Getter<ipa::Pwl>::get(const YamlObject &obj) const +{ + if (!obj.size() || obj.size() % 2) + return std::nullopt; + + ipa::Pwl pwl; + + const auto &list = obj.asList(); + + for (auto it = list.begin(); it != list.end(); it++) { + auto x = it->get<double>(); + if (!x) + return std::nullopt; + auto y = (++it)->get<double>(); + if (!y) + return std::nullopt; + + pwl.append(*x, *y); + } + + if (pwl.size() != obj.size() / 2) + return std::nullopt; + + return pwl; +} +#endif /* __DOXYGEN__ */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/pwl.h b/src/ipa/libipa/pwl.h new file mode 100644 index 00000000..d4ec9f4f --- /dev/null +++ b/src/ipa/libipa/pwl.h @@ -0,0 +1,85 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * Piecewise linear functions interface + */ +#pragma once + +#include <algorithm> +#include <functional> +#include <string> +#include <utility> +#include <vector> + +#include "vector.h" + +namespace libcamera { + +namespace ipa { + +class Pwl +{ +public: + using Point = Vector<double, 2>; + + struct Interval { + Interval(double _start, double _end) + : start(_start), end(_end) {} + + bool contains(double value) + { + return value >= start && value <= end; + } + + double clamp(double value) + { + return std::clamp(value, start, end); + } + + double length() const { return end - start; } + + double start, end; + }; + + Pwl(); + Pwl(const std::vector<Point> &points); + Pwl(std::vector<Point> &&points); + + void append(double x, double y, double eps = 1e-6); + + bool empty() const { return points_.empty(); } + size_t size() const { return points_.size(); } + + Interval domain() const; + Interval range() const; + + double eval(double x, int *span = nullptr, + bool updateSpan = true) const; + + std::pair<Pwl, bool> inverse(double eps = 1e-6) const; + Pwl compose(const Pwl &other, double eps = 1e-6) const; + + void map(std::function<void(double x, double y)> f) const; + + static Pwl + combine(const Pwl &pwl0, const Pwl &pwl1, + std::function<double(double x, double y0, double y1)> f, + double eps = 1e-6); + + Pwl &operator*=(double d); + + std::string toString() const; + +private: + static void map2(const Pwl &pwl0, const Pwl &pwl1, + std::function<void(double x, double y0, double y1)> f); + void prepend(double x, double y, double eps = 1e-6); + int findSpan(double x, int span) const; + + std::vector<Point> points_; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/vector.cpp b/src/ipa/libipa/vector.cpp new file mode 100644 index 00000000..bd00b019 --- /dev/null +++ b/src/ipa/libipa/vector.cpp @@ -0,0 +1,168 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Vector and related operations + */ + +#include "vector.h" + +#include <libcamera/base/log.h> + +/** + * \file vector.h + * \brief Vector class + */ + +namespace libcamera { + +LOG_DEFINE_CATEGORY(Vector) + +namespace ipa { + +/** + * \class Vector + * \brief Vector class + * \tparam T Type of numerical values to be stored in the vector + * \tparam Rows Number of dimension of the vector (= number of elements) + */ + +/** + * \fn Vector::Vector() + * \brief Construct a zero vector + */ + +/** + * \fn Vector::Vector(const std::array<T, Rows> &data) + * \brief Construct vector from supplied data + * \param data Data from which to construct a vector + * + * The size of \a data must be equal to the dimension size Rows of the vector. + */ + +/** + * \fn T Vector::operator[](size_t i) const + * \brief Index to an element in the vector + * \param i Index of element to retrieve + * \return Element at index \a i from the vector + */ + +/** + * \fn T &Vector::operator[](size_t i) + * \copydoc Vector::operator[](size_t i) const + */ + +/** + * \fn Vector::x() + * \brief Convenience function to access the first element of the vector + * \return The first element of the vector + */ + +/** + * \fn Vector::y() + * \brief Convenience function to access the second element of the vector + * \return The second element of the vector + */ + +/** + * \fn Vector::z() + * \brief Convenience function to access the third element of the vector + * \return The third element of the vector + */ + +/** + * \fn Vector::operator-() const + * \brief Negate a Vector by negating both all of its coordinates + * \return The negated vector + */ + +/** + * \fn Vector::operator-(Vector const &other) const + * \brief Subtract one vector from another + * \param[in] other The other vector + * \return The difference of \a other from this vector + */ + +/** + * \fn Vector::operator+() + * \brief Add two vectors together + * \param[in] other The other vector + * \return The sum of the two vectors + */ + +/** + * \fn Vector::operator*(const Vector<T, Rows> &other) const + * \brief Compute the dot product + * \param[in] other The other vector + * \return The dot product of the two vectors + */ + +/** + * \fn Vector::operator*(T factor) const + * \brief Multiply the vector by a scalar + * \param[in] factor The factor + * \return The vector multiplied by \a factor + */ + +/** + * \fn Vector::operator/() + * \brief Divide the vector by a scalar + * \param[in] factor The factor + * \return The vector divided by \a factor + */ + +/** + * \fn Vector::length2() + * \brief Get the squared length of the vector + * \return The squared length of the vector + */ + +/** + * \fn Vector::length() + * \brief Get the length of the vector + * \return The length of the vector + */ + +/** + * \fn Vector<T, Rows> operator*(const Matrix<T, Rows, Cols> &m, const Vector<T, Cols> &v) + * \brief Multiply a matrix by a vector + * \tparam T Numerical type of the contents of the matrix and vector + * \tparam Rows The number of rows in the matrix + * \tparam Cols The number of columns in the matrix (= rows in the vector) + * \param m The matrix + * \param v The vector + * \return Product of matrix \a m and vector \a v + */ + +/** + * \fn bool operator==(const Vector<T, Rows> &lhs, const Vector<T, Rows> &rhs) + * \brief Compare vectors for equality + * \return True if the two vectors are equal, false otherwise + */ + +/** + * \fn bool operator!=(const Vector<T, Rows> &lhs, const Vector<T, Rows> &rhs) + * \brief Compare vectors for inequality + * \return True if the two vectors are not equal, false otherwise + */ + +#ifndef __DOXYGEN__ +bool vectorValidateYaml(const YamlObject &obj, unsigned int size) +{ + if (!obj.isList()) + return false; + + if (obj.size() != size) { + LOG(Vector, Error) + << "Wrong number of values in YAML vector: expected " + << size << ", got " << obj.size(); + return false; + } + + return true; +} +#endif /* __DOXYGEN__ */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/vector.h b/src/ipa/libipa/vector.h new file mode 100644 index 00000000..8612a06a --- /dev/null +++ b/src/ipa/libipa/vector.h @@ -0,0 +1,219 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Vector and related operations + */ +#pragma once + +#include <array> +#include <cmath> +#include <optional> +#include <ostream> + +#include <libcamera/base/log.h> +#include <libcamera/base/span.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "matrix.h" + +namespace libcamera { + +LOG_DECLARE_CATEGORY(Vector) + +namespace ipa { + +#ifndef __DOXYGEN__ +template<typename T, unsigned int Rows, + std::enable_if_t<std::is_arithmetic_v<T>> * = nullptr> +#else +template<typename T, unsigned int Rows> +#endif /* __DOXYGEN__ */ +class Vector +{ +public: + constexpr Vector() = default; + + constexpr Vector(const std::array<T, Rows> &data) + { + for (unsigned int i = 0; i < Rows; i++) + data_[i] = data[i]; + } + + const T &operator[](size_t i) const + { + ASSERT(i < data_.size()); + return data_[i]; + } + + T &operator[](size_t i) + { + ASSERT(i < data_.size()); + return data_[i]; + } + +#ifndef __DOXYGEN__ + template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>> +#endif /* __DOXYGEN__ */ + constexpr T x() const + { + return data_[0]; + } + +#ifndef __DOXYGEN__ + template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>> +#endif /* __DOXYGEN__ */ + constexpr T y() const + { + return data_[1]; + } + +#ifndef __DOXYGEN__ + template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>> +#endif /* __DOXYGEN__ */ + constexpr T z() const + { + return data_[2]; + } + + constexpr Vector<T, Rows> operator-() const + { + Vector<T, Rows> ret; + for (unsigned int i = 0; i < Rows; i++) + ret[i] = -data_[i]; + return ret; + } + + constexpr Vector<T, Rows> operator-(const Vector<T, Rows> &other) const + { + Vector<T, Rows> ret; + for (unsigned int i = 0; i < Rows; i++) + ret[i] = data_[i] - other[i]; + return ret; + } + + constexpr Vector<T, Rows> operator+(const Vector<T, Rows> &other) const + { + Vector<T, Rows> ret; + for (unsigned int i = 0; i < Rows; i++) + ret[i] = data_[i] + other[i]; + return ret; + } + + constexpr T operator*(const Vector<T, Rows> &other) const + { + T ret = 0; + for (unsigned int i = 0; i < Rows; i++) + ret += data_[i] * other[i]; + return ret; + } + + constexpr Vector<T, Rows> operator*(T factor) const + { + Vector<T, Rows> ret; + for (unsigned int i = 0; i < Rows; i++) + ret[i] = data_[i] * factor; + return ret; + } + + constexpr Vector<T, Rows> operator/(T factor) const + { + Vector<T, Rows> ret; + for (unsigned int i = 0; i < Rows; i++) + ret[i] = data_[i] / factor; + return ret; + } + + constexpr double length2() const + { + double ret = 0; + for (unsigned int i = 0; i < Rows; i++) + ret += data_[i] * data_[i]; + return ret; + } + + constexpr double length() const + { + return std::sqrt(length2()); + } + +private: + std::array<T, Rows> data_; +}; + +template<typename T, unsigned int Rows, unsigned int Cols> +Vector<T, Rows> operator*(const Matrix<T, Rows, Cols> &m, const Vector<T, Cols> &v) +{ + Vector<T, Rows> result; + + for (unsigned int i = 0; i < Rows; i++) { + T sum = 0; + for (unsigned int j = 0; j < Cols; j++) + sum += m[i][j] * v[j]; + result[i] = sum; + } + + return result; +} + +template<typename T, unsigned int Rows> +bool operator==(const Vector<T, Rows> &lhs, const Vector<T, Rows> &rhs) +{ + for (unsigned int i = 0; i < Rows; i++) { + if (lhs[i] != rhs[i]) + return false; + } + + return true; +} + +template<typename T, unsigned int Rows> +bool operator!=(const Vector<T, Rows> &lhs, const Vector<T, Rows> &rhs) +{ + return !(lhs == rhs); +} + +#ifndef __DOXYGEN__ +bool vectorValidateYaml(const YamlObject &obj, unsigned int size); +#endif /* __DOXYGEN__ */ + +} /* namespace ipa */ + +#ifndef __DOXYGEN__ +template<typename T, unsigned int Rows> +std::ostream &operator<<(std::ostream &out, const ipa::Vector<T, Rows> &v) +{ + out << "Vector { "; + for (unsigned int i = 0; i < Rows; i++) { + out << v[i]; + out << ((i + 1 < Rows) ? ", " : " "); + } + out << " }"; + + return out; +} + +template<typename T, unsigned int Rows> +struct YamlObject::Getter<ipa::Vector<T, Rows>> { + std::optional<ipa::Vector<T, Rows>> get(const YamlObject &obj) const + { + if (!ipa::vectorValidateYaml(obj, Rows)) + return std::nullopt; + + ipa::Vector<T, Rows> vector; + + unsigned int i = 0; + for (const YamlObject &entry : obj.asList()) { + const auto value = entry.get<T>(); + if (!value) + return std::nullopt; + vector[i++] = *value; + } + + return vector; + } +}; +#endif /* __DOXYGEN__ */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/agc.cpp b/src/ipa/rkisp1/algorithms/agc.cpp index 47a6f7b2..301b7ec2 100644 --- a/src/ipa/rkisp1/algorithms/agc.cpp +++ b/src/ipa/rkisp1/algorithms/agc.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * agc.cpp - AGC/AEC mean-based control algorithm + * AGC/AEC mean-based control algorithm */ #include "agc.h" @@ -10,6 +10,8 @@ #include <algorithm> #include <chrono> #include <cmath> +#include <tuple> +#include <vector> #include <libcamera/base/log.h> #include <libcamera/base/utils.h> @@ -17,6 +19,8 @@ #include <libcamera/control_ids.h> #include <libcamera/ipa/core_ipa_interface.h> +#include "libcamera/internal/yaml_parser.h" + #include "libipa/histogram.h" /** @@ -36,35 +40,121 @@ namespace ipa::rkisp1::algorithms { LOG_DEFINE_CATEGORY(RkISP1Agc) -/* Minimum limit for analogue gain value */ -static constexpr double kMinAnalogueGain = 1.0; +int Agc::parseMeteringModes(IPAContext &context, const YamlObject &tuningData) +{ + if (!tuningData.isDictionary()) + LOG(RkISP1Agc, Warning) + << "'AeMeteringMode' parameter not found in tuning file"; + + for (const auto &[key, value] : tuningData.asDict()) { + if (controls::AeMeteringModeNameValueMap.find(key) == + controls::AeMeteringModeNameValueMap.end()) { + LOG(RkISP1Agc, Warning) + << "Skipping unknown metering mode '" << key << "'"; + continue; + } -/* \todo Honour the FrameDurationLimits control instead of hardcoding a limit */ -static constexpr utils::Duration kMaxShutterSpeed = 60ms; + std::vector<uint8_t> weights = + value.getList<uint8_t>().value_or(std::vector<uint8_t>{}); + if (weights.size() != context.hw->numHistogramWeights) { + LOG(RkISP1Agc, Warning) + << "Failed to read metering mode'" << key << "'"; + continue; + } -/* Number of frames to wait before calculating stats on minimum exposure */ -static constexpr uint32_t kNumStartupFrames = 10; + meteringModes_[controls::AeMeteringModeNameValueMap.at(key)] = weights; + } -/* Target value to reach for the top 2% of the histogram */ -static constexpr double kEvGainTarget = 0.5; + if (meteringModes_.empty()) { + LOG(RkISP1Agc, Warning) + << "No metering modes read from tuning file; defaulting to matrix"; + int32_t meteringModeId = controls::AeMeteringModeNameValueMap.at("MeteringMatrix"); + std::vector<uint8_t> weights(context.hw->numHistogramWeights, 1); -/* - * Relative luminance target. - * - * It's a number that's chosen so that, when the camera points at a grey - * target, the resulting image brightness is considered right. - * - * \todo Why is the value different between IPU3 and RkISP1 ? - */ -static constexpr double kRelativeLuminanceTarget = 0.4; + meteringModes_[meteringModeId] = weights; + } + + std::vector<ControlValue> meteringModes; + std::vector<int> meteringModeKeys = utils::map_keys(meteringModes_); + std::transform(meteringModeKeys.begin(), meteringModeKeys.end(), + std::back_inserter(meteringModes), + [](int x) { return ControlValue(x); }); + context.ctrlMap[&controls::AeMeteringMode] = ControlInfo(meteringModes); + + return 0; +} + +uint8_t Agc::computeHistogramPredivider(const Size &size, + enum rkisp1_cif_isp_histogram_mode mode) +{ + /* + * The maximum number of pixels that could potentially be in one bin is + * if all the pixels of the image are in it, multiplied by 3 for the + * three color channels. The counter for each bin is 16 bits wide, so + * `factor` thus contains the number of times we'd wrap around. This is + * obviously the number of pixels that we need to skip to make sure + * that we don't wrap around, but we compute the square root of it + * instead, as the skip that we need to program is for both the x and y + * directions. + * + * Even though it looks like dividing into a counter of 65536 would + * overflow by 1, this is apparently fine according to the hardware + * documentation, and this successfully gets the expected documented + * predivider size for cases where: + * (width / predivider) * (height / predivider) * 3 == 65536. + * + * There's a bit of extra rounding math to make sure the rounding goes + * the correct direction so that the square of the step is big enough + * to encompass the `factor` number of pixels that we need to skip. + * + * \todo Take into account weights. That is, if the weights are low + * enough we can potentially reduce the predivider to increase + * precision. This needs some investigation however, as this hardware + * behavior is undocumented and is only an educated guess. + */ + int count = mode == RKISP1_CIF_ISP_HISTOGRAM_MODE_RGB_COMBINED ? 3 : 1; + double factor = size.width * size.height * count / 65536.0; + double root = std::sqrt(factor); + uint8_t predivider = static_cast<uint8_t>(std::ceil(root)); + + return std::clamp<uint8_t>(predivider, 3, 127); +} Agc::Agc() - : frameCount_(0), filteredExposure_(0s) { supportsRaw_ = true; } /** + * \brief Initialise the AGC algorithm from tuning files + * \param[in] context The shared IPA context + * \param[in] tuningData The YamlObject containing Agc tuning data + * + * This function calls the base class' tuningData parsers to discover which + * control values are supported. + * + * \return 0 on success or errors from the base class + */ +int Agc::init(IPAContext &context, const YamlObject &tuningData) +{ + int ret; + + ret = parseTuningData(tuningData); + if (ret) + return ret; + + const YamlObject &yamlMeteringModes = tuningData["AeMeteringMode"]; + ret = parseMeteringModes(context, yamlMeteringModes); + if (ret) + return ret; + + context.ctrlMap[&controls::AeEnable] = ControlInfo(false, true); + context.ctrlMap.merge(controls()); + + return 0; +} + +/** * \brief Configure the AGC given a configInfo * \param[in] context The shared IPA context * \param[in] configInfo The IPA configuration data @@ -81,6 +171,20 @@ int Agc::configure(IPAContext &context, const IPACameraSensorInfo &configInfo) context.activeState.agc.manual.exposure = context.activeState.agc.automatic.exposure; context.activeState.agc.autoEnabled = !context.configuration.raw; + context.activeState.agc.constraintMode = + static_cast<controls::AeConstraintModeEnum>(constraintModes().begin()->first); + context.activeState.agc.exposureMode = + static_cast<controls::AeExposureModeEnum>(exposureModeHelpers().begin()->first); + context.activeState.agc.meteringMode = + static_cast<controls::AeMeteringModeEnum>(meteringModes_.begin()->first); + + /* + * \todo This should probably come from FrameDurationLimits instead, + * except it's computed in the IPA and not here so we'd have to + * recompute it. + */ + context.activeState.agc.maxFrameDuration = context.configuration.sensor.maxShutterSpeed; + /* * Define the measurement window for AGC as a centered rectangle * covering 3/4 of the image width and height. @@ -90,11 +194,13 @@ int Agc::configure(IPAContext &context, const IPACameraSensorInfo &configInfo) context.configuration.agc.measureWindow.h_size = 3 * configInfo.outputSize.width / 4; context.configuration.agc.measureWindow.v_size = 3 * configInfo.outputSize.height / 4; - /* - * \todo Use the upcoming per-frame context API that will provide a - * frame index - */ - frameCount_ = 0; + setLimits(context.configuration.sensor.minShutterSpeed, + context.configuration.sensor.maxShutterSpeed, + context.configuration.sensor.minAnalogueGain, + context.configuration.sensor.maxAnalogueGain); + + resetFrameCount(); + return 0; } @@ -141,174 +247,108 @@ void Agc::queueRequest(IPAContext &context, frameContext.agc.exposure = agc.manual.exposure; frameContext.agc.gain = agc.manual.gain; } + + const auto &meteringMode = controls.get(controls::AeMeteringMode); + if (meteringMode) { + frameContext.agc.updateMetering = agc.meteringMode != *meteringMode; + agc.meteringMode = + static_cast<controls::AeMeteringModeEnum>(*meteringMode); + } + frameContext.agc.meteringMode = agc.meteringMode; + + const auto &exposureMode = controls.get(controls::AeExposureMode); + if (exposureMode) + agc.exposureMode = + static_cast<controls::AeExposureModeEnum>(*exposureMode); + frameContext.agc.exposureMode = agc.exposureMode; + + const auto &constraintMode = controls.get(controls::AeConstraintMode); + if (constraintMode) + agc.constraintMode = + static_cast<controls::AeConstraintModeEnum>(*constraintMode); + frameContext.agc.constraintMode = agc.constraintMode; + + const auto &frameDurationLimits = controls.get(controls::FrameDurationLimits); + if (frameDurationLimits) { + utils::Duration maxFrameDuration = + std::chrono::milliseconds((*frameDurationLimits).back()); + agc.maxFrameDuration = maxFrameDuration; + } + frameContext.agc.maxFrameDuration = agc.maxFrameDuration; } /** * \copydoc libcamera::ipa::Algorithm::prepare */ void Agc::prepare(IPAContext &context, const uint32_t frame, - IPAFrameContext &frameContext, rkisp1_params_cfg *params) + IPAFrameContext &frameContext, RkISP1Params *params) { if (frameContext.agc.autoEnabled) { frameContext.agc.exposure = context.activeState.agc.automatic.exposure; frameContext.agc.gain = context.activeState.agc.automatic.gain; } - if (frame > 0) + if (frame > 0 && !frameContext.agc.updateMetering) return; - /* Configure the measurement window. */ - params->meas.aec_config.meas_window = context.configuration.agc.measureWindow; - /* Use a continuous method for measure. */ - params->meas.aec_config.autostop = RKISP1_CIF_ISP_EXP_CTRL_AUTOSTOP_0; - /* Estimate Y as (R + G + B) x (85/256). */ - params->meas.aec_config.mode = RKISP1_CIF_ISP_EXP_MEASURING_MODE_1; - - params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_AEC; - params->module_ens |= RKISP1_CIF_ISP_MODULE_AEC; - params->module_en_update |= RKISP1_CIF_ISP_MODULE_AEC; - - /* Configure histogram. */ - params->meas.hst_config.meas_window = context.configuration.agc.measureWindow; - /* Produce the luminance histogram. */ - params->meas.hst_config.mode = RKISP1_CIF_ISP_HISTOGRAM_MODE_Y_HISTOGRAM; - /* Set an average weighted histogram. */ - Span<uint8_t> weights{ - params->meas.hst_config.hist_weight, - context.hw->numHistogramWeights - }; - std::fill(weights.begin(), weights.end(), 1); - /* Step size can't be less than 3. */ - params->meas.hst_config.histogram_predivider = 4; - - /* Update the configuration for histogram. */ - params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_HST; - /* Enable the histogram measure unit. */ - params->module_ens |= RKISP1_CIF_ISP_MODULE_HST; - params->module_en_update |= RKISP1_CIF_ISP_MODULE_HST; -} - -/** - * \brief Apply a filter on the exposure value to limit the speed of changes - * \param[in] exposureValue The target exposure from the AGC algorithm - * - * The speed of the filter is adaptive, and will produce the target quicker - * during startup, or when the target exposure is within 20% of the most recent - * filter output. - * - * \return The filtered exposure - */ -utils::Duration Agc::filterExposure(utils::Duration exposureValue) -{ - double speed = 0.2; - - /* Adapt instantly if we are in startup phase. */ - if (frameCount_ < kNumStartupFrames) - speed = 1.0; - /* - * If we are close to the desired result, go faster to avoid making - * multiple micro-adjustments. - * \todo Make this customisable? + * Configure the AEC measurements. Set the window, measure + * continuously, and estimate Y as (R + G + B) x (85/256). */ - if (filteredExposure_ < 1.2 * exposureValue && - filteredExposure_ > 0.8 * exposureValue) - speed = sqrt(speed); - - filteredExposure_ = speed * exposureValue + - filteredExposure_ * (1.0 - speed); - - LOG(RkISP1Agc, Debug) << "After filtering, exposure " << filteredExposure_; + auto aecConfig = params->block<BlockType::Aec>(); + aecConfig.setEnabled(true); - return filteredExposure_; -} - -/** - * \brief Estimate the new exposure and gain values - * \param[inout] context The shared IPA Context - * \param[in] frameContext The FrameContext for this frame - * \param[in] yGain The gain calculated on the current brightness level - * \param[in] iqMeanGain The gain calculated based on the relative luminance target - */ -void Agc::computeExposure(IPAContext &context, IPAFrameContext &frameContext, - double yGain, double iqMeanGain) -{ - IPASessionConfiguration &configuration = context.configuration; - IPAActiveState &activeState = context.activeState; - - /* Get the effective exposure and gain applied on the sensor. */ - uint32_t exposure = frameContext.sensor.exposure; - double analogueGain = frameContext.sensor.gain; - - /* Use the highest of the two gain estimates. */ - double evGain = std::max(yGain, iqMeanGain); - - utils::Duration minShutterSpeed = configuration.sensor.minShutterSpeed; - utils::Duration maxShutterSpeed = std::min(configuration.sensor.maxShutterSpeed, - kMaxShutterSpeed); - - double minAnalogueGain = std::max(configuration.sensor.minAnalogueGain, - kMinAnalogueGain); - double maxAnalogueGain = configuration.sensor.maxAnalogueGain; - - /* Consider within 1% of the target as correctly exposed. */ - if (utils::abs_diff(evGain, 1.0) < 0.01) - return; - - /* extracted from Rpi::Agc::computeTargetExposure. */ - - /* Calculate the shutter time in seconds. */ - utils::Duration currentShutter = exposure * configuration.sensor.lineDuration; + aecConfig->meas_window = context.configuration.agc.measureWindow; + aecConfig->autostop = RKISP1_CIF_ISP_EXP_CTRL_AUTOSTOP_0; + aecConfig->mode = RKISP1_CIF_ISP_EXP_MEASURING_MODE_1; /* - * Update the exposure value for the next computation using the values - * of exposure and gain really used by the sensor. + * Configure the histogram measurement. Set the window, produce a + * luminance histogram, and set the weights and predivider. */ - utils::Duration effectiveExposureValue = currentShutter * analogueGain; + auto hstConfig = params->block<BlockType::Hst>(); + hstConfig.setEnabled(true); - LOG(RkISP1Agc, Debug) << "Actual total exposure " << currentShutter * analogueGain - << " Shutter speed " << currentShutter - << " Gain " << analogueGain - << " Needed ev gain " << evGain; + hstConfig->meas_window = context.configuration.agc.measureWindow; + hstConfig->mode = RKISP1_CIF_ISP_HISTOGRAM_MODE_Y_HISTOGRAM; - /* - * Calculate the current exposure value for the scene as the latest - * exposure value applied multiplied by the new estimated gain. - */ - utils::Duration exposureValue = effectiveExposureValue * evGain; - - /* Clamp the exposure value to the min and max authorized. */ - utils::Duration maxTotalExposure = maxShutterSpeed * maxAnalogueGain; - exposureValue = std::min(exposureValue, maxTotalExposure); - LOG(RkISP1Agc, Debug) << "Target total exposure " << exposureValue - << ", maximum is " << maxTotalExposure; + Span<uint8_t> weights{ + hstConfig->hist_weight, + context.hw->numHistogramWeights + }; + std::vector<uint8_t> &modeWeights = meteringModes_.at(frameContext.agc.meteringMode); + std::copy(modeWeights.begin(), modeWeights.end(), weights.begin()); + + struct rkisp1_cif_isp_window window = hstConfig->meas_window; + Size windowSize = { window.h_size, window.v_size }; + hstConfig->histogram_predivider = + computeHistogramPredivider(windowSize, + static_cast<rkisp1_cif_isp_histogram_mode>(hstConfig->mode)); +} - /* - * Divide the exposure value as new exposure and gain values. - * \todo estimate if we need to desaturate - */ - exposureValue = filterExposure(exposureValue); +void Agc::fillMetadata(IPAContext &context, IPAFrameContext &frameContext, + ControlList &metadata) +{ + utils::Duration exposureTime = context.configuration.sensor.lineDuration + * frameContext.sensor.exposure; + metadata.set(controls::AnalogueGain, frameContext.sensor.gain); + metadata.set(controls::ExposureTime, exposureTime.get<std::micro>()); + metadata.set(controls::AeEnable, frameContext.agc.autoEnabled); - /* - * Push the shutter time up to the maximum first, and only then - * increase the gain. - */ - utils::Duration shutterTime = std::clamp<utils::Duration>(exposureValue / minAnalogueGain, - minShutterSpeed, maxShutterSpeed); - double stepGain = std::clamp(exposureValue / shutterTime, - minAnalogueGain, maxAnalogueGain); - LOG(RkISP1Agc, Debug) << "Divided up shutter and gain are " - << shutterTime << " and " - << stepGain; + /* \todo Use VBlank value calculated from each frame exposure. */ + uint32_t vTotal = context.configuration.sensor.size.height + + context.configuration.sensor.defVBlank; + utils::Duration frameDuration = context.configuration.sensor.lineDuration + * vTotal; + metadata.set(controls::FrameDuration, frameDuration.get<std::micro>()); - /* Update the estimated exposure and gain. */ - activeState.agc.automatic.exposure = shutterTime / configuration.sensor.lineDuration; - activeState.agc.automatic.gain = stepGain; + metadata.set(controls::AeMeteringMode, frameContext.agc.meteringMode); + metadata.set(controls::AeExposureMode, frameContext.agc.exposureMode); + metadata.set(controls::AeConstraintMode, frameContext.agc.constraintMode); } /** * \brief Estimate the relative luminance of the frame with a given gain - * \param[in] expMeans The mean luminance values, from the RkISP1 statistics * \param[in] gain The gain to apply to the frame * * This function estimates the average relative luminance of the frame that @@ -322,8 +362,6 @@ void Agc::computeExposure(IPAContext &context, IPAFrameContext &frameContext, * YUV doesn't take into account the fact that the R, G and B components * contribute differently to the relative luminance. * - * \todo Have a dedicated YUV algorithm ? - * * The values are normalized to the [0.0, 1.0] range, where 1.0 corresponds to a * theoretical perfect reflector of 100% reference white. * @@ -332,45 +370,17 @@ void Agc::computeExposure(IPAContext &context, IPAFrameContext &frameContext, * * \return The relative luminance */ -double Agc::estimateLuminance(Span<const uint8_t> expMeans, double gain) +double Agc::estimateLuminance(double gain) const { double ySum = 0.0; /* Sum the averages, saturated to 255. */ - for (uint8_t expMean : expMeans) + for (uint8_t expMean : expMeans_) ySum += std::min(expMean * gain, 255.0); /* \todo Weight with the AWB gains */ - return ySum / expMeans.size() / 255; -} - -/** - * \brief Estimate the mean value of the top 2% of the histogram - * \param[in] hist The histogram statistics computed by the RkISP1 - * \return The mean value of the top 2% of the histogram - */ -double Agc::measureBrightness(Span<const uint32_t> hist) const -{ - Histogram histogram{ hist }; - /* Estimate the quantile mean of the top 2% of the histogram. */ - return histogram.interQuantileMean(0.98, 1.0); -} - -void Agc::fillMetadata(IPAContext &context, IPAFrameContext &frameContext, - ControlList &metadata) -{ - utils::Duration exposureTime = context.configuration.sensor.lineDuration - * frameContext.sensor.exposure; - metadata.set(controls::AnalogueGain, frameContext.sensor.gain); - metadata.set(controls::ExposureTime, exposureTime.get<std::micro>()); - - /* \todo Use VBlank value calculated from each frame exposure. */ - uint32_t vTotal = context.configuration.sensor.size.height - + context.configuration.sensor.defVBlank; - utils::Duration frameDuration = context.configuration.sensor.lineDuration - * vTotal; - metadata.set(controls::FrameDuration, frameDuration.get<std::micro>()); + return ySum / expMeans_.size() / 255; } /** @@ -392,6 +402,12 @@ void Agc::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, fillMetadata(context, frameContext, metadata); return; } + + if (!(stats->meas_type & RKISP1_CIF_ISP_STAT_AUTOEXP)) { + fillMetadata(context, frameContext, metadata); + LOG(RkISP1Agc, Error) << "AUTOEXP data is missing in statistics"; + return; + } /* * \todo Verify that the exposure and gain applied by the sensor for @@ -402,43 +418,48 @@ void Agc::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, */ const rkisp1_cif_isp_stat *params = &stats->params; - ASSERT(stats->meas_type & RKISP1_CIF_ISP_STAT_AUTOEXP); - Span<const uint8_t> ae{ params->ae.exp_mean, context.hw->numAeCells }; - Span<const uint32_t> hist{ - params->hist.hist_bins, - context.hw->numHistogramBins - }; + /* The lower 4 bits are fractional and meant to be discarded. */ + Histogram hist({ params->hist.hist_bins, context.hw->numHistogramBins }, + [](uint32_t x) { return x >> 4; }); + expMeans_ = { params->ae.exp_mean, context.hw->numAeCells }; - double iqMean = measureBrightness(hist); - double iqMeanGain = kEvGainTarget * hist.size() / iqMean; + utils::Duration maxShutterSpeed = + std::clamp(frameContext.agc.maxFrameDuration, + context.configuration.sensor.minShutterSpeed, + context.configuration.sensor.maxShutterSpeed); + setLimits(context.configuration.sensor.minShutterSpeed, + maxShutterSpeed, + context.configuration.sensor.minAnalogueGain, + context.configuration.sensor.maxAnalogueGain); /* - * Estimate the gain needed to achieve a relative luminance target. To - * account for non-linearity caused by saturation, the value needs to be - * estimated in an iterative process, as multiplying by a gain will not - * increase the relative luminance by the same factor if some image - * regions are saturated. + * The Agc algorithm needs to know the effective exposure value that was + * applied to the sensor when the statistics were collected. */ - double yGain = 1.0; - double yTarget = kRelativeLuminanceTarget; - - for (unsigned int i = 0; i < 8; i++) { - double yValue = estimateLuminance(ae, yGain); - double extra_gain = std::min(10.0, yTarget / (yValue + .001)); - - yGain *= extra_gain; - LOG(RkISP1Agc, Debug) << "Y value: " << yValue - << ", Y target: " << yTarget - << ", gives gain " << yGain; - if (extra_gain < 1.01) - break; - } + utils::Duration exposureTime = context.configuration.sensor.lineDuration + * frameContext.sensor.exposure; + double analogueGain = frameContext.sensor.gain; + utils::Duration effectiveExposureValue = exposureTime * analogueGain; - computeExposure(context, frameContext, yGain, iqMeanGain); - frameCount_++; + utils::Duration shutterTime; + double aGain, dGain; + std::tie(shutterTime, aGain, dGain) = + calculateNewEv(frameContext.agc.constraintMode, + frameContext.agc.exposureMode, + hist, effectiveExposureValue); + + LOG(RkISP1Agc, Debug) + << "Divided up shutter, analogue gain and digital gain are " + << shutterTime << ", " << aGain << " and " << dGain; + + IPAActiveState &activeState = context.activeState; + /* Update the estimated exposure and gain. */ + activeState.agc.automatic.exposure = shutterTime / context.configuration.sensor.lineDuration; + activeState.agc.automatic.gain = aGain; fillMetadata(context, frameContext, metadata); + expMeans_ = {}; } REGISTER_IPA_ALGORITHM(Agc, "Agc") diff --git a/src/ipa/rkisp1/algorithms/agc.h b/src/ipa/rkisp1/algorithms/agc.h index fb82a33f..aa86f2c5 100644 --- a/src/ipa/rkisp1/algorithms/agc.h +++ b/src/ipa/rkisp1/algorithms/agc.