diff options
Diffstat (limited to 'src')
136 files changed, 31398 insertions, 1278 deletions
diff --git a/src/apps/cam/camera_session.cpp b/src/apps/cam/camera_session.cpp index 9e934827..97c1ae44 100644 --- a/src/apps/cam/camera_session.cpp +++ b/src/apps/cam/camera_session.cpp @@ -5,9 +5,12 @@ * Camera capture session */ +#include "camera_session.h" + #include <iomanip> #include <iostream> #include <limits.h> +#include <optional> #include <sstream> #include <libcamera/control_ids.h> @@ -16,7 +19,6 @@ #include "../common/event_loop.h" #include "../common/stream_options.h" -#include "camera_session.h" #include "capture_script.h" #include "file_sink.h" #ifdef HAVE_KMS @@ -173,6 +175,11 @@ void CameraSession::listControls() const std::cout << "Control: " << io.str() << id->vendor() << "::" << id->name() << ":" << std::endl; + + std::optional<int32_t> def; + if (!info.def().isNone()) + def = info.def().get<int32_t>(); + for (const auto &value : info.values()) { int32_t val = value.get<int32_t>(); const auto &it = id->enumerators().find(val); @@ -182,7 +189,10 @@ void CameraSession::listControls() const std::cout << "UNKNOWN"; else std::cout << it->second; - std::cout << " (" << val << ")" << std::endl; + + std::cout << " (" << val << ")" + << (val == def ? " [default]" : "") + << std::endl; } } diff --git a/src/apps/cam/file_sink.cpp b/src/apps/cam/file_sink.cpp index 76e21db9..65794a2f 100644 --- a/src/apps/cam/file_sink.cpp +++ b/src/apps/cam/file_sink.cpp @@ -5,6 +5,8 @@ * File Sink */ +#include "file_sink.h" + #include <array> #include <assert.h> #include <fcntl.h> @@ -21,8 +23,6 @@ #include "../common/image.h" #include "../common/ppm_writer.h" -#include "file_sink.h" - using namespace libcamera; FileSink::FileSink([[maybe_unused]] const libcamera::Camera *camera, diff --git a/src/apps/cam/file_sink.h b/src/apps/cam/file_sink.h index 71b7fe0f..26cd61b3 100644 --- a/src/apps/cam/file_sink.h +++ b/src/apps/cam/file_sink.h @@ -11,6 +11,7 @@ #include <memory> #include <string> +#include <libcamera/controls.h> #include <libcamera/stream.h> #include "frame_sink.h" diff --git a/src/apps/cam/main.cpp b/src/apps/cam/main.cpp index 460dbc81..fa266eca 100644 --- a/src/apps/cam/main.cpp +++ b/src/apps/cam/main.cpp @@ -5,6 +5,8 @@ * cam - The libcamera swiss army knife */ +#include "main.h" + #include <atomic> #include <iomanip> #include <iostream> @@ -19,7 +21,6 @@ #include "../common/stream_options.h" #include "camera_session.h" -#include "main.h" using namespace libcamera; diff --git a/src/apps/common/event_loop.cpp b/src/apps/common/event_loop.cpp index f7f9afa0..b6230f4b 100644 --- a/src/apps/common/event_loop.cpp +++ b/src/apps/common/event_loop.cpp @@ -21,12 +21,35 @@ EventLoop::EventLoop() evthread_use_pthreads(); base_ = event_base_new(); instance_ = this; + + callsTrigger_ = event_new(base_, -1, EV_PERSIST, [](evutil_socket_t, short, void *closure) { + auto *self = static_cast<EventLoop *>(closure); + + for (;;) { + std::function<void()> call; + + { + std::lock_guard locker(self->lock_); + if (self->calls_.empty()) + break; + + call = std::move(self->calls_.front()); + self->calls_.pop_front(); + } + + call(); + } + }, this); + assert(callsTrigger_); + event_add(callsTrigger_, nullptr); } EventLoop::~EventLoop() { instance_ = nullptr; + event_free(callsTrigger_); + events_.clear(); event_base_free(base_); libevent_global_shutdown(); @@ -50,20 +73,20 @@ void EventLoop::exit(int code) event_base_loopbreak(base_); } -void EventLoop::callLater(const std::function<void()> &func) +void EventLoop::callLater(std::function<void()> &&func) { { std::unique_lock<std::mutex> locker(lock_); - calls_.push_back(func); + calls_.push_back(std::move(func)); } - event_base_once(base_, -1, EV_TIMEOUT, dispatchCallback, this, nullptr); + event_active(callsTrigger_, 