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * agc.h - RkISP1 AGC/AEC mean-based control algorithm + * RkISP1 AGC/AEC mean-based control algorithm */ #pragma once @@ -14,18 +14,21 @@ #include <libcamera/geometry.h> +#include "libipa/agc_mean_luminance.h" + #include "algorithm.h" namespace libcamera { namespace ipa::rkisp1::algorithms { -class Agc : public Algorithm +class Agc : public Algorithm, public AgcMeanLuminance { public: Agc(); ~Agc() = default; + int init(IPAContext &context, const YamlObject &tuningData) override; int configure(IPAContext &context, const IPACameraSensorInfo &configInfo) override; void queueRequest(IPAContext &context, const uint32_t frame, @@ -33,24 +36,24 @@ public: const ControlList &controls) override; void prepare(IPAContext &context, const uint32_t frame, IPAFrameContext &frameContext, - rkisp1_params_cfg *params) override; + RkISP1Params *params) override; void process(IPAContext &context, const uint32_t frame, IPAFrameContext &frameContext, const rkisp1_stat_buffer *stats, ControlList &metadata) override; private: - void computeExposure(IPAContext &Context, IPAFrameContext &frameContext, - double yGain, double iqMeanGain); - utils::Duration filterExposure(utils::Duration exposureValue); - double estimateLuminance(Span<const uint8_t> expMeans, double gain); - double measureBrightness(Span<const uint32_t> hist) const; + int parseMeteringModes(IPAContext &context, const YamlObject &tuningData); + uint8_t computeHistogramPredivider(const Size &size, + enum rkisp1_cif_isp_histogram_mode mode); + void fillMetadata(IPAContext &context, IPAFrameContext &frameContext, ControlList &metadata); + double estimateLuminance(double gain) const override; - uint64_t frameCount_; + Span<const uint8_t> expMeans_; - utils::Duration filteredExposure_; + std::map<int32_t, std::vector<uint8_t>> meteringModes_; }; } /* namespace ipa::rkisp1::algorithms */ diff --git a/src/ipa/rkisp1/algorithms/algorithm.h b/src/ipa/rkisp1/algorithms/algorithm.h index 9454c9a1..715cfcd8 100644 --- a/src/ipa/rkisp1/algorithms/algorithm.h +++ b/src/ipa/rkisp1/algorithms/algorithm.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas On Board * - * algorithm.h - RkISP1 control algorithm interface + * RkISP1 control algorithm interface */ #pragma once diff --git a/src/ipa/rkisp1/algorithms/awb.cpp b/src/ipa/rkisp1/algorithms/awb.cpp index 744f4a38..b3c00bef 100644 --- a/src/ipa/rkisp1/algorithms/awb.cpp +++ b/src/ipa/rkisp1/algorithms/awb.cpp @@ -2,18 +2,18 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * awb.cpp - AWB control algorithm + * AWB control algorithm */ #include "awb.h" #include <algorithm> -#include <cmath> -#include <iomanip> +#include <ios> #include <libcamera/base/log.h> #include <libcamera/control_ids.h> + #include <libcamera/ipa/core_ipa_interface.h> /** @@ -108,7 +108,7 @@ void Awb::queueRequest(IPAContext &context, * \copydoc libcamera::ipa::Algorithm::prepare */ void Awb::prepare(IPAContext &context, const uint32_t frame, - IPAFrameContext &frameContext, rkisp1_params_cfg *params) + IPAFrameContext &frameContext, RkISP1Params *params) { /* * This is the latest time we can read the active state. This is the @@ -120,29 +120,30 @@ void Awb::prepare(IPAContext &context, const uint32_t frame, frameContext.awb.gains.blue = context.activeState.awb.gains.automatic.blue; } - params->others.awb_gain_config.gain_green_b = 256 * frameContext.awb.gains.green; - params->others.awb_gain_config.gain_blue = 256 * frameContext.awb.gains.blue; - params->others.awb_gain_config.gain_red = 256 * frameContext.awb.gains.red; - params->others.awb_gain_config.gain_green_r = 256 * frameContext.awb.gains.green; + auto gainConfig = params->block<BlockType::AwbGain>(); + gainConfig.setEnabled(true); - /* Update the gains. */ - params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_AWB_GAIN; + gainConfig->gain_green_b = std::clamp<int>(256 * frameContext.awb.gains.green, 0, 0x3ff); + gainConfig->gain_blue = std::clamp<int>(256 * frameContext.awb.gains.blue, 0, 0x3ff); + gainConfig->gain_red = std::clamp<int>(256 * frameContext.awb.gains.red, 0, 0x3ff); + gainConfig->gain_green_r = std::clamp<int>(256 * frameContext.awb.gains.green, 0, 0x3ff); /* If we have already set the AWB measurement parameters, return. */ if (frame > 0) return; - rkisp1_cif_isp_awb_meas_config &awb_config = params->meas.awb_meas_config; + auto awbConfig = params->block<BlockType::Awb>(); + awbConfig.setEnabled(true); /* Configure the measure window for AWB. */ - awb_config.awb_wnd = context.configuration.awb.measureWindow; + awbConfig->awb_wnd = context.configuration.awb.measureWindow; /* Number of frames to use to estimate the means (0 means 1 frame). */ - awb_config.frames = 0; + awbConfig->frames = 0; /* Select RGB or YCbCr means measurement. */ if (rgbMode_) { - awb_config.awb_mode = RKISP1_CIF_ISP_AWB_MODE_RGB; + awbConfig->awb_mode = RKISP1_CIF_ISP_AWB_MODE_RGB; /* * For RGB-based measurements, pixels are selected with maximum @@ -150,19 +151,19 @@ void Awb::prepare(IPAContext &context, const uint32_t frame, * awb_ref_cr, awb_min_y and awb_ref_cb respectively. The other * values are not used, set them to 0. */ - awb_config.awb_ref_cr = 250; - awb_config.min_y = 250; - awb_config.awb_ref_cb = 250; + awbConfig->awb_ref_cr = 250; + awbConfig->min_y = 250; + awbConfig->awb_ref_cb = 250; - awb_config.max_y = 0; - awb_config.min_c = 0; - awb_config.max_csum = 0; + awbConfig->max_y = 0; + awbConfig->min_c = 0; + awbConfig->max_csum = 0; } else { - awb_config.awb_mode = RKISP1_CIF_ISP_AWB_MODE_YCBCR; + awbConfig->awb_mode = RKISP1_CIF_ISP_AWB_MODE_YCBCR; /* Set the reference Cr and Cb (AWB target) to white. */ - awb_config.awb_ref_cb = 128; - awb_config.awb_ref_cr = 128; + awbConfig->awb_ref_cb = 128; + awbConfig->awb_ref_cr = 128; /* * Filter out pixels based on luminance and chrominance values. @@ -170,20 +171,11 @@ void Awb::prepare(IPAContext &context, const uint32_t frame, * range, while the acceptable chroma values are specified with * a minimum of 16 and a maximum Cb+Cr sum of 250. */ - awb_config.min_y = 16; - awb_config.max_y = 250; - awb_config.min_c = 16; - awb_config.max_csum = 250; + awbConfig->min_y = 16; + awbConfig->max_y = 250; + awbConfig->min_c = 16; + awbConfig->max_csum = 250; } - - /* Enable the AWB gains. */ - params->module_en_update |= RKISP1_CIF_ISP_MODULE_AWB_GAIN; - params->module_ens |= RKISP1_CIF_ISP_MODULE_AWB_GAIN; - - /* Update the AWB measurement parameters and enable the AWB module. */ - params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_AWB; - params->module_en_update |= RKISP1_CIF_ISP_MODULE_AWB; - params->module_ens |= RKISP1_CIF_ISP_MODULE_AWB; } uint32_t Awb::estimateCCT(double red, double green, double blue) @@ -218,6 +210,18 @@ void Awb::process(IPAContext &context, double redMean; double blueMean; + metadata.set(controls::AwbEnable, frameContext.awb.autoEnabled); + metadata.set(controls::ColourGains, { + static_cast<float>(frameContext.awb.gains.red), + static_cast<float>(frameContext.awb.gains.blue) + }); + metadata.set(controls::ColourTemperature, activeState.awb.temperatureK); + + if (!stats || !(stats->meas_type & RKISP1_CIF_ISP_STAT_AWB)) { + LOG(RkISP1Awb, Error) << "AWB data is missing in statistics"; + return; + } + if (rgbMode_) { greenMean = awb->awb_mean[0].mean_y_or_g; redMean = awb->awb_mean[0].mean_cr_or_r; @@ -272,13 +276,14 @@ void Awb::process(IPAContext &context, * meaningfully calculate gains. Freeze the algorithm in that case. */ if (redMean < kMeanMinThreshold && greenMean < kMeanMinThreshold && - blueMean < kMeanMinThreshold) { - frameContext.awb.temperatureK = activeState.awb.temperatureK; + blueMean < kMeanMinThreshold) return; - } activeState.awb.temperatureK = estimateCCT(redMean, greenMean, blueMean); + /* Metadata shall contain the up to date measurement */ + metadata.set(controls::ColourTemperature, activeState.awb.temperatureK); + /* * Estimate the red and blue gains to apply in a grey world. The green * gain is hardcoded to 1.0. Avoid divisions by zero by clamping the @@ -305,21 +310,13 @@ void Awb::process(IPAContext &context, activeState.awb.gains.automatic.blue = blueGain; activeState.awb.gains.automatic.green = 1.0; - frameContext.awb.temperatureK = activeState.awb.temperatureK; - - metadata.set(controls::AwbEnable, frameContext.awb.autoEnabled); - metadata.set(controls::ColourGains, { - static_cast<float>(frameContext.awb.gains.red), - static_cast<float>(frameContext.awb.gains.blue) - }); - metadata.set(controls::ColourTemperature, frameContext.awb.temperatureK); - - LOG(RkISP1Awb, Debug) << std::showpoint + LOG(RkISP1Awb, Debug) + << std::showpoint << "Means [" << redMean << ", " << greenMean << ", " << blueMean << "], gains [" << activeState.awb.gains.automatic.red << ", " << activeState.awb.gains.automatic.green << ", " << activeState.awb.gains.automatic.blue << "], temp " - << frameContext.awb.temperatureK << "K"; + << activeState.awb.temperatureK << "K"; } REGISTER_IPA_ALGORITHM(Awb, "Awb") diff --git a/src/ipa/rkisp1/algorithms/awb.h b/src/ipa/rkisp1/algorithms/awb.h index 9d45a442..b3b2c0bb 100644 --- a/src/ipa/rkisp1/algorithms/awb.h +++ b/src/ipa/rkisp1/algorithms/awb.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * awb.h - AWB control algorithm + * AWB control algorithm */ #pragma once @@ -25,7 +25,7 @@ public: const ControlList &controls) override; void prepare(IPAContext &context, const uint32_t frame, IPAFrameContext &frameContext, - rkisp1_params_cfg *params) override; + RkISP1Params *params) override; void process(IPAContext &context, const uint32_t frame, IPAFrameContext &frameContext, const rkisp1_stat_buffer *stats, diff --git a/src/ipa/rkisp1/algorithms/blc.cpp b/src/ipa/rkisp1/algorithms/blc.cpp index 15324fb1..98cb7145 100644 --- a/src/ipa/rkisp1/algorithms/blc.cpp +++ b/src/ipa/rkisp1/algorithms/blc.cpp @@ -2,13 +2,17 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * blc.cpp - RkISP1 Black Level Correction control + * RkISP1 Black Level Correction control */ #include "blc.h" +#include <linux/videodev2.h> + #include <libcamera/base/log.h> +#include <libcamera/control_ids.h> + #include "libcamera/internal/yaml_parser.h" /** @@ -36,22 +40,62 @@ namespace ipa::rkisp1::algorithms { LOG_DEFINE_CATEGORY(RkISP1Blc) BlackLevelCorrection::BlackLevelCorrection() - : tuningParameters_(false) { + /* + * This is a bit of a hack. In raw mode no black level correction + * happens. This flag is used to ensure the metadata gets populated with + * the black level which is needed to capture proper raw images for + * tuning. + */ + supportsRaw_ = true; } /** * \copydoc libcamera::ipa::Algorithm::init */ -int BlackLevelCorrection::init([[maybe_unused]] IPAContext &context, - const YamlObject &tuningData) +int BlackLevelCorrection::init(IPAContext &context, const YamlObject &tuningData) { - blackLevelRed_ = tuningData["R"].get<int16_t>(256); - blackLevelGreenR_ = tuningData["Gr"].get<int16_t>(256); - blackLevelGreenB_ = tuningData["Gb"].get<int16_t>(256); - blackLevelBlue_ = tuningData["B"].get<int16_t>(256); - - tuningParameters_ = true; + std::optional<int16_t> levelRed = tuningData["R"].get<int16_t>(); + std::optional<int16_t> levelGreenR = tuningData["Gr"].get<int16_t>(); + std::optional<int16_t> levelGreenB = tuningData["Gb"].get<int16_t>(); + std::optional<int16_t> levelBlue = tuningData["B"].get<int16_t>(); + bool tuningHasLevels = levelRed && levelGreenR && levelGreenB && levelBlue; + + auto blackLevel = context.camHelper->blackLevel(); + if (!blackLevel) { + /* + * Not all camera sensor helpers have been updated with black + * levels. Print a warning and fall back to the levels from the + * tuning data to preserve backward compatibility. This should + * be removed once all helpers provide the data. + */ + LOG(RkISP1Blc, Warning) + << "No black levels provided by camera sensor helper" + << ", please fix"; + + blackLevelRed_ = levelRed.value_or(4096); + blackLevelGreenR_ = levelGreenR.value_or(4096); + blackLevelGreenB_ = levelGreenB.value_or(4096); + blackLevelBlue_ = levelBlue.value_or(4096); + } else if (tuningHasLevels) { + /* + * If black levels are provided in the tuning file, use them to + * avoid breaking existing camera tuning. This is deprecated and + * will be removed. + */ + LOG(RkISP1Blc, Warning) + << "Deprecated: black levels overwritten by tuning file"; + + blackLevelRed_ = *levelRed; + blackLevelGreenR_ = *levelGreenR; + blackLevelGreenB_ = *levelGreenB; + blackLevelBlue_ = *levelBlue; + } else { + blackLevelRed_ = *blackLevel; + blackLevelGreenR_ = *blackLevel; + blackLevelGreenB_ = *blackLevel; + blackLevelBlue_ = *blackLevel; + } LOG(RkISP1Blc, Debug) << "Black levels: red " << blackLevelRed_ @@ -62,29 +106,80 @@ int BlackLevelCorrection::init([[maybe_unused]] IPAContext &context, return 0; } +int BlackLevelCorrection::configure(IPAContext &context, + [[maybe_unused]] const IPACameraSensorInfo &configInfo) +{ + /* + * BLC on ISP versions that include the companding block requires usage + * of the extensible parameters format. + */ + supported_ = context.configuration.paramFormat == V4L2_META_FMT_RK_ISP1_EXT_PARAMS || + !context.hw->compand; + + if (!supported_) + LOG(RkISP1Blc, Warning) + << "BLC in companding block requires extensible parameters"; + + return 0; +} + /** * \copydoc libcamera::ipa::Algorithm::prepare */ -void BlackLevelCorrection::prepare([[maybe_unused]] IPAContext &context, +void BlackLevelCorrection::prepare(IPAContext &context, const uint32_t frame, [[maybe_unused]] IPAFrameContext &frameContext, - rkisp1_params_cfg *params) + RkISP1Params *params) { + if (context.configuration.raw) + return; + if (frame > 0) return; - if (!tuningParameters_) + if (!supported_) return; - params->others.bls_config.enable_auto = 0; - params->others.bls_config.fixed_val.r = blackLevelRed_; - params->others.bls_config.fixed_val.gr = blackLevelGreenR_; - params->others.bls_config.fixed_val.gb = blackLevelGreenB_; - params->others.bls_config.fixed_val.b = blackLevelBlue_; + if (context.hw->compand) { + auto config = params->block<BlockType::CompandBls>(); + config.setEnabled(true); + + /* + * Scale up to the 20-bit black levels used by the companding + * block. + */ + config->r = blackLevelRed_ << 4; + config->gr = blackLevelGreenR_ << 4; + config->gb = blackLevelGreenB_ << 4; + config->b = blackLevelBlue_ << 4; + } else { + auto config = params->block<BlockType::Bls>(); + config.setEnabled(true); + + config->enable_auto = 0; + + /* Scale down to the 12-bit black levels used by the BLS block. */ + config->fixed_val.r = blackLevelRed_ >> 4; + config->fixed_val.gr = blackLevelGreenR_ >> 4; + config->fixed_val.gb = blackLevelGreenB_ >> 4; + config->fixed_val.b = blackLevelBlue_ >> 4; + } +} - params->module_en_update |= RKISP1_CIF_ISP_MODULE_BLS; - params->module_ens |= RKISP1_CIF_ISP_MODULE_BLS; - params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_BLS; +/** + * \copydoc libcamera::ipa::Algorithm::process + */ +void BlackLevelCorrection::process([[maybe_unused]] IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + [[maybe_unused]] const rkisp1_stat_buffer *stats, + ControlList &metadata) +{ + metadata.set(controls::SensorBlackLevels, + { static_cast<int32_t>(blackLevelRed_), + static_cast<int32_t>(blackLevelGreenR_), + static_cast<int32_t>(blackLevelGreenB_), + static_cast<int32_t>(blackLevelBlue_) }); } REGISTER_IPA_ALGORITHM(BlackLevelCorrection, "BlackLevelCorrection") diff --git a/src/ipa/rkisp1/algorithms/blc.h b/src/ipa/rkisp1/algorithms/blc.h index 0b1a2d43..f797ae44 100644 --- a/src/ipa/rkisp1/algorithms/blc.h +++ b/src/ipa/rkisp1/algorithms/blc.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * blc.h - RkISP1 Black Level Correction control + * RkISP1 Black Level Correction control */ #pragma once @@ -20,12 +20,19 @@ public: ~BlackLevelCorrection() = default; int init(IPAContext &context, const YamlObject &tuningData) override; + int configure(IPAContext &context, + const IPACameraSensorInfo &configInfo) override; void prepare(IPAContext &context, const uint32_t frame, IPAFrameContext &frameContext, - rkisp1_params_cfg *params) override; + RkISP1Params *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const rkisp1_stat_buffer *stats, + ControlList &metadata) override; private: - bool tuningParameters_; + bool supported_; + int16_t blackLevelRed_; int16_t blackLevelGreenR_; int16_t blackLevelGreenB_; diff --git a/src/ipa/rkisp1/algorithms/ccm.cpp b/src/ipa/rkisp1/algorithms/ccm.cpp new file mode 100644 index 00000000..6b7d2e2c --- /dev/null +++ b/src/ipa/rkisp1/algorithms/ccm.cpp @@ -0,0 +1,135 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * RkISP1 Color Correction Matrix control algorithm + */ + +#include "ccm.h" + +#include <map> + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +#include <libcamera/control_ids.h> + +#include <libcamera/ipa/core_ipa_interface.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "../utils.h" +#include "libipa/interpolator.h" + +/** + * \file ccm.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class Ccm + * \brief A color correction matrix algorithm + */ + +LOG_DEFINE_CATEGORY(RkISP1Ccm) + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int Ccm::init([[maybe_unused]] IPAContext &context, const YamlObject &tuningData) +{ + int ret = ccm_.readYaml(tuningData["ccms"], "ct", "ccm"); + if (ret < 0) { + LOG(RkISP1Ccm, Warning) + << "Failed to parse 'ccm' " + << "parameter from tuning file; falling back to unit matrix"; + ccm_.setData({ { 0, Matrix<float, 3, 3>::identity() } }); + } + + ret = offsets_.readYaml(tuningData["ccms"], "ct", "offsets"); + if (ret < 0) { + LOG(RkISP1Ccm, Warning) + << "Failed to parse 'offsets' " + << "parameter from tuning file; falling back to zero offsets"; + + offsets_.setData({ { 0, Matrix<int16_t, 3, 1>({ 0, 0, 0 }) } }); + } + + return 0; +} + +void Ccm::setParameters(struct rkisp1_cif_isp_ctk_config &config, + const Matrix<float, 3, 3> &matrix, + const Matrix<int16_t, 3, 1> &offsets) +{ + /* + * 4 bit integer and 7 bit fractional, ranging from -8 (0x400) to + * +7.992 (0x3ff) + */ + for (unsigned int i = 0; i < 3; i++) { + for (unsigned int j = 0; j < 3; j++) + config.coeff[i][j] = + utils::floatingToFixedPoint<4, 7, uint16_t, double>(matrix[i][j]); + } + + for (unsigned int i = 0; i < 3; i++) + config.ct_offset[i] = offsets[i][0] & 0xfff; + + LOG(RkISP1Ccm, Debug) << "Setting matrix " << matrix; + LOG(RkISP1Ccm, Debug) << "Setting offsets " << offsets; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void Ccm::prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, RkISP1Params *params) +{ + uint32_t ct = context.activeState.awb.temperatureK; + + /* + * \todo The colour temperature will likely be noisy, add filtering to + * avoid updating the CCM matrix all the time. + */ + if (frame > 0 && ct == ct_) { + frameContext.ccm.ccm = context.activeState.ccm.ccm; + return; + } + + ct_ = ct; + Matrix<float, 3, 3> ccm = ccm_.getInterpolated(ct); + Matrix<int16_t, 3, 1> offsets = offsets_.getInterpolated(ct); + + context.activeState.ccm.ccm = ccm; + frameContext.ccm.ccm = ccm; + + auto config = params->block<BlockType::Ctk>(); + config.setEnabled(true); + setParameters(*config, ccm, offsets); +} + +/** + * \copydoc libcamera::ipa::Algorithm::process + */ +void Ccm::process([[maybe_unused]] IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + [[maybe_unused]] const rkisp1_stat_buffer *stats, + ControlList &metadata) +{ + float m[9]; + for (unsigned int i = 0; i < 3; i++) { + for (unsigned int j = 0; j < 3; j++) + m[i * 3 + j] = frameContext.ccm.ccm[i][j]; + } + metadata.set(controls::ColourCorrectionMatrix, m); +} + +REGISTER_IPA_ALGORITHM(Ccm, "Ccm") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/ccm.h b/src/ipa/rkisp1/algorithms/ccm.h new file mode 100644 index 00000000..46a1416e --- /dev/null +++ b/src/ipa/rkisp1/algorithms/ccm.h @@ -0,0 +1,49 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * RkISP1 Color Correction Matrix control algorithm + */ + +#pragma once + +#include <linux/rkisp1-config.h> + +#include "libipa/interpolator.h" +#include "libipa/matrix.h" + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class Ccm : public Algorithm +{ +public: + Ccm() {} + ~Ccm() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + RkISP1Params *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const rkisp1_stat_buffer *stats, + ControlList &metadata) override; + +private: + void parseYaml(const YamlObject &tuningData); + void setParameters(struct rkisp1_cif_isp_ctk_config &config, + const Matrix<float, 3, 3> &matrix, + const Matrix<int16_t, 3, 1> &offsets); + + unsigned int ct_; + Interpolator<Matrix<float, 3, 3>> ccm_; + Interpolator<Matrix<int16_t, 3, 1>> offsets_; +}; + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/cproc.cpp b/src/ipa/rkisp1/algorithms/cproc.cpp index eaa56c37..d1fff699 100644 --- a/src/ipa/rkisp1/algorithms/cproc.cpp +++ b/src/ipa/rkisp1/algorithms/cproc.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * cproc.cpp - RkISP1 Color Processing control + * RkISP1 Color Processing control */ #include "cproc.h" @@ -33,20 +33,71 @@ namespace ipa::rkisp1::algorithms { LOG_DEFINE_CATEGORY(RkISP1CProc) +namespace { + +constexpr float kDefaultBrightness = 0.0f; +constexpr float kDefaultContrast = 1.0f; +constexpr float kDefaultSaturation = 1.0f; + +int convertBrightness(const float v) +{ + return std::clamp<int>(std::lround(v * 128), -128, 127); +} + +int convertContrastOrSaturation(const float v) +{ + return std::clamp<int>(std::lround(v * 128), 0, 255); +} + +} /* namespace */ + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int ColorProcessing::init(IPAContext &context, + [[maybe_unused]] const YamlObject &tuningData) +{ + auto &cmap = context.ctrlMap; + + cmap[&controls::Brightness] = ControlInfo(-1.0f, 0.993f, kDefaultBrightness); + cmap[&controls::Contrast] = ControlInfo(0.0f, 1.993f, kDefaultContrast); + cmap[&controls::Saturation] = ControlInfo(0.0f, 1.993f, kDefaultSaturation); + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::configure + */ +int ColorProcessing::configure(IPAContext &context, + [[maybe_unused]] const IPACameraSensorInfo &configInfo) +{ + auto &cproc = context.activeState.cproc; + + cproc.brightness = convertBrightness(kDefaultBrightness); + cproc.contrast = convertContrastOrSaturation(kDefaultContrast); + cproc.saturation = convertContrastOrSaturation(kDefaultSaturation); + + return 0; +} + /** * \copydoc libcamera::ipa::Algorithm::queueRequest */ void ColorProcessing::queueRequest(IPAContext &context, - [[maybe_unused]] const uint32_t frame, + const uint32_t frame, IPAFrameContext &frameContext, const ControlList &controls) { auto &cproc = context.activeState.cproc; bool update = false; + if (frame == 0) + update = true; + const auto &brightness = controls.get(controls::Brightness); if (brightness) { - int value = std::clamp<int>(std::lround(*brightness * 128), -128, 127); + int value = convertBrightness(*brightness); if (cproc.brightness != value) { cproc.brightness = value; update = true; @@ -57,7 +108,7 @@ void ColorProcessing::queueRequest(IPAContext &context, const auto &contrast = controls.get(controls::Contrast); if (contrast) { - int value = std::clamp<int>(std::lround(*contrast * 128), 0, 255); + int value = convertContrastOrSaturation(*contrast); if (cproc.contrast != value) { cproc.contrast = value; update = true; @@ -68,7 +119,7 @@ void ColorProcessing::queueRequest(IPAContext &context, const auto saturation = controls.get(controls::Saturation); if (saturation) { - int value = std::clamp<int>(std::lround(*saturation * 128), 0, 255); + int value = convertContrastOrSaturation(*saturation); if (cproc.saturation != value) { cproc.saturation = value; update = true; @@ -89,19 +140,17 @@ void ColorProcessing::queueRequest(IPAContext &context, void ColorProcessing::prepare([[maybe_unused]] IPAContext &context, [[maybe_unused]] const uint32_t frame, IPAFrameContext &frameContext, - rkisp1_params_cfg *params) + RkISP1Params *params) { /* Check if the algorithm configuration has been updated. */ if (!frameContext.cproc.update) return; - params->others.cproc_config.brightness = frameContext.cproc.brightness; - params->others.cproc_config.contrast = frameContext.cproc.contrast; - params->others.cproc_config.sat = frameContext.cproc.saturation; - - params->module_en_update |= RKISP1_CIF_ISP_MODULE_CPROC; - params->module_ens |= RKISP1_CIF_ISP_MODULE_CPROC; - params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_CPROC; + auto config = params->block<BlockType::Cproc>(); + config.setEnabled(true); + config->brightness = frameContext.cproc.brightness; + config->contrast = frameContext.cproc.contrast; + config->sat = frameContext.cproc.saturation; } REGISTER_IPA_ALGORITHM(ColorProcessing, "ColorProcessing") diff --git a/src/ipa/rkisp1/algorithms/cproc.h b/src/ipa/rkisp1/algorithms/cproc.h index ba6e901a..fd38fd17 100644 --- a/src/ipa/rkisp1/algorithms/cproc.h +++ b/src/ipa/rkisp1/algorithms/cproc.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * cproc.h - RkISP1 Color Processing control + * RkISP1 Color Processing control */ #pragma once @@ -21,12 +21,15 @@ public: ColorProcessing() = default; ~ColorProcessing() = default; + int init(IPAContext &context, const YamlObject &tuningData) override; + int configure(IPAContext &context, + const IPACameraSensorInfo &configInfo) override; void queueRequest(IPAContext &context, const uint32_t frame, IPAFrameContext &frameContext, const ControlList &controls) override; void prepare(IPAContext &context, const uint32_t frame, IPAFrameContext &frameContext, - rkisp1_params_cfg *params) override; + RkISP1Params *params) override; }; } /* namespace ipa::rkisp1::algorithms */ diff --git a/src/ipa/rkisp1/algorithms/dpcc.cpp b/src/ipa/rkisp1/algorithms/dpcc.cpp index 80a1b734..78946281 100644 --- a/src/ipa/rkisp1/algorithms/dpcc.cpp +++ b/src/ipa/rkisp1/algorithms/dpcc.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * dpcc.cpp - RkISP1 Defect Pixel Cluster Correction control + * RkISP1 Defect Pixel Cluster Correction control */ #include "dpcc.h" @@ -232,16 +232,14 @@ int DefectPixelClusterCorrection::init([[maybe_unused]] IPAContext &context, void DefectPixelClusterCorrection::prepare([[maybe_unused]] IPAContext &context, const uint32_t frame, [[maybe_unused]] IPAFrameContext &frameContext, - rkisp1_params_cfg *params) + RkISP1Params *params) { if (frame > 0) return; - params->others.dpcc_config = config_; - - params->module_en_update |= RKISP1_CIF_ISP_MODULE_DPCC; - params->module_ens |= RKISP1_CIF_ISP_MODULE_DPCC; - params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_DPCC; + auto config = params->block<BlockType::Dpcc>(); + config.setEnabled(true); + *config = config_; } REGISTER_IPA_ALGORITHM(DefectPixelClusterCorrection, "DefectPixelClusterCorrection") diff --git a/src/ipa/rkisp1/algorithms/dpcc.h b/src/ipa/rkisp1/algorithms/dpcc.h index b1fac7d1..b77766c3 100644 --- a/src/ipa/rkisp1/algorithms/dpcc.h +++ b/src/ipa/rkisp1/algorithms/dpcc.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * dpcc.h - RkISP1 Defect Pixel Cluster Correction control + * RkISP1 Defect Pixel Cluster Correction control */ #pragma once @@ -22,7 +22,7 @@ public: int init(IPAContext &context, const YamlObject &tuningData) override; void prepare(IPAContext &context, const uint32_t frame, IPAFrameContext &frameContext, - rkisp1_params_cfg *params) override; + RkISP1Params *params) override; private: rkisp1_cif_isp_dpcc_config config_; diff --git a/src/ipa/rkisp1/algorithms/dpf.cpp b/src/ipa/rkisp1/algorithms/dpf.cpp index 5bd7e59f..cb6095da 100644 --- a/src/ipa/rkisp1/algorithms/dpf.cpp +++ b/src/ipa/rkisp1/algorithms/dpf.cpp @@ -2,12 +2,14 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * dpf.cpp - RkISP1 Denoise Pre-Filter control + * RkISP1 Denoise Pre-Filter control */ #include "dpf.h" -#include <cmath> +#include <algorithm> +#include <string> +#include <vector> #include <libcamera/base/log.h> @@ -215,15 +217,21 @@ void Dpf::queueRequest(IPAContext &context, * \copydoc libcamera::ipa::Algorithm::prepare */ void Dpf::prepare(IPAContext &context, const uint32_t frame, - IPAFrameContext &frameContext, rkisp1_params_cfg *params) + IPAFrameContext &frameContext, RkISP1Params *params) { - if (frame == 0) { - params->others.dpf_config = config_; - params->others.dpf_strength_config = strengthConfig_; + if (!frameContext.dpf.update && frame > 0) + return; + + auto config = params->block<BlockType::Dpf>(); + config.setEnabled(frameContext.dpf.denoise); + + if (frameContext.dpf.denoise) { + *config = config_; const auto &awb = context.configuration.awb; const auto &lsc = context.configuration.lsc; - auto &mode = params->others.dpf_config.gain.mode; + + auto &mode = config->gain.mode; /* * The DPF needs to take into account the total amount of @@ -241,15 +249,12 @@ void Dpf::prepare(IPAContext &context, const uint32_t frame, mode = RKISP1_CIF_ISP_DPF_GAIN_USAGE_LSC_GAINS; else mode = RKISP1_CIF_ISP_DPF_GAIN_USAGE_DISABLED; - - params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_DPF | - RKISP1_CIF_ISP_MODULE_DPF_STRENGTH; } - if (frameContext.dpf.update) { - params->module_en_update |= RKISP1_CIF_ISP_MODULE_DPF; - if (frameContext.dpf.denoise) - params->module_ens |= RKISP1_CIF_ISP_MODULE_DPF; + if (frame == 0) { + auto strengthConfig = params->block<BlockType::DpfStrength>(); + strengthConfig.setEnabled(true); + *strengthConfig = strengthConfig_; } } diff --git a/src/ipa/rkisp1/algorithms/dpf.h b/src/ipa/rkisp1/algorithms/dpf.h index 58f29f74..2dd8cd36 100644 --- a/src/ipa/rkisp1/algorithms/dpf.h +++ b/src/ipa/rkisp1/algorithms/dpf.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * dpf.h - RkISP1 Denoise Pre-Filter control + * RkISP1 Denoise Pre-Filter control */ #pragma once @@ -27,7 +27,7 @@ public: const ControlList &controls) override; void prepare(IPAContext &context, const uint32_t frame, IPAFrameContext &frameContext, - rkisp1_params_cfg *params) override; + RkISP1Params *params) override; private: struct rkisp1_cif_isp_dpf_config config_; diff --git a/src/ipa/rkisp1/algorithms/filter.cpp b/src/ipa/rkisp1/algorithms/filter.cpp index 4b89c05a..7598ef8a 100644 --- a/src/ipa/rkisp1/algorithms/filter.cpp +++ b/src/ipa/rkisp1/algorithms/filter.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * filter.cpp - RkISP1 Filter control + * RkISP1 Filter control */ #include "filter.h" @@ -104,7 +104,7 @@ void Filter::queueRequest(IPAContext &context, */ void Filter::prepare([[maybe_unused]] IPAContext &context, [[maybe_unused]] const uint32_t frame, - IPAFrameContext &frameContext, rkisp1_params_cfg *params) + IPAFrameContext &frameContext, RkISP1Params *params) { /* Check if the algorithm configuration has been updated. */ if (!frameContext.filter.update) @@ -160,23 +160,25 @@ void Filter::prepare([[maybe_unused]] IPAContext &context, uint8_t denoise = frameContext.filter.denoise; uint8_t sharpness = frameContext.filter.sharpness; - auto &flt_config = params->others.flt_config; - - flt_config.fac_sh0 = filt_fac_sh0[sharpness]; - flt_config.fac_sh1 = filt_fac_sh1[sharpness]; - flt_config.fac_mid = filt_fac_mid[sharpness]; - flt_config.fac_bl0 = filt_fac_bl0[sharpness]; - flt_config.fac_bl1 = filt_fac_bl1[sharpness]; - - flt_config.lum_weight = kFiltLumWeightDefault; - flt_config.mode = kFiltModeDefault; - flt_config.thresh_sh0 = filt_thresh_sh0[denoise]; - flt_config.thresh_sh1 = filt_thresh_sh1[denoise]; - flt_config.thresh_bl0 = filt_thresh_bl0[denoise]; - flt_config.thresh_bl1 = filt_thresh_bl1[denoise]; - flt_config.grn_stage1 = stage1_select[denoise]; - flt_config.chr_v_mode = filt_chr_v_mode[denoise]; - flt_config.chr_h_mode = filt_chr_h_mode[denoise]; + + auto config = params->block<BlockType::Flt>(); + config.setEnabled(true); + + config->fac_sh0 = filt_fac_sh0[sharpness]; + config->fac_sh1 = filt_fac_sh1[sharpness]; + config->fac_mid = filt_fac_mid[sharpness]; + config->fac_bl0 = filt_fac_bl0[sharpness]; + config->fac_bl1 = filt_fac_bl1[sharpness]; + + config->lum_weight = kFiltLumWeightDefault; + config->mode = kFiltModeDefault; + config->thresh_sh0 = filt_thresh_sh0[denoise]; + config->thresh_sh1 = filt_thresh_sh1[denoise]; + config->thresh_bl0 = filt_thresh_bl0[denoise]; + config->thresh_bl1 = filt_thresh_bl1[denoise]; + config->grn_stage1 = stage1_select[denoise]; + config->chr_v_mode = filt_chr_v_mode[denoise]; + config->chr_h_mode = filt_chr_h_mode[denoise]; /* * Combined high denoising and high sharpening requires some @@ -186,27 +188,23 @@ void Filter::prepare([[maybe_unused]] IPAContext &context, */ if (denoise == 9) { if (sharpness > 3) - flt_config.grn_stage1 = 2; + config->grn_stage1 = 2; } else if (denoise == 10) { if (sharpness > 5) - flt_config.grn_stage1 = 2; + config->grn_stage1 = 2; else if (sharpness > 3) - flt_config.grn_stage1 = 1; + config->grn_stage1 = 1; } if (denoise > 7) { if (sharpness > 7) { - flt_config.fac_bl0 /= 2; - flt_config.fac_bl1 /= 4; + config->fac_bl0 /= 2; + config->fac_bl1 /= 4; } else if (sharpness > 4) { - flt_config.fac_bl0 = flt_config.fac_bl0 * 3 / 4; - flt_config.fac_bl1 /= 2; + config->fac_bl0 = config->fac_bl0 * 3 / 4; + config->fac_bl1 /= 2; } } - - params->module_en_update |= RKISP1_CIF_ISP_MODULE_FLT; - params->module_ens |= RKISP1_CIF_ISP_MODULE_FLT; - params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_FLT; } REGISTER_IPA_ALGORITHM(Filter, "Filter") diff --git a/src/ipa/rkisp1/algorithms/filter.h b/src/ipa/rkisp1/algorithms/filter.h index 3fd882ea..8f858e57 100644 --- a/src/ipa/rkisp1/algorithms/filter.h +++ b/src/ipa/rkisp1/algorithms/filter.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * filter.h - RkISP1 Filter control + * RkISP1 Filter control */ #pragma once @@ -26,7 +26,7 @@ public: const ControlList &controls) override; void prepare(IPAContext &context, const uint32_t frame, IPAFrameContext &frameContext, - rkisp1_params_cfg *params) override; + RkISP1Params *params) override; }; } /* namespace ipa::rkisp1::algorithms */ diff --git a/src/ipa/rkisp1/algorithms/goc.cpp b/src/ipa/rkisp1/algorithms/goc.cpp new file mode 100644 index 00000000..a9493678 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/goc.cpp @@ -0,0 +1,149 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * RkISP1 Gamma out control + */ +#include "goc.h" + +#include <cmath> + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +#include <libcamera/control_ids.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "linux/rkisp1-config.h" + +/** + * \file goc.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class GammaOutCorrection + * \brief RkISP1 Gamma out correction + * + * This algorithm implements the gamma out curve for the RkISP1. It defaults to + * a gamma value of 2.2. + * + * As gamma is internally represented as a piecewise linear function with only + * 17 knots, the difference between gamma=2.2 and sRGB gamma is minimal. + * Therefore sRGB gamma was not implemented as special case. + * + * Useful links: + * - https://www.cambridgeincolour.com/tutorials/gamma-correction.htm + * - https://en.wikipedia.org/wiki/SRGB + */ + +LOG_DEFINE_CATEGORY(RkISP1Gamma) + +const float kDefaultGamma = 2.2f; + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int GammaOutCorrection::init(IPAContext &context, const YamlObject &tuningData) +{ + if (context.hw->numGammaOutSamples != + RKISP1_CIF_ISP_GAMMA_OUT_MAX_SAMPLES_V10) { + LOG(RkISP1Gamma, Error) + << "Gamma is not implemented for RkISP1 V12"; + return -EINVAL; + } + + defaultGamma_ = tuningData["gamma"].get<double>(kDefaultGamma); + context.ctrlMap[&controls::Gamma] = ControlInfo(0.1f, 10.0f, defaultGamma_); + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::configure + */ +int GammaOutCorrection::configure(IPAContext &context, + [[maybe_unused]] const IPACameraSensorInfo &configInfo) +{ + context.activeState.goc.gamma = defaultGamma_; + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::queueRequest + */ +void GammaOutCorrection::queueRequest(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) +{ + if (frame == 0) + frameContext.goc.update = true; + + const auto &gamma = controls.get(controls::Gamma); + if (gamma) { + context.activeState.goc.gamma = *gamma; + frameContext.goc.update = true; + LOG(RkISP1Gamma, Debug) << "Set gamma to " << *gamma; + } + + frameContext.goc.gamma = context.activeState.goc.gamma; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void GammaOutCorrection::prepare(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + RkISP1Params *params) +{ + ASSERT(context.hw->numGammaOutSamples == + RKISP1_CIF_ISP_GAMMA_OUT_MAX_SAMPLES_V10); + + if (!frameContext.goc.update) + return; + + /* + * The logarithmic segments as specified in the reference. + * Plus an additional 0 to make the loop easier + */ + static constexpr std::array<unsigned int, RKISP1_CIF_ISP_GAMMA_OUT_MAX_SAMPLES_V10> segments = { + 64, 64, 64, 64, 128, 128, 128, 128, 256, + 256, 256, 512, 512, 512, 512, 512, 0 + }; + + auto config = params->block<BlockType::Goc>(); + config.setEnabled(true); + + __u16 *gamma_y = config->gamma_y; + + unsigned x = 0; + for (const auto [i, size] : utils::enumerate(segments)) { + gamma_y[i] = std::pow(x / 4096.0, 1.0 / frameContext.goc.gamma) * 1023.0; + x += size; + } + + config->mode = RKISP1_CIF_ISP_GOC_MODE_LOGARITHMIC; +} + +/** + * \copydoc libcamera::ipa::Algorithm::process + */ +void GammaOutCorrection::process([[maybe_unused]] IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + [[maybe_unused]] const rkisp1_stat_buffer *stats, + ControlList &metadata) +{ + metadata.set(controls::Gamma, frameContext.goc.gamma); +} + +REGISTER_IPA_ALGORITHM(GammaOutCorrection, "GammaOutCorrection") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/goc.h b/src/ipa/rkisp1/algorithms/goc.h new file mode 100644 index 00000000..bb2ddfc9 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/goc.h @@ -0,0 +1,42 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * RkISP1 Gamma out control + */ + +#pragma once + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class GammaOutCorrection : public Algorithm +{ +public: + GammaOutCorrection() = default; + ~GammaOutCorrection() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + int configure(IPAContext &context, + const IPACameraSensorInfo &configInfo) override; + void queueRequest(IPAContext &context, + const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + RkISP1Params *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const rkisp1_stat_buffer *stats, + ControlList &metadata) override; + +private: + float defaultGamma_; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/gsl.cpp b/src/ipa/rkisp1/algorithms/gsl.cpp index b9f87912..9604c0ac 100644 --- a/src/ipa/rkisp1/algorithms/gsl.cpp +++ b/src/ipa/rkisp1/algorithms/gsl.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * gsl.cpp - RkISP1 Gamma Sensor Linearization control + * RkISP1 Gamma Sensor Linearization control */ #include "gsl.h" @@ -119,24 +119,20 @@ int GammaSensorLinearization::init([[maybe_unused]] IPAContext &context, void GammaSensorLinearization::prepare([[maybe_unused]] IPAContext &context, const uint32_t frame, [[maybe_unused]] IPAFrameContext &frameContext, - rkisp1_params_cfg *params) + RkISP1Params *params) { if (frame > 0) return; - params->others.sdg_config.xa_pnts.gamma_dx0 = gammaDx_[0]; - params->others.sdg_config.xa_pnts.gamma_dx1 = gammaDx_[1]; + auto config = params->block<BlockType::Sdg>(); + config.setEnabled(true); - std::copy(curveYr_.begin(), curveYr_.end(), - params->others.sdg_config.curve_r.gamma_y); - std::copy(curveYg_.begin(), curveYg_.end(), - params->others.sdg_config.curve_g.gamma_y); - std::copy(curveYb_.begin(), curveYb_.end(), - params->others.sdg_config.curve_b.gamma_y); + config->xa_pnts.gamma_dx0 = gammaDx_[0]; + config->xa_pnts.gamma_dx1 = gammaDx_[1]; - params->module_en_update |= RKISP1_CIF_ISP_MODULE_SDG; - params->module_ens |= RKISP1_CIF_ISP_MODULE_SDG; - params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_SDG; + std::copy(curveYr_.begin(), curveYr_.end(), config->curve_r.gamma_y); + std::copy(curveYg_.begin(), curveYg_.end(), config->curve_g.gamma_y); + std::copy(curveYb_.begin(), curveYb_.end(), config->curve_b.gamma_y); } REGISTER_IPA_ALGORITHM(GammaSensorLinearization, "GammaSensorLinearization") diff --git a/src/ipa/rkisp1/algorithms/gsl.h b/src/ipa/rkisp1/algorithms/gsl.h index 0f1116a7..91cf6efa 100644 --- a/src/ipa/rkisp1/algorithms/gsl.h +++ b/src/ipa/rkisp1/algorithms/gsl.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * gsl.h - RkISP1 Gamma Sensor Linearization control + * RkISP1 Gamma Sensor Linearization control */ #pragma once @@ -22,7 +22,7 @@ public: int init(IPAContext &context, const YamlObject &tuningData) override; void prepare(IPAContext &context, const uint32_t frame, IPAFrameContext &frameContext, - rkisp1_params_cfg *params) override; + RkISP1Params *params) override; private: uint32_t gammaDx_[2]; diff --git a/src/ipa/rkisp1/algorithms/lsc.cpp b/src/ipa/rkisp1/algorithms/lsc.cpp index a7ccedb1..e47aa2f0 100644 --- a/src/ipa/rkisp1/algorithms/lsc.cpp +++ b/src/ipa/rkisp1/algorithms/lsc.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * lsc.cpp - RkISP1 Lens Shading Correction control + * RkISP1 Lens Shading Correction control */ #include "lsc.h" @@ -16,6 +16,7 @@ #include "libcamera/internal/yaml_parser.h" +#include "libipa/lsc_polynomial.h" #include "linux/rkisp1-config.h" /** @@ -24,6 +25,36 @@ namespace libcamera { +namespace ipa { + +constexpr int kColourTemperatureChangeThreshhold = 10; + +template<typename T> +void interpolateVector(const std::vector<T> &a, const std::vector<T> &b, + std::vector<T> &dest, double lambda) +{ + assert(a.size() == b.size()); + dest.resize(a.size()); + for (size_t i = 0; i < a.size(); i++) { + dest[i] = a[i] * (1.0 - lambda) + b[i] * lambda; + } +} + +template<> +void Interpolator<rkisp1::algorithms::LensShadingCorrection::Components>:: + interpolate(const rkisp1::algorithms::LensShadingCorrection::Components &a, + const rkisp1::algorithms::LensShadingCorrection::Components &b, + rkisp1::algorithms::LensShadingCorrection::Components &dest, + double lambda) +{ + interpolateVector(a.r, b.r, dest.r, lambda); + interpolateVector(a.gr, b.gr, dest.gr, lambda); + interpolateVector(a.gb, b.gb, dest.gb, lambda); + interpolateVector(a.b, b.b, dest.b, lambda); +} + +} /* namespace ipa */ + namespace ipa::rkisp1::algorithms { /** @@ -40,6 +71,200 @@ namespace ipa::rkisp1::algorithms { LOG_DEFINE_CATEGORY(RkISP1Lsc) +class LscPolynomialLoader +{ +public: + LscPolynomialLoader(const Size &sensorSize, + const Rectangle &cropRectangle, + const std::vector<double> &xSizes, + const std::vector<double> &ySizes) + : sensorSize_(sensorSize), + cropRectangle_(cropRectangle), + xSizes_(xSizes), + ySizes_(ySizes) + { + } + + int parseLscData(const YamlObject &yamlSets, + std::map<unsigned int, LensShadingCorrection::Components> &lscData) + { + const auto &sets = yamlSets.asList(); + for (const auto &yamlSet : sets) { + std::optional<LscPolynomial> pr, pgr, pgb, pb; + uint32_t ct = yamlSet["ct"].get<uint32_t>(0); + + if (lscData.count(ct)) { + LOG(RkISP1Lsc, Error) + << "Multiple sets found for " + << "color temperature " << ct; + return -EINVAL; + } + + LensShadingCorrection::Components &set = lscData[ct]; + pr = yamlSet["r"].get<LscPolynomial>(); + pgr = yamlSet["gr"].get<LscPolynomial>(); + pgb = yamlSet["gb"].get<LscPolynomial>(); + pb = yamlSet["b"].get<LscPolynomial>(); + + if (!(pr || pgr || pgb || pb)) { + LOG(RkISP1Lsc, Error) + << "Failed to parse polynomial for " + << "colour temperature " << ct; + return -EINVAL; + } + + set.ct = ct; + pr->setReferenceImageSize(sensorSize_); + pgr->setReferenceImageSize(sensorSize_); + pgb->setReferenceImageSize(sensorSize_); + pb->setReferenceImageSize(sensorSize_); + set.r = samplePolynomial(*pr); + set.gr = samplePolynomial(*pgr); + set.gb = samplePolynomial(*pgb); + set.b = samplePolynomial(*pb); + } + + if (lscData.empty()) { + LOG(RkISP1Lsc, Error) << "Failed to load any sets"; + return -EINVAL; + } + + return 0; + } + +private: + /* + * The lsc grid has custom spacing defined on half the range (see + * parseSizes() for details). For easier handling this function converts + * the spaces vector to positions and mirrors them. E.g.: + * + * input: | 0.2 | 0.3 | + * output: 0.0 0.2 0.5 0.8 1.0 + */ + std::vector<double> sizesListToPositions(const std::vector<double> &sizes) + { + const int half = sizes.size(); + std::vector<double> res(half * 2 + 1); + double x = 0.0; + + res[half] = 0.5; + for (int i = 1; i <= half; i++) { + x += sizes[half - i]; + res[half - i] = 0.5 - x; + res[half + i] = 0.5 + x; + } + + return res; + } + + std::vector<uint16_t> samplePolynomial(const LscPolynomial &poly) + { + constexpr int k = RKISP1_CIF_ISP_LSC_SAMPLES_MAX; + + double m = poly.getM(); + double x0 = cropRectangle_.x / m; + double y0 = cropRectangle_.y / m; + double w = cropRectangle_.width / m; + double h = cropRectangle_.height / m; + std::vector<uint16_t> res; + + assert(xSizes_.size() * 2 + 1 == k); + assert(ySizes_.size() * 2 + 1 == k); + + res.reserve(k * k); + + std::vector<double> xPos(sizesListToPositions(xSizes_)); + std::vector<double> yPos(sizesListToPositions(ySizes_)); + + for (int y = 0; y < k; y++) { + for (int x = 0; x < k; x++) { + double xp = x0 + xPos[x] * w; + double yp = y0 + yPos[y] * h; + /* + * The hardware uses 2.10 fixed point format and + * limits the legal values to [1..3.999]. Scale + * and clamp the sampled value accordingly. + */ + int v = static_cast<int>( + poly.sampleAtNormalizedPixelPos(xp, yp) * + 1024); + v = std::min(std::max(v, 1024), 4095); + res.push_back(v); + } + } + return res; + } + + Size sensorSize_; + Rectangle cropRectangle_; + const std::vector<double> &xSizes_; + const std::vector<double> &ySizes_; +}; + +class LscTableLoader +{ +public: + int parseLscData(const YamlObject &yamlSets, + std::map<unsigned int, LensShadingCorrection::Components> &lscData) + { + const auto &sets = yamlSets.asList(); + + for (const auto &yamlSet : sets) { + uint32_t ct = yamlSet["ct"].get<uint32_t>(0); + + if (lscData.count(ct)) { + LOG(RkISP1Lsc, Error) + << "Multiple sets found for color temperature " + << ct; + return -EINVAL; + } + + LensShadingCorrection::Components &set = lscData[ct]; + + set.ct = ct; + set.r = parseTable(yamlSet, "r"); + set.gr = parseTable(yamlSet, "gr"); + set.gb = parseTable(yamlSet, "gb"); + set.b = parseTable(yamlSet, "b"); + + if (set.r.empty() || set.gr.empty() || + set.gb.empty() || set.b.empty()) { + LOG(RkISP1Lsc, Error) + << "Set for color temperature " << ct + << " is missing tables"; + return -EINVAL; + } + } + + if (lscData.empty()) { + LOG(RkISP1Lsc, Error) << "Failed to load any sets"; + return -EINVAL; + } + + return 0; + } + +private: + std::vector<uint16_t> parseTable(const YamlObject &tuningData, + const char *prop) + { + static constexpr unsigned int kLscNumSamples = + RKISP1_CIF_ISP_LSC_SAMPLES_MAX * RKISP1_CIF_ISP_LSC_SAMPLES_MAX; + + std::vector<uint16_t> table = + tuningData[prop].getList<uint16_t>().value_or(std::vector<uint16_t>{}); + if (table.size() != kLscNumSamples) { + LOG(RkISP1Lsc, Error) + << "Invalid '" << prop << "' values: expected " + << kLscNumSamples + << " elements, got " << table.size(); + return {}; + } + + return table; + } +}; + static std::vector<double> parseSizes(const YamlObject &tuningData, const char *prop) { @@ -70,28 +295,10 @@ static std::vector<double> parseSizes(const YamlObject &tuningData, return sizes; } -static std::vector<uint16_t> parseTable(const YamlObject &tuningData, - const char *prop) -{ - static constexpr unsigned int kLscNumSamples = - RKISP1_CIF_ISP_LSC_SAMPLES_MAX * RKISP1_CIF_ISP_LSC_SAMPLES_MAX; - - std::vector<uint16_t> table = - tuningData[prop].getList<uint16_t>().value_or(std::vector<uint16_t>{}); - if (table.size() != kLscNumSamples) { - LOG(RkISP1Lsc, Error) - << "Invalid '" << prop << "' values: expected " - << kLscNumSamples - << " elements, got " << table.size(); - return {}; - } - - return table; -} - LensShadingCorrection::LensShadingCorrection() - : lastCt_({ 0, 0 }) + : lastAppliedCt_(0), lastAppliedQuantizedCt_(0) { + sets_.setQuantization(kColourTemperatureChangeThreshhold); } /** @@ -114,38 +321,30 @@ int LensShadingCorrection::init([[maybe_unused]] IPAContext &context, return -EINVAL; } - const auto &sets = yamlSets.asList(); - for (const auto &yamlSet : sets) { - uint32_t ct = yamlSet["ct"].get<uint32_t>(0); - - if (sets_.count(ct)) { - LOG(RkISP1Lsc, Error) - << "Multiple sets found for color temperature " - << ct; - return -EINVAL; - } - - Components &set = sets_[ct]; - - set.ct = ct; - set.r = parseTable(yamlSet, "r"); - set.gr = parseTable(yamlSet, "gr"); - set.gb = parseTable(yamlSet, "gb"); - set.b = parseTable(yamlSet, "b"); - - if (set.r.empty() || set.gr.empty() || - set.gb.empty() || set.b.empty()) { - LOG(RkISP1Lsc, Error) - << "Set for color temperature " << ct - << " is missing tables"; - return -EINVAL; - } + std::map<unsigned int, Components> lscData; + int res = 0; + std::string type = tuningData["type"].get<std::string>("table"); + if (type == "table") { + LOG(RkISP1Lsc, Debug) << "Loading tabular LSC data."; + auto loader = LscTableLoader(); + res = loader.parseLscData(yamlSets, lscData); + } else if (type == "polynomial") { + LOG(RkISP1Lsc, Debug) << "Loading polynomial LSC data."; + auto loader = LscPolynomialLoader(context.sensorInfo.activeAreaSize, + context.sensorInfo.analogCrop, + xSize_, + ySize_); + res = loader.parseLscData(yamlSets, lscData); + } else { + LOG(RkISP1Lsc, Error) << "Unsupported LSC data type '" + << type << "'"; + res = -EINVAL; } - if (sets_.empty()) { - LOG(RkISP1Lsc, Error) << "Failed to load any sets"; - return -EINVAL; - } + if (res) + return res; + + sets_.setData(std::move(lscData)); return 0; } @@ -185,18 +384,12 @@ int LensShadingCorrection::configure(IPAContext &context, return 0; } -void LensShadingCorrection::setParameters(rkisp1_params_cfg *params) +void LensShadingCorrection::setParameters(rkisp1_cif_isp_lsc_config &config) { - struct rkisp1_cif_isp_lsc_config &config = params->others.lsc_config; - memcpy(config.x_grad_tbl, xGrad_, sizeof(config.x_grad_tbl)); memcpy(config.y_grad_tbl, yGrad_, sizeof(config.y_grad_tbl)); memcpy(config.x_size_tbl, xSizes_, sizeof(config.x_size_tbl)); memcpy(config.y_size_tbl, ySizes_, sizeof(config.y_size_tbl)); - - params->module_en_update |= RKISP1_CIF_ISP_MODULE_LSC; - params->module_ens |= RKISP1_CIF_ISP_MODULE_LSC; - params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_LSC; } void LensShadingCorrection::copyTable(rkisp1_cif_isp_lsc_config &config, @@ -208,131 +401,34 @@ void LensShadingCorrection::copyTable(rkisp1_cif_isp_lsc_config &config, std::copy(set.b.begin(), set.b.end(), &config.b_data_tbl[0][0]); } -/* - * Interpolate LSC parameters based on color temperature value. - */ -void LensShadingCorrection::interpolateTable(rkisp1_cif_isp_lsc_config &config, - const Components &set0, - const Components &set1, - const uint32_t ct) -{ - double coeff0 = (set1.ct - ct) / static_cast<double>(set1.ct - set0.ct); - double coeff1 = (ct - set0.ct) / static_cast<double>(set1.ct - set0.ct); - - for (unsigned int i = 0; i < RKISP1_CIF_ISP_LSC_SAMPLES_MAX; ++i) { - for (unsigned int j = 0; j < RKISP1_CIF_ISP_LSC_SAMPLES_MAX; ++j) { - unsigned int sample = i * RKISP1_CIF_ISP_LSC_SAMPLES_MAX + j; - - config.r_data_tbl[i][j] = - set0.r[sample] * coeff0 + - set1.r[sample] * coeff1; - - config.gr_data_tbl[i][j] = - set0.gr[sample] * coeff0 + - set1.gr[sample] * coeff1; - - config.gb_data_tbl[i][j] = - set0.gb[sample] * coeff0 + - set1.gb[sample] * coeff1; - - config.b_data_tbl[i][j] = - set0.b[sample] * coeff0 + - set1.b[sample] * coeff1; - } - } -} - /** * \copydoc libcamera::ipa::Algorithm::prepare */ void LensShadingCorrection::prepare(IPAContext &context, - const uint32_t frame, + [[maybe_unused]] const uint32_t frame, [[maybe_unused]] IPAFrameContext &frameContext, - rkisp1_params_cfg *params) + RkISP1Params *params) { - struct rkisp1_cif_isp_lsc_config &config = params->others.lsc_config; - - /* - * If there is only one set, the configuration has already been done - * for first frame. - */ - if (sets_.size() == 1 && frame > 0) - return; - - /* - * If there is only one set, pick it. We can ignore lastCt_, as it will - * never be relevant. - */ - if (sets_.size() == 1) { - setParameters(params); - copyTable(config, sets_.cbegin()->second); - return; - } - uint32_t ct = context.activeState.awb.temperatureK; - ct = std::clamp(ct, sets_.cbegin()->first, sets_.crbegin()->first); - - /* - * If the original is the same, then it means the same adjustment would - * be made. If the adjusted is the same, then it means that it's the - * same as what was actually applied. Thus in these cases we can skip - * reprogramming the LSC. - * - * original == adjusted can only happen if an interpolation - * happened, or if original has an exact entry in sets_. This means - * that if original != adjusted, then original was adjusted to - * the nearest available entry in sets_, resulting in adjusted. - * Clearly, any ct value that is in between original and adjusted - * will be adjusted to the same adjusted value, so we can skip - * reprogramming the LSC table. - * - * We also skip updating the original value, as the last one had a - * larger bound and thus a larger range of ct values that will be - * adjusted to the same adjusted. - */ - if ((lastCt_.original <= ct && ct <= lastCt_.adjusted) || - (lastCt_.adjusted <= ct && ct <= lastCt_.original)) + if (std::abs(static_cast<int>(ct) - static_cast<int>(lastAppliedCt_)) < + kColourTemperatureChangeThreshhold) return; - - setParameters(params); - - /* - * The color temperature matches exactly one of the available LSC tables. - */ - if (sets_.count(ct)) { - copyTable(config, sets_[ct]); - lastCt_ = { ct, ct }; + unsigned int quantizedCt; + const Components &set = sets_.getInterpolated(ct, &quantizedCt); + if (lastAppliedQuantizedCt_ == quantizedCt) return; - } - /* No shortcuts left; we need to round or interpolate */ - auto iter = sets_.upper_bound(ct); - const Components &set1 = iter->second; - const Components &set0 = (--iter)->second; - uint32_t ct0 = set0.ct; - uint32_t ct1 = set1.ct; - uint32_t diff0 = ct - ct0; - uint32_t diff1 = ct1 - ct; - static constexpr double kThreshold = 0.1; - float threshold = kThreshold * (ct1 - ct0); - - if (diff0 < threshold || diff1 < threshold) { - const Components &set = diff0 < diff1 ? set0 : set1; - LOG(RkISP1Lsc, Debug) << "using LSC table for " << set.ct; - copyTable(config, set); - lastCt_ = { ct, set.ct }; - return; - } + auto config = params->block<BlockType::Lsc>(); + config.setEnabled(true); + setParameters(*config); + copyTable(*config, set); + + lastAppliedCt_ = ct; + lastAppliedQuantizedCt_ = quantizedCt; - /* - * ct is not within 10% of the difference between the neighbouring - * color temperatures, so we need to interpolate. - */ LOG(RkISP1Lsc, Debug) - << "ct is " << ct << ", interpolating between " - << ct0 << " and " << ct1; - interpolateTable(config, set0, set1, ct); - lastCt_ = { ct, ct }; + << "ct is " << ct << ", quantized to " + << quantizedCt; } REGISTER_IPA_ALGORITHM(LensShadingCorrection, "LensShadingCorrection") diff --git a/src/ipa/rkisp1/algorithms/lsc.h b/src/ipa/rkisp1/algorithms/lsc.h index e2a93a56..5a0824e3 100644 --- a/src/ipa/rkisp1/algorithms/lsc.h +++ b/src/ipa/rkisp1/algorithms/lsc.h @@ -2,13 +2,15 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * lsc.h - RkISP1 Lens Shading Correction control + * RkISP1 Lens Shading Correction control */ #pragma once #include <map> +#include "libipa/interpolator.h" + #include "algorithm.h" namespace libcamera { @@ -25,9 +27,8 @@ public: int configure(IPAContext &context, const IPACameraSensorInfo &configInfo) override; void prepare(IPAContext &context, const uint32_t frame, IPAFrameContext &frameContext, - rkisp1_params_cfg *params) override; + RkISP1Params *params) override; -private: struct Components { uint32_t ct; std::vector<uint16_t> r; @@ -36,23 +37,23 @@ private: std::vector<uint16_t> b; }; - void setParameters(rkisp1_params_cfg *params); +private: + void setParameters(rkisp1_cif_isp_lsc_config &config); void copyTable(rkisp1_cif_isp_lsc_config &config, const Components &set0); void interpolateTable(rkisp1_cif_isp_lsc_config &config, const Components &set0, const Components &set1, const uint32_t ct); - std::map<uint32_t, Components> sets_; + ipa::Interpolator<Components> sets_; std::vector<double> xSize_; std::vector<double> ySize_; uint16_t xGrad_[RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE]; uint16_t yGrad_[RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE]; uint16_t xSizes_[RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE]; uint16_t ySizes_[RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE]; - struct { - uint32_t original; - uint32_t adjusted; - } lastCt_; + + unsigned int lastAppliedCt_; + unsigned int lastAppliedQuantizedCt_; }; } /* namespace ipa::rkisp1::algorithms */ diff --git a/src/ipa/rkisp1/algorithms/meson.build b/src/ipa/rkisp1/algorithms/meson.build index 93a48329..1734a667 100644 --- a/src/ipa/rkisp1/algorithms/meson.build +++ b/src/ipa/rkisp1/algorithms/meson.build @@ -4,10 +4,12 @@ rkisp1_ipa_algorithms = files([ 'agc.cpp', 'awb.cpp', 'blc.cpp', + 'ccm.cpp', 'cproc.cpp', 'dpcc.cpp', 'dpf.cpp', 'filter.cpp', + 'goc.cpp', 'gsl.cpp', 'lsc.cpp', ]) diff --git a/src/ipa/rkisp1/data/imx219.yaml b/src/ipa/rkisp1/data/imx219.yaml index cbcc43b8..0d99cb52 100644 --- a/src/ipa/rkisp1/data/imx219.yaml +++ b/src/ipa/rkisp1/data/imx219.yaml @@ -6,10 +6,6 @@ algorithms: - Agc: - Awb: - BlackLevelCorrection: - R: 256 - Gr: 256 - Gb: 256 - B: 256 - LensShadingCorrection: x-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] y-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] diff --git a/src/ipa/rkisp1/data/imx258.yaml b/src/ipa/rkisp1/data/imx258.yaml index 43dddf20..202af36a 100644 --- a/src/ipa/rkisp1/data/imx258.yaml +++ b/src/ipa/rkisp1/data/imx258.yaml @@ -5,6 +5,7 @@ version: 1 algorithms: - Agc: - Awb: + - BlackLevelCorrection: - LensShadingCorrection: x-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] y-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] diff --git a/src/ipa/rkisp1/data/meson.build b/src/ipa/rkisp1/data/meson.build index 7150e155..1e3522b2 100644 --- a/src/ipa/rkisp1/data/meson.build +++ b/src/ipa/rkisp1/data/meson.build @@ -2,8 +2,12 @@ conf_files = files([ 'imx219.yaml', + 'imx258.yaml', + 'ov2685.yaml', 'ov4689.yaml', 'ov5640.yaml', + 'ov5695.yaml', + 'ov8858.yaml', 'uncalibrated.yaml', ]) diff --git a/src/ipa/rkisp1/data/ov4689.yaml b/src/ipa/rkisp1/data/ov4689.yaml index 2068684c..60901296 100644 --- a/src/ipa/rkisp1/data/ov4689.yaml +++ b/src/ipa/rkisp1/data/ov4689.yaml @@ -6,8 +6,4 @@ algorithms: - Agc: - Awb: - BlackLevelCorrection: - R: 66 - Gr: 66 - Gb: 66 - B: 66 ... diff --git a/src/ipa/rkisp1/data/ov5640.yaml b/src/ipa/rkisp1/data/ov5640.yaml index 897b83cb..4b21d412 100644 --- a/src/ipa/rkisp1/data/ov5640.yaml +++ b/src/ipa/rkisp1/data/ov5640.yaml @@ -6,10 +6,6 @@ algorithms: - Agc: - Awb: - BlackLevelCorrection: - R: 256 - Gr: 256 - Gb: 256 - B: 256 - ColorProcessing: - GammaSensorLinearization: x-intervals: [ 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2 ] diff --git a/src/ipa/rkisp1/data/uncalibrated.yaml b/src/ipa/rkisp1/data/uncalibrated.yaml index a7bbd8d8..60901296 100644 --- a/src/ipa/rkisp1/data/uncalibrated.yaml +++ b/src/ipa/rkisp1/data/uncalibrated.yaml @@ -5,4 +5,5 @@ version: 1 algorithms: - Agc: - Awb: + - BlackLevelCorrection: ... diff --git a/src/ipa/rkisp1/ipa_context.cpp b/src/ipa/rkisp1/ipa_context.cpp index 070834fa..14d0c02a 100644 --- a/src/ipa/rkisp1/ipa_context.cpp +++ b/src/ipa/rkisp1/ipa_context.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * ipa_context.cpp - RkISP1 IPA Context + * RkISP1 IPA Context */ #include "ipa_context.h" @@ -106,6 +106,11 @@ namespace libcamera::ipa::rkisp1 { */ /** + * \var IPASessionConfiguration::paramFormat + * \brief The fourcc of the parameters buffers format + */ + +/** * \struct IPAActiveState * \brief Active state for algorithms * @@ -137,13 +142,43 @@ namespace libcamera::ipa::rkisp1 { * \var IPAActiveState::agc * \brief State for the Automatic Gain Control algorithm * - * The exposure and gain are the latest values computed by the AGC algorithm. + * The \a automatic variables track the latest values computed by algorithm + * based on the latest processed statistics. All other variables track the + * consolidated controls requested in queued requests. * - * \var IPAActiveState::agc.exposure - * \brief Exposure time expressed as a number of lines + * \struct IPAActiveState::agc.manual + * \brief Manual exposure time and analog gain (set through requests) * - * \var IPAActiveState::agc.gain - * \brief Analogue gain multiplier + * \var IPAActiveState::agc.manual.exposure + * \brief Manual exposure time expressed as a number of lines as set by the + * ExposureTime control + * + * \var IPAActiveState::agc.manual.gain + * \brief Manual analogue gain as set by the AnalogueGain control + * + * \struct IPAActiveState::agc.automatic + * \brief Automatic exposure time and analog gain (computed by the algorithm) + * + * \var IPAActiveState::agc.automatic.exposure + * \brief Automatic exposure time expressed as a number of lines + * + * \var IPAActiveState::agc.automatic.gain + * \brief Automatic analogue gain multiplier + * + * \var IPAActiveState::agc.autoEnabled + * \brief Manual/automatic AGC state as set by the AeEnable control + * + * \var IPAActiveState::agc.constraintMode + * \brief Constraint mode as set by the AeConstraintMode control + * + * \var IPAActiveState::agc.exposureMode + * \brief Exposure mode as set by the AeExposureMode control + * + * \var IPAActiveState::agc.meteringMode + * \brief Metering mode as set by the AeMeteringMode control + * + * \var IPAActiveState::agc.maxFrameDuration + * \brief Maximum frame duration as set by the FrameDurationLimits control */ /** @@ -218,6 +253,14 @@ namespace libcamera::ipa::rkisp1 { */ /** + * \var IPAActiveState::goc + * \brief State for the goc algorithm + * + * \var IPAActiveState::goc.gamma + * \brief Gamma value applied as 1.0/gamma + */ + +/** * \struct IPAFrameContext * \brief Per-frame context for algorithms * @@ -257,12 +300,30 @@ namespace libcamera::ipa::rkisp1 { * applied to the sensor in order to take effect for this frame. * * \var IPAFrameContext::agc.exposure - * \brief Exposure time expressed as a number of lines + * \brief Exposure time expressed as a number of lines computed by the algorithm * * \var IPAFrameContext::agc.gain - * \brief Analogue gain multiplier + * \brief Analogue gain multiplier computed by the algorithm * * The gain should be adapted to the sensor specific gain code before applying. + * + * \var IPAFrameContext::agc.autoEnabled + * \brief Manual/automatic AGC state as set by the AeEnable control + * + * \var IPAFrameContext::agc.constraintMode + * \brief Constraint mode as set by the AeConstraintMode control + * + * \var IPAFrameContext::agc.exposureMode + * \brief Exposure mode as set by the AeExposureMode control + * + * \var IPAFrameContext::agc.meteringMode + * \brief Metering mode as set by the AeMeteringMode control + * + * \var IPAFrameContext::agc.maxFrameDuration + * \brief Maximum frame duration as set by the FrameDurationLimits control + * + * \var IPAFrameContext::agc.updateMetering + * \brief Indicate if new ISP AGC metering parameters need to be applied */ /** @@ -334,6 +395,18 @@ namespace libcamera::ipa::rkisp1 { */ /** + * \var IPAFrameContext::goc + * \brief Gamma out correction parameters for this frame + * + * \var IPAFrameContext::goc.gamma + * \brief Gamma value applied as 1.0/gamma + * + * \var IPAFrameContext::goc.update + * \brief Indicates if the goc parameters have been updated compared to the + * previous frame + */ + +/** * \var IPAFrameContext::sensor * \brief Sensor configuration that used been used for this frame * @@ -351,6 +424,9 @@ namespace libcamera::ipa::rkisp1 { * \var IPAContext::hw * \brief RkISP1 version-specific hardware parameters * + * \var IPAContext::sensorInfo + * \brief The IPA session sensorInfo, immutable during the session + * * \var IPAContext::configuration * \brief The IPA session configuration, immutable during the session * diff --git a/src/ipa/rkisp1/ipa_context.h b/src/ipa/rkisp1/ipa_context.h index 10d8f38c..e274d9b0 100644 --- a/src/ipa/rkisp1/ipa_context.h +++ b/src/ipa/rkisp1/ipa_context.h @@ -2,19 +2,26 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * ipa_context.h - RkISP1 IPA Context + * RkISP1 IPA Context * */ #pragma once +#include <memory> + #include <linux/rkisp1-config.h> #include <libcamera/base/utils.h> +#include <libcamera/control_ids.h> +#include <libcamera/controls.h> #include <libcamera/geometry.h> +#include <libcamera/ipa/core_ipa_interface.h> +#include <libipa/camera_sensor_helper.h> #include <libipa/fc_queue.h> +#include <libipa/matrix.h> namespace libcamera { @@ -25,6 +32,7 @@ struct IPAHwSettings { unsigned int numHistogramBins; unsigned int numHistogramWeights; unsigned int numGammaOutSamples; + bool compand; }; struct IPASessionConfiguration { @@ -53,6 +61,7 @@ struct IPASessionConfiguration { } sensor; bool raw; + uint32_t paramFormat; }; struct IPAActiveState { @@ -67,6 +76,10 @@ struct IPAActiveState { } automatic; bool autoEnabled; + controls::AeConstraintModeEnum constraintMode; + controls::AeExposureModeEnum exposureMode; + controls::AeMeteringModeEnum meteringMode; + utils::Duration maxFrameDuration; } agc; struct { @@ -88,6 +101,10 @@ struct IPAActiveState { } awb; struct { + Matrix<float, 3, 3> ccm; + } ccm; + + struct { int8_t brightness; uint8_t contrast; uint8_t saturation; @@ -101,6 +118,10 @@ struct IPAActiveState { uint8_t denoise; uint8_t sharpness; } filter; + + struct { + double gamma; + } goc; }; struct IPAFrameContext : public FrameContext { @@ -108,6 +129,11 @@ struct IPAFrameContext : public FrameContext { uint32_t exposure; double gain; bool autoEnabled; + controls::AeConstraintModeEnum constraintMode; + controls::AeExposureModeEnum exposureMode; + controls::AeMeteringModeEnum meteringMode; + utils::Duration maxFrameDuration; + bool updateMetering; } agc; struct { @@ -117,7 +143,6 @@ struct IPAFrameContext : public FrameContext { double blue; } gains; - unsigned int temperatureK; bool autoEnabled; } awb; @@ -140,17 +165,32 @@ struct IPAFrameContext : public FrameContext { } filter; struct { + double gamma; + bool update; + } goc; + + struct { uint32_t exposure; double gain; } sensor; + + struct { + Matrix<float, 3, 3> ccm; + } ccm; }; struct IPAContext { const IPAHwSettings *hw; + IPACameraSensorInfo sensorInfo; IPASessionConfiguration configuration; IPAActiveState activeState; FCQueue<IPAFrameContext> frameContexts; + + ControlInfoMap::Map ctrlMap; + + /* Interface to the Camera Helper */ + std::unique_ptr<CameraSensorHelper> camHelper; }; } /* namespace ipa::rkisp1 */ diff --git a/src/ipa/rkisp1/meson.build b/src/ipa/rkisp1/meson.build index e813da53..34844f14 100644 --- a/src/ipa/rkisp1/meson.build +++ b/src/ipa/rkisp1/meson.build @@ -7,17 +7,17 @@ ipa_name = 'ipa_rkisp1' rkisp1_ipa_sources = files([ 'ipa_context.cpp', + 'params.cpp', 'rkisp1.cpp', + 'utils.cpp', ]) rkisp1_ipa_sources += rkisp1_ipa_algorithms -mod = shared_module(ipa_name, - [rkisp1_ipa_sources, libcamera_generated_ipa_headers], +mod = shared_module(ipa_name, rkisp1_ipa_sources, name_prefix : '', - include_directories : [ipa_includes, libipa_includes], - dependencies : libcamera_private, - link_with : libipa, + include_directories : [ipa_includes], + dependencies : [libcamera_private, libipa_dep], install : true, install_dir : ipa_install_dir) diff --git a/src/ipa/rkisp1/module.h b/src/ipa/rkisp1/module.h index 89f83208..69e9bc82 100644 --- a/src/ipa/rkisp1/module.h +++ b/src/ipa/rkisp1/module.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Ideas On Board * - * module.h - RkISP1 IPA Module + * RkISP1 IPA Module */ #pragma once @@ -14,13 +14,14 @@ #include <libipa/module.h> #include "ipa_context.h" +#include "params.h" namespace libcamera { namespace ipa::rkisp1 { using Module = ipa::Module<IPAContext, IPAFrameContext, IPACameraSensorInfo, - rkisp1_params_cfg, rkisp1_stat_buffer>; + RkISP1Params, rkisp1_stat_buffer>; } /* namespace ipa::rkisp1 */ diff --git a/src/ipa/rkisp1/params.cpp b/src/ipa/rkisp1/params.cpp new file mode 100644 index 00000000..4c0b051c --- /dev/null +++ b/src/ipa/rkisp1/params.cpp @@ -0,0 +1,222 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * RkISP1 ISP Parameters + */ + +#include "params.h" + +#include <map> +#include <stddef.h> +#include <string.h> + +#include <linux/rkisp1-config.h> +#include <linux/videodev2.h> + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +namespace libcamera { + +LOG_DEFINE_CATEGORY(RkISP1Params) + +namespace ipa::rkisp1 { + +namespace { + +struct BlockTypeInfo { + enum rkisp1_ext_params_block_type type; + size_t size; + size_t offset; + uint32_t enableBit; +}; + +#define RKISP1_BLOCK_TYPE_ENTRY(block, id, type, category, bit) \ + { BlockType::block, { \ + RKISP1_EXT_PARAMS_BLOCK_TYPE_##id, \ + sizeof(struct rkisp1_cif_isp_##type##_config), \ + offsetof(struct rkisp1_params_cfg, category.type##_config), \ + RKISP1_CIF_ISP_MODULE_##bit, \ + } } + +#define RKISP1_BLOCK_TYPE_ENTRY_MEAS(block, id, type) \ + RKISP1_BLOCK_TYPE_ENTRY(block, id##_MEAS, type, meas, id) + +#define RKISP1_BLOCK_TYPE_ENTRY_OTHERS(block, id, type) \ + RKISP1_BLOCK_TYPE_ENTRY(block, id, type, others, id) + +#define RKISP1_BLOCK_TYPE_ENTRY_EXT(block, id, type) \ + { BlockType::block, { \ + RKISP1_EXT_PARAMS_BLOCK_TYPE_##id, \ + sizeof(struct rkisp1_cif_isp_##type##_config), \ + 0, 0, \ + } } + +const std::map<BlockType, BlockTypeInfo> kBlockTypeInfo = { + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Bls, BLS, bls), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Dpcc, DPCC, dpcc), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Sdg, SDG, sdg), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(AwbGain, AWB_GAIN, awb_gain), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Flt, FLT, flt), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Bdm, BDM, bdm), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Ctk, CTK, ctk), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Goc, GOC, goc), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Dpf, DPF, dpf), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(DpfStrength, DPF_STRENGTH, dpf_strength), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Cproc, CPROC, cproc), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Ie, IE, ie), + RKISP1_BLOCK_TYPE_ENTRY_OTHERS(Lsc, LSC, lsc), + RKISP1_BLOCK_TYPE_ENTRY_MEAS(Awb, AWB, awb_meas), + RKISP1_BLOCK_TYPE_ENTRY_MEAS(Hst, HST, hst), + RKISP1_BLOCK_TYPE_ENTRY_MEAS(Aec, AEC, aec), + RKISP1_BLOCK_TYPE_ENTRY_MEAS(Afc, AFC, afc), + RKISP1_BLOCK_TYPE_ENTRY_EXT(CompandBls, COMPAND_BLS, compand_bls), + RKISP1_BLOCK_TYPE_ENTRY_EXT(CompandExpand, COMPAND_EXPAND, compand_curve), + RKISP1_BLOCK_TYPE_ENTRY_EXT(CompandCompress, COMPAND_COMPRESS, compand_curve), +}; + +} /* namespace */ + +RkISP1ParamsBlockBase::RkISP1ParamsBlockBase(RkISP1Params *params, BlockType type, + const Span<uint8_t> &data) + : params_(params), type_(type) +{ + if (params_->format() == V4L2_META_FMT_RK_ISP1_EXT_PARAMS) { + header_ = data.subspan(0, sizeof(rkisp1_ext_params_block_header)); + data_ = data.subspan(sizeof(rkisp1_ext_params_block_header)); + } else { + data_ = data; + } +} + +void RkISP1ParamsBlockBase::setEnabled(bool enabled) +{ + /* + * For the legacy fixed format, blocks are enabled in the top-level + * header. Delegate to the RkISP1Params class. + */ + if (params_->format() == V4L2_META_FMT_RK_ISP1_PARAMS) + return params_->setBlockEnabled(type_, enabled); + + /* + * For the extensible format, set the enable and disable flags in the + * block header directly. + */ + struct rkisp1_ext_params_block_header *header = + reinterpret_cast<struct rkisp1_ext_params_block_header *>(header_.data()); + header->flags &= ~(RKISP1_EXT_PARAMS_FL_BLOCK_ENABLE | + RKISP1_EXT_PARAMS_FL_BLOCK_DISABLE); + header->flags |= enabled ? RKISP1_EXT_PARAMS_FL_BLOCK_ENABLE + : RKISP1_EXT_PARAMS_FL_BLOCK_DISABLE; +} + +RkISP1Params::RkISP1Params(uint32_t format, Span<uint8_t> data) + : format_(format), data_(data), used_(0) +{ + if (format_ == V4L2_META_FMT_RK_ISP1_EXT_PARAMS) { + struct rkisp1_ext_params_cfg *cfg = + reinterpret_cast<struct rkisp1_ext_params_cfg *>(data.data()); + + cfg->version = RKISP1_EXT_PARAM_BUFFER_V1; + cfg->data_size = 0; + + used_ += offsetof(struct rkisp1_ext_params_cfg, data); + } else { + memset(data.data(), 0, data.size()); + used_ = sizeof(struct rkisp1_params_cfg); + } +} + +void RkISP1Params::setBlockEnabled(BlockType type, bool enabled) +{ + const BlockTypeInfo &info = kBlockTypeInfo.at(type); + + struct rkisp1_params_cfg *cfg = + reinterpret_cast<struct rkisp1_params_cfg *>(data_.data()); + if (enabled) + cfg->module_ens |= info.enableBit; + else + cfg->module_ens &= ~info.enableBit; +} + +Span<uint8_t> RkISP1Params::block(BlockType type) +{ + auto infoIt = kBlockTypeInfo.find(type); + if (infoIt == kBlockTypeInfo.end()) { + LOG(RkISP1Params, Error) + << "Invalid parameters block type " + << utils::to_underlying(type); + return {}; + } + + const BlockTypeInfo &info = infoIt->second; + + /* + * For the legacy format, return a block referencing the fixed location + * of the data. + */ + if (format_ == V4L2_META_FMT_RK_ISP1_PARAMS) { + /* + * Blocks available only in extended parameters have an offset + * of 0. Return nullptr in that case. + */ + if (info.offset == 0) { + LOG(RkISP1Params, Error) + << "Block type " << utils::to_underlying(type) + << " unavailable in fixed parameters format"; + return {}; + } + + struct rkisp1_params_cfg *cfg = + reinterpret_cast<struct rkisp1_params_cfg *>(data_.data()); + + cfg->module_cfg_update |= info.enableBit; + cfg->module_en_update |= info.enableBit; + + return data_.subspan(info.offset, info.size); + } + + /* + * For the extensible format, allocate memory for the block, including + * the header. Look up the block in the cache first. If an algorithm + * requests the same block type twice, it should get the same block. + */ + auto cacheIt = blocks_.find(type); + if (cacheIt != blocks_.end()) + return cacheIt->second; + + /* Make sure we don't run out of space. */ + size_t size = sizeof(struct rkisp1_ext_params_block_header) + + ((info.size + 7) & ~7); + if (size > data_.size() - used_) { + LOG(RkISP1Params, Error) + << "Out of memory to allocate block type " + << utils::to_underlying(type); + return {}; + } + + /* Allocate a new block, clear its memory, and initialize its header. */ + Span<uint8_t> block = data_.subspan(used_, size); + used_ += size; + + struct rkisp1_ext_params_cfg *cfg = + reinterpret_cast<struct rkisp1_ext_params_cfg *>(data_.data()); + cfg->data_size += size; + + memset(block.data(), 0, block.size()); + + struct rkisp1_ext_params_block_header *header = + reinterpret_cast<struct rkisp1_ext_params_block_header *>(block.data()); + header->type = info.type; + header->size = block.size(); + + /* Update the cache. */ + blocks_[type] = block; + + return block; +} + +} /* namespace ipa::rkisp1 */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/params.h b/src/ipa/rkisp1/params.h new file mode 100644 index 00000000..40450e34 --- /dev/null +++ b/src/ipa/rkisp1/params.h @@ -0,0 +1,163 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * + * RkISP1 ISP Parameters + */ + +#pragma once + +#include <map> +#include <stdint.h> + +#include <linux/rkisp1-config.h> + +#include <libcamera/base/class.h> +#include <libcamera/base/span.h> + +namespace libcamera { + +namespace ipa::rkisp1 { + +enum class BlockType { + Bls, + Dpcc, + Sdg, + AwbGain, + Flt, + Bdm, + Ctk, + Goc, + Dpf, + DpfStrength, + Cproc, + Ie, + Lsc, + Awb, + Hst, + Aec, + Afc, + CompandBls, + CompandExpand, + CompandCompress, +}; + +namespace details { + +template<BlockType B> +struct block_type { +}; + +#define RKISP1_DEFINE_BLOCK_TYPE(blockType, blockStruct) \ +template<> \ +struct block_type<BlockType::blockType> { \ + using type = struct rkisp1_cif_isp_##blockStruct##_config; \ +}; + +RKISP1_DEFINE_BLOCK_TYPE(Bls, bls) +RKISP1_DEFINE_BLOCK_TYPE(Dpcc, dpcc) +RKISP1_DEFINE_BLOCK_TYPE(Sdg, sdg) +RKISP1_DEFINE_BLOCK_TYPE(AwbGain, awb_gain) +RKISP1_DEFINE_BLOCK_TYPE(Flt, flt) +RKISP1_DEFINE_BLOCK_TYPE(Bdm, bdm) +RKISP1_DEFINE_BLOCK_TYPE(Ctk, ctk) +RKISP1_DEFINE_BLOCK_TYPE(Goc, goc) +RKISP1_DEFINE_BLOCK_TYPE(Dpf, dpf) +RKISP1_DEFINE_BLOCK_TYPE(DpfStrength, dpf_strength) +RKISP1_DEFINE_BLOCK_TYPE(Cproc, cproc) +RKISP1_DEFINE_BLOCK_TYPE(Ie, ie) +RKISP1_DEFINE_BLOCK_TYPE(Lsc, lsc) +RKISP1_DEFINE_BLOCK_TYPE(Awb, awb_meas) +RKISP1_DEFINE_BLOCK_TYPE(Hst, hst) +RKISP1_DEFINE_BLOCK_TYPE(Aec, aec) +RKISP1_DEFINE_BLOCK_TYPE(Afc, afc) +RKISP1_DEFINE_BLOCK_TYPE(CompandBls, compand_bls) +RKISP1_DEFINE_BLOCK_TYPE(CompandExpand, compand_curve) +RKISP1_DEFINE_BLOCK_TYPE(CompandCompress, compand_curve) + +} /* namespace details */ + +class RkISP1Params; + +class RkISP1ParamsBlockBase +{ +public: + RkISP1ParamsBlockBase(RkISP1Params *params, BlockType type, + const Span<uint8_t> &data); + + Span<uint8_t> data() const { return data_; } + + void setEnabled(bool enabled); + +private: + LIBCAMERA_DISABLE_COPY(RkISP1ParamsBlockBase) + + RkISP1Params *params_; + BlockType type_; + Span<uint8_t> header_; + Span<uint8_t> data_; +}; + +template<BlockType B> +class RkISP1ParamsBlock : public RkISP1ParamsBlockBase +{ +public: + using Type = typename details::block_type<B>::type; + + RkISP1ParamsBlock(RkISP1Params *params, const Span<uint8_t> &data) + : RkISP1ParamsBlockBase(params, B, data) + { + } + + const Type *operator->() const + { + return reinterpret_cast<const Type *>(data().data()); + } + + Type *operator->() + { + return reinterpret_cast<Type *>(data().data()); + } + + const Type &operator*() const & + { + return *reinterpret_cast<const Type *>(data().data()); + } + + Type &operator*() & + { + return *reinterpret_cast<Type *>(data().data()); + } +}; + +class RkISP1Params +{ +public: + RkISP1Params(uint32_t format, Span<uint8_t> data); + + template<BlockType B> + RkISP1ParamsBlock<B> block() + { + return RkISP1ParamsBlock<B>(this, block(B)); + } + + uint32_t format() const { return format_; } + size_t size() const { return used_; } + +private: + friend class RkISP1ParamsBlockBase; + + Span<uint8_t> block(BlockType type); + void setBlockEnabled(BlockType type, bool enabled); + + uint32_t format_; + + Span<uint8_t> data_; + size_t used_; + + std::map<BlockType, Span<uint8_t>> blocks_; +}; + +} /* namespace ipa::rkisp1 */ + +} /* namespace libcamera*/ diff --git a/src/ipa/rkisp1/rkisp1.cpp b/src/ipa/rkisp1/rkisp1.cpp index 9dc5f53c..9e161cab 100644 --- a/src/ipa/rkisp1/rkisp1.cpp +++ b/src/ipa/rkisp1/rkisp1.cpp @@ -2,12 +2,12 @@ /* * Copyright (C) 2019, Google Inc. * - * rkisp1.cpp - RkISP1 Image Processing Algorithms + * RkISP1 Image Processing Algorithms */ #include <algorithm> -#include <math.h> -#include <queue> +#include <array> +#include <chrono> #include <stdint.h> #include <string.h> @@ -18,20 +18,22 @@ #include <libcamera/base/log.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/rkisp1_ipa_interface.h> -#include <libcamera/request.h> #include "libcamera/internal/formats.h" #include "libcamera/internal/mapped_framebuffer.h" #include "libcamera/internal/yaml_parser.h" #include "algorithms/algorithm.h" -#include "libipa/camera_sensor_helper.h" #include "ipa_context.h" +#include "params.h" namespace libcamera { @@ -81,9 +83,6 @@ private: ControlInfoMap sensorControls_; - /* Interface to the Camera Helper */ - std::unique_ptr<CameraSensorHelper> camHelper_; - /* Local parameter storage */ struct IPAContext context_; }; @@ -95,6 +94,15 @@ const IPAHwSettings ipaHwSettingsV10{ RKISP1_CIF_ISP_HIST_BIN_N_MAX_V10, RKISP1_CIF_ISP_HISTOGRAM_WEIGHT_GRIDS_SIZE_V10, RKISP1_CIF_ISP_GAMMA_OUT_MAX_SAMPLES_V10, + false, +}; + +const IPAHwSettings ipaHwSettingsIMX8MP{ + RKISP1_CIF_ISP_AE_MEAN_MAX_V10, + RKISP1_CIF_ISP_HIST_BIN_N_MAX_V10, + RKISP1_CIF_ISP_HISTOGRAM_WEIGHT_GRIDS_SIZE_V10, + RKISP1_CIF_ISP_GAMMA_OUT_MAX_SAMPLES_V10, + true, }; const IPAHwSettings ipaHwSettingsV12{ @@ -102,16 +110,13 @@ const IPAHwSettings ipaHwSettingsV12{ RKISP1_CIF_ISP_HIST_BIN_N_MAX_V12, RKISP1_CIF_ISP_HISTOGRAM_WEIGHT_GRIDS_SIZE_V12, RKISP1_CIF_ISP_GAMMA_OUT_MAX_SAMPLES_V12, + false, }; /* List of controls handled by the RkISP1 IPA */ const ControlInfoMap::Map rkisp1Controls{ - { &controls::AeEnable, ControlInfo(false, true) }, { &controls::AwbEnable, ControlInfo(false, true) }, { &controls::ColourGains, ControlInfo(0.0f, 3.996f, 1.0f) }, - { &controls::Brightness, ControlInfo(-1.0f, 0.993f, 0.0f) }, - { &controls::Contrast, ControlInfo(0.0f, 1.993f, 1.0f) }, - { &controls::Saturation, ControlInfo(0.0f, 1.993f, 1.0f) }, { &controls::Sharpness, ControlInfo(0.0f, 10.0f, 1.0f) }, { &controls::draft::NoiseReductionMode, ControlInfo(controls::draft::NoiseReductionModeValues) }, }; @@ -119,7 +124,7 @@ const ControlInfoMap::Map rkisp1Controls{ } /* namespace */ IPARkISP1::IPARkISP1() - : context_({ {}, {}, {}, { kMaxFrameContexts } }) + : context_({ {}, {}, {}, {}, { kMaxFrameContexts }, {}, {} }) { } @@ -136,9 +141,11 @@ int IPARkISP1::init(const IPASettings &settings, unsigned int hwRevision, /* \todo Add support for other revisions */ switch (hwRevision) { case RKISP1_V10: - case RKISP1_V_IMX8MP: context_.hw = &ipaHwSettingsV10; break; + case RKISP1_V_IMX8MP: + context_.hw = &ipaHwSettingsIMX8MP; + break; case RKISP1_V12: context_.hw = &ipaHwSettingsV12; break; @@ -151,16 +158,18 @@ int IPARkISP1::init(const IPASettings &settings, unsigned int hwRevision, LOG(IPARkISP1, Debug) << "Hardware revision is " << hwRevision; - camHelper_ = CameraSensorHelperFactoryBase::create(settings.sensorModel); - if (!camHelper_) { + context_.sensorInfo = sensorInfo; + + context_.camHelper = CameraSensorHelperFactoryBase::create(settings.sensorModel); + if (!context_.camHelper) { LOG(IPARkISP1, Error) << "Failed to create camera sensor helper for " << settings.sensorModel; return -ENODEV; } - context_.configuration.sensor.lineDuration = sensorInfo.minLineLength - * 1.0s / sensorInfo.pixelRate; + context_.configuration.sensor.lineDuration = + sensorInfo.minLineLength * 1.0s / sensorInfo.pixelRate; /* Load the tuning data file. */ File file(settings.configurationFile); @@ -234,6 +243,8 @@ int IPARkISP1::configure(const IPAConfigInfo &ipaConfig, context_.activeState = {}; context_.frameContexts.clear(); + context_.configuration.paramFormat = ipaConfig.paramFormat; + const IPACameraSensorInfo &info = ipaConfig.sensorInfo; const ControlInfo vBlank = sensorControls_.find(V4L2_CID_VBLANK)->second; context_.configuration.sensor.defVBlank = vBlank.def().get<int32_t>(); @@ -254,8 +265,10 @@ int IPARkISP1::configure(const IPAConfigInfo &ipaConfig, minExposure * context_.configuration.sensor.lineDuration; context_.configuration.sensor.maxShutterSpeed = maxExposure * context_.configuration.sensor.lineDuration; - context_.configuration.sensor.minAnalogueGain = camHelper_->gain(minGain); - context_.configuration.sensor.maxAnalogueGain = camHelper_->gain(maxGain); + context_.configuration.sensor.minAnalogueGain = + context_.camHelper->gain(minGain); + context_.configuration.sensor.maxAnalogueGain = + context_.camHelper->gain(maxGain); context_.configuration.raw = std::any_of(streamConfig.begin(), streamConfig.end(), [](auto &cfg) -> bool { @@ -326,17 +339,13 @@ void IPARkISP1::fillParamsBuffer(const uint32_t frame, const uint32_t bufferId) { IPAFrameContext &frameContext = context_.frameContexts.get(frame); - rkisp1_params_cfg *params = - reinterpret_cast<rkisp1_params_cfg *>( - mappedBuffers_.at(bufferId).planes()[0].data()); - - /* Prepare parameters buffer. */ - memset(params, 0, sizeof(*params)); + RkISP1Params params(context_.configuration.paramFormat, + mappedBuffers_.at(bufferId).planes()[0]); for (auto const &algo : algorithms()) - algo->prepare(context_, frame, frameContext, params); + algo->prepare(context_, frame, frameContext, ¶ms); - paramsBufferReady.emit(frame); + paramsBufferReady.emit(frame, params.size()); } void IPARkISP1::processStatsBuffer(const uint32_t frame, const uint32_t bufferId, @@ -356,7 +365,7 @@ void IPARkISP1::processStatsBuffer(const uint32_t frame, const uint32_t bufferId frameContext.sensor.exposure = sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>(); frameContext.sensor.gain = - camHelper_->gain(sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>()); + context_.camHelper->gain(sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>()); ControlList metadata(controls::controls); @@ -393,9 +402,9 @@ void IPARkISP1::updateControls(const IPACameraSensorInfo &sensorInfo, /* Compute the analogue gain limits. */ const ControlInfo &v4l2Gain = sensorControls.find(V4L2_CID_ANALOGUE_GAIN)->second; - float minGain = camHelper_->gain(v4l2Gain.min().get<int32_t>()); - float maxGain = camHelper_->gain(v4l2Gain.max().get<int32_t>()); - float defGain = camHelper_->gain(v4l2Gain.def().get<int32_t>()); + float minGain = context_.camHelper->gain(v4l2Gain.min().get<int32_t>()); + float maxGain = context_.camHelper->gain(v4l2Gain.max().get<int32_t>()); + float defGain = context_.camHelper->gain(v4l2Gain.def().get<int32_t>()); ctrlMap.emplace(std::piecewise_construct, std::forward_as_tuple(&controls::AnalogueGain), std::forward_as_tuple(minGain, maxGain, defGain)); @@ -427,6 +436,7 @@ void IPARkISP1::updateControls(const IPACameraSensorInfo &sensorInfo, frameDurations[1], frameDurations[2]); + ctrlMap.insert(context_.ctrlMap.begin(), context_.ctrlMap.end()); *ipaControls = ControlInfoMap(std::move(ctrlMap), controls::controls); } @@ -439,7 +449,7 @@ void IPARkISP1::setControls(unsigned int frame) IPAFrameContext &frameContext = context_.frameContexts.get(frame); uint32_t exposure = frameContext.agc.exposure; - uint32_t gain = camHelper_->gainCode(frameContext.agc.gain); + uint32_t gain = context_.camHelper->gainCode(frameContext.agc.gain); ControlList ctrls(sensorControls_); ctrls.set(V4L2_CID_EXPOSURE, static_cast<int32_t>(exposure)); @@ -458,7 +468,7 @@ extern "C" { const struct IPAModuleInfo ipaModuleInfo = { IPA_MODULE_API_VERSION, 1, - "PipelineHandlerRkISP1", + "rkisp1", "rkisp1", }; diff --git a/src/ipa/rkisp1/utils.cpp b/src/ipa/rkisp1/utils.cpp new file mode 100644 index 00000000..960ec64e --- /dev/null +++ b/src/ipa/rkisp1/utils.cpp @@ -0,0 +1,42 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Miscellaneous utility functions specific to rkisp1 + */ + +#include "utils.h" + +/** + * \file utils.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::utils { + +/** + * \fn R floatingToFixedPoint(T number) + * \brief Convert a floating point number to a fixed-point representation + * \tparam I Bit width of the integer part of the fixed-point + * \tparam F Bit width of the fractional part of the fixed-point + * \tparam R Return type of the fixed-point representation + * \tparam T Input type of the floating point representation + * \param number The floating point number to convert to fixed point + * \return The converted value + */ + +/** + * \fn R fixedToFloatingPoint(T number) + * \brief Convert a fixed-point number to a floating point representation + * \tparam I Bit width of the integer part of the fixed-point + * \tparam F Bit width of the fractional part of the fixed-point + * \tparam R Return type of the floating point representation + * \tparam T Input type of the fixed-point representation + * \param number The fixed point number to convert to floating point + * \return The converted value + */ + +} /* namespace ipa::rkisp1::utils */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/utils.h b/src/ipa/rkisp1/utils.h new file mode 100644 index 00000000..5f38b50b --- /dev/null +++ b/src/ipa/rkisp1/utils.h @@ -0,0 +1,65 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Miscellaneous utility functions specific to rkisp1 + */ + +#pragma once + +#include <cmath> +#include <type_traits> + +namespace libcamera { + +namespace ipa::rkisp1::utils { + +#ifndef __DOXYGEN__ +template<unsigned int I, unsigned int F, typename R, typename T, + std::enable_if_t<std::is_integral_v<R> && + std::is_floating_point_v<T>> * = nullptr> +#else +template<unsigned int I, unsigned int F, typename R, typename T> +#endif +constexpr R floatingToFixedPoint(T number) +{ + static_assert(sizeof(int) >= sizeof(R)); + static_assert(I + F <= sizeof(R) * 8); + + /* + * The intermediate cast to int is needed on arm platforms to properly + * cast negative values. See + * https://embeddeduse.com/2013/08/25/casting-a-negative-float-to-an-unsigned-int/ + */ + R mask = (1 << (F + I)) - 1; + R frac = static_cast<R>(static_cast<int>(std::round(number * (1 << F)))) & mask; + + return frac; +} + +#ifndef __DOXYGEN__ +template<unsigned int I, unsigned int F, typename R, typename T, + std::enable_if_t<std::is_floating_point_v<R> && + std::is_integral_v<T>> * = nullptr> +#else +template<unsigned int I, unsigned int F, typename R, typename T> +#endif +constexpr R fixedToFloatingPoint(T number) +{ + static_assert(sizeof(int) >= sizeof(T)); + static_assert(I + F <= sizeof(T) * 8); + + /* + * Recreate the upper bits in case of a negative number by shifting the sign + * bit from the fixed point to the first bit of the unsigned and then right shifting + * by the same amount which keeps the sign bit in place. + * This can be optimized by the compiler quite well. + */ + int remaining_bits = sizeof(int) * 8 - (I + F); + int t = static_cast<int>(static_cast<unsigned>(number) << remaining_bits) >> remaining_bits; + return static_cast<R>(t) / static_cast<R>(1 << F); +} + +} /* namespace ipa::rkisp1::utils */ + +} /* namespace libcamera */ diff --git a/src/ipa/rpi/cam_helper/cam_helper.cpp b/src/ipa/rpi/cam_helper/cam_helper.cpp index ddd5e9a4..ee5d011f 100644 --- a/src/ipa/rpi/cam_helper/cam_helper.cpp +++ b/src/ipa/rpi/cam_helper/cam_helper.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * cam_helper.cpp - helper information for different sensors + * helper information for different sensors */ #include <linux/videodev2.h> diff --git a/src/ipa/rpi/cam_helper/cam_helper.h b/src/ipa/rpi/cam_helper/cam_helper.h index 58a4b202..4a4ab5e6 100644 --- a/src/ipa/rpi/cam_helper/cam_helper.h +++ b/src/ipa/rpi/cam_helper/cam_helper.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * cam_helper.h - helper class providing camera information + * helper class providing camera information */ #pragma once diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx219.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx219.cpp index c3337ed0..91461f7a 100644 --- a/src/ipa/rpi/cam_helper/cam_helper_imx219.cpp +++ b/src/ipa/rpi/cam_helper/cam_helper_imx219.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * cam_helper_imx219.cpp - camera helper for imx219 sensor + * camera helper for imx219 sensor */ #include <assert.h> diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx283.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx283.cpp new file mode 100644 index 00000000..cb0be72a --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_imx283.cpp @@ -0,0 +1,73 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2024, Raspberry Pi Ltd + * + * cam_helper_Imx283.cpp - camera information for Imx283 sensor + */ + +#include <assert.h> + +#include "cam_helper.h" + +using namespace RPiController; + +class CamHelperImx283 : public CamHelper +{ +public: + CamHelperImx283(); + uint32_t gainCode(double gain) const override; + double gain(uint32_t gainCode) const override; + void getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const override; + unsigned int hideFramesModeSwitch() const override; + +private: + /* + * Smallest difference between the frame length and integration time, + * in units of lines. + */ + static constexpr int frameIntegrationDiff = 4; +}; + +/* + * Imx283 doesn't output metadata, so we have to use the delayed controls which + * works by counting frames. + */ + +CamHelperImx283::CamHelperImx283() + : CamHelper({}, frameIntegrationDiff) +{ +} + +uint32_t CamHelperImx283::gainCode(double gain) const +{ + return static_cast<uint32_t>(2048.0 - 2048.0 / gain); +} + +double CamHelperImx283::gain(uint32_t gainCode) const +{ + return static_cast<double>(2048.0 / (2048 - gainCode)); +} + +void CamHelperImx283::getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const +{ + /* The driver appears to behave as follows: */ + exposureDelay = 2; + gainDelay = 2; + vblankDelay = 2; + hblankDelay = 2; +} + +unsigned int CamHelperImx283::hideFramesModeSwitch() const +{ + /* After a mode switch, we seem to get 1 bad frame. */ + return 1; +} + +static CamHelper *create() +{ + return new CamHelperImx283(); +} + +static RegisterCamHelper reg("imx283", &create); diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx290.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx290.cpp index d98b51cd..e57ab538 100644 --- a/src/ipa/rpi/cam_helper/cam_helper_imx290.cpp +++ b/src/ipa/rpi/cam_helper/cam_helper_imx290.cpp @@ -2,10 +2,10 @@ /* * Copyright (C) 2021, Raspberry Pi Ltd * - * cam_helper_imx290.cpp - camera helper for imx290 sensor + * camera helper for imx290 sensor */ -#include <math.h> +#include <cmath> #include "cam_helper.h" @@ -37,13 +37,13 @@ CamHelperImx290::CamHelperImx290() uint32_t CamHelperImx290::gainCode(double gain) const { - int code = 66.6667 * log10(gain); + int code = 66.6667 * std::log10(gain); return std::max(0, std::min(code, 0xf0)); } double CamHelperImx290::gain(uint32_t gainCode) const { - return pow(10, 0.015 * gainCode); + return std::pow(10, 0.015 * gainCode); } void CamHelperImx290::getDelays(int &exposureDelay, int &gainDelay, diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx296.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx296.cpp index ecb845e7..d4a4fa79 100644 --- a/src/ipa/rpi/cam_helper/cam_helper_imx296.cpp +++ b/src/ipa/rpi/cam_helper/cam_helper_imx296.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Raspberry Pi Ltd * - * cam_helper_imx296.cpp - Camera helper for IMX296 sensor + * Camera helper for IMX296 sensor */ #include <algorithm> diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx477.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx477.cpp index bc769ca7..6bd89334 100644 --- a/src/ipa/rpi/cam_helper/cam_helper_imx477.cpp +++ b/src/ipa/rpi/cam_helper/cam_helper_imx477.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Raspberry Pi Ltd * - * cam_helper_imx477.cpp - camera helper for imx477 sensor + * camera helper for imx477 sensor */ #include <algorithm> diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx519.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx519.cpp index c7262aa0..c2de3d40 100644 --- a/src/ipa/rpi/cam_helper/cam_helper_imx519.cpp +++ b/src/ipa/rpi/cam_helper/cam_helper_imx519.cpp @@ -3,7 +3,7 @@ * Based on cam_helper_imx477.cpp * Copyright (C) 2020, Raspberry Pi Ltd * - * cam_helper_imx519.cpp - camera helper for imx519 sensor + * camera helper for imx519 sensor * Copyright (C) 2021, Arducam Technology co., Ltd. */ diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx708.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx708.cpp index 906c6fa2..63ddb55e 100644 --- a/src/ipa/rpi/cam_helper/cam_helper_imx708.cpp +++ b/src/ipa/rpi/cam_helper/cam_helper_imx708.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Raspberry Pi Ltd * - * cam_helper_imx708.cpp - camera helper for imx708 sensor + * camera helper for imx708 sensor */ #include <cmath> diff --git a/src/ipa/rpi/cam_helper/cam_helper_ov5647.cpp b/src/ipa/rpi/cam_helper/cam_helper_ov5647.cpp index 5a99083d..c30b017c 100644 --- a/src/ipa/rpi/cam_helper/cam_helper_ov5647.cpp +++ b/src/ipa/rpi/cam_helper/cam_helper_ov5647.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * cam_helper_ov5647.cpp - camera information for ov5647 sensor + * camera information for ov5647 sensor */ #include <assert.h> diff --git a/src/ipa/rpi/cam_helper/cam_helper_ov64a40.cpp b/src/ipa/rpi/cam_helper/cam_helper_ov64a40.cpp index 27e449b1..a8efd389 100644 --- a/src/ipa/rpi/cam_helper/cam_helper_ov64a40.cpp +++ b/src/ipa/rpi/cam_helper/cam_helper_ov64a40.cpp @@ -3,7 +3,7 @@ * Copyright (C) 2021, Raspberry Pi Ltd * Copyright (C) 2023, Ideas on Board Oy. * - * cam_helper_ov64a40.cpp - camera information for ov64a40 sensor + * camera information for ov64a40 sensor */ #include <assert.h> diff --git a/src/ipa/rpi/cam_helper/cam_helper_ov7251.cpp b/src/ipa/rpi/cam_helper/cam_helper_ov7251.cpp new file mode 100644 index 00000000..7b12c445 --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_ov7251.cpp @@ -0,0 +1,66 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2021, Raspberry Pi Ltd + * + * camera information for ov7251 sensor + */ + +#include <assert.h> + +#include "cam_helper.h" + +using namespace RPiController; + +class CamHelperOv7251 : public CamHelper +{ +public: + CamHelperOv7251(); + uint32_t gainCode(double gain) const override; + double gain(uint32_t gainCode) const override; + void getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const override; + +private: + /* + * Smallest difference between the frame length and integration time, + * in units of lines. + */ + static constexpr int frameIntegrationDiff = 4; +}; + +/* + * OV7251 doesn't output metadata, so we have to use the "unicam parser" which + * works by counting frames. + */ + +CamHelperOv7251::CamHelperOv7251() + : CamHelper({}, frameIntegrationDiff) +{ +} + +uint32_t CamHelperOv7251::gainCode(double gain) const +{ + return static_cast<uint32_t>(gain * 16.0); +} + +double CamHelperOv7251::gain(uint32_t gainCode) const +{ + return static_cast<double>(gainCode) / 16.0; +} + +void CamHelperOv7251::getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const +{ + /* The driver appears to behave as follows: */ + exposureDelay = 2; + gainDelay = 2; + vblankDelay = 2; + hblankDelay = 2; +} + +static CamHelper *create() +{ + return new CamHelperOv7251(); +} + +static RegisterCamHelper reg("ov7251", &create); diff --git a/src/ipa/rpi/cam_helper/cam_helper_ov9281.cpp b/src/ipa/rpi/cam_helper/cam_helper_ov9281.cpp index 86c5bc4c..a65c8ac0 100644 --- a/src/ipa/rpi/cam_helper/cam_helper_ov9281.cpp +++ b/src/ipa/rpi/cam_helper/cam_helper_ov9281.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Raspberry Pi Ltd * - * cam_helper_ov9281.cpp - camera information for ov9281 sensor + * camera information for ov9281 sensor */ #include <assert.h> diff --git a/src/ipa/rpi/cam_helper/md_parser.h b/src/ipa/rpi/cam_helper/md_parser.h index 77d557aa..227c376c 100644 --- a/src/ipa/rpi/cam_helper/md_parser.h +++ b/src/ipa/rpi/cam_helper/md_parser.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * md_parser.h - image sensor metadata parser interface + * image sensor metadata parser interface */ #pragma once diff --git a/src/ipa/rpi/cam_helper/md_parser_smia.cpp b/src/ipa/rpi/cam_helper/md_parser_smia.cpp index c5b806d7..c7bdcf94 100644 --- a/src/ipa/rpi/cam_helper/md_parser_smia.cpp +++ b/src/ipa/rpi/cam_helper/md_parser_smia.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019-2021, Raspberry Pi Ltd * - * md_parser_smia.cpp - SMIA specification based embedded data parser + * SMIA specification based embedded data parser */ #include <libcamera/base/log.h> diff --git a/src/ipa/rpi/cam_helper/meson.build b/src/ipa/rpi/cam_helper/meson.build index 72625057..03e88fe0 100644 --- a/src/ipa/rpi/cam_helper/meson.build +++ b/src/ipa/rpi/cam_helper/meson.build @@ -4,12 +4,14 @@ rpi_ipa_cam_helper_sources = files([ 'cam_helper.cpp', 'cam_helper_ov5647.cpp', 'cam_helper_imx219.cpp', + 'cam_helper_imx283.cpp', 'cam_helper_imx290.cpp', 'cam_helper_imx296.cpp', 'cam_helper_imx477.cpp', 'cam_helper_imx519.cpp', 'cam_helper_imx708.cpp', 'cam_helper_ov64a40.cpp', + 'cam_helper_ov7251.cpp', 'cam_helper_ov9281.cpp', 'md_parser_smia.cpp', ]) diff --git a/src/ipa/rpi/common/ipa_base.cpp b/src/ipa/rpi/common/ipa_base.cpp index 3c133c55..ee3848b5 100644 --- a/src/ipa/rpi/common/ipa_base.cpp +++ b/src/ipa/rpi/common/ipa_base.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019-2023, Raspberry Pi Ltd * - * ipa_base.cpp - Raspberry Pi IPA base class + * Raspberry Pi IPA base class */ #include "ipa_base.h" @@ -25,7 +25,6 @@ #include "controller/contrast_algorithm.h" #include "controller/denoise_algorithm.h" #include "controller/hdr_algorithm.h" -#include "controller/hdr_status.h" #include "controller/lux_status.h" #include "controller/sharpen_algorithm.h" #include "controller/statistics.h" @@ -74,7 +73,7 @@ const ControlInfoMap::Map ipaControls{ { &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) }, - { &controls::rpi::StatsOutputEnable, ControlInfo(false, true) }, + { &controls::rpi::StatsOutputEnable, ControlInfo(false, true, false) }, }; /* IPA controls handled conditionally, if the sensor is not mono */ @@ -105,8 +104,8 @@ namespace ipa::RPi { IpaBase::IpaBase() : controller_(), frameLengths_(FrameLengthsQueueSize, 0s), statsMetadataOutput_(false), - frameCount_(0), mistrustCount_(0), lastRunTimestamp_(0), firstStart_(true), - flickerState_({ 0, 0s }) + stitchSwapBuffers_(false), frameCount_(0), mistrustCount_(0), lastRunTimestamp_(0), + firstStart_(true), flickerState_({ 0, 0s }) { } @@ -299,6 +298,8 @@ void IpaBase::start(const ControlList &controls, StartResult *result) result->controls = std::move(ctrls); setCameraTimeoutValue(); } + /* Make a note of this as it tells us the HDR status of the first few frames. */ + hdrStatus_ = agcStatus.hdr; /* * Initialise frame counts, and decide how many frames must be hidden or @@ -402,11 +403,17 @@ void IpaBase::prepareIsp(const PrepareParams ¶ms) * 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. + * + * Note if the HDR mode has changed, as things like tonemaps may need updating. */ AgcStatus agcStatus; + bool hdrChange = false; RPiController::Metadata &delayedMetadata = rpiMetadata_[params.delayContext]; - if (!delayedMetadata.get<AgcStatus>("agc.status", agcStatus)) + if (!delayedMetadata.get<AgcStatus>("agc.status", agcStatus)) { rpiMetadata.set("agc.delayed_status", agcStatus); + hdrChange = agcStatus.hdr.mode != hdrStatus_.mode; + hdrStatus_ = agcStatus.hdr; + } /* * This may overwrite the DeviceStatus using values from the sensor @@ -417,7 +424,7 @@ void IpaBase::prepareIsp(const PrepareParams ¶ms) /* Allow a 10% margin on the comparison below. */ Duration delta = (frameTimestamp - lastRunTimestamp_) * 1.0ns; if (lastRunTimestamp_ && frameCount_ > dropFrameCount_ && - delta < controllerMinFrameDuration * 0.9) { + delta < controllerMinFrameDuration * 0.9 && !hdrChange) { /* * Ensure we merge the previous frame's metadata with the current * frame. This will not overwrite exposure/gain values for the @@ -454,7 +461,7 @@ void IpaBase::prepareIsp(const PrepareParams ¶ms) reportMetadata(ipaContext); /* Ready to push the input buffer into the ISP. */ - prepareIspComplete.emit(params.buffers, false); + prepareIspComplete.emit(params.buffers, stitchSwapBuffers_); } void IpaBase::processStats(const ProcessParams ¶ms) @@ -586,6 +593,12 @@ void IpaBase::setMode(const IPACameraSensorInfo &sensorInfo) mode_.minAnalogueGain = helper_->gain(gainCtrl.min().get<int32_t>()); mode_.maxAnalogueGain = helper_->gain(gainCtrl.max().get<int32_t>()); + /* + * We need to give the helper the min/max frame durations so it can calculate + * the correct exposure limits below. + */ + helper_->setCameraMode(mode_); + /* 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(); @@ -695,14 +708,18 @@ static const std::map<int32_t, RPiController::AfAlgorithm::AfPause> AfPauseTable static const std::map<int32_t, std::string> HdrModeTable = { { controls::HdrModeOff, "Off" }, + { controls::HdrModeMultiExposureUnmerged, "MultiExposureUnmerged" }, { controls::HdrModeMultiExposure, "MultiExposure" }, { controls::HdrModeSingleExposure, "SingleExposure" }, + { controls::HdrModeNight, "Night" }, }; void IpaBase::applyControls(const ControlList &controls) { using RPiController::AgcAlgorithm; using RPiController::AfAlgorithm; + using RPiController::ContrastAlgorithm; + using RPiController::DenoiseAlgorithm; using RPiController::HdrAlgorithm; /* Clear the return metadata buffer. */ @@ -1194,9 +1211,32 @@ void IpaBase::applyControls(const ControlList &controls) break; } - if (hdr->setMode(mode->second) == 0) + if (hdr->setMode(mode->second) == 0) { agc->setActiveChannels(hdr->getChannels()); - else + + /* We also disable adpative contrast enhancement if HDR is running. */ + ContrastAlgorithm *contrast = + dynamic_cast<ContrastAlgorithm *>(controller_.getAlgorithm("contrast")); + if (contrast) { + if (mode->second == "Off") + contrast->restoreCe(); + else + contrast->enableCe(false); + } + + DenoiseAlgorithm *denoise = + dynamic_cast<DenoiseAlgorithm *>(controller_.getAlgorithm("denoise")); + if (denoise) { + /* \todo - make the HDR mode say what denoise it wants? */ + if (mode->second == "Night") + denoise->setConfig("night"); + else if (mode->second == "SingleExposure") + denoise->setConfig("hdr"); + /* MultiExposure doesn't need extra extra denoise. */ + else + denoise->setConfig("normal"); + } + } else LOG(IPARPI, Warning) << "HDR mode " << mode->second << " not supported"; @@ -1354,12 +1394,31 @@ void IpaBase::reportMetadata(unsigned int ipaContext) libcameraMetadata_.set(controls::AfPauseState, p); } - const HdrStatus *hdrStatus = rpiMetadata.getLocked<HdrStatus>("hdr.status"); - if (hdrStatus) { - if (hdrStatus->channel == "short") + /* + * THe HDR algorithm sets the HDR channel into the agc.status at the time that those + * AGC parameters were calculated several frames ago, so it comes back to us now in + * the delayed_status. If this frame is too soon after a mode switch for the + * delayed_status to be available, we use the HDR status that came out of the + * switchMode call. + */ + const AgcStatus *agcStatus = rpiMetadata.getLocked<AgcStatus>("agc.delayed_status"); + const HdrStatus &hdrStatus = agcStatus ? agcStatus->hdr : hdrStatus_; + if (!hdrStatus.mode.empty() && hdrStatus.mode != "Off") { + int32_t hdrMode = controls::HdrModeOff; + for (auto const &[mode, name] : HdrModeTable) { + if (hdrStatus.mode == name) { + hdrMode = mode; + break; + } + } + libcameraMetadata_.set(controls::HdrMode, hdrMode); + + if (hdrStatus.channel == "short") libcameraMetadata_.set(controls::HdrChannel, controls::HdrChannelShort); - else if (hdrStatus->channel == "long") + else if (hdrStatus.channel == "long") libcameraMetadata_.set(controls::HdrChannel, controls::HdrChannelLong); + else if (hdrStatus.channel == "medium") + libcameraMetadata_.set(controls::HdrChannel, controls::HdrChannelMedium); else libcameraMetadata_.set(controls::HdrChannel, controls::HdrChannelNone); } diff --git a/src/ipa/rpi/common/ipa_base.h b/src/ipa/rpi/common/ipa_base.h index 4db4411e..1a811beb 100644 --- a/src/ipa/rpi/common/ipa_base.h +++ b/src/ipa/rpi/common/ipa_base.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2023, Raspberry Pi Ltd * - * ipa_base.h - Raspberry Pi IPA base class + * Raspberry Pi IPA base class */ #pragma once @@ -22,6 +22,7 @@ #include "controller/agc_status.h" #include "controller/camera_mode.h" #include "controller/controller.h" +#include "controller/hdr_status.h" #include "controller/metadata.h" namespace libcamera { @@ -48,6 +49,11 @@ public: void processStats(const ProcessParams ¶ms) override; protected: + bool monoSensor() const + { + return monoSensor_; + } + /* Raspberry Pi controller specific defines. */ std::unique_ptr<RPiController::CamHelper> helper_; RPiController::Controller controller_; @@ -64,6 +70,12 @@ protected: ControlList libcameraMetadata_; bool statsMetadataOutput_; + /* Remember the HDR status after a mode switch. */ + HdrStatus hdrStatus_; + + /* Whether the stitch block (if available) needs to swap buffers. */ + bool stitchSwapBuffers_; + private: /* Number of metadata objects available in the context list. */ static constexpr unsigned int numMetadataContexts = 16; diff --git a/src/ipa/rpi/controller/af_status.h b/src/ipa/rpi/controller/af_status.h index 92c08812..c1487cc4 100644 --- a/src/ipa/rpi/controller/af_status.h +++ b/src/ipa/rpi/controller/af_status.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Raspberry Pi Ltd * - * af_status.h - AF control algorithm status + * AF control algorithm status */ #pragma once diff --git a/src/ipa/rpi/controller/agc_algorithm.h b/src/ipa/rpi/controller/agc_algorithm.h index 534e38e2..1132de7e 100644 --- a/src/ipa/rpi/controller/agc_algorithm.h +++ b/src/ipa/rpi/controller/agc_algorithm.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * agc_algorithm.h - AGC/AEC control algorithm interface + * AGC/AEC control algorithm interface */ #pragma once diff --git a/src/ipa/rpi/controller/agc_status.h b/src/ipa/rpi/controller/agc_status.h index 68f89958..c7c87b83 100644 --- a/src/ipa/rpi/controller/agc_status.h +++ b/src/ipa/rpi/controller/agc_status.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * agc_status.h - AGC/AEC control algorithm status + * AGC/AEC control algorithm status */ #pragma once diff --git a/src/ipa/rpi/controller/algorithm.cpp b/src/ipa/rpi/controller/algorithm.cpp index a957fde5..beed47a1 100644 --- a/src/ipa/rpi/controller/algorithm.cpp +++ b/src/ipa/rpi/controller/algorithm.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * algorithm.cpp - ISP control algorithms + * ISP control algorithms */ #include "algorithm.h" diff --git a/src/ipa/rpi/controller/algorithm.h b/src/ipa/rpi/controller/algorithm.h index 4aa814eb..1971bfdc 100644 --- a/src/ipa/rpi/controller/algorithm.h +++ b/src/ipa/rpi/controller/algorithm.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * algorithm.h - ISP control algorithm interface + * ISP control algorithm interface */ #pragma once diff --git a/src/ipa/rpi/controller/alsc_status.h b/src/ipa/rpi/controller/alsc_status.h index 49a9f4a0..329e8a37 100644 --- a/src/ipa/rpi/controller/alsc_status.h +++ b/src/ipa/rpi/controller/alsc_status.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * alsc_status.h - ALSC (auto lens shading correction) control algorithm status + * ALSC (auto lens shading correction) control algorithm status */ #pragma once diff --git a/src/ipa/rpi/controller/awb_algorithm.h b/src/ipa/rpi/controller/awb_algorithm.h index 6009bdac..1779b050 100644 --- a/src/ipa/rpi/controller/awb_algorithm.h +++ b/src/ipa/rpi/controller/awb_algorithm.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * awb_algorithm.h - AWB control algorithm interface + * AWB control algorithm interface */ #pragma once diff --git a/src/ipa/rpi/controller/awb_status.h b/src/ipa/rpi/controller/awb_status.h index dd5a79e3..125df1a0 100644 --- a/src/ipa/rpi/controller/awb_status.h +++ b/src/ipa/rpi/controller/awb_status.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * awb_status.h - AWB control algorithm status + * AWB control algorithm status */ #pragma once diff --git a/src/ipa/rpi/controller/black_level_algorithm.h b/src/ipa/rpi/controller/black_level_algorithm.h index c2cff2f5..ce044e59 100644 --- a/src/ipa/rpi/controller/black_level_algorithm.h +++ b/src/ipa/rpi/controller/black_level_algorithm.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2023, Raspberry Pi Ltd * - * black_level_algorithm.h - black level control algorithm interface + * black level control algorithm interface */ #pragma once diff --git a/src/ipa/rpi/controller/black_level_status.h b/src/ipa/rpi/controller/black_level_status.h index fd5e4ccb..57a0705a 100644 --- a/src/ipa/rpi/controller/black_level_status.h +++ b/src/ipa/rpi/controller/black_level_status.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * black_level_status.h - black level control algorithm status + * black level control algorithm status */ #pragma once diff --git a/src/ipa/rpi/controller/cac_status.h b/src/ipa/rpi/controller/cac_status.h index 475d4c5c..adffce41 100644 --- a/src/ipa/rpi/controller/cac_status.h +++ b/src/ipa/rpi/controller/cac_status.h @@ -6,8 +6,6 @@ */ #pragma once -#include "pwl.h" - struct CacStatus { std::vector<double> lutRx; std::vector<double> lutRy; diff --git a/src/ipa/rpi/controller/camera_mode.h b/src/ipa/rpi/controller/camera_mode.h index 63b11778..4fdb5b85 100644 --- a/src/ipa/rpi/controller/camera_mode.h +++ b/src/ipa/rpi/controller/camera_mode.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019-2020, Raspberry Pi Ltd * - * camera_mode.h - description of a particular operating mode of a sensor + * description of a particular operating mode of a sensor */ #pragma once diff --git a/src/ipa/rpi/controller/ccm_algorithm.h b/src/ipa/rpi/controller/ccm_algorithm.h index e2c4d771..6678ba75 100644 --- a/src/ipa/rpi/controller/ccm_algorithm.h +++ b/src/ipa/rpi/controller/ccm_algorithm.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * ccm_algorithm.h - CCM (colour correction matrix) control algorithm interface + * CCM (colour correction matrix) control algorithm interface */ #pragma once diff --git a/src/ipa/rpi/controller/ccm_status.h b/src/ipa/rpi/controller/ccm_status.h index 5e28ee7c..c81bcd42 100644 --- a/src/ipa/rpi/controller/ccm_status.h +++ b/src/ipa/rpi/controller/ccm_status.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * ccm_status.h - CCM (colour correction matrix) control algorithm status + * CCM (colour correction matrix) control algorithm status */ #pragma once diff --git a/src/ipa/rpi/controller/contrast_algorithm.h b/src/ipa/rpi/controller/contrast_algorithm.h index 895b36b0..2e983350 100644 --- a/src/ipa/rpi/controller/contrast_algorithm.h +++ b/src/ipa/rpi/controller/contrast_algorithm.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * contrast_algorithm.h - contrast (gamma) control algorithm interface + * contrast (gamma) control algorithm interface */ #pragma once diff --git a/src/ipa/rpi/controller/contrast_status.h b/src/ipa/rpi/controller/contrast_status.h index fb9fe4ba..1f175872 100644 --- a/src/ipa/rpi/controller/contrast_status.h +++ b/src/ipa/rpi/controller/contrast_status.h @@ -2,11 +2,11 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * contrast_status.h - contrast (gamma) control algorithm status + * contrast (gamma) control algorithm status */ #pragma once -#include "pwl.h" +#include "libipa/pwl.h" /* * The "contrast" algorithm creates a gamma curve, optionally doing a little bit @@ -14,7 +14,7 @@ */ struct ContrastStatus { - RPiController::Pwl gammaCurve; + libcamera::ipa::Pwl gammaCurve; double brightness; double contrast; }; diff --git a/src/ipa/rpi/controller/controller.cpp b/src/ipa/rpi/controller/controller.cpp index 5ca98b98..e0131018 100644 --- a/src/ipa/rpi/controller/controller.cpp +++ b/src/ipa/rpi/controller/controller.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * controller.cpp - ISP controller + * ISP controller */ #include <assert.h> diff --git a/src/ipa/rpi/controller/controller.h b/src/ipa/rpi/controller/controller.h index 170aea74..eff520bd 100644 --- a/src/ipa/rpi/controller/controller.h +++ b/src/ipa/rpi/controller/controller.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * controller.h - ISP controller interface + * ISP controller interface */ #pragma once diff --git a/src/ipa/rpi/controller/denoise_algorithm.h b/src/ipa/rpi/controller/denoise_algorithm.h index 444cbc25..b9a2a33c 100644 --- a/src/ipa/rpi/controller/denoise_algorithm.h +++ b/src/ipa/rpi/controller/denoise_algorithm.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Raspberry Pi Ltd * - * denoise.h - Denoise control algorithm interface + * Denoise control algorithm interface */ #pragma once diff --git a/src/ipa/rpi/controller/denoise_status.h b/src/ipa/rpi/controller/denoise_status.h index 4d2bd291..eead6086 100644 --- a/src/ipa/rpi/controller/denoise_status.h +++ b/src/ipa/rpi/controller/denoise_status.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019-2021, Raspberry Pi Ltd * - * denoise_status.h - Denoise control algorithm status + * Denoise control algorithm status */ #pragma once diff --git a/src/ipa/rpi/controller/device_status.cpp b/src/ipa/rpi/controller/device_status.cpp index c907efdd..68100137 100644 --- a/src/ipa/rpi/controller/device_status.cpp +++ b/src/ipa/rpi/controller/device_status.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Raspberry Pi Ltd * - * device_status.cpp - device (image sensor) status + * device (image sensor) status */ #include "device_status.h" diff --git a/src/ipa/rpi/controller/device_status.h b/src/ipa/rpi/controller/device_status.h index c45db749..518f15b5 100644 --- a/src/ipa/rpi/controller/device_status.h +++ b/src/ipa/rpi/controller/device_status.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019-2021, Raspberry Pi Ltd * - * device_status.h - device (image sensor) status + * device (image sensor) status */ #pragma once diff --git a/src/ipa/rpi/controller/dpc_status.h b/src/ipa/rpi/controller/dpc_status.h index 46d0cf34..9f30d5d9 100644 --- a/src/ipa/rpi/controller/dpc_status.h +++ b/src/ipa/rpi/controller/dpc_status.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * dpc_status.h - DPC (defective pixel correction) control algorithm status + * DPC (defective pixel correction) control algorithm status */ #pragma once diff --git a/src/ipa/rpi/controller/geq_status.h b/src/ipa/rpi/controller/geq_status.h index 2d749fc9..cb107a48 100644 --- a/src/ipa/rpi/controller/geq_status.h +++ b/src/ipa/rpi/controller/geq_status.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * geq_status.h - GEQ (green equalisation) control algorithm status + * GEQ (green equalisation) control algorithm status */ #pragma once diff --git a/src/ipa/rpi/controller/hdr_algorithm.h b/src/ipa/rpi/controller/hdr_algorithm.h index f622e099..b889d8fd 100644 --- a/src/ipa/rpi/controller/hdr_algorithm.h +++ b/src/ipa/rpi/controller/hdr_algorithm.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2023, Raspberry Pi Ltd * - * hdr_algorithm.h - HDR control algorithm interface + * HDR control algorithm interface */ #pragma once diff --git a/src/ipa/rpi/controller/hdr_status.h b/src/ipa/rpi/controller/hdr_status.h index 24b1a935..a4955778 100644 --- a/src/ipa/rpi/controller/hdr_status.h +++ b/src/ipa/rpi/controller/hdr_status.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2023 Raspberry Pi Ltd * - * hdr_status.h - HDR control algorithm status + * HDR control algorithm status */ #pragma once diff --git a/src/ipa/rpi/controller/histogram.cpp b/src/ipa/rpi/controller/histogram.cpp index 78116141..13089839 100644 --- a/src/ipa/rpi/controller/histogram.cpp +++ b/src/ipa/rpi/controller/histogram.cpp @@ -2,9 +2,9 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * histogram.cpp - histogram calculations + * histogram calculations */ -#include <math.h> +#include <cmath> #include <stdio.h> #include "histogram.h" @@ -49,9 +49,9 @@ double Histogram::interBinMean(double binLo, double binHi) const { assert(binHi >= binLo); double sumBinFreq = 0, cumulFreq = 0; - for (double binNext = floor(binLo) + 1.0; binNext <= ceil(binHi); + for (double binNext = std::floor(binLo) + 1.0; binNext <= std::ceil(binHi); binLo = binNext, binNext += 1.0) { - int bin = floor(binLo); + int bin = std::floor(binLo); double freq = (cumulative_[bin + 1] - cumulative_[bin]) * (std::min(binNext, binHi) - binLo); sumBinFreq += bin * freq; diff --git a/src/ipa/rpi/controller/histogram.h b/src/ipa/rpi/controller/histogram.h index e2c5509b..ab4e5e31 100644 --- a/src/ipa/rpi/controller/histogram.h +++ b/src/ipa/rpi/controller/histogram.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * histogram.h - histogram calculation interface + * histogram calculation interface */ #pragma once diff --git a/src/ipa/rpi/controller/lux_status.h b/src/ipa/rpi/controller/lux_status.h index 5eb9faac..d8729f43 100644 --- a/src/ipa/rpi/controller/lux_status.h +++ b/src/ipa/rpi/controller/lux_status.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * lux_status.h - Lux control algorithm status + * Lux control algorithm status */ #pragma once diff --git a/src/ipa/rpi/controller/meson.build b/src/ipa/rpi/controller/meson.build index 32a4d31c..74b74888 100644 --- a/src/ipa/rpi/controller/meson.build +++ b/src/ipa/rpi/controller/meson.build @@ -5,7 +5,6 @@ rpi_ipa_controller_sources = files([ 'controller.cpp', 'device_status.cpp', 'histogram.cpp', - 'pwl.cpp', 'rpi/af.cpp', 'rpi/agc.cpp', 'rpi/agc_channel.cpp', @@ -32,4 +31,5 @@ rpi_ipa_controller_deps = [ ] rpi_ipa_controller_lib = static_library('rpi_ipa_controller', rpi_ipa_controller_sources, + include_directories : libipa_includes, dependencies : rpi_ipa_controller_deps) diff --git a/src/ipa/rpi/controller/metadata.h b/src/ipa/rpi/controller/metadata.h index a232dcb1..b4650d25 100644 --- a/src/ipa/rpi/controller/metadata.h +++ b/src/ipa/rpi/controller/metadata.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019-2021, Raspberry Pi Ltd * - * metadata.h - general metadata class + * general metadata class */ #pragma once diff --git a/src/ipa/rpi/controller/noise_status.h b/src/ipa/rpi/controller/noise_status.h index da194f71..1919da32 100644 --- a/src/ipa/rpi/controller/noise_status.h +++ b/src/ipa/rpi/controller/noise_status.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * noise_status.h - Noise control algorithm status + * Noise control algorithm status */ #pragma once diff --git a/src/ipa/rpi/controller/pdaf_data.h b/src/ipa/rpi/controller/pdaf_data.h index 470510f2..779b987d 100644 --- a/src/ipa/rpi/controller/pdaf_data.h +++ b/src/ipa/rpi/controller/pdaf_data.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Raspberry Pi Ltd * - * pdaf_data.h - PDAF Metadata + * PDAF Metadata */ #pragma once diff --git a/src/ipa/rpi/controller/pwl.cpp b/src/ipa/rpi/controller/pwl.cpp deleted file mode 100644 index 70c2e24b..00000000 --- a/src/ipa/rpi/controller/pwl.cpp +++ /dev/null @@ -1,269 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi Ltd - * - * pwl.cpp - piecewise linear functions - */ - -#include <cassert> -#include <cmath> -#include <stdexcept> - -#include "pwl.h" - -using namespace RPiController; - -int Pwl::read(const libcamera::YamlObject ¶ms) -{ - if (!params.size() || params.size() % 2) - return -EINVAL; - - const auto &list = params.asList(); - - for (auto it = list.begin(); it != list.end(); it++) { - auto x = it->get<double>(); - if (!x) - return -EINVAL; - if (it != list.begin() && *x <= points_.back().x) - return -EINVAL; - - auto y = (++it)->get<double>(); - if (!y) - return -EINVAL; - - points_.push_back(Point(*x, *y)); - } - - return 0; -} - -void Pwl::append(double x, double y, const double eps) -{ - if (points_.empty() || points_.back().x + eps < x) - points_.push_back(Point(x, y)); -} - -void Pwl::prepend(double x, double y, const double eps) -{ - if (points_.empty() || points_.front().x - eps > x) - points_.insert(points_.begin(), Point(x, y)); -} - -Pwl::Interval Pwl::domain() const -{ - return Interval(points_[0].x, points_[points_.size() - 1].x); -} - -Pwl::Interval Pwl::range() const -{ - double lo = points_[0].y, hi = lo; - for (auto &p : points_) - lo = std::min(lo, p.y), hi = std::max(hi, p.y); - return Interval(lo, hi); -} - -bool Pwl::empty() const -{ - return points_.empty(); -} - -double Pwl::eval(double x, int *spanPtr, bool updateSpan) const -{ - int span = findSpan(x, spanPtr && *spanPtr != -1 ? *spanPtr : points_.size() / 2 - 1); - if (spanPtr && updateSpan) - *spanPtr = span; - return points_[span].y + - (x - points_[span].x) * (points_[span + 1].y - points_[span].y) / - (points_[span + 1].x - points_[span].x); -} - -int Pwl::findSpan(double x, int span) const -{ - /* - * Pwls are generally small, so linear search may well be faster than - * binary, though could review this if large PWls start turning up. - */ - int lastSpan = points_.size() - 2; - /* - * some algorithms may call us with span pointing directly at the last - * control point - */ - span = std::max(0, std::min(lastSpan, span)); - while (span < lastSpan && x >= points_[span + 1].x) - span++; - while (span && x < points_[span].x) - span--; - return span; -} - -Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span, - const double eps) const -{ - assert(span >= -1); - bool prevOffEnd = false; - for (span = span + 1; span < (int)points_.size() - 1; span++) { - Point spanVec = points_[span + 1] - points_[span]; - double t = ((xy - points_[span]) % spanVec) / spanVec.len2(); - if (t < -eps) /* off the start of this span */ - { - if (span == 0) { - perp = points_[span]; - return PerpType::Start; - } else if (prevOffEnd) { - perp = points_[span]; - return PerpType::Vertex; - } - } else if (t > 1 + eps) /* off the end of this span */ - { - if (span == (int)points_.size() - 2) { - perp = points_[span + 1]; - return PerpType::End; - } - prevOffEnd = true; - } else /* a true perpendicular */ - { - perp = points_[span] + spanVec * t; - return PerpType::Perpendicular; - } - } - return PerpType::None; -} - -Pwl Pwl::inverse(bool *trueInverse, const double eps) const -{ - bool appended = false, prepended = false, neither = false; - Pwl inverse; - - for (Point const &p : points_) { - if (inverse.empty()) - inverse.append(p.y, p.x, eps); - else if (std::abs(inverse.points_.back().x - p.y) <= eps || - std::abs(inverse.points_.front().x - p.y) <= eps) - /* do nothing */; - else if (p.y > inverse.points_.back().x) { - inverse.append(p.y, p.x, eps); - appended = true; - } else if (p.y < inverse.points_.front().x) { - inverse.prepend(p.y, p.x, eps); - prepended = true; - } else - neither = true; - } - - /* - * This is not a proper inverse if we found ourselves putting points - * onto both ends of the inverse, or if there were points that couldn't - * go on either. - */ - if (trueInverse) - *trueInverse = !(neither || (appended && prepended)); - - return inverse; -} - -Pwl Pwl::compose(Pwl const &other, const double eps) const -{ - double thisX = points_[0].x, thisY = points_[0].y; - int thisSpan = 0, otherSpan = other.findSpan(thisY, 0); - Pwl result({ { thisX, other.eval(thisY, &otherSpan, false) } }); - while (thisSpan != (int)points_.size() - 1) { - double dx = points_[thisSpan + 1].x - points_[thisSpan].x, - dy = points_[thisSpan + 1].y - points_[thisSpan].y; - if (std::abs(dy) > eps && - otherSpan + 1 < (int)other.points_.size() && - points_[thisSpan + 1].y >= - other.points_[otherSpan + 1].x + eps) { - /* - * next control point in result will be where this - * function's y reaches the next span in other - */ - thisX = points_[thisSpan].x + - (other.points_[otherSpan + 1].x - - points_[thisSpan].y) * - dx / dy; - thisY = other.points_[++otherSpan].x; - } else if (std::abs(dy) > eps && otherSpan > 0 && - points_[thisSpan + 1].y <= - other.points_[otherSpan - 1].x - eps) { - /* - * next control point in result will be where this - * function's y reaches the previous span in other - */ - thisX = points_[thisSpan].x + - (other.points_[otherSpan + 1].x - - points_[thisSpan].y) * - dx / dy; - thisY = other.points_[--otherSpan].x; - } else { - /* we stay in the same span in other */ - thisSpan++; - thisX = points_[thisSpan].x, - thisY = points_[thisSpan].y; - } - result.append(thisX, other.eval(thisY, &otherSpan, false), - eps); - } - return result; -} - -void Pwl::map(std::function<void(double x, double y)> f) const -{ - for (auto &pt : points_) - f(pt.x, pt.y); -} - -void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1, - std::function<void(double x, double y0, double y1)> f) -{ - int span0 = 0, span1 = 0; - double x = std::min(pwl0.points_[0].x, pwl1.points_[0].x); - f(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false)); - while (span0 < (int)pwl0.points_.size() - 1 || - span1 < (int)pwl1.points_.size() - 1) { - if (span0 == (int)pwl0.points_.size() - 1) - x = pwl1.points_[++span1].x; - else if (span1 == (int)pwl1.points_.size() - 1) - x = pwl0.points_[++span0].x; - else if (pwl0.points_[span0 + 1].x > pwl1.points_[span1 + 1].x) - x = pwl1.points_[++span1].x; - else - x = pwl0.points_[++span0].x; - f(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false)); - } -} - -Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1, - std::function<double(double x, double y0, double y1)> f, - const double eps) -{ - Pwl result; - map2(pwl0, pwl1, [&](double x, double y0, double y1) { - result.append(x, f(x, y0, y1), eps); - }); - return result; -} - -void Pwl::matchDomain(Interval const &domain, bool clip, const double eps) -{ - int span = 0; - prepend(domain.start, eval(clip ? points_[0].x : domain.start, &span), - eps); - span = points_.size() - 2; - append(domain.end, eval(clip ? points_.back().x : domain.end, &span), - eps); -} - -Pwl &Pwl::operator*=(double d) -{ - for (auto &pt : points_) - pt.y *= d; - return *this; -} - -void Pwl::debug(FILE *fp) const -{ - fprintf(fp, "Pwl {\n"); - for (auto &p : points_) - fprintf(fp, "\t(%g, %g)\n", p.x, p.y); - fprintf(fp, "}\n"); -} diff --git a/src/ipa/rpi/controller/pwl.h b/src/ipa/rpi/controller/pwl.h deleted file mode 100644 index aacf6039..00000000 --- a/src/ipa/rpi/controller/pwl.h +++ /dev/null @@ -1,127 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi Ltd - * - * pwl.h - piecewise linear functions interface - */ -#pragma once - -#include <functional> -#include <math.h> -#include <vector> - -#include "libcamera/internal/yaml_parser.h" - -namespace RPiController { - -class Pwl -{ -public: - struct Interval { - Interval(double _start, double _end) - : start(_start), end(_end) - { - } - double start, end; - bool contains(double value) - { - return value >= start && value <= end; - } - double clip(double value) - { - return value < start ? start - : (value > end ? end : value); - } - double len() const { return end - start; } - }; - struct Point { - Point() : x(0), y(0) {} - Point(double _x, double _y) - : x(_x), y(_y) {} - double x, y; - Point operator-(Point const &p) const - { - return Point(x - p.x, y - p.y); - } - Point operator+(Point const &p) const - { - return Point(x + p.x, y + p.y); - } - double operator%(Point const &p) const - { - return x * p.x + y * p.y; - } - Point operator*(double f) const { return Point(x * f, y * f); } - Point operator/(double f) const { return Point(x / f, y / f); } - double len2() const { return x * x + y * y; } - double len() const { return sqrt(len2()); } - }; - Pwl() {} - Pwl(std::vector<Point> const &points) : points_(points) {} - int read(const libcamera::YamlObject ¶ms); - void append(double x, double y, const double eps = 1e-6); - void prepend(double x, double y, const double eps = 1e-6); - Interval domain() const; - Interval range() const; - bool empty() const; - /* - * Evaluate Pwl, optionally supplying an initial guess for the - * "span". The "span" may be optionally be updated. If you want to know - * the "span" value but don't have an initial guess you can set it to - * -1. - */ - double eval(double x, int *spanPtr = nullptr, - bool updateSpan = true) const; - /* - * Find perpendicular closest to xy, starting from span+1 so you can - * call it repeatedly to check for multiple closest points (set span to - * -1 on the first call). Also returns "pseudo" perpendiculars; see - * PerpType enum. - */ - enum class PerpType { - None, /* no perpendicular found */ - Start, /* start of Pwl is closest point */ - End, /* end of Pwl is closest point */ - Vertex, /* vertex of Pwl is closest point */ - Perpendicular /* true perpendicular found */ - }; - PerpType invert(Point const &xy, Point &perp, int &span, - const double eps = 1e-6) const; - /* - * Compute the inverse function. Indicate if it is a proper (true) - * inverse, or only a best effort (e.g. input was non-monotonic). - */ - Pwl inverse(bool *trueInverse = nullptr, const double eps = 1e-6) const; - /* Compose two Pwls together, doing "this" first and "other" after. */ - Pwl compose(Pwl const &other, const double eps = 1e-6) const; - /* Apply function to (x,y) values at every control point. */ - void map(std::function<void(double x, double y)> f) const; - /* - * Apply function to (x, y0, y1) values wherever either Pwl has a - * control point. - */ - static void map2(Pwl const &pwl0, Pwl const &pwl1, - std::function<void(double x, double y0, double y1)> f); - /* - * Combine two Pwls, meaning we create a new Pwl where the y values are - * given by running f wherever either has a knot. - */ - static Pwl - combine(Pwl const &pwl0, Pwl const &pwl1, - std::function<double(double x, double y0, double y1)> f, - const double eps = 1e-6); - /* - * Make "this" match (at least) the given domain. Any extension my be - * clipped or linear. - */ - void matchDomain(Interval const &domain, bool clip = true, - const double eps = 1e-6); - Pwl &operator*=(double d); - void debug(FILE *fp = stdout) const; - -private: - int findSpan(double x, int span) const; - std::vector<Point> points_; -}; - -} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/region_stats.h b/src/ipa/rpi/controller/region_stats.h index a8860dc8..c60f7d9a 100644 --- a/src/ipa/rpi/controller/region_stats.h +++ b/src/ipa/rpi/controller/region_stats.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Raspberry Pi Ltd * - * region_stats.h - Raspberry Pi region based statistics container + * Raspberry Pi region based statistics container */ #pragma once diff --git a/src/ipa/rpi/controller/rpi/af.cpp b/src/ipa/rpi/controller/rpi/af.cpp index ed0c8a94..2157eb94 100644 --- a/src/ipa/rpi/controller/rpi/af.cpp +++ b/src/ipa/rpi/controller/rpi/af.cpp @@ -2,13 +2,13 @@ /* * Copyright (C) 2022-2023, Raspberry Pi Ltd * - * af.cpp - Autofocus control algorithm + * Autofocus control algorithm */ #include "af.h" +#include <cmath> #include <iomanip> -#include <math.h> #include <stdlib.h> #include <libcamera/base/log.h> @@ -139,7 +139,7 @@ int Af::CfgParams::read(const libcamera::YamlObject ¶ms) readNumber<uint32_t>(skipFrames, params, "skip_frames"); if (params.contains("map")) - map.read(params["map"]); + map = params["map"].get<ipa::Pwl>(ipa::Pwl{}); else LOG(RPiAf, Warning) << "No map defined"; @@ -721,7 +721,7 @@ bool Af::setLensPosition(double dioptres, int *hwpos) if (mode_ == AfModeManual) { LOG(RPiAf, Debug) << "setLensPosition: " << dioptres; - ftarget_ = cfg_.map.domain().clip(dioptres); + ftarget_ = cfg_.map.domain().clamp(dioptres); changed = !(initted_ && fsmooth_ == ftarget_); updateLensPosition(); } diff --git a/src/ipa/rpi/controller/rpi/af.h b/src/ipa/rpi/controller/rpi/af.h index 6d2bae67..317a51f3 100644 --- a/src/ipa/rpi/controller/rpi/af.h +++ b/src/ipa/rpi/controller/rpi/af.h @@ -2,14 +2,15 @@ /* * Copyright (C) 2022-2023, Raspberry Pi Ltd * - * af.h - Autofocus control algorithm + * Autofocus control algorithm */ #pragma once #include "../af_algorithm.h" #include "../af_status.h" #include "../pdaf_data.h" -#include "../pwl.h" + +#include "libipa/pwl.h" /* * This algorithm implements a hybrid of CDAF and PDAF, favouring PDAF. @@ -100,7 +101,7 @@ private: uint32_t confThresh; /* PDAF confidence cell min (sensor-specific) */ uint32_t confClip; /* PDAF confidence cell max (sensor-specific) */ uint32_t skipFrames; /* frames to skip at start or modeswitch */ - Pwl map; /* converts dioptres -> lens driver position */ + libcamera::ipa::Pwl map; /* converts dioptres -> lens driver position */ CfgParams(); int read(const libcamera::YamlObject ¶ms); diff --git a/src/ipa/rpi/controller/rpi/agc.cpp b/src/ipa/rpi/controller/rpi/agc.cpp index 6549dedd..fcf7aec9 100644 --- a/src/ipa/rpi/controller/rpi/agc.cpp +++ b/src/ipa/rpi/controller/rpi/agc.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * agc.cpp - AGC/AEC control algorithm + * AGC/AEC control algorithm */ #include "agc.h" diff --git a/src/ipa/rpi/controller/rpi/agc.h b/src/ipa/rpi/controller/rpi/agc.h index 7d26bdf6..5d056f02 100644 --- a/src/ipa/rpi/controller/rpi/agc.h +++ b/src/ipa/rpi/controller/rpi/agc.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * agc.h - AGC/AEC control algorithm + * AGC/AEC control algorithm */ #pragma once diff --git a/src/ipa/rpi/controller/rpi/agc_channel.cpp b/src/ipa/rpi/controller/rpi/agc_channel.cpp index 8116c6c1..c9df9b5b 100644 --- a/src/ipa/rpi/controller/rpi/agc_channel.cpp +++ b/src/ipa/rpi/controller/rpi/agc_channel.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2023, Raspberry Pi Ltd * - * agc_channel.cpp - AGC/AEC control algorithm + * AGC/AEC control algorithm */ #include "agc_channel.h" @@ -130,7 +130,8 @@ int AgcConstraint::read(const libcamera::YamlObject ¶ms) return -EINVAL; qHi = *value; - return yTarget.read(params["y_target"]); + yTarget = params["y_target"].get<ipa::Pwl>(ipa::Pwl{}); + return yTarget.empty() ? -EINVAL : 0; } static std::tuple<int, AgcConstraintMode> @@ -237,9 +238,9 @@ int AgcConfig::read(const libcamera::YamlObject ¶ms) return ret; } - ret = yTarget.read(params["y_target"]); - if (ret) - return ret; + yTarget = params["y_target"].get<ipa::Pwl>(ipa::Pwl{}); + if (yTarget.empty()) + return -EINVAL; speed = params["speed"].get<double>(0.2); startupFrames = params["startup_frames"].get<uint16_t>(10); @@ -715,7 +716,7 @@ static constexpr double EvGainYTargetLimit = 0.9; static double constraintComputeGain(AgcConstraint &c, const Histogram &h, double lux, double evGain, double &targetY) { - targetY = c.yTarget.eval(c.yTarget.domain().clip(lux)); + targetY = c.yTarget.eval(c.yTarget.domain().clamp(lux)); targetY = std::min(EvGainYTargetLimit, targetY * evGain); double iqm = h.interQuantileMean(c.qLo, c.qHi); return (targetY * h.bins()) / iqm; @@ -734,7 +735,7 @@ void AgcChannel::computeGain(StatisticsPtr &statistics, Metadata *imageMetadata, * The initial gain and target_Y come from some of the regions. After * that we consider the histogram constraints. */ - targetY = config_.yTarget.eval(config_.yTarget.domain().clip(lux.lux)); + targetY = config_.yTarget.eval(config_.yTarget.domain().clamp(lux.lux)); targetY = std::min(EvGainYTargetLimit, targetY * evGain); /* @@ -882,11 +883,14 @@ void AgcChannel::filterExposure() /* * AGC adapts instantly if both shutter and gain are directly specified - * or we're in the startup phase. + * or we're in the startup phase. Also disable the stable region, because we want + * to reflect any user exposure/gain updates, however small. */ if ((status_.fixedShutter && status_.fixedAnalogueGain) || - frameCount_ <= config_.startupFrames) + frameCount_ <= config_.startupFrames) { speed = 1.0; + stableRegion = 0.0; + } if (!filtered_.totalExposure) { filtered_.totalExposure = target_.totalExposure; } else if (filtered_.totalExposure * (1.0 - stableRegion) < target_.totalExposure && diff --git a/src/ipa/rpi/controller/rpi/agc_channel.h b/src/ipa/rpi/controller/rpi/agc_channel.h index 4cf7233e..58368889 100644 --- a/src/ipa/rpi/controller/rpi/agc_channel.h +++ b/src/ipa/rpi/controller/rpi/agc_channel.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2023, Raspberry Pi Ltd * - * agc_channel.h - AGC/AEC control algorithm + * AGC/AEC control algorithm */ #pragma once @@ -12,10 +12,11 @@ #include <libcamera/base/utils.h> +#include <libipa/pwl.h> + #include "../agc_status.h" #include "../awb_status.h" #include "../controller.h" -#include "../pwl.h" /* This is our implementation of AGC. */ @@ -40,7 +41,7 @@ struct AgcConstraint { Bound bound; double qLo; double qHi; - Pwl yTarget; + libcamera::ipa::Pwl yTarget; int read(const libcamera::YamlObject ¶ms); }; @@ -61,7 +62,7 @@ struct AgcConfig { std::map<std::string, AgcExposureMode> exposureModes; std::map<std::string, AgcConstraintMode> constraintModes; std::vector<AgcChannelConstraint> channelConstraints; - Pwl yTarget; + libcamera::ipa::Pwl yTarget; double speed; uint16_t startupFrames; unsigned int convergenceFrames; diff --git a/src/ipa/rpi/controller/rpi/alsc.cpp b/src/ipa/rpi/controller/rpi/alsc.cpp index 8a205c60..21edb819 100644 --- a/src/ipa/rpi/controller/rpi/alsc.cpp +++ b/src/ipa/rpi/controller/rpi/alsc.cpp @@ -2,13 +2,14 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * alsc.cpp - ALSC (auto lens shading correction) control algorithm + * ALSC (auto lens shading correction) control algorithm */ #include <algorithm> +#include <cmath> #include <functional> -#include <math.h> #include <numeric> +#include <vector> #include <libcamera/base/log.h> #include <libcamera/base/span.h> @@ -251,12 +252,12 @@ static bool compareModes(CameraMode const &cm0, CameraMode const &cm1) */ if (cm0.transform != cm1.transform) return true; - int leftDiff = abs(cm0.cropX - cm1.cropX); - int topDiff = abs(cm0.cropY - cm1.cropY); - int rightDiff = fabs(cm0.cropX + cm0.scaleX * cm0.width - - cm1.cropX - cm1.scaleX * cm1.width); - int bottomDiff = fabs(cm0.cropY + cm0.scaleY * cm0.height - - cm1.cropY - cm1.scaleY * cm1.height); + int leftDiff = std::abs(cm0.cropX - cm1.cropX); + int topDiff = std::abs(cm0.cropY - cm1.cropY); + int rightDiff = std::abs(cm0.cropX + cm0.scaleX * cm0.width - + cm1.cropX - cm1.scaleX * cm1.width); + int bottomDiff = std::abs(cm0.cropY + cm0.scaleY * cm0.height - + cm1.cropY - cm1.scaleY * cm1.height); /* * These thresholds are a rather arbitrary amount chosen to trigger * when carrying on with the previously calculated tables might be @@ -496,8 +497,9 @@ void resampleCalTable(const Array2D<double> &calTableIn, * Precalculate and cache the x sampling locations and phases to save * recomputing them on every row. */ - int xLo[X], xHi[X]; - double xf[X]; + std::vector<int> xLo(X); + std::vector<int> xHi(X); + std::vector<double> xf(X); double scaleX = cameraMode.sensorWidth / (cameraMode.width * cameraMode.scaleX); double xOff = cameraMode.cropX / (double)cameraMode.sensorWidth; @@ -730,7 +732,7 @@ static double gaussSeidel2Sor(const SparseArray<double> &M, double omega, double maxDiff = 0; for (i = 0; i < XY; i++) { lambda[i] = oldLambda[i] + (lambda[i] - oldLambda[i]) * omega; - if (fabs(lambda[i] - oldLambda[i]) > fabs(maxDiff)) + if (std::abs(lambda[i] - oldLambda[i]) > std::abs(maxDiff)) maxDiff = lambda[i] - oldLambda[i]; } return maxDiff; @@ -762,7 +764,7 @@ static void runMatrixIterations(const Array2D<double> &C, constructM(C, W, M); double lastMaxDiff = std::numeric_limits<double>::max(); for (unsigned int i = 0; i < nIter; i++) { - double maxDiff = fabs(gaussSeidel2Sor(M, omega, lambda, lambdaBound)); + double maxDiff = std::abs(gaussSeidel2Sor(M, omega, lambda, lambdaBound)); if (maxDiff < threshold) { LOG(RPiAlsc, Debug) << "Stop after " << i + 1 << " iterations"; diff --git a/src/ipa/rpi/controller/rpi/alsc.h b/src/ipa/rpi/controller/rpi/alsc.h index 0b6d9478..31087982 100644 --- a/src/ipa/rpi/controller/rpi/alsc.h +++ b/src/ipa/rpi/controller/rpi/alsc.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * alsc.h - ALSC (auto lens shading correction) control algorithm + * ALSC (auto lens shading correction) control algorithm */ #pragma once diff --git a/src/ipa/rpi/controller/rpi/awb.cpp b/src/ipa/rpi/controller/rpi/awb.cpp index dde5785a..9d8e170d 100644 --- a/src/ipa/rpi/controller/rpi/awb.cpp +++ b/src/ipa/rpi/controller/rpi/awb.cpp @@ -2,10 +2,11 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * awb.cpp - AWB control algorithm + * AWB control algorithm */ #include <assert.h> +#include <cmath> #include <functional> #include <libcamera/base/log.h> @@ -20,6 +21,8 @@ using namespace libcamera; LOG_DEFINE_CATEGORY(RPiAwb) +constexpr double kDefaultCT = 4500.0; + #define NAME "rpi.awb" /* @@ -49,10 +52,11 @@ int AwbPrior::read(const libcamera::YamlObject ¶ms) return -EINVAL; lux = *value; - return prior.read(params["prior"]); + prior = params["prior"].get<ipa::Pwl>(ipa::Pwl{}); + return prior.empty() ? -EINVAL : 0; } -static int readCtCurve(Pwl &ctR, Pwl &ctB, const libcamera::YamlObject ¶ms) +static int readCtCurve(ipa::Pwl &ctR, ipa::Pwl &ctB, const libcamera::YamlObject ¶ms) { if (params.size() % 3) { LOG(RPiAwb, Error) << "AwbConfig: incomplete CT curve entry"; @@ -103,8 +107,8 @@ int AwbConfig::read(const libcamera::YamlObject ¶ms) if (ret) return ret; /* We will want the inverse functions of these too. */ - ctRInverse = ctR.inverse(); - ctBInverse = ctB.inverse(); + ctRInverse = ctR.inverse().first; + ctBInverse = ctB.inverse().first; } if (params.contains("priors")) { @@ -121,7 +125,7 @@ int AwbConfig::read(const libcamera::YamlObject ¶ms) } if (priors.empty()) { LOG(RPiAwb, Error) << "AwbConfig: no AWB priors configured"; - return ret; + return -EINVAL; } } if (params.contains("modes")) { @@ -166,6 +170,14 @@ int AwbConfig::read(const libcamera::YamlObject ¶ms) whitepointB = params["whitepoint_b"].get<double>(0.0); if (bayes == false) sensitivityR = sensitivityB = 1.0; /* nor do sensitivities make any sense */ + /* + * The biasProportion parameter adds a small proportion of the counted + * pixles to a region biased to the biasCT colour temperature. + * + * A typical value for biasProportion would be between 0.05 to 0.1. + */ + biasProportion = params["bias_proportion"].get<double>(0.0); + biasCT = params["bias_ct"].get<double>(kDefaultCT); return 0; } @@ -207,13 +219,13 @@ void Awb::initialise() * them. */ if (!config_.ctR.empty() && !config_.ctB.empty()) { - syncResults_.temperatureK = config_.ctR.domain().clip(4000); + syncResults_.temperatureK = config_.ctR.domain().clamp(4000); syncResults_.gainR = 1.0 / config_.ctR.eval(syncResults_.temperatureK); syncResults_.gainG = 1.0; syncResults_.gainB = 1.0 / config_.ctB.eval(syncResults_.temperatureK); } else { /* random values just to stop the world blowing up */ - syncResults_.temperatureK = 4500; + syncResults_.temperatureK = kDefaultCT; syncResults_.gainR = syncResults_.gainG = syncResults_.gainB = 1.0; } prevSyncResults_ = syncResults_; @@ -273,8 +285,8 @@ void Awb::setManualGains(double manualR, double manualB) syncResults_.gainB = prevSyncResults_.gainB = manualB_; if (config_.bayes) { /* Also estimate the best corresponding colour temperature from the curves. */ - double ctR = config_.ctRInverse.eval(config_.ctRInverse.domain().clip(1 / manualR_)); - double ctB = config_.ctBInverse.eval(config_.ctBInverse.domain().clip(1 / manualB_)); + double ctR = config_.ctRInverse.eval(config_.ctRInverse.domain().clamp(1 / manualR_)); + double ctB = config_.ctBInverse.eval(config_.ctBInverse.domain().clamp(1 / manualB_)); prevSyncResults_.temperatureK = (ctR + ctB) / 2; syncResults_.temperatureK = prevSyncResults_.temperatureK; } @@ -406,7 +418,8 @@ void Awb::asyncFunc() static void generateStats(std::vector<Awb::RGB> &zones, StatisticsPtr &stats, double minPixels, - double minG, Metadata &globalMetadata) + double minG, Metadata &globalMetadata, + double biasProportion, double biasCtR, double biasCtB) { std::scoped_lock<RPiController::Metadata> l(globalMetadata); @@ -419,6 +432,14 @@ static void generateStats(std::vector<Awb::RGB> &zones, continue; zone.R = region.val.rSum / region.counted; zone.B = region.val.bSum / region.counted; + /* + * Add some bias samples to allow the search to tend to a + * bias CT in failure cases. + */ + const unsigned int proportion = biasProportion * region.counted; + zone.R += proportion * biasCtR; + zone.B += proportion * biasCtB; + zone.G += proportion * 1.0; /* Factor in the ALSC applied colour shading correction if required. */ const AlscStatus *alscStatus = globalMetadata.getLocked<AlscStatus>("alsc.status"); if (stats->colourStatsPos == Statistics::ColourStatsPos::PreLsc && alscStatus) { @@ -439,7 +460,9 @@ void Awb::prepareStats() * any LSC compensation. We also ignore config_.fast in this version. */ generateStats(zones_, statistics_, config_.minPixels, - config_.minG, getGlobalMetadata()); + config_.minG, getGlobalMetadata(), + config_.biasProportion, config_.ctR.eval(config_.biasCT), + config_.ctB.eval(config_.biasCT)); /* * apply sensitivities, so values appear to come from our "canonical" * sensor. @@ -468,7 +491,7 @@ double Awb::computeDelta2Sum(double gainR, double gainB) return delta2Sum; } -Pwl Awb::interpolatePrior() +ipa::Pwl Awb::interpolatePrior() { /* * Interpolate the prior log likelihood function for our current lux @@ -485,7 +508,7 @@ Pwl Awb::interpolatePrior() idx++; double lux0 = config_.priors[idx].lux, lux1 = config_.priors[idx + 1].lux; - return Pwl::combine(config_.priors[idx].prior, + return ipa::Pwl::combine(config_.priors[idx].prior, config_.priors[idx + 1].prior, [&](double /*x*/, double y0, double y1) { return y0 + (y1 - y0) * @@ -494,26 +517,26 @@ Pwl Awb::interpolatePrior() } } -static double interpolateQuadatric(Pwl::Point const &a, Pwl::Point const &b, - Pwl::Point const &c) +static double interpolateQuadatric(ipa::Pwl::Point const &a, ipa::Pwl::Point const &b, + ipa::Pwl::Point const &c) { /* * Given 3 points on a curve, find the extremum of the function in that * interval by fitting a quadratic. */ const double eps = 1e-3; - Pwl::Point ca = c - a, ba = b - a; - double denominator = 2 * (ba.y * ca.x - ca.y * ba.x); - if (abs(denominator) > eps) { - double numerator = ba.y * ca.x * ca.x - ca.y * ba.x * ba.x; - double result = numerator / denominator + a.x; - return std::max(a.x, std::min(c.x, result)); + ipa::Pwl::Point ca = c - a, ba = b - a; + double denominator = 2 * (ba.y() * ca.x() - ca.y() * ba.x()); + if (std::abs(denominator) > eps) { + double numerator = ba.y() * ca.x() * ca.x() - ca.y() * ba.x() * ba.x(); + double result = numerator / denominator + a.x(); + return std::max(a.x(), std::min(c.x(), result)); } /* has degenerated to straight line segment */ - return a.y < c.y - eps ? a.x : (c.y < a.y - eps ? c.x : b.x); + return a.y() < c.y() - eps ? a.x() : (c.y() < a.y() - eps ? c.x() : b.x()); } -double Awb::coarseSearch(Pwl const &prior) +double Awb::coarseSearch(ipa::Pwl const &prior) { points_.clear(); /* assume doesn't deallocate memory */ size_t bestPoint = 0; @@ -525,22 +548,22 @@ double Awb::coarseSearch(Pwl const &prior) double b = config_.ctB.eval(t, &spanB); double gainR = 1 / r, gainB = 1 / b; double delta2Sum = computeDelta2Sum(gainR, gainB); - double priorLogLikelihood = prior.eval(prior.domain().clip(t)); + double priorLogLikelihood = prior.eval(prior.domain().clamp(t)); double finalLogLikelihood = delta2Sum - priorLogLikelihood; LOG(RPiAwb, Debug) << "t: " << t << " gain R " << gainR << " gain B " << gainB << " delta2_sum " << delta2Sum << " prior " << priorLogLikelihood << " final " << finalLogLikelihood; - points_.push_back(Pwl::Point(t, finalLogLikelihood)); - if (points_.back().y < points_[bestPoint].y) + points_.push_back(ipa::Pwl::Point({ t, finalLogLikelihood })); + if (points_.back().y() < points_[bestPoint].y()) bestPoint = points_.size() - 1; if (t == mode_->ctHi) break; /* for even steps along the r/b curve scale them by the current t */ t = std::min(t + t / 10 * config_.coarseStep, mode_->ctHi); } - t = points_[bestPoint].x; + t = points_[bestPoint].x(); LOG(RPiAwb, Debug) << "Coarse search found CT " << t; /* * We have the best point of the search, but refine it with a quadratic @@ -559,7 +582,7 @@ double Awb::coarseSearch(Pwl const &prior) return t; } -void Awb::fineSearch(double &t, double &r, double &b, Pwl const &prior) +void Awb::fineSearch(double &t, double &r, double &b, ipa::Pwl const &prior) { int spanR = -1, spanB = -1; config_.ctR.eval(t, &spanR); @@ -570,14 +593,14 @@ void Awb::fineSearch(double &t, double &r, double &b, Pwl const &prior) config_.ctR.eval(t - nsteps * step, &spanR); double bDiff = config_.ctB.eval(t + nsteps * step, &spanB) - config_.ctB.eval(t - nsteps * step, &spanB); - Pwl::Point transverse(bDiff, -rDiff); - if (transverse.len2() < 1e-6) + ipa::Pwl::Point transverse({ bDiff, -rDiff }); + if (transverse.length2() < 1e-6) return; /* * unit vector orthogonal to the b vs. r function (pointing outwards * with r and b increasing) */ - transverse = transverse / transverse.len(); + transverse = transverse / transverse.length(); double bestLogLikelihood = 0, bestT = 0, bestR = 0, bestB = 0; double transverseRange = config_.transverseNeg + config_.transversePos; const int maxNumDeltas = 12; @@ -592,26 +615,26 @@ void Awb::fineSearch(double &t, double &r, double &b, Pwl const &prior) for (int i = -nsteps; i <= nsteps; i++) { double tTest = t + i * step; double priorLogLikelihood = - prior.eval(prior.domain().clip(tTest)); + prior.eval(prior.domain().clamp(tTest)); double rCurve = config_.ctR.eval(tTest, &spanR); double bCurve = config_.ctB.eval(tTest, &spanB); /* x will be distance off the curve, y the log likelihood there */ - Pwl::Point points[maxNumDeltas]; + ipa::Pwl::Point points[maxNumDeltas]; int bestPoint = 0; /* Take some measurements transversely *off* the CT curve. */ for (int j = 0; j < numDeltas; j++) { - points[j].x = -config_.transverseNeg + - (transverseRange * j) / (numDeltas - 1); - Pwl::Point rbTest = Pwl::Point(rCurve, bCurve) + - transverse * points[j].x; - double rTest = rbTest.x, bTest = rbTest.y; + points[j][0] = -config_.transverseNeg + + (transverseRange * j) / (numDeltas - 1); + ipa::Pwl::Point rbTest = ipa::Pwl::Point({ rCurve, bCurve }) + + transverse * points[j].x(); + double rTest = rbTest.x(), bTest = rbTest.y(); double gainR = 1 / rTest, gainB = 1 / bTest; double delta2Sum = computeDelta2Sum(gainR, gainB); - points[j].y = delta2Sum - priorLogLikelihood; + points[j][1] = delta2Sum - priorLogLikelihood; LOG(RPiAwb, Debug) << "At t " << tTest << " r " << rTest << " b " - << bTest << ": " << points[j].y; - if (points[j].y < points[bestPoint].y) + << bTest << ": " << points[j].y(); + if (points[j].y() < points[bestPoint].y()) bestPoint = j; } /* @@ -619,11 +642,11 @@ void Awb::fineSearch(double &t, double &r, double &b, Pwl const &prior) * now let's do a quadratic interpolation for the best result. */ bestPoint = std::max(1, std::min(bestPoint, numDeltas - 2)); - Pwl::Point rbTest = Pwl::Point(rCurve, bCurve) + - transverse * interpolateQuadatric(points[bestPoint - 1], - points[bestPoint], - points[bestPoint + 1]); - double rTest = rbTest.x, bTest = rbTest.y; + ipa::Pwl::Point rbTest = ipa::Pwl::Point({ rCurve, bCurve }) + + transverse * interpolateQuadatric(points[bestPoint - 1], + points[bestPoint], + points[bestPoint + 1]); + double rTest = rbTest.x(), bTest = rbTest.y(); double gainR = 1 / rTest, gainB = 1 / bTest; double delta2Sum = computeDelta2Sum(gainR, gainB); double finalLogLikelihood = delta2Sum - priorLogLikelihood; @@ -653,7 +676,7 @@ void Awb::awbBayes() * Get the current prior, and scale according to how many zones are * valid... not entirely sure about this. */ - Pwl prior = interpolatePrior(); + ipa::Pwl prior = interpolatePrior(); prior *= zones_.size() / (double)(statistics_->awbRegions.numRegions()); prior.map([](double x, double y) { LOG(RPiAwb, Debug) << "(" << x << "," << y << ")"; @@ -715,7 +738,11 @@ void Awb::awbGrey() sumR += *ri, sumB += *bi; double gainR = sumR.G / (sumR.R + 1), gainB = sumB.G / (sumB.B + 1); - asyncResults_.temperatureK = 4500; /* don't know what it is */ + /* + * The grey world model can't estimate the colour temperature, use a + * default value. + */ + asyncResults_.temperatureK = kDefaultCT; asyncResults_.gainR = gainR; asyncResults_.gainG = 1.0; asyncResults_.gainB = gainB; diff --git a/src/ipa/rpi/controller/rpi/awb.h b/src/ipa/rpi/controller/rpi/awb.h index cde6a62f..5d628b47 100644 --- a/src/ipa/rpi/controller/rpi/awb.h +++ b/src/ipa/rpi/controller/rpi/awb.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * awb.h - AWB control algorithm + * AWB control algorithm */ #pragma once @@ -10,11 +10,14 @@ #include <condition_variable> #include <thread> +#include <libcamera/geometry.h> + #include "../awb_algorithm.h" -#include "../pwl.h" #include "../awb_status.h" #include "../statistics.h" +#include "libipa/pwl.h" + namespace RPiController { /* Control algorithm to perform AWB calculations. */ @@ -28,7 +31,7 @@ struct AwbMode { struct AwbPrior { int read(const libcamera::YamlObject ¶ms); double lux; /* lux level */ - Pwl prior; /* maps CT to prior log likelihood for this lux level */ + libcamera::ipa::Pwl prior; /* maps CT to prior log likelihood for this lux level */ }; struct AwbConfig { @@ -41,10 +44,10 @@ struct AwbConfig { unsigned int convergenceFrames; /* approx number of frames to converge */ double speed; /* IIR filter speed applied to algorithm results */ bool fast; /* "fast" mode uses a 16x16 rather than 32x32 grid */ - Pwl ctR; /* function maps CT to r (= R/G) */ - Pwl ctB; /* function maps CT to b (= B/G) */ - Pwl ctRInverse; /* inverse of ctR */ - Pwl ctBInverse; /* inverse of ctB */ + libcamera::ipa::Pwl ctR; /* function maps CT to r (= R/G) */ + libcamera::ipa::Pwl ctB; /* function maps CT to b (= B/G) */ + libcamera::ipa::Pwl ctRInverse; /* inverse of ctR */ + libcamera::ipa::Pwl ctBInverse; /* inverse of ctB */ /* table of illuminant priors at different lux levels */ std::vector<AwbPrior> priors; /* AWB "modes" (determines the search range) */ @@ -84,6 +87,10 @@ struct AwbConfig { double whitepointR; double whitepointB; bool bayes; /* use Bayesian algorithm */ + /* proportion of counted samples to add for the search bias */ + double biasProportion; + /* CT target for the search bias */ + double biasCT; }; class Awb : public AwbAlgorithm @@ -161,11 +168,11 @@ private: void awbGrey(); void prepareStats(); double computeDelta2Sum(double gainR, double gainB); - Pwl interpolatePrior(); - double coarseSearch(Pwl const &prior); - void fineSearch(double &t, double &r, double &b, Pwl const &prior); + libcamera::ipa::Pwl interpolatePrior(); + double coarseSearch(libcamera::ipa::Pwl const &prior); + void fineSearch(double &t, double &r, double &b, libcamera::ipa::Pwl const &prior); std::vector<RGB> zones_; - std::vector<Pwl::Point> points_; + std::vector<libcamera::ipa::Pwl::Point> points_; /* manual r setting */ double manualR_; /* manual b setting */ diff --git a/src/ipa/rpi/controller/rpi/black_level.cpp b/src/ipa/rpi/controller/rpi/black_level.cpp index 2e3db51f..4c968f14 100644 --- a/src/ipa/rpi/controller/rpi/black_level.cpp +++ b/src/ipa/rpi/controller/rpi/black_level.cpp @@ -2,10 +2,9 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * black_level.cpp - black level control algorithm + * black level control algorithm */ -#include <math.h> #include <stdint.h> #include <libcamera/base/log.h> diff --git a/src/ipa/rpi/controller/rpi/black_level.h b/src/ipa/rpi/controller/rpi/black_level.h index d8c41c62..f50729db 100644 --- a/src/ipa/rpi/controller/rpi/black_level.h +++ b/src/ipa/rpi/controller/rpi/black_level.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * black_level.h - black level control algorithm + * black level control algorithm */ #pragma once diff --git a/src/ipa/rpi/controller/rpi/cac.cpp b/src/ipa/rpi/controller/rpi/cac.cpp index f2c8d282..17779ad5 100644 --- a/src/ipa/rpi/controller/rpi/cac.cpp +++ b/src/ipa/rpi/controller/rpi/cac.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2023 Raspberry Pi Ltd * - * cac.cpp - Chromatic Aberration Correction algorithm + * Chromatic Aberration Correction algorithm */ #include "cac.h" diff --git a/src/ipa/rpi/controller/rpi/ccm.cpp b/src/ipa/rpi/controller/rpi/ccm.cpp index 2e2e6664..aefa580c 100644 --- a/src/ipa/rpi/controller/rpi/ccm.cpp +++ b/src/ipa/rpi/controller/rpi/ccm.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * ccm.cpp - CCM (colour correction matrix) control algorithm + * CCM (colour correction matrix) control algorithm */ #include <libcamera/base/log.h> @@ -71,9 +71,9 @@ int Ccm::read(const libcamera::YamlObject ¶ms) int ret; if (params.contains("saturation")) { - ret = config_.saturation.read(params["saturation"]); - if (ret) - return ret; + config_.saturation = params["saturation"].get<ipa::Pwl>(ipa::Pwl{}); + if (config_.saturation.empty()) + return -EINVAL; } for (auto &p : params["ccms"].asList()) { @@ -113,8 +113,10 @@ void Ccm::initialise() { } +namespace { + template<typename T> -static bool getLocked(Metadata *metadata, std::string const &tag, T &value) +bool getLocked(Metadata *metadata, std::string const &tag, T &value) { T *ptr = metadata->getLocked<T>(tag); if (ptr == nullptr) @@ -149,6 +151,8 @@ Matrix applySaturation(Matrix const &ccm, double saturation) return Y2RGB * S * RGB2Y * ccm; } +} /* namespace */ + void Ccm::prepare(Metadata *imageMetadata) { bool awbOk = false, luxOk = false; @@ -172,7 +176,7 @@ void Ccm::prepare(Metadata *imageMetadata) ccmStatus.saturation = saturation; if (!config_.saturation.empty()) saturation *= config_.saturation.eval( - config_.saturation.domain().clip(lux.lux)); + config_.saturation.domain().clamp(lux.lux)); ccm = applySaturation(ccm, saturation); for (int j = 0; j < 3; j++) for (int i = 0; i < 3; i++) diff --git a/src/ipa/rpi/controller/rpi/ccm.h b/src/ipa/rpi/controller/rpi/ccm.h index 286d0b33..4e5b33fe 100644 --- a/src/ipa/rpi/controller/rpi/ccm.h +++ b/src/ipa/rpi/controller/rpi/ccm.h @@ -2,14 +2,15 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * ccm.h - CCM (colour correction matrix) control algorithm + * CCM (colour correction matrix) control algorithm */ #pragma once #include <vector> +#include <libipa/pwl.h> + #include "../ccm_algorithm.h" -#include "../pwl.h" namespace RPiController { @@ -54,7 +55,7 @@ struct CtCcm { struct CcmConfig { std::vector<CtCcm> ccms; - Pwl saturation; + libcamera::ipa::Pwl saturation; }; class Ccm : public CcmAlgorithm diff --git a/src/ipa/rpi/controller/rpi/contrast.cpp b/src/ipa/rpi/controller/rpi/contrast.cpp index 4e038a02..fe866a54 100644 --- a/src/ipa/rpi/controller/rpi/contrast.cpp +++ b/src/ipa/rpi/controller/rpi/contrast.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * contrast.cpp - contrast (gamma) control algorithm + * contrast (gamma) control algorithm */ #include <stdint.h> @@ -53,7 +53,9 @@ int Contrast::read(const libcamera::YamlObject ¶ms) config_.hiHistogram = params["hi_histogram"].get<double>(0.95); config_.hiLevel = params["hi_level"].get<double>(0.95); config_.hiMax = params["hi_max"].get<double>(2000); - return config_.gammaCurve.read(params["gamma_curve"]); + + config_.gammaCurve = params["gamma_curve"].get<ipa::Pwl>(ipa::Pwl{}); + return config_.gammaCurve.empty() ? -EINVAL : 0; } void Contrast::setBrightness(double brightness) @@ -92,10 +94,12 @@ void Contrast::prepare(Metadata *imageMetadata) imageMetadata->set("contrast.status", status_); } -Pwl computeStretchCurve(Histogram const &histogram, +namespace { + +ipa::Pwl computeStretchCurve(Histogram const &histogram, ContrastConfig const &config) { - Pwl enhance; + ipa::Pwl enhance; enhance.append(0, 0); /* * If the start of the histogram is rather empty, try to pull it down a @@ -136,10 +140,10 @@ Pwl computeStretchCurve(Histogram const &histogram, return enhance; } -Pwl applyManualContrast(Pwl const &gammaCurve, double brightness, - double contrast) +ipa::Pwl applyManualContrast(ipa::Pwl const &gammaCurve, double brightness, + double contrast) { - Pwl newGammaCurve; + ipa::Pwl newGammaCurve; LOG(RPiContrast, Debug) << "Manual brightness " << brightness << " contrast " << contrast; gammaCurve.map([&](double x, double y) { @@ -151,6 +155,8 @@ Pwl applyManualContrast(Pwl const &gammaCurve, double brightness, return newGammaCurve; } +} /* namespace */ + void Contrast::process(StatisticsPtr &stats, [[maybe_unused]] Metadata *imageMetadata) { @@ -160,7 +166,7 @@ void Contrast::process(StatisticsPtr &stats, * ways: 1. Adjust the gamma curve so as to pull the start of the * histogram down, and possibly push the end up. */ - Pwl gammaCurve = config_.gammaCurve; + ipa::Pwl gammaCurve = config_.gammaCurve; if (ceEnable_) { if (config_.loMax != 0 || config_.hiMax != 0) gammaCurve = computeStretchCurve(histogram, config_).compose(gammaCurve); diff --git a/src/ipa/rpi/controller/rpi/contrast.h b/src/ipa/rpi/controller/rpi/contrast.h index 59aa70dc..c0f7db98 100644 --- a/src/ipa/rpi/controller/rpi/contrast.h +++ b/src/ipa/rpi/controller/rpi/contrast.h @@ -2,14 +2,15 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * contrast.h - contrast (gamma) control algorithm + * contrast (gamma) control algorithm */ #pragma once #include <mutex> +#include <libipa/pwl.h> + #include "../contrast_algorithm.h" -#include "../pwl.h" namespace RPiController { @@ -26,7 +27,7 @@ struct ContrastConfig { double hiHistogram; double hiLevel; double hiMax; - Pwl gammaCurve; + libcamera::ipa::Pwl gammaCurve; }; class Contrast : public ContrastAlgorithm diff --git a/src/ipa/rpi/controller/rpi/denoise.cpp b/src/ipa/rpi/controller/rpi/denoise.cpp index 154ee604..ba851658 100644 --- a/src/ipa/rpi/controller/rpi/denoise.cpp +++ b/src/ipa/rpi/controller/rpi/denoise.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2022 Raspberry Pi Ltd * - * Denoise.cpp - Denoise (spatial, colour, temporal) control algorithm + * Denoise (spatial, colour, temporal) control algorithm */ #include "denoise.h" diff --git a/src/ipa/rpi/controller/rpi/dpc.cpp b/src/ipa/rpi/controller/rpi/dpc.cpp index be3871df..8aac03f7 100644 --- a/src/ipa/rpi/controller/rpi/dpc.cpp +++ b/src/ipa/rpi/controller/rpi/dpc.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * dpc.cpp - DPC (defective pixel correction) control algorithm + * DPC (defective pixel correction) control algorithm */ #include <libcamera/base/log.h> diff --git a/src/ipa/rpi/controller/rpi/dpc.h b/src/ipa/rpi/controller/rpi/dpc.h index 84a05604..9cefb06d 100644 --- a/src/ipa/rpi/controller/rpi/dpc.h +++ b/src/ipa/rpi/controller/rpi/dpc.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * dpc.h - DPC (defective pixel correction) control algorithm + * DPC (defective pixel correction) control algorithm */ #pragma once diff --git a/src/ipa/rpi/controller/rpi/focus.h b/src/ipa/rpi/controller/rpi/focus.h index 8556039d..ee014be9 100644 --- a/src/ipa/rpi/controller/rpi/focus.h +++ b/src/ipa/rpi/controller/rpi/focus.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Raspberry Pi Ltd * - * focus.h - focus algorithm + * focus algorithm */ #pragma once diff --git a/src/ipa/rpi/controller/rpi/geq.cpp b/src/ipa/rpi/controller/rpi/geq.cpp index 510870e9..40e7191b 100644 --- a/src/ipa/rpi/controller/rpi/geq.cpp +++ b/src/ipa/rpi/controller/rpi/geq.cpp @@ -2,14 +2,13 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * geq.cpp - GEQ (green equalisation) control algorithm + * GEQ (green equalisation) control algorithm */ #include <libcamera/base/log.h> #include "../device_status.h" #include "../lux_status.h" -#include "../pwl.h" #include "geq.h" @@ -45,9 +44,9 @@ int Geq::read(const libcamera::YamlObject ¶ms) } if (params.contains("strength")) { - int ret = config_.strength.read(params["strength"]); - if (ret) - return ret; + config_.strength = params["strength"].get<ipa::Pwl>(ipa::Pwl{}); + if (config_.strength.empty()) + return -EINVAL; } return 0; @@ -67,7 +66,7 @@ void Geq::prepare(Metadata *imageMetadata) GeqStatus geqStatus = {}; double strength = config_.strength.empty() ? 1.0 - : config_.strength.eval(config_.strength.domain().clip(luxStatus.lux)); + : config_.strength.eval(config_.strength.domain().clamp(luxStatus.lux)); strength *= deviceStatus.analogueGain; double offset = config_.offset * strength; double slope = config_.slope * strength; diff --git a/src/ipa/rpi/controller/rpi/geq.h b/src/ipa/rpi/controller/rpi/geq.h index ee3a52ff..e8b9f427 100644 --- a/src/ipa/rpi/controller/rpi/geq.h +++ b/src/ipa/rpi/controller/rpi/geq.h @@ -2,10 +2,12 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * geq.h - GEQ (green equalisation) control algorithm + * GEQ (green equalisation) control algorithm */ #pragma once +#include <libipa/pwl.h> + #include "../algorithm.h" #include "../geq_status.h" @@ -16,7 +18,7 @@ namespace RPiController { struct GeqConfig { uint16_t offset; double slope; - Pwl strength; /* lux to strength factor */ + libcamera::ipa::Pwl strength; /* lux to strength factor */ }; class Geq : public Algorithm diff --git a/src/ipa/rpi/controller/rpi/hdr.cpp b/src/ipa/rpi/controller/rpi/hdr.cpp index fb580548..f3da8291 100644 --- a/src/ipa/rpi/controller/rpi/hdr.cpp +++ b/src/ipa/rpi/controller/rpi/hdr.cpp @@ -2,11 +2,13 @@ /* * Copyright (C) 2023 Raspberry Pi Ltd * - * hdr.cpp - HDR control algorithm + * HDR control algorithm */ #include "hdr.h" +#include <cmath> + #include <libcamera/base/log.h> #include "../agc_status.h" @@ -39,25 +41,52 @@ void HdrConfig::read(const libcamera::YamlObject ¶ms, const std::string &mod channelMap[v.get<unsigned int>().value()] = k; /* Lens shading related parameters. */ - if (params.contains("spatial_gain")) { - spatialGain.read(params["spatial_gain"]); - diffusion = params["diffusion"].get<unsigned int>(3); - /* Clip to an arbitrary limit just to stop typos from killing the system! */ - const unsigned int MAX_DIFFUSION = 15; - if (diffusion > MAX_DIFFUSION) { - diffusion = MAX_DIFFUSION; - LOG(RPiHdr, Warning) << "Diffusion value clipped to " << MAX_DIFFUSION; - } + if (params.contains("spatial_gain_curve")) { + spatialGainCurve = params["spatial_gain_curve"].get<ipa::Pwl>(ipa::Pwl{}); + } else if (params.contains("spatial_gain")) { + double spatialGain = params["spatial_gain"].get<double>(2.0); + spatialGainCurve.append(0.0, spatialGain); + spatialGainCurve.append(0.01, spatialGain); + spatialGainCurve.append(0.06, 1.0); /* maybe make this programmable? */ + spatialGainCurve.append(1.0, 1.0); + } + + diffusion = params["diffusion"].get<unsigned int>(3); + /* Clip to an arbitrary limit just to stop typos from killing the system! */ + const unsigned int MAX_DIFFUSION = 15; + if (diffusion > MAX_DIFFUSION) { + diffusion = MAX_DIFFUSION; + LOG(RPiHdr, Warning) << "Diffusion value clipped to " << MAX_DIFFUSION; } /* Read any tonemap parameters. */ tonemapEnable = params["tonemap_enable"].get<int>(0); - detailConstant = params["detail_constant"].get<uint16_t>(50); - detailSlope = params["detail_slope"].get<double>(8.0); + detailConstant = params["detail_constant"].get<uint16_t>(0); + detailSlope = params["detail_slope"].get<double>(0.0); iirStrength = params["iir_strength"].get<double>(8.0); strength = params["strength"].get<double>(1.5); if (tonemapEnable) - tonemap.read(params["tonemap"]); + tonemap = params["tonemap"].get<ipa::Pwl>(ipa::Pwl{}); + speed = params["speed"].get<double>(1.0); + if (params.contains("hi_quantile_targets")) { + hiQuantileTargets = params["hi_quantile_targets"].getList<double>().value(); + if (hiQuantileTargets.empty() || hiQuantileTargets.size() % 2) + LOG(RPiHdr, Fatal) << "hi_quantile_targets much be even and non-empty"; + } else + hiQuantileTargets = { 0.95, 0.65, 0.5, 0.28, 0.3, 0.25 }; + hiQuantileMaxGain = params["hi_quantile_max_gain"].get<double>(1.6); + if (params.contains("quantile_targets")) { + quantileTargets = params["quantile_targets"].getList<double>().value(); + if (quantileTargets.empty() || quantileTargets.size() % 2) + LOG(RPiHdr, Fatal) << "quantile_targets much be even and non-empty"; + } else + quantileTargets = { 0.2, 0.03, 1.0, 0.15 }; + powerMin = params["power_min"].get<double>(0.65); + powerMax = params["power_max"].get<double>(1.0); + if (params.contains("contrast_adjustments")) { + contrastAdjustments = params["contrast_adjustments"].getList<double>().value(); + } else + contrastAdjustments = { 0.5, 0.75 }; /* Read any stitch parameters. */ stitchEnable = params["stitch_enable"].get<int>(0); @@ -159,7 +188,7 @@ void Hdr::prepare(Metadata *imageMetadata) } HdrConfig &config = it->second; - if (config.spatialGain.empty()) + if (config.spatialGainCurve.empty()) return; AlscStatus alscStatus{}; /* some compilers seem to require the braces */ @@ -183,7 +212,7 @@ bool Hdr::updateTonemap([[maybe_unused]] StatisticsPtr &stats, HdrConfig &config /* When there's a change of HDR mode we start over with a new tonemap curve. */ if (delayedStatus_.mode != previousMode_) { previousMode_ = delayedStatus_.mode; - tonemap_ = Pwl(); + tonemap_ = ipa::Pwl(); } /* No tonemapping. No need to output a tonemap.status. */ @@ -205,10 +234,61 @@ bool Hdr::updateTonemap([[maybe_unused]] StatisticsPtr &stats, HdrConfig &config return true; /* - * If we wanted to build or adjust tonemaps dynamically, this would be the place - * to do it. But for now we seem to be getting by without. + * Create a tonemap dynamically. We have three ingredients. + * + * 1. We have a list of "hi quantiles" and "targets". We use these to judge if + * the image does seem to be reasonably saturated. If it isn't, we calculate + * a gain that we will feed as a linear factor into the tonemap generation. + * This prevents unsaturated images from beoming quite so "flat". + * + * 2. We have a list of quantile/target pairs for the bottom of the histogram. + * We use these to calculate how much gain we must apply to the bottom of the + * tonemap. We apply this gain as a power curve so as not to blow out the top + * end. + * + * 3. Finally, when we generate the tonemap, we have some contrast adjustments + * for the bottom because we know that power curves can start quite steeply and + * cause a washed-out look. */ + /* Compute the linear gain from the headroom for saturation at the top. */ + double gain = 10; /* arbitrary, but hiQuantileMaxGain will clamp it later */ + for (unsigned int i = 0; i < config.hiQuantileTargets.size(); i += 2) { + double quantile = config.hiQuantileTargets[i]; + double target = config.hiQuantileTargets[i + 1]; + double value = stats->yHist.interQuantileMean(quantile, 1.0) / 1024.0; + double newGain = target / (value + 0.01); + gain = std::min(gain, newGain); + } + gain = std::clamp(gain, 1.0, config.hiQuantileMaxGain); + + /* Compute the power curve from the amount of gain needed at the bottom. */ + double min_power = 2; /* arbitrary, but config.powerMax will clamp it later */ + for (unsigned int i = 0; i < config.quantileTargets.size(); i += 2) { + double quantile = config.quantileTargets[i]; + double target = config.quantileTargets[i + 1]; + double value = stats->yHist.interQuantileMean(0, quantile) / 1024.0; + value = std::min(value * gain, 1.0); + double power = log(target + 1e-6) / log(value + 1e-6); + min_power = std::min(min_power, power); + } + double power = std::clamp(min_power, config.powerMin, config.powerMax); + + /* Generate the tonemap, including the contrast adjustment factors. */ + libcamera::ipa::Pwl tonemap; + tonemap.append(0, 0); + for (unsigned int i = 0; i <= 6; i++) { + double x = 1 << (i + 9); /* x loops from 512 to 32768 inclusive */ + double y = pow(std::min(x * gain, 65535.0) / 65536.0, power) * 65536; + if (i < config.contrastAdjustments.size()) + y *= config.contrastAdjustments[i]; + if (!tonemap_.empty()) + y = y * config.speed + tonemap_.eval(x) * (1 - config.speed); + tonemap.append(x, y); + } + tonemap.append(65535, 65535); + tonemap_ = tonemap; + return true; } @@ -255,7 +335,7 @@ static void averageGains(std::vector<double> &src, std::vector<double> &dst, con void Hdr::updateGains(StatisticsPtr &stats, HdrConfig &config) { - if (config.spatialGain.empty()) + if (config.spatialGainCurve.empty()) return; /* When alternating exposures, only compute these gains for the short frame. */ @@ -270,7 +350,7 @@ void Hdr::updateGains(StatisticsPtr &stats, HdrConfig &config) double g = region.val.gSum / counted; double b = region.val.bSum / counted; double brightness = std::max({ r, g, b }) / 65535; - gains_[0][i] = config.spatialGain.eval(brightness); + gains_[0][i] = config.spatialGainCurve.eval(brightness); } /* Ping-pong between the two gains_ buffers. */ diff --git a/src/ipa/rpi/controller/rpi/hdr.h b/src/ipa/rpi/controller/rpi/hdr.h index 980aa3d1..5c2f3988 100644 --- a/src/ipa/rpi/controller/rpi/hdr.h +++ b/src/ipa/rpi/controller/rpi/hdr.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2023, Raspberry Pi Ltd * - * hdr.h - HDR control algorithm + * HDR control algorithm */ #pragma once @@ -12,9 +12,10 @@ #include <libcamera/geometry.h> +#include <libipa/pwl.h> + #include "../hdr_algorithm.h" #include "../hdr_status.h" -#include "../pwl.h" /* This is our implementation of an HDR algorithm. */ @@ -26,7 +27,7 @@ struct HdrConfig { std::map<unsigned int, std::string> channelMap; /* Lens shading related parameters. */ - Pwl spatialGain; /* Brightness to gain curve for different image regions. */ + libcamera::ipa::Pwl spatialGainCurve; /* Brightness to gain curve for different image regions. */ unsigned int diffusion; /* How much to diffuse the gain spatially. */ /* Tonemap related parameters. */ @@ -35,7 +36,15 @@ struct HdrConfig { double detailSlope; double iirStrength; double strength; - Pwl tonemap; + libcamera::ipa::Pwl tonemap; + /* These relate to adaptive tonemap calculation. */ + double speed; + std::vector<double> hiQuantileTargets; /* quantiles to check for unsaturated images */ + double hiQuantileMaxGain; /* the max gain we'll apply when unsaturated */ + std::vector<double> quantileTargets; /* target values for histogram quantiles */ + double powerMin; /* minimum tonemap power */ + double powerMax; /* maximum tonemap power */ + std::vector<double> contrastAdjustments; /* any contrast adjustment factors */ /* Stitch related parameters. */ bool stitchEnable; @@ -67,7 +76,7 @@ private: HdrStatus status_; /* track the current HDR mode and channel */ HdrStatus delayedStatus_; /* track the delayed HDR mode and channel */ std::string previousMode_; - Pwl tonemap_; + libcamera::ipa::Pwl tonemap_; libcamera::Size regions_; /* stats regions */ unsigned int numRegions_; /* total number of stats regions */ std::vector<double> gains_[2]; diff --git a/src/ipa/rpi/controller/rpi/lux.cpp b/src/ipa/rpi/controller/rpi/lux.cpp index 06625f3a..652d85d7 100644 --- a/src/ipa/rpi/controller/rpi/lux.cpp +++ b/src/ipa/rpi/controller/rpi/lux.cpp @@ -2,9 +2,8 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * lux.cpp - Lux control algorithm + * Lux control algorithm */ -#include <math.h> #include <libcamera/base/log.h> diff --git a/src/ipa/rpi/controller/rpi/lux.h b/src/ipa/rpi/controller/rpi/lux.h index 89411a54..89f441fc 100644 --- a/src/ipa/rpi/controller/rpi/lux.h +++ b/src/ipa/rpi/controller/rpi/lux.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * lux.h - Lux control algorithm + * Lux control algorithm */ #pragma once diff --git a/src/ipa/rpi/controller/rpi/noise.cpp b/src/ipa/rpi/controller/rpi/noise.cpp index bcd8b9ed..145175fb 100644 --- a/src/ipa/rpi/controller/rpi/noise.cpp +++ b/src/ipa/rpi/controller/rpi/noise.cpp @@ -2,10 +2,10 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * noise.cpp - Noise control algorithm + * Noise control algorithm */ -#include <math.h> +#include <cmath> #include <libcamera/base/log.h> @@ -69,7 +69,7 @@ void Noise::prepare(Metadata *imageMetadata) * make some adjustments based on the camera mode (such as * binning), if we knew how to discover it... */ - double factor = sqrt(deviceStatus.analogueGain) / modeFactor_; + double factor = std::sqrt(deviceStatus.analogueGain) / modeFactor_; struct NoiseStatus status; status.noiseConstant = referenceConstant_ * factor; status.noiseSlope = referenceSlope_ * factor; diff --git a/src/ipa/rpi/controller/rpi/noise.h b/src/ipa/rpi/controller/rpi/noise.h index 74c31e64..6deae1f0 100644 --- a/src/ipa/rpi/controller/rpi/noise.h +++ b/src/ipa/rpi/controller/rpi/noise.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * noise.h - Noise control algorithm + * Noise control algorithm */ #pragma once diff --git a/src/ipa/rpi/controller/rpi/saturation.cpp b/src/ipa/rpi/controller/rpi/saturation.cpp index 813540e5..b83c5887 100644 --- a/src/ipa/rpi/controller/rpi/saturation.cpp +++ b/src/ipa/rpi/controller/rpi/saturation.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2022 Raspberry Pi Ltd * - * saturation.cpp - Saturation control algorithm + * Saturation control algorithm */ #include "saturation.h" diff --git a/src/ipa/rpi/controller/rpi/sdn.cpp b/src/ipa/rpi/controller/rpi/sdn.cpp index 2f777dd7..619178a8 100644 --- a/src/ipa/rpi/controller/rpi/sdn.cpp +++ b/src/ipa/rpi/controller/rpi/sdn.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019-2021, Raspberry Pi Ltd * - * sdn.cpp - SDN (spatial denoise) control algorithm + * SDN (spatial denoise) control algorithm */ #include <libcamera/base/log.h> diff --git a/src/ipa/rpi/controller/rpi/sdn.h b/src/ipa/rpi/controller/rpi/sdn.h index 9dd73c38..cb226de8 100644 --- a/src/ipa/rpi/controller/rpi/sdn.h +++ b/src/ipa/rpi/controller/rpi/sdn.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * sdn.h - SDN (spatial denoise) control algorithm + * SDN (spatial denoise) control algorithm */ #pragma once diff --git a/src/ipa/rpi/controller/rpi/sharpen.cpp b/src/ipa/rpi/controller/rpi/sharpen.cpp index 4f6f020a..1d143ff5 100644 --- a/src/ipa/rpi/controller/rpi/sharpen.cpp +++ b/src/ipa/rpi/controller/rpi/sharpen.cpp @@ -2,10 +2,10 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * sharpen.cpp - sharpening control algorithm + * sharpening control algorithm */ -#include <math.h> +#include <cmath> #include <libcamera/base/log.h> @@ -68,7 +68,7 @@ void Sharpen::prepare(Metadata *imageMetadata) * we adjust the limit and threshold less aggressively. Using a sqrt * function is an arbitrary but gentle way of accomplishing this. */ - double userStrengthSqrt = sqrt(userStrength_); + double userStrengthSqrt = std::sqrt(userStrength_); struct SharpenStatus status; /* * Binned modes seem to need the sharpening toned down with this diff --git a/src/ipa/rpi/controller/rpi/sharpen.h b/src/ipa/rpi/controller/rpi/sharpen.h index 8bb7631e..96ccd609 100644 --- a/src/ipa/rpi/controller/rpi/sharpen.h +++ b/src/ipa/rpi/controller/rpi/sharpen.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * sharpen.h - sharpening control algorithm + * sharpening control algorithm */ #pragma once diff --git a/src/ipa/rpi/controller/rpi/tonemap.cpp b/src/ipa/rpi/controller/rpi/tonemap.cpp index 5f8b2bf2..3422adfe 100644 --- a/src/ipa/rpi/controller/rpi/tonemap.cpp +++ b/src/ipa/rpi/controller/rpi/tonemap.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2022 Raspberry Pi Ltd * - * tonemap.cpp - Tonemap control algorithm + * Tonemap control algorithm */ #include "tonemap.h" @@ -33,7 +33,7 @@ int Tonemap::read(const libcamera::YamlObject ¶ms) config_.detailSlope = params["detail_slope"].get<double>(0.1); config_.iirStrength = params["iir_strength"].get<double>(1.0); config_.strength = params["strength"].get<double>(1.0); - config_.tonemap.read(params["tone_curve"]); + config_.tonemap = params["tone_curve"].get<ipa::Pwl>(ipa::Pwl{}); return 0; } diff --git a/src/ipa/rpi/controller/rpi/tonemap.h b/src/ipa/rpi/controller/rpi/tonemap.h index f25aa47f..ba0cf5c4 100644 --- a/src/ipa/rpi/controller/rpi/tonemap.h +++ b/src/ipa/rpi/controller/rpi/tonemap.h @@ -6,8 +6,9 @@ */ #pragma once +#include <libipa/pwl.h> + #include "algorithm.h" -#include "pwl.h" namespace RPiController { @@ -16,7 +17,7 @@ struct TonemapConfig { double detailSlope; double iirStrength; double strength; - Pwl tonemap; + libcamera::ipa::Pwl tonemap; }; class Tonemap : public Algorithm diff --git a/src/ipa/rpi/controller/saturation_status.h b/src/ipa/rpi/controller/saturation_status.h index 337b66a3..c7fadc99 100644 --- a/src/ipa/rpi/controller/saturation_status.h +++ b/src/ipa/rpi/controller/saturation_status.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2022 Raspberry Pi Ltd * - * saturation_status.h - Saturation control algorithm status + * Saturation control algorithm status */ #pragma once diff --git a/src/ipa/rpi/controller/sharpen_algorithm.h b/src/ipa/rpi/controller/sharpen_algorithm.h index 3be21c32..abd82cb2 100644 --- a/src/ipa/rpi/controller/sharpen_algorithm.h +++ b/src/ipa/rpi/controller/sharpen_algorithm.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Raspberry Pi Ltd * - * sharpen_algorithm.h - sharpness control algorithm interface + * sharpness control algorithm interface */ #pragma once diff --git a/src/ipa/rpi/controller/sharpen_status.h b/src/ipa/rpi/controller/sharpen_status.h index 106166db..74910199 100644 --- a/src/ipa/rpi/controller/sharpen_status.h +++ b/src/ipa/rpi/controller/sharpen_status.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Raspberry Pi Ltd * - * sharpen_status.h - Sharpen control algorithm status + * Sharpen control algorithm status */ #pragma once diff --git a/src/ipa/rpi/controller/statistics.h b/src/ipa/rpi/controller/statistics.h index 015d4efc..cbd81161 100644 --- a/src/ipa/rpi/controller/statistics.h +++ b/src/ipa/rpi/controller/statistics.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Raspberry Pi Ltd * - * statistics.h - Raspberry Pi generic statistics structure + * Raspberry Pi generic statistics structure */ #pragma once diff --git a/src/ipa/rpi/controller/stitch_status.h b/src/ipa/rpi/controller/stitch_status.h index b17800ed..7812f3e3 100644 --- a/src/ipa/rpi/controller/stitch_status.h +++ b/src/ipa/rpi/controller/stitch_status.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2023 Raspberry Pi Ltd * - * stitch_status.h - stitch control algorithm status + * stitch control algorithm status */ #pragma once diff --git a/src/ipa/rpi/controller/tonemap_status.h b/src/ipa/rpi/controller/tonemap_status.h index 0e639946..0364ff66 100644 --- a/src/ipa/rpi/controller/tonemap_status.h +++ b/src/ipa/rpi/controller/tonemap_status.h @@ -2,16 +2,16 @@ /* * Copyright (C) 2022 Raspberry Pi Ltd * - * hdr.h - Tonemap control algorithm status + * Tonemap control algorithm status */ #pragma once -#include "pwl.h" +#include <libipa/pwl.h> struct TonemapStatus { uint16_t detailConstant; double detailSlope; double iirStrength; double strength; - RPiController::Pwl tonemap; + libcamera::ipa::Pwl tonemap; }; diff --git a/src/ipa/rpi/vc4/data/imx219.json b/src/ipa/rpi/vc4/data/imx219.json index 54defc0b..a020b12f 100644 --- a/src/ipa/rpi/vc4/data/imx219.json +++ b/src/ipa/rpi/vc4/data/imx219.json @@ -131,282 +131,308 @@ { "rpi.agc": { - "channels": - [ - { - "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 - ] - }, - { - "base_ev": 0.125, - "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 - ] - }, - { - "base_ev": 1.5, - "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": [ - 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{ - "rpi.hdr": - { - "MultiExposure": - { - "cadence": [ 1, 2 ], - "channel_map": { "short": 1, "long": 2 } - }, - "SingleExposure": - { - "cadence": [ 1 ], - "channel_map": { "short": 1 } - } - } - } + { + "rpi.hdr": + { + "MultiExposureUnmerged": + { + "cadence": [ 1, 2 ], + "channel_map": + { + "short": 1, + "long": 2 + } + } + } + } ] } diff --git a/src/ipa/rpi/vc4/data/imx283.json b/src/ipa/rpi/vc4/data/imx283.json new file mode 100644 index 00000000..bfacecc8 --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx283.json @@ -0,0 +1,313 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 3200 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 2461, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 1148, + "reference_Y": 13314 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 2.204 + } + }, + { + "rpi.geq": + { + "offset": 199, + "slope": 0.01947 + } + }, + { + "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 + } + }, + "bayes": 1, + "ct_curve": + [ + 2213.0, 0.9607, 0.2593, + 5313.0, 0.4822, 0.5909, + 6237.0, 0.4739, 0.6308 + ], + "sensitivity_r": 1.0, + "sensitivity_b": 1.0, + "transverse_pos": 0.0144, + "transverse_neg": 0.01 + } + }, + { + "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, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 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, 0.5, + 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 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } + }, + { + "rpi.alsc": + { + "omega": 1.3, + "n_iter": 100, + "luminance_strength": 0.7 + } + }, + { + "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": 2213, + "ccm": + [ + 1.91264, -0.27609, -0.63655, + -0.65708, 2.11718, -0.46009, + 0.03629, -1.38441, 2.34811 + ] + }, + { + "ct": 2255, + "ccm": + [ + 1.90369, -0.29309, -0.61059, + -0.64693, 2.08169, -0.43476, + 0.04086, -1.29999, 2.25914 + ] + }, + { + "ct": 2259, + "ccm": + [ + 1.92762, -0.35134, -0.57628, + -0.63523, 2.08481, -0.44958, + 0.06754, -1.32953, 2.26199 + ] + }, + { + "ct": 5313, + "ccm": + [ + 1.75924, -0.54053, -0.21871, + -0.38159, 1.88671, -0.50511, + -0.00747, -0.53492, 1.54239 + ] + }, + { + "ct": 6237, + "ccm": + [ + 2.19299, -0.74764, -0.44536, + -0.51678, 2.27651, -0.75972, + -0.06498, -0.74269, 1.80767 + ] + } + ] + } + }, + { + "rpi.sharpen": { } + } + ] +} diff --git a/src/ipa/rpi/vc4/data/imx290.json b/src/ipa/rpi/vc4/data/imx290.json index 8a7cadba..8f41bf51 100644 --- a/src/ipa/rpi/vc4/data/imx290.json +++ b/src/ipa/rpi/vc4/data/imx290.json @@ -52,15 +52,24 @@ { "matrix": { - "weights": [ 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 ] + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] }, "centre-weighted": { - "weights": [ 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "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 ] + "weights": + [ + 2, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 + ] } }, "exposure_modes": diff --git a/src/ipa/rpi/vc4/data/imx296.json b/src/ipa/rpi/vc4/data/imx296.json index 7621f759..8f24ce5b 100644 --- a/src/ipa/rpi/vc4/data/imx296.json +++ b/src/ipa/rpi/vc4/data/imx296.json @@ -135,15 +135,24 @@ { "centre-weighted": { - "weights": [ 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "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 ] + "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 ] + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] } }, "exposure_modes": @@ -431,4 +440,4 @@ } } ] -} +}
\ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/imx296_mono.json b/src/ipa/rpi/vc4/data/imx296_mono.json index d4140c81..fe331569 100644 --- a/src/ipa/rpi/vc4/data/imx296_mono.json +++ b/src/ipa/rpi/vc4/data/imx296_mono.json @@ -38,15 +38,24 @@ { "centre-weighted": { - "weights": [ 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "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 ] + "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 ] + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] } }, "exposure_modes": @@ -228,4 +237,4 @@ } } ] -} +}
\ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/imx378.json b/src/ipa/rpi/vc4/data/imx378.json index f7b68011..363b47e1 100644 --- a/src/ipa/rpi/vc4/data/imx378.json +++ b/src/ipa/rpi/vc4/data/imx378.json @@ -133,15 +133,24 @@ { "centre-weighted": { - "weights": [ 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "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 ] + "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 ] + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] } }, "exposure_modes": diff --git a/src/ipa/rpi/vc4/data/imx477.json b/src/ipa/rpi/vc4/data/imx477.json index 853bfa67..fa25ee86 100644 --- a/src/ipa/rpi/vc4/data/imx477.json +++ b/src/ipa/rpi/vc4/data/imx477.json @@ -115,16 +115,16 @@ "ct_curve": [ 2360.0, 0.6009, 0.3093, - 2848.0, 0.5071, 0.4000, + 2848.0, 0.5071, 0.4, 2903.0, 0.4905, 0.4392, 3628.0, 0.4261, 0.5564, 3643.0, 0.4228, 0.5623, - 4660.0, 0.3529, 0.6800, - 5579.0, 0.3227, 0.7000, - 6125.0, 0.3129, 0.7100, - 6671.0, 0.3065, 0.7200, - 7217.0, 0.3014, 0.7300, - 7763.0, 0.2950, 0.7400, + 4660.0, 0.3529, 0.68, + 5579.0, 0.3227, 0.7, + 6125.0, 0.3129, 0.71, + 6671.0, 0.3065, 0.72, + 7217.0, 0.3014, 0.73, + 7763.0, 0.295, 0.74, 9505.0, 0.2524, 0.7856 ], "sensitivity_r": 1.05, @@ -136,282 +136,308 @@ { "rpi.agc": { - "channels": - [ + "channels": [ { - "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 ], - 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\ No newline at end of file diff --git a/src/ipa/rpi/vc4/data/meson.build b/src/ipa/rpi/vc4/data/meson.build index afbf875a..8c34a1a5 100644 --- a/src/ipa/rpi/vc4/data/meson.build +++ b/src/ipa/rpi/vc4/data/meson.build @@ -3,6 +3,7 @@ conf_files = files([ 'imx219.json', 'imx219_noir.json', + 'imx283.json', 'imx290.json', 'imx296.json', 'imx296_mono.json', @@ -18,6 +19,7 @@ conf_files = files([ 'ov5647.json', 'ov5647_noir.json', 'ov64a40.json', + 'ov7251_mono.json', 'ov9281_mono.json', 'se327m12.json', 'uncalibrated.json', diff --git a/src/ipa/rpi/vc4/data/ov5647.json b/src/ipa/rpi/vc4/data/ov5647.json index 4def9ffc..40c6059c 100644 --- a/src/ipa/rpi/vc4/data/ov5647.json +++ b/src/ipa/rpi/vc4/data/ov5647.json @@ -131,285 +131,309 @@ { "rpi.agc": { - "channels": - [ - { - "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 ] - 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{ - "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 - ], - "base_ev": 1.25 - }, - { - "base_ev": 1.5, - "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 - ], - "base_ev": 1.25 - } - ] - } + "channels": [ + { + "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 + ], + "base_ev": 1.25 + }, + { + "base_ev": 1.25, + "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 + ] + }, + { + "base_ev": 1.25, + "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": @@ -654,20 +678,19 @@ { "rpi.sharpen": { } }, - { - "rpi.hdr": - { - "MultiExposure": - { - "cadence": [ 1, 2 ], - "channel_map": { "short": 1, "long": 2 } - }, - "SingleExposure": - { - "cadence": [ 1 ], - "channel_map": { "short": 1 } - } - } - } + { + "rpi.hdr": + { + "MultiExposureUnmerged": + { + "cadence": [ 1, 2 ], + "channel_map": + { + "short": 1, + "long": 2 + } + } + } + } ] } diff --git a/src/ipa/rpi/vc4/data/ov5647_noir.json b/src/ipa/rpi/vc4/data/ov5647_noir.json index a6c6722f..488b7119 100644 --- a/src/ipa/rpi/vc4/data/ov5647_noir.json +++ b/src/ipa/rpi/vc4/data/ov5647_noir.json @@ -51,15 +51,24 @@ { "centre-weighted": { - "weights": [ 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "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 ] + "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 ] + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] } }, "exposure_modes": diff --git a/src/ipa/rpi/vc4/data/ov7251_mono.json b/src/ipa/rpi/vc4/data/ov7251_mono.json new file mode 100644 index 00000000..a9d05a01 --- /dev/null +++ b/src/ipa/rpi/vc4/data/ov7251_mono.json @@ -0,0 +1,136 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 2000, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 800, + "reference_Y": 20000 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "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": + { + "shutter": [ 100, 15000, 30000, 60000, 120000 ], + "gain": [ 1.0, 2.0, 3.0, 4.0, 8.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 30000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 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, 0.4, + 1000, 0.4 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } + }, + { + "rpi.alsc": + { + "n_iter": 0, + "luminance_strength": 1.0, + "corner_strength": 1.5 + } + }, + { + "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/data/ov9281_mono.json b/src/ipa/rpi/vc4/data/ov9281_mono.json index 2b7292ec..a9d05a01 100644 --- a/src/ipa/rpi/vc4/data/ov9281_mono.json +++ b/src/ipa/rpi/vc4/data/ov9281_mono.json @@ -35,7 +35,10 @@ { "centre-weighted": { - "weights": [ 4, 4, 4, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "weights": + [ + 4, 4, 4, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 + ] } }, "exposure_modes": diff --git a/src/ipa/rpi/vc4/data/se327m12.json b/src/ipa/rpi/vc4/data/se327m12.json index 8552ed92..948169db 100644 --- a/src/ipa/rpi/vc4/data/se327m12.json +++ b/src/ipa/rpi/vc4/data/se327m12.json @@ -133,15 +133,24 @@ { "centre-weighted": { - "weights": [ 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "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 ] + "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 ] + "weights": + [ + 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 + ] } }, "exposure_modes": diff --git a/src/ipa/rpi/vc4/data/uncalibrated.json b/src/ipa/rpi/vc4/data/uncalibrated.json index 7654defa..cdc56b32 100644 --- a/src/ipa/rpi/vc4/data/uncalibrated.json +++ b/src/ipa/rpi/vc4/data/uncalibrated.json @@ -22,7 +22,10 @@ { "centre-weighted": { - "weights": [ 4, 4, 4, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ] + "weights": + [ + 4, 4, 4, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 + ] } }, "exposure_modes": diff --git a/src/ipa/rpi/vc4/meson.build b/src/ipa/rpi/vc4/meson.build index 590e9197..c10fa17e 100644 --- a/src/ipa/rpi/vc4/meson.build +++ b/src/ipa/rpi/vc4/meson.build @@ -15,7 +15,6 @@ vc4_ipa_libs = [ vc4_ipa_includes = [ ipa_includes, - libipa_includes, ] vc4_ipa_sources = files([ @@ -24,12 +23,10 @@ vc4_ipa_sources = files([ vc4_ipa_includes += include_directories('..') -mod = shared_module(ipa_name, - [vc4_ipa_sources, libcamera_generated_ipa_headers], +mod = shared_module(ipa_name, vc4_ipa_sources, name_prefix : '', include_directories : vc4_ipa_includes, - dependencies : vc4_ipa_deps, - link_with : libipa, + dependencies : [vc4_ipa_deps, libipa_dep], link_whole : vc4_ipa_libs, install : true, install_dir : ipa_install_dir) diff --git a/src/ipa/rpi/vc4/vc4.cpp b/src/ipa/rpi/vc4/vc4.cpp index d2159a51..ba43e474 100644 --- a/src/ipa/rpi/vc4/vc4.cpp +++ b/src/ipa/rpi/vc4/vc4.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019-2021, Raspberry Pi Ltd * - * rpi.cpp - Raspberry Pi VC4/BCM2835 ISP IPA. + * Raspberry Pi VC4/BCM2835 ISP IPA. */ #include <string.h> @@ -583,7 +583,7 @@ extern "C" { const struct IPAModuleInfo ipaModuleInfo = { IPA_MODULE_API_VERSION, 1, - "PipelineHandlerVc4", + "rpi/vc4", "rpi/vc4", }; diff --git a/src/ipa/simple/algorithms/agc.cpp b/src/ipa/simple/algorithms/agc.cpp new file mode 100644 index 00000000..df92edd7 --- /dev/null +++ b/src/ipa/simple/algorithms/agc.cpp @@ -0,0 +1,139 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * Exposure and gain + */ + +#include "agc.h" + +#include <stdint.h> + +#include <libcamera/base/log.h> + +namespace libcamera { + +LOG_DEFINE_CATEGORY(IPASoftExposure) + +namespace ipa::soft::algorithms { + +/* + * The number of bins to use for the optimal exposure calculations. + */ +static constexpr unsigned int kExposureBinsCount = 5; + +/* + * The exposure is optimal when the mean sample value of the histogram is + * in the middle of the range. + */ +static constexpr float kExposureOptimal = kExposureBinsCount / 2.0; + +/* + * This implements the hysteresis for the exposure adjustment. + * It is small enough to have the exposure close to the optimal, and is big + * enough to prevent the exposure from wobbling around the optimal value. + */ +static constexpr float kExposureSatisfactory = 0.2; + +Agc::Agc() +{ +} + +void Agc::updateExposure(IPAContext &context, double exposureMSV) +{ + /* + * kExpDenominator of 10 gives ~10% increment/decrement; + * kExpDenominator of 5 - about ~20% + */ + static constexpr uint8_t kExpDenominator = 10; + static constexpr uint8_t kExpNumeratorUp = kExpDenominator + 1; + static constexpr uint8_t kExpNumeratorDown = kExpDenominator - 1; + + double next; + int32_t &exposure = context.activeState.agc.exposure; + double &again = context.activeState.agc.again; + + if (exposureMSV < kExposureOptimal - kExposureSatisfactory) { + next = exposure * kExpNumeratorUp / kExpDenominator; + if (next - exposure < 1) + exposure += 1; + else + exposure = next; + if (exposure >= context.configuration.agc.exposureMax) { + next = again * kExpNumeratorUp / kExpDenominator; + if (next - again < context.configuration.agc.againMinStep) + again += context.configuration.agc.againMinStep; + else + again = next; + } + } + + if (exposureMSV > kExposureOptimal + kExposureSatisfactory) { + if (exposure == context.configuration.agc.exposureMax && + again > context.configuration.agc.againMin) { + next = again * kExpNumeratorDown / kExpDenominator; + if (again - next < context.configuration.agc.againMinStep) + again -= context.configuration.agc.againMinStep; + else + again = next; + } else { + next = exposure * kExpNumeratorDown / kExpDenominator; + if (exposure - next < 1) + exposure -= 1; + else + exposure = next; + } + } + + exposure = std::clamp(exposure, context.configuration.agc.exposureMin, + context.configuration.agc.exposureMax); + again = std::clamp(again, context.configuration.agc.againMin, + context.configuration.agc.againMax); + + LOG(IPASoftExposure, Debug) + << "exposureMSV " << exposureMSV + << " exp " << exposure << " again " << again; +} + +void Agc::process(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + const SwIspStats *stats, + [[maybe_unused]] ControlList &metadata) +{ + /* + * Calculate Mean Sample Value (MSV) according to formula from: + * https://www.araa.asn.au/acra/acra2007/papers/paper84final.pdf + */ + const auto &histogram = stats->yHistogram; + const unsigned int blackLevelHistIdx = + context.activeState.blc.level / (256 / SwIspStats::kYHistogramSize); + const unsigned int histogramSize = + SwIspStats::kYHistogramSize - blackLevelHistIdx; + const unsigned int yHistValsPerBin = histogramSize / kExposureBinsCount; + const unsigned int yHistValsPerBinMod = + histogramSize / (histogramSize % kExposureBinsCount + 1); + int exposureBins[kExposureBinsCount] = {}; + unsigned int denom = 0; + unsigned int num = 0; + + for (unsigned int i = 0; i < histogramSize; i++) { + unsigned int idx = (i - (i / yHistValsPerBinMod)) / yHistValsPerBin; + exposureBins[idx] += histogram[blackLevelHistIdx + i]; + } + + for (unsigned int i = 0; i < kExposureBinsCount; i++) { + LOG(IPASoftExposure, Debug) << i << ": " << exposureBins[i]; + denom += exposureBins[i]; + num += exposureBins[i] * (i + 1); + } + + float exposureMSV = (denom == 0 ? 0 : static_cast<float>(num) / denom); + updateExposure(context, exposureMSV); +} + +REGISTER_IPA_ALGORITHM(Agc, "Agc") + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/agc.h b/src/ipa/simple/algorithms/agc.h new file mode 100644 index 00000000..ad5fca9f --- /dev/null +++ b/src/ipa/simple/algorithms/agc.h @@ -0,0 +1,33 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * Exposure and gain + */ + +#pragma once + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::soft::algorithms { + +class Agc : public Algorithm +{ +public: + Agc(); + ~Agc() = default; + + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const SwIspStats *stats, + ControlList &metadata) override; + +private: + void updateExposure(IPAContext &context, double exposureMSV); +}; + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/algorithm.h b/src/ipa/simple/algorithms/algorithm.h new file mode 100644 index 00000000..41f63170 --- /dev/null +++ b/src/ipa/simple/algorithms/algorithm.h @@ -0,0 +1,22 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Red Hat, Inc. + * + * Software ISP control algorithm interface + */ + +#pragma once + +#include <libipa/algorithm.h> + +#include "module.h" + +namespace libcamera { + +namespace ipa::soft { + +using Algorithm = libcamera::ipa::Algorithm<Module>; + +} /* namespace ipa::soft */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/awb.cpp b/src/ipa/simple/algorithms/awb.cpp new file mode 100644 index 00000000..195de41d --- /dev/null +++ b/src/ipa/simple/algorithms/awb.cpp @@ -0,0 +1,69 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * Auto white balance + */ + +#include "awb.h" + +#include <numeric> +#include <stdint.h> + +#include <libcamera/base/log.h> + +#include "simple/ipa_context.h" + +namespace libcamera { + +LOG_DEFINE_CATEGORY(IPASoftAwb) + +namespace ipa::soft::algorithms { + +int Awb::configure(IPAContext &context, + [[maybe_unused]] const IPAConfigInfo &configInfo) +{ + auto &gains = context.activeState.gains; + gains.red = gains.green = gains.blue = 1.0; + + return 0; +} + +void Awb::process(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + const SwIspStats *stats, + [[maybe_unused]] ControlList &metadata) +{ + const SwIspStats::Histogram &histogram = stats->yHistogram; + const uint8_t blackLevel = context.activeState.blc.level; + + /* + * Black level must be subtracted to get the correct AWB ratios, they + * would be off if they were computed from the whole brightness range + * rather than from the sensor range. + */ + const uint64_t nPixels = std::accumulate( + histogram.begin(), histogram.end(), 0); + const uint64_t offset = blackLevel * nPixels; + const uint64_t sumR = stats->sumR_ - offset / 4; + const uint64_t sumG = stats->sumG_ - offset / 2; + const uint64_t sumB = stats->sumB_ - offset / 4; + + /* + * Calculate red and blue gains for AWB. + * Clamp max gain at 4.0, this also avoids 0 division. + */ + auto &gains = context.activeState.gains; + gains.red = sumR <= sumG / 4 ? 4.0 : static_cast<double>(sumG) / sumR; + gains.blue = sumB <= sumG / 4 ? 4.0 : static_cast<double>(sumG) / sumB; + /* Green gain is fixed to 1.0 */ + + LOG(IPASoftAwb, Debug) << "gain R/B " << gains.red << "/" << gains.blue; +} + +REGISTER_IPA_ALGORITHM(Awb, "Awb") + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/awb.h b/src/ipa/simple/algorithms/awb.h new file mode 100644 index 00000000..db1496cd --- /dev/null +++ b/src/ipa/simple/algorithms/awb.h @@ -0,0 +1,32 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * Auto white balance + */ + +#pragma once + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::soft::algorithms { + +class Awb : public Algorithm +{ +public: + Awb() = default; + ~Awb() = default; + + int configure(IPAContext &context, const IPAConfigInfo &configInfo) override; + void process(IPAContext &context, + const uint32_t frame, + IPAFrameContext &frameContext, + const SwIspStats *stats, + ControlList &metadata) override; +}; + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/blc.cpp b/src/ipa/simple/algorithms/blc.cpp new file mode 100644 index 00000000..b4e32fe1 --- /dev/null +++ b/src/ipa/simple/algorithms/blc.cpp @@ -0,0 +1,95 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * Black level handling + */ + +#include "blc.h" + +#include <numeric> + +#include <libcamera/base/log.h> + +namespace libcamera { + +namespace ipa::soft::algorithms { + +LOG_DEFINE_CATEGORY(IPASoftBL) + +BlackLevel::BlackLevel() +{ +} + +int BlackLevel::init(IPAContext &context, const YamlObject &tuningData) +{ + auto blackLevel = tuningData["blackLevel"].get<int16_t>(); + if (blackLevel.has_value()) { + /* + * Convert 16 bit values from the tuning file to 8 bit black + * level for the SoftISP. + */ + context.configuration.black.level = blackLevel.value() >> 8; + } + return 0; +} + +int BlackLevel::configure(IPAContext &context, + [[maybe_unused]] const IPAConfigInfo &configInfo) +{ + context.activeState.blc.level = + context.configuration.black.level.value_or(255); + return 0; +} + +void BlackLevel::process(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + const SwIspStats *stats, + [[maybe_unused]] ControlList &metadata) +{ + if (context.configuration.black.level.has_value()) + return; + + if (frameContext.sensor.exposure == exposure_ && + frameContext.sensor.gain == gain_) { + return; + } + + const SwIspStats::Histogram &histogram = stats->yHistogram; + + /* + * The constant is selected to be "good enough", not overly + * conservative or aggressive. There is no magic about the given value. + */ + constexpr float ignoredPercentage = 0.02; + const unsigned int total = + std::accumulate(begin(histogram), end(histogram), 0); + const unsigned int pixelThreshold = ignoredPercentage * total; + const unsigned int histogramRatio = 256 / SwIspStats::kYHistogramSize; + const unsigned int currentBlackIdx = + context.activeState.blc.level / histogramRatio; + + for (unsigned int i = 0, seen = 0; + i < currentBlackIdx && i < SwIspStats::kYHistogramSize; + i++) { + seen += histogram[i]; + if (seen >= pixelThreshold) { + context.activeState.blc.level = i * histogramRatio; + exposure_ = frameContext.sensor.exposure; + gain_ = frameContext.sensor.gain; + LOG(IPASoftBL, Debug) + << "Auto-set black level: " + << i << "/" << SwIspStats::kYHistogramSize + << " (" << 100 * (seen - histogram[i]) / total << "% below, " + << 100 * seen / total << "% at or below)"; + break; + } + }; +} + +REGISTER_IPA_ALGORITHM(BlackLevel, "BlackLevel") + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/blc.h b/src/ipa/simple/algorithms/blc.h new file mode 100644 index 00000000..2cf2a877 --- /dev/null +++ b/src/ipa/simple/algorithms/blc.h @@ -0,0 +1,36 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * Black level handling + */ + +#pragma once + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::soft::algorithms { + +class BlackLevel : public Algorithm +{ +public: + BlackLevel(); + ~BlackLevel() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + int configure(IPAContext &context, const IPAConfigInfo &configInfo) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const SwIspStats *stats, + ControlList &metadata) override; + +private: + uint32_t exposure_; + double gain_; +}; + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/lut.cpp b/src/ipa/simple/algorithms/lut.cpp new file mode 100644 index 00000000..9744e773 --- /dev/null +++ b/src/ipa/simple/algorithms/lut.cpp @@ -0,0 +1,86 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * Color lookup tables construction + */ + +#include "lut.h" + +#include <algorithm> +#include <cmath> +#include <stdint.h> + +#include <libcamera/base/log.h> + +#include "simple/ipa_context.h" + +namespace libcamera { + +namespace ipa::soft::algorithms { + +int Lut::configure(IPAContext &context, + [[maybe_unused]] const IPAConfigInfo &configInfo) +{ + /* Gamma value is fixed */ + context.configuration.gamma = 0.5; + updateGammaTable(context); + + return 0; +} + +void Lut::updateGammaTable(IPAContext &context) +{ + auto &gammaTable = context.activeState.gamma.gammaTable; + auto blackLevel = context.activeState.blc.level; + const unsigned int blackIndex = blackLevel * gammaTable.size() / 256; + + std::fill(gammaTable.begin(), gammaTable.begin() + blackIndex, 0); + const float divisor = gammaTable.size() - blackIndex - 1.0; + for (unsigned int i = blackIndex; i < gammaTable.size(); i++) + gammaTable[i] = UINT8_MAX * std::pow((i - blackIndex) / divisor, + context.configuration.gamma); + + context.activeState.gamma.blackLevel = blackLevel; +} + +void Lut::prepare(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + [[maybe_unused]] DebayerParams *params) +{ + /* + * Update the gamma table if needed. This means if black level changes + * and since the black level gets updated only if a lower value is + * observed, it's not permanently prone to minor fluctuations or + * rounding errors. + */ + if (context.activeState.gamma.blackLevel != context.activeState.blc.level) + updateGammaTable(context); + + auto &gains = context.activeState.gains; + auto &gammaTable = context.activeState.gamma.gammaTable; + const unsigned int gammaTableSize = gammaTable.size(); + + for (unsigned int i = 0; i < DebayerParams::kRGBLookupSize; i++) { + const double div = static_cast<double>(DebayerParams::kRGBLookupSize) / + gammaTableSize; + /* Apply gamma after gain! */ + unsigned int idx; + idx = std::min({ static_cast<unsigned int>(i * gains.red / div), + gammaTableSize - 1 }); + params->red[i] = gammaTable[idx]; + idx = std::min({ static_cast<unsigned int>(i * gains.green / div), + gammaTableSize - 1 }); + params->green[i] = gammaTable[idx]; + idx = std::min({ static_cast<unsigned int>(i * gains.blue / div), + gammaTableSize - 1 }); + params->blue[i] = gammaTable[idx]; + } +} + +REGISTER_IPA_ALGORITHM(Lut, "Lut") + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/lut.h b/src/ipa/simple/algorithms/lut.h new file mode 100644 index 00000000..b635987d --- /dev/null +++ b/src/ipa/simple/algorithms/lut.h @@ -0,0 +1,34 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * Color lookup tables construction + */ + +#pragma once + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::soft::algorithms { + +class Lut : public Algorithm +{ +public: + Lut() = default; + ~Lut() = default; + + int configure(IPAContext &context, const IPAConfigInfo &configInfo) override; + void prepare(IPAContext &context, + const uint32_t frame, + IPAFrameContext &frameContext, + DebayerParams *params) override; + +private: + void updateGammaTable(IPAContext &context); +}; + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/meson.build b/src/ipa/simple/algorithms/meson.build new file mode 100644 index 00000000..37a2eb53 --- /dev/null +++ b/src/ipa/simple/algorithms/meson.build @@ -0,0 +1,8 @@ +# SPDX-License-Identifier: CC0-1.0 + +soft_simple_ipa_algorithms = files([ + 'awb.cpp', + 'agc.cpp', + 'blc.cpp', + 'lut.cpp', +]) diff --git a/src/ipa/simple/black_level.cpp b/src/ipa/simple/black_level.cpp deleted file mode 100644 index c7e8d8b7..00000000 --- a/src/ipa/simple/black_level.cpp +++ /dev/null @@ -1,88 +0,0 @@ -/* SPDX-License-Identifier: LGPL-2.1-or-later */ -/* - * Copyright (C) 2024, Red Hat Inc. - * - * black_level.cpp - black level handling - */ - -#include "black_level.h" - -#include <numeric> - -#include <libcamera/base/log.h> - -namespace libcamera { - -LOG_DEFINE_CATEGORY(IPASoftBL) - -/** - * \class BlackLevel - * \brief Object providing black point level for software ISP - * - * Black level can be provided in hardware tuning files or, if no tuning file is - * available for the given hardware, guessed automatically, with less accuracy. - * As tuning files are not yet implemented for software ISP, BlackLevel - * currently provides only guessed black levels. - * - * This class serves for tracking black level as a property of the underlying - * hardware, not as means of enhancing a particular scene or image. - * - * The class is supposed to be instantiated for the given camera stream. - * The black level can be retrieved using BlackLevel::get() method. It is - * initially 0 and may change when updated using BlackLevel::update() method. - */ - -BlackLevel::BlackLevel() - : blackLevel_(255), blackLevelSet_(false) -{ -} - -/** - * \brief Return the current black level - * - * \return The black level, in the range from 0 (minimum) to 255 (maximum). - * If the black level couldn't be determined yet, return 0. - */ -unsigned int BlackLevel::get() const -{ - return blackLevelSet_ ? blackLevel_ : 0; -} - -/** - * \brief Update black level from the provided histogram - * \param[in] yHistogram The histogram to be used for updating black level - * - * The black level is property of the given hardware, not image. It is updated - * only if it has not been yet set or if it is lower than the lowest value seen - * so far. - */ -void BlackLevel::update(SwIspStats::Histogram &yHistogram) -{ - /* - * The constant is selected to be "good enough", not overly conservative or - * aggressive. There is no magic about the given value. - */ - constexpr float ignoredPercentage_ = 0.02; - const unsigned int total = - std::accumulate(begin(yHistogram), end(yHistogram), 0); - const unsigned int pixelThreshold = ignoredPercentage_ * total; - const unsigned int histogramRatio = 256 / SwIspStats::kYHistogramSize; - const unsigned int currentBlackIdx = blackLevel_ / histogramRatio; - - for (unsigned int i = 0, seen = 0; - i < currentBlackIdx && i < SwIspStats::kYHistogramSize; - i++) { - seen += yHistogram[i]; - if (seen >= pixelThreshold) { - blackLevel_ = i * histogramRatio; - blackLevelSet_ = true; - LOG(IPASoftBL, Debug) - << "Auto-set black level: " - << i << "/" << SwIspStats::kYHistogramSize - << " (" << 100 * (seen - yHistogram[i]) / total << "% below, " - << 100 * seen / total << "% at or below)"; - break; - } - }; -} -} /* namespace libcamera */ diff --git a/src/ipa/simple/black_level.h b/src/ipa/simple/black_level.h deleted file mode 100644 index 7e37757e..00000000 --- a/src/ipa/simple/black_level.h +++ /dev/null @@ -1,28 +0,0 @@ -/* SPDX-License-Identifier: LGPL-2.1-or-later */ -/* - * Copyright (C) 2024, Red Hat Inc. - * - * black_level.h - black level handling - */ - -#pragma once - -#include <array> - -#include "libcamera/internal/software_isp/swisp_stats.h" - -namespace libcamera { - -class BlackLevel -{ -public: - BlackLevel(); - unsigned int get() const; - void update(SwIspStats::Histogram &yHistogram); - -private: - unsigned int blackLevel_; - bool blackLevelSet_; -}; - -} /* namespace libcamera */ diff --git a/src/ipa/simple/data/uncalibrated.yaml b/src/ipa/simple/data/uncalibrated.yaml index ff981a1a..3f147112 100644 --- a/src/ipa/simple/data/uncalibrated.yaml +++ b/src/ipa/simple/data/uncalibrated.yaml @@ -2,4 +2,9 @@ %YAML 1.1 --- version: 1 +algorithms: + - BlackLevel: + - Awb: + - Lut: + - Agc: ... diff --git a/src/ipa/simple/ipa_context.cpp b/src/ipa/simple/ipa_context.cpp new file mode 100644 index 00000000..3f94bbeb --- /dev/null +++ b/src/ipa/simple/ipa_context.cpp @@ -0,0 +1,102 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021, Google Inc. + * Copyright (C) 2024 Red Hat Inc. + * + * Software ISP IPA Context + */ + +#include "ipa_context.h" + +/** + * \file ipa_context.h + * \brief Context and state information shared between the algorithms + */ + +namespace libcamera::ipa::soft { + +/** + * \struct IPASessionConfiguration + * \brief Session configuration for the IPA module + * + * The session configuration contains all IPA configuration parameters that + * remain constant during the capture session, from IPA module start to stop. + * It is typically set during the configure() operation of the IPA module, but + * may also be updated in the start() operation. + */ + +/** + * \struct IPAActiveState + * \brief The active state of the IPA algorithms + * + * The IPA is fed with the statistics generated from the latest frame processed. + * The statistics are then processed by the IPA algorithms to compute parameters + * required for the next frame capture and processing. The current state of the + * algorithms is reflected through the IPAActiveState to store the values most + * recently computed by the IPA algorithms. + */ + +/** + * \struct IPAContext + * \brief Global IPA context data shared between all algorithms + * + * \var IPAContext::configuration + * \brief The IPA session configuration, immutable during the session + * + * \var IPAContext::frameContexts + * \brief Ring buffer of the IPAFrameContext(s) + * + * \var IPAContext::activeState + * \brief The current state of IPA algorithms + */ + +/** + * \var IPASessionConfiguration::gamma + * \brief Gamma value to be used in the raw image processing + */ + +/** + * \var IPAActiveState::black + * \brief Context for the Black Level algorithm + * + * \var IPAActiveState::black.level + * \brief Current determined black level + */ + +/** + * \var IPAActiveState::gains + * \brief Context for gains in the Colors algorithm + * + * \var IPAActiveState::gains.red + * \brief Gain of red color + * + * \var IPAActiveState::gains.green + * \brief Gain of green color + * + * \var IPAActiveState::gains.blue + * \brief Gain of blue color + */ + +/** + * \var IPAActiveState::agc + * \brief Context for the AGC algorithm + * + * \var IPAActiveState::agc.exposure + * \brief Current exposure value + * + * \var IPAActiveState::agc.again + * \brief Current analog gain value + */ + +/** + * \var IPAActiveState::gamma + * \brief Context for gamma in the Colors algorithm + * + * \var IPAActiveState::gamma.gammaTable + * \brief Computed gamma table + * + * \var IPAActiveState::gamma.blackLevel + * \brief Black level used for the gamma table computation + */ + +} /* namespace libcamera::ipa::soft */ diff --git a/src/ipa/simple/ipa_context.h b/src/ipa/simple/ipa_context.h new file mode 100644 index 00000000..fd121eeb --- /dev/null +++ b/src/ipa/simple/ipa_context.h @@ -0,0 +1,69 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Red Hat, Inc. + * + * Simple pipeline IPA Context + */ + +#pragma once + +#include <array> +#include <optional> +#include <stdint.h> + +#include <libipa/fc_queue.h> + +namespace libcamera { + +namespace ipa::soft { + +struct IPASessionConfiguration { + float gamma; + struct { + int32_t exposureMin, exposureMax; + double againMin, againMax, againMinStep; + } agc; + struct { + std::optional<uint8_t> level; + } black; +}; + +struct IPAActiveState { + struct { + uint8_t level; + } blc; + + struct { + double red; + double green; + double blue; + } gains; + + struct { + int32_t exposure; + double again; + } agc; + + static constexpr unsigned int kGammaLookupSize = 1024; + struct { + std::array<double, kGammaLookupSize> gammaTable; + uint8_t blackLevel; + } gamma; +}; + +struct IPAFrameContext : public FrameContext { + struct { + uint32_t exposure; + double gain; + } sensor; +}; + +struct IPAContext { + IPASessionConfiguration configuration; + IPAActiveState activeState; + FCQueue<IPAFrameContext> frameContexts; +}; + +} /* namespace ipa::soft */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/meson.build b/src/ipa/simple/meson.build index 44b5f1d7..2f9f15f4 100644 --- a/src/ipa/simple/meson.build +++ b/src/ipa/simple/meson.build @@ -1,18 +1,21 @@ # SPDX-License-Identifier: CC0-1.0 +subdir('algorithms') +subdir('data') + ipa_name = 'ipa_soft_simple' soft_simple_sources = files([ + 'ipa_context.cpp', 'soft_simple.cpp', - 'black_level.cpp', ]) -mod = shared_module(ipa_name, - [soft_simple_sources, libcamera_generated_ipa_headers], +soft_simple_sources += soft_simple_ipa_algorithms + +mod = shared_module(ipa_name, soft_simple_sources, name_prefix : '', - include_directories : [ipa_includes, libipa_includes], - dependencies : libcamera_private, - link_with : libipa, + include_directories : [ipa_includes], + dependencies : [libcamera_private, libipa_dep], install : true, install_dir : ipa_install_dir) @@ -25,6 +28,4 @@ if ipa_sign_module build_by_default : true) endif -subdir('data') - ipa_names += ipa_name diff --git a/src/ipa/simple/module.h b/src/ipa/simple/module.h new file mode 100644 index 00000000..8d4d53fb --- /dev/null +++ b/src/ipa/simple/module.h @@ -0,0 +1,30 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Red Hat, Inc. + * + * Software ISP IPA Module + */ + +#pragma once + +#include <libcamera/controls.h> + +#include <libcamera/ipa/soft_ipa_interface.h> + +#include "libcamera/internal/software_isp/debayer_params.h" +#include "libcamera/internal/software_isp/swisp_stats.h" + +#include <libipa/module.h> + +#include "ipa_context.h" + +namespace libcamera { + +namespace ipa::soft { + +using Module = ipa::Module<IPAContext, IPAFrameContext, IPAConfigInfo, + DebayerParams, SwIspStats>; + +} /* namespace ipa::soft */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/soft_simple.cpp b/src/ipa/simple/soft_simple.cpp index b9fb58b5..c8ad55a2 100644 --- a/src/ipa/simple/soft_simple.cpp +++ b/src/ipa/simple/soft_simple.cpp @@ -2,9 +2,10 @@ /* * Copyright (C) 2023, Linaro Ltd * - * soft_simple.cpp - Simple Software Image Processing Algorithm module + * Simple Software Image Processing Algorithm module */ +#include <stdint.h> #include <sys/mman.h> #include <linux/v4l2-controls.h> @@ -26,37 +27,21 @@ #include "libipa/camera_sensor_helper.h" -#include "black_level.h" +#include "module.h" namespace libcamera { LOG_DEFINE_CATEGORY(IPASoft) namespace ipa::soft { -/* - * The number of bins to use for the optimal exposure calculations. - */ -static constexpr unsigned int kExposureBinsCount = 5; +/* Maximum number of frame contexts to be held */ +static constexpr uint32_t kMaxFrameContexts = 16; -/* - * The exposure is optimal when the mean sample value of the histogram is - * in the middle of the range. - */ -static constexpr float kExposureOptimal = kExposureBinsCount / 2.0; - -/* - * The below value implements the hysteresis for the exposure adjustment. - * It is small enough to have the exposure close to the optimal, and is big - * enough to prevent the exposure from wobbling around the optimal value. - */ -static constexpr float kExposureSatisfactory = 0.2; - -class IPASoftSimple : public ipa::soft::IPASoftInterface +class IPASoftSimple : public ipa::soft::IPASoftInterface, public Module { public: IPASoftSimple() - : params_(nullptr), stats_(nullptr), blackLevel_(BlackLevel()), - ignoreUpdates_(0) + : context_({ {}, {}, { kMaxFrameContexts } }) { } @@ -66,12 +51,18 @@ public: const SharedFD &fdStats, const SharedFD &fdParams, const ControlInfoMap &sensorInfoMap) override; - int configure(const ControlInfoMap &sensorInfoMap) override; + int configure(const IPAConfigInfo &configInfo) override; int start() override; void stop() override; - void processStats(const ControlList &sensorControls) override; + void queueRequest(const uint32_t frame, const ControlList &controls) override; + void fillParamsBuffer(const uint32_t frame) override; + void processStats(const uint32_t frame, const uint32_t bufferId, + const ControlList &sensorControls) override; + +protected: + std::string logPrefix() const override; private: void updateExposure(double exposureMSV); @@ -80,13 +71,9 @@ private: SwIspStats *stats_; std::unique_ptr<CameraSensorHelper> camHelper_; ControlInfoMap sensorInfoMap_; - BlackLevel blackLevel_; - int32_t exposureMin_, exposureMax_; - int32_t exposure_; - double againMin_, againMax_, againMinStep_; - double again_; - unsigned int ignoreUpdates_; + /* Local parameter storage */ + struct IPAContext context_; }; IPASoftSimple::~IPASoftSimple() @@ -127,6 +114,15 @@ int IPASoftSimple::init(const IPASettings &settings, unsigned int version = (*data)["version"].get<uint32_t>(0); LOG(IPASoft, Debug) << "Tuning file version " << version; + if (!data->contains("algorithms")) { + LOG(IPASoft, Error) << "Tuning file doesn't contain algorithms"; + return -EINVAL; + } + + int ret = createAlgorithms(context_, (*data)["algorithms"]); + if (ret) + return ret; + params_ = nullptr; stats_ = nullptr; @@ -181,27 +177,46 @@ int IPASoftSimple::init(const IPASettings &settings, return 0; } -int IPASoftSimple::configure(const ControlInfoMap &sensorInfoMap) +int IPASoftSimple::configure(const IPAConfigInfo &configInfo) { - sensorInfoMap_ = sensorInfoMap; + sensorInfoMap_ = configInfo.sensorControls; const ControlInfo &exposureInfo = sensorInfoMap_.find(V4L2_CID_EXPOSURE)->second; const ControlInfo &gainInfo = sensorInfoMap_.find(V4L2_CID_ANALOGUE_GAIN)->second; - exposureMin_ = exposureInfo.min().get<int32_t>(); - exposureMax_ = exposureInfo.max().get<int32_t>(); - if (!exposureMin_) { + /* Clear the IPA context before the streaming session. */ + context_.configuration = {}; + context_.activeState = {}; + context_.frameContexts.clear(); + + context_.configuration.agc.exposureMin = exposureInfo.min().get<int32_t>(); + context_.configuration.agc.exposureMax = exposureInfo.max().get<int32_t>(); + if (!context_.configuration.agc.exposureMin) { LOG(IPASoft, Warning) << "Minimum exposure is zero, that can't be linear"; - exposureMin_ = 1; + context_.configuration.agc.exposureMin = 1; } int32_t againMin = gainInfo.min().get<int32_t>(); int32_t againMax = gainInfo.max().get<int32_t>(); if (camHelper_) { - againMin_ = camHelper_->gain(againMin); - againMax_ = camHelper_->gain(againMax); - againMinStep_ = (againMax_ - againMin_) / 100.0; + context_.configuration.agc.againMin = camHelper_->gain(againMin); + context_.configuration.agc.againMax = camHelper_->gain(againMax); + context_.configuration.agc.againMinStep = + (context_.configuration.agc.againMax - + context_.configuration.agc.againMin) / + 100.0; + if (!context_.configuration.black.level.has_value() && + camHelper_->blackLevel().has_value()) { + /* + * The black level from camHelper_ is a 16 bit value, software ISP + * works with 8 bit pixel values, both regardless of the actual + * sensor pixel width. Hence we obtain the pixel-based black value + * by dividing the value from the helper by 256. + */ + context_.configuration.black.level = + camHelper_->blackLevel().value() / 256; + } } else { /* * The camera sensor gain (g) is usually not equal to the value written @@ -213,18 +228,28 @@ int IPASoftSimple::configure(const ControlInfoMap &sensorInfoMap) * the AGC algorithm (abrupt near one edge, and very small near the * other) we limit the range of the gain values used. */ - againMax_ = againMax; + context_.configuration.agc.againMax = againMax; if (!againMin) { LOG(IPASoft, Warning) << "Minimum gain is zero, that can't be linear"; - againMin_ = std::min(100, againMin / 2 + againMax / 2); + context_.configuration.agc.againMin = + std::min(100, againMin / 2 + againMax / 2); } - againMinStep_ = 1.0; + context_.configuration.agc.againMinStep = 1.0; } - LOG(IPASoft, Info) << "Exposure " << exposureMin_ << "-" << exposureMax_ - << ", gain " << againMin_ << "-" << againMax_ - << " (" << againMinStep_ << ")"; + for (auto const &algo : algorithms()) { + int ret = algo->configure(context_, configInfo); + if (ret) + return ret; + } + + LOG(IPASoft, Info) + << "Exposure " << context_.configuration.agc.exposureMin << "-" + << context_.configuration.agc.exposureMax + << ", gain " << context_.configuration.agc.againMin << "-" + << context_.configuration.agc.againMax + << " (" << context_.configuration.agc.againMinStep << ")"; return 0; } @@ -236,73 +261,45 @@ int IPASoftSimple::start() void IPASoftSimple::stop() { + context_.frameContexts.clear(); } -void IPASoftSimple::processStats(const ControlList &sensorControls) +void IPASoftSimple::queueRequest(const uint32_t frame, const ControlList &controls) { - /* - * Calculate red and blue gains for AWB. - * Clamp max gain at 4.0, this also avoids 0 division. - */ - if (stats_->sumR_ <= stats_->sumG_ / 4) - params_->gainR = 1024; - else - params_->gainR = 256 * stats_->sumG_ / stats_->sumR_; - - if (stats_->sumB_ <= stats_->sumG_ / 4) - params_->gainB = 1024; - else - params_->gainB = 256 * stats_->sumG_ / stats_->sumB_; - - /* Green gain and gamma values are fixed */ - params_->gainG = 256; - params_->gamma = 0.5; + IPAFrameContext &frameContext = context_.frameContexts.alloc(frame); - if (ignoreUpdates_ > 0) - blackLevel_.update(stats_->yHistogram); - params_->blackLevel = blackLevel_.get(); + for (auto const &algo : algorithms()) + algo->queueRequest(context_, frame, frameContext, controls); +} +void IPASoftSimple::fillParamsBuffer(const uint32_t frame) +{ + IPAFrameContext &frameContext = context_.frameContexts.get(frame); + for (auto const &algo : algorithms()) + algo->prepare(context_, frame, frameContext, params_); setIspParams.emit(); +} - /* \todo Switch to the libipa/algorithm.h API someday. */ +void IPASoftSimple::processStats(const uint32_t frame, + [[maybe_unused]] const uint32_t bufferId, + const ControlList &sensorControls) +{ + IPAFrameContext &frameContext = context_.frameContexts.get(frame); - /* - * AE / AGC, use 2 frames delay to make sure that the exposure and - * the gain set have applied to the camera sensor. - * \todo This could be handled better with DelayedControls. - */ - if (ignoreUpdates_ > 0) { - --ignoreUpdates_; - return; - } + frameContext.sensor.exposure = + sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>(); + int32_t again = sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>(); + frameContext.sensor.gain = camHelper_ ? camHelper_->gain(again) : again; /* - * Calculate Mean Sample Value (MSV) according to formula from: - * https://www.araa.asn.au/acra/acra2007/papers/paper84final.pdf + * Software ISP currently does not produce any metadata. Use an empty + * ControlList for now. + * + * \todo Implement proper metadata handling */ - const unsigned int blackLevelHistIdx = - params_->blackLevel / (256 / SwIspStats::kYHistogramSize); - const unsigned int histogramSize = - SwIspStats::kYHistogramSize - blackLevelHistIdx; - const unsigned int yHistValsPerBin = histogramSize / kExposureBinsCount; - const unsigned int yHistValsPerBinMod = - histogramSize / (histogramSize % kExposureBinsCount + 1); - int exposureBins[kExposureBinsCount] = {}; - unsigned int denom = 0; - unsigned int num = 0; - - for (unsigned int i = 0; i < histogramSize; i++) { - unsigned int idx = (i - (i / yHistValsPerBinMod)) / yHistValsPerBin; - exposureBins[idx] += stats_->yHistogram[blackLevelHistIdx + i]; - } - - for (unsigned int i = 0; i < kExposureBinsCount; i++) { - LOG(IPASoft, Debug) << i << ": " << exposureBins[i]; - denom += exposureBins[i]; - num += exposureBins[i] * (i + 1); - } - - float exposureMSV = static_cast<float>(num) / denom; + ControlList metadata(controls::controls); + for (auto const &algo : algorithms()) + algo->process(context_, frame, frameContext, stats_, metadata); /* Sanity check */ if (!sensorControls.contains(V4L2_CID_EXPOSURE) || @@ -311,73 +308,19 @@ void IPASoftSimple::processStats(const ControlList &sensorControls) return; } - exposure_ = sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>(); - int32_t again = sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>(); - again_ = camHelper_ ? camHelper_->gain(again) : again; - - updateExposure(exposureMSV); - ControlList ctrls(sensorInfoMap_); - ctrls.set(V4L2_CID_EXPOSURE, exposure_); + auto &againNew = context_.activeState.agc.again; + ctrls.set(V4L2_CID_EXPOSURE, context_.activeState.agc.exposure); ctrls.set(V4L2_CID_ANALOGUE_GAIN, - static_cast<int32_t>(camHelper_ ? camHelper_->gainCode(again_) : again_)); - - ignoreUpdates_ = 2; + static_cast<int32_t>(camHelper_ ? camHelper_->gainCode(againNew) : againNew)); setSensorControls.emit(ctrls); - - LOG(IPASoft, Debug) << "exposureMSV " << exposureMSV - << " exp " << exposure_ << " again " << again_ - << " gain R/B " << params_->gainR << "/" << params_->gainB - << " black level " << params_->blackLevel; } -void IPASoftSimple::updateExposure(double exposureMSV) +std::string IPASoftSimple::logPrefix() const { - /* - * kExpDenominator of 10 gives ~10% increment/decrement; - * kExpDenominator of 5 - about ~20% - */ - static constexpr uint8_t kExpDenominator = 10; - static constexpr uint8_t kExpNumeratorUp = kExpDenominator + 1; - static constexpr uint8_t kExpNumeratorDown = kExpDenominator - 1; - - double next; - - if (exposureMSV < kExposureOptimal - kExposureSatisfactory) { - next = exposure_ * kExpNumeratorUp / kExpDenominator; - if (next - exposure_ < 1) - exposure_ += 1; - else - exposure_ = next; - if (exposure_ >= exposureMax_) { - next = again_ * kExpNumeratorUp / kExpDenominator; - if (next - again_ < againMinStep_) - again_ += againMinStep_; - else - again_ = next; - } - } - - if (exposureMSV > kExposureOptimal + kExposureSatisfactory) { - if (exposure_ == exposureMax_ && again_ > againMin_) { - next = again_ * kExpNumeratorDown / kExpDenominator; - if (again_ - next < againMinStep_) - again_ -= againMinStep_; - else - again_ = next; - } else { - next = exposure_ * kExpNumeratorDown / kExpDenominator; - if (exposure_ - next < 1) - exposure_ -= 1; - else - exposure_ = next; - } - } - - exposure_ = std::clamp(exposure_, exposureMin_, exposureMax_); - again_ = std::clamp(again_, againMin_, againMax_); + return "IPASoft"; } } /* namespace ipa::soft */ @@ -389,7 +332,7 @@ extern "C" { const struct IPAModuleInfo ipaModuleInfo = { IPA_MODULE_API_VERSION, 0, - "SimplePipelineHandler", + "simple", "simple", }; diff --git a/src/ipa/vimc/meson.build b/src/ipa/vimc/meson.build index 264a2d9a..2cc5f80b 100644 --- a/src/ipa/vimc/meson.build +++ b/src/ipa/vimc/meson.build @@ -2,12 +2,10 @@ ipa_name = 'ipa_vimc' -mod = shared_module(ipa_name, - ['vimc.cpp', libcamera_generated_ipa_headers], +mod = shared_module(ipa_name, 'vimc.cpp', name_prefix : '', - include_directories : [ipa_includes, libipa_includes], - dependencies : libcamera_private, - link_with : libipa, + include_directories : [ipa_includes], + dependencies : [libcamera_private, libipa_dep], install : true, install_dir : ipa_install_dir) diff --git a/src/ipa/vimc/vimc.cpp b/src/ipa/vimc/vimc.cpp index 2c255778..5495401f 100644 --- a/src/ipa/vimc/vimc.cpp +++ b/src/ipa/vimc/vimc.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * vimc.cpp - Vimc Image Processing Algorithm module + * Vimc Image Processing Algorithm module */ #include <libcamera/ipa/vimc_ipa_interface.h> @@ -14,6 +14,7 @@ #include <iostream> #include <libcamera/base/file.h> +#include <libcamera/base/flags.h> #include <libcamera/base/log.h> #include <libcamera/ipa/ipa_interface.h> @@ -200,7 +201,7 @@ extern "C" { const struct IPAModuleInfo ipaModuleInfo = { IPA_MODULE_API_VERSION, 0, - "PipelineHandlerVimc", + "vimc", "vimc", }; |