0, 0); } void EventLoop::addFdEvent(int fd, EventType type, - const std::function<void()> &callback) + std::function<void()> &&callback) { - std::unique_ptr<Event> event = std::make_unique<Event>(callback); + std::unique_ptr<Event> event = std::make_unique<Event>(std::move(callback)); short events = (type & Read ? EV_READ : 0) | (type & Write ? EV_WRITE : 0) | EV_PERSIST; @@ -85,9 +108,9 @@ void EventLoop::addFdEvent(int fd, EventType type, } void EventLoop::addTimerEvent(const std::chrono::microseconds period, - const std::function<void()> &callback) + std::function<void()> &&callback) { - std::unique_ptr<Event> event = std::make_unique<Event>(callback); + std::unique_ptr<Event> event = std::make_unique<Event>(std::move(callback)); event->event_ = event_new(base_, -1, EV_PERSIST, &EventLoop::Event::dispatch, event.get()); if (!event->event_) { @@ -108,31 +131,8 @@ void EventLoop::addTimerEvent(const std::chrono::microseconds period, events_.push_back(std::move(event)); } -void EventLoop::dispatchCallback([[maybe_unused]] evutil_socket_t fd, - [[maybe_unused]] short flags, void *param) -{ - EventLoop *loop = static_cast<EventLoop *>(param); - loop->dispatchCall(); -} - -void EventLoop::dispatchCall() -{ - std::function<void()> call; - - { - std::unique_lock<std::mutex> locker(lock_); - if (calls_.empty()) - return; - - call = calls_.front(); - calls_.pop_front(); - } - - call(); -} - -EventLoop::Event::Event(const std::function<void()> &callback) - : callback_(callback), event_(nullptr) +EventLoop::Event::Event(std::function<void()> &&callback) + : callback_(std::move(callback)), event_(nullptr) { } diff --git a/src/apps/common/event_loop.h b/src/apps/common/event_loop.h index ef129b9a..d8b6df2f 100644 --- a/src/apps/common/event_loop.h +++ b/src/apps/common/event_loop.h @@ -8,11 +8,14 @@ #pragma once #include <chrono> +#include <deque> #include <functional> #include <list> #include <memory> #include <mutex> +#include <libcamera/base/class.h> + #include <event2/util.h> struct event_base; @@ -33,18 +36,20 @@ public: int exec(); void exit(int code = 0); - void callLater(const std::function<void()> &func); + void callLater(std::function<void()> &&func); void addFdEvent(int fd, EventType type, - const std::function<void()> &handler); + std::function<void()> &&handler); - using duration = std::chrono::steady_clock::duration; void addTimerEvent(const std::chrono::microseconds period, - const std::function<void()> &handler); + std::function<void()> &&handler); private: + LIBCAMERA_DISABLE_COPY_AND_MOVE(EventLoop) + struct Event { - Event(const std::function<void()> &callback); + Event(std::function<void()> &&callback); + LIBCAMERA_DISABLE_COPY_AND_MOVE(Event) ~Event(); static void dispatch(int fd, short events, void *arg); @@ -58,11 +63,9 @@ private: struct event_base *base_; int exitCode_; - std::list<std::function<void()>> calls_; + std::deque<std::function<void()>> calls_; + struct event *callsTrigger_ = nullptr; + std::list<std::unique_ptr<Event>> events_; std::mutex lock_; - - static void dispatchCallback(evutil_socket_t fd, short flags, - void *param); - void dispatchCall(); }; diff --git a/src/apps/common/options.cpp b/src/apps/common/options.cpp index ece268d0..cae193cc 100644 --- a/src/apps/common/options.cpp +++ b/src/apps/common/options.cpp @@ -1040,7 +1040,7 @@ void OptionsParser::usageOptions(const std::list<Option> &options, std::cerr << std::setw(indent) << argument; - for (const char *help = option.help, *end = help; end; ) { + for (const char *help = option.help, *end = help; end;) { end = strchr(help, '\n'); if (end) { std::cerr << std::string(help, end - help + 1); diff --git a/src/apps/common/ppm_writer.cpp b/src/apps/common/ppm_writer.cpp index d6c8641d..368de8bf 100644 --- a/src/apps/common/ppm_writer.cpp +++ b/src/apps/common/ppm_writer.cpp @@ -7,6 +7,7 @@ #include "ppm_writer.h" +#include <errno.h> #include <fstream> #include <iostream> @@ -28,7 +29,7 @@ int PPMWriter::write(const char *filename, std::ofstream output(filename, std::ios::binary); if (!output) { std::cerr << "Failed to open ppm file: " << filename << std::endl; - return -EINVAL; + return -EIO; } output << "P6" << std::endl @@ -36,7 +37,7 @@ int PPMWriter::write(const char *filename, << "255" << std::endl; if (!output) { std::cerr << "Failed to write the file header" << std::endl; - return -EINVAL; + return -EIO; } const unsigned int rowLength = config.size.width * 3; @@ -45,7 +46,7 @@ int PPMWriter::write(const char *filename, output.write(row, rowLength); if (!output) { std::cerr << "Failed to write image data at row " << y << std::endl; - return -EINVAL; + return -EIO; } } diff --git a/src/apps/lc-compliance/environment.h b/src/apps/lc-compliance/environment.h index 543e5372..834c722e 100644 --- a/src/apps/lc-compliance/environment.h +++ b/src/apps/lc-compliance/environment.h @@ -23,5 +23,5 @@ private: Environment() = default; std::string cameraId_; - libcamera::CameraManager *cm_; + libcamera::CameraManager *cm_ = nullptr; }; diff --git a/src/apps/lc-compliance/helpers/capture.cpp b/src/apps/lc-compliance/helpers/capture.cpp index 90c1530b..f2c6d58c 100644 --- a/src/apps/lc-compliance/helpers/capture.cpp +++ b/src/apps/lc-compliance/helpers/capture.cpp @@ -7,13 +7,14 @@ #include "capture.h" +#include <assert.h> + #include <gtest/gtest.h> using namespace libcamera; Capture::Capture(std::shared_ptr<Camera> camera) - : loop_(nullptr), camera_(camera), - allocator_(std::make_unique<FrameBufferAllocator>(camera)) + : camera_(std::move(camera)), allocator_(camera_) { } @@ -26,10 +27,8 @@ void Capture::configure(StreamRole role) { config_ = camera_->generateConfiguration({ role }); - if (!config_) { - std::cout << "Role not supported by camera" << std::endl; - GTEST_SKIP(); - } + if (!config_) + GTEST_SKIP() << "Role not supported by camera"; if (config_->validate() != CameraConfiguration::Valid) { config_.reset(); @@ -42,155 +41,106 @@ void Capture::configure(StreamRole role) } } -void Capture::start() +void Capture::run(unsigned int captureLimit, std::optional<unsigned int> queueLimit) { - Stream *stream = config_->at(0).stream(); - int count = allocator_->allocate(stream); - - ASSERT_GE(count, 0) << "Failed to allocate buffers"; - EXPECT_EQ(count, config_->at(0).bufferCount) << "Allocated less buffers than expected"; - - camera_->requestCompleted.connect(this, &Capture::requestComplete); - - ASSERT_EQ(camera_->start(), 0) << "Failed to start camera"; -} + assert(!queueLimit || captureLimit <= *queueLimit); -void Capture::stop() -{ - if (!config_ || !allocator_->allocated()) - return; + captureLimit_ = captureLimit; + queueLimit_ = queueLimit; - camera_->stop(); + captureCount_ = queueCount_ = 0; - camera_->requestCompleted.disconnect(this); + EventLoop loop; + loop_ = &loop; - Stream *stream = config_->at(0).stream(); - requests_.clear(); - allocator_->free(stream); -} - -/* CaptureBalanced */ - -CaptureBalanced::CaptureBalanced(std::shared_ptr<Camera> camera) - : Capture(camera) -{ -} - -void CaptureBalanced::capture(unsigned int numRequests) -{ start(); - Stream *stream = config_->at(0).stream(); - const std::vector<std::unique_ptr<FrameBuffer>> &buffers = allocator_->buffers(stream); - - /* No point in testing less requests then the camera depth. */ - if (buffers.size() > numRequests) { - std::cout << "Camera needs " + std::to_string(buffers.size()) - + " requests, can't test only " - + std::to_string(numRequests) << std::endl; - GTEST_SKIP(); - } + for (const auto &request : requests_) + queueRequest(request.get()); - queueCount_ = 0; - captureCount_ = 0; - captureLimit_ = numRequests; + EXPECT_EQ(loop_->exec(), 0); - /* Queue the recommended number of requests. */ - for (const std::unique_ptr<FrameBuffer> &buffer : buffers) { - std::unique_ptr<Request> request = camera_->createRequest(); - ASSERT_TRUE(request) << "Can't create request"; - - ASSERT_EQ(request->addBuffer(stream, buffer.get()), 0) << "Can't set buffer for request"; - - ASSERT_EQ(queueRequest(request.get()), 0) << "Failed to queue request"; - - requests_.push_back(std::move(request)); - } - - /* Run capture session. */ - loop_ = new EventLoop(); - loop_->exec(); stop(); - delete loop_; - ASSERT_EQ(captureCount_, captureLimit_); + EXPECT_LE(captureLimit_, captureCount_); + EXPECT_LE(captureCount_, queueCount_); + EXPECT_TRUE(!queueLimit_ || queueCount_ <= *queueLimit_); } -int CaptureBalanced::queueRequest(Request *request) +int Capture::queueRequest(libcamera::Request *request) { - queueCount_++; - if (queueCount_ > captureLimit_) + if (queueLimit_ && queueCount_ >= *queueLimit_) return 0; - return camera_->queueRequest(request); + int ret = camera_->queueRequest(request); + if (ret < 0) + return ret; + + queueCount_ += 1; + return 0; } -void CaptureBalanced::requestComplete(Request *request) +void Capture::requestComplete(Request *request) { - EXPECT_EQ(request->status(), Request::Status::RequestComplete) - << "Request didn't complete successfully"; - captureCount_++; if (captureCount_ >= captureLimit_) { loop_->exit(0); return; } + EXPECT_EQ(request->status(), Request::Status::RequestComplete) + << "Request didn't complete successfully"; + request->reuse(Request::ReuseBuffers); if (queueRequest(request)) loop_->exit(-EINVAL); } -/* CaptureUnbalanced */ - -CaptureUnbalanced::CaptureUnbalanced(std::shared_ptr<Camera> camera) - : Capture(camera) -{ -} - -void CaptureUnbalanced::capture(unsigned int numRequests) +void Capture::start() { - start(); + assert(config_); + assert(!config_->empty()); + assert(!allocator_.allocated()); + assert(requests_.empty()); Stream *stream = config_->at(0).stream(); - const std::vector<std::unique_ptr<FrameBuffer>> &buffers = allocator_->buffers(stream); + int count = allocator_.allocate(stream); - captureCount_ = 0; - captureLimit_ = numRequests; + ASSERT_GE(count, 0) << "Failed to allocate buffers"; + EXPECT_EQ(count, config_->at(0).bufferCount) << "Allocated less buffers than expected"; + + const std::vector<std::unique_ptr<FrameBuffer>> &buffers = allocator_.buffers(stream); + + /* No point in testing less requests then the camera depth. */ + if (queueLimit_ && *queueLimit_ < buffers.size()) { + GTEST_SKIP() << "Camera needs " << buffers.size() + << " requests, can't test only " << *queueLimit_; + } - /* Queue the recommended number of requests. */ for (const std::unique_ptr<FrameBuffer> &buffer : buffers) { std::unique_ptr<Request> request = camera_->createRequest(); ASSERT_TRUE(request) << "Can't create request"; ASSERT_EQ(request->addBuffer(stream, buffer.get()), 0) << "Can't set buffer for request"; - ASSERT_EQ(camera_->queueRequest(request.get()), 0) << "Failed to queue request"; - requests_.push_back(std::move(request)); } - /* Run capture session. */ - loop_ = new EventLoop(); - int status = loop_->exec(); - stop(); - delete loop_; + camera_->requestCompleted.connect(this, &Capture::requestComplete); - ASSERT_EQ(status, 0); + ASSERT_EQ(camera_->start(), 0) << "Failed to start camera"; } -void CaptureUnbalanced::requestComplete(Request *request) +void Capture::stop() { - captureCount_++; - if (captureCount_ >= captureLimit_) { - loop_->exit(0); + if (!config_ || !allocator_.allocated()) return; - } - EXPECT_EQ(request->status(), Request::Status::RequestComplete) - << "Request didn't complete successfully"; + camera_->stop(); - request->reuse(Request::ReuseBuffers); - if (camera_->queueRequest(request)) - loop_->exit(-EINVAL); + camera_->requestCompleted.disconnect(this); + + Stream *stream = config_->at(0).stream(); + requests_.clear(); + allocator_.free(stream); } diff --git a/src/apps/lc-compliance/helpers/capture.h b/src/apps/lc-compliance/helpers/capture.h index 19b6927c..0e7b848f 100644 --- a/src/apps/lc-compliance/helpers/capture.h +++ b/src/apps/lc-compliance/helpers/capture.h @@ -8,6 +8,7 @@ #pragma once #include <memory> +#include <optional> #include <libcamera/libcamera.h> @@ -16,51 +17,29 @@ class Capture { public: + Capture(std::shared_ptr<libcamera::Camera> camera); + ~Capture(); + void configure(libcamera::StreamRole role); + void run(unsigned int captureLimit, std::optional<unsigned int> queueLimit = {}); -protected: - Capture(std::shared_ptr<libcamera::Camera> camera); - virtual ~Capture(); +private: + LIBCAMERA_DISABLE_COPY_AND_MOVE(Capture) void start(); void stop(); - virtual void requestComplete(libcamera::Request *request) = 0; - - EventLoop *loop_; + int queueRequest(libcamera::Request *request); + void requestComplete(libcamera::Request *request); std::shared_ptr<libcamera::Camera> camera_; - std::unique_ptr<libcamera::FrameBufferAllocator> allocator_; + libcamera::FrameBufferAllocator allocator_; std::unique_ptr<libcamera::CameraConfiguration> config_; std::vector<std::unique_ptr<libcamera::Request>> requests_; -}; - -class CaptureBalanced : public Capture -{ -public: - CaptureBalanced(std::shared_ptr<libcamera::Camera> camera); - - void capture(unsigned int numRequests); - -private: - int queueRequest(libcamera::Request *request); - void requestComplete(libcamera::Request *request) override; - - unsigned int queueCount_; - unsigned int captureCount_; - unsigned int captureLimit_; -}; - -class CaptureUnbalanced : public Capture -{ -public: - CaptureUnbalanced(std::shared_ptr<libcamera::Camera> camera); - - void capture(unsigned int numRequests); - -private: - void requestComplete(libcamera::Request *request) override; - unsigned int captureCount_; - unsigned int captureLimit_; + EventLoop *loop_ = nullptr; + unsigned int captureLimit_ = 0; + std::optional<unsigned int> queueLimit_; + unsigned int captureCount_ = 0; + unsigned int queueCount_ = 0; }; diff --git a/src/apps/lc-compliance/main.cpp b/src/apps/lc-compliance/main.cpp index 3f1d2a61..e9f0ffbb 100644 --- a/src/apps/lc-compliance/main.cpp +++ b/src/apps/lc-compliance/main.cpp @@ -45,13 +45,11 @@ class ThrowListener : public testing::EmptyTestEventListener static void listCameras(CameraManager *cm) { for (const std::shared_ptr<Camera> &cam : cm->cameras()) - std::cout << "- " << cam.get()->id() << std::endl; + std::cout << "- " << cam->id() << std::endl; } static int initCamera(CameraManager *cm, OptionsParser::Options options) { - std::shared_ptr<Camera> camera; - int ret = cm->start(); if (ret) { std::cout << "Failed to start camera manager: " @@ -66,7 +64,7 @@ static int initCamera(CameraManager *cm, OptionsParser::Options options) } const std::string &cameraId = options[OptCamera]; - camera = cm->get(cameraId); + std::shared_ptr<Camera> camera = cm->get(cameraId); if (!camera) { std::cout << "Camera " << cameraId << " not found, available cameras:" << std::endl; listCameras(cm); @@ -82,45 +80,27 @@ static int initCamera(CameraManager *cm, OptionsParser::Options options) static int initGtestParameters(char *arg0, OptionsParser::Options options) { - const std::map<std::string, std::string> gtestFlags = { { "list", "--gtest_list_tests" }, - { "filter", "--gtest_filter" } }; - - int argc = 0; + std::vector<const char *> argv; std::string filterParam; - /* - * +2 to have space for both the 0th argument that is needed but not - * used and the null at the end. - */ - char **argv = new char *[(gtestFlags.size() + 2)]; - if (!argv) - return -ENOMEM; - - argv[0] = arg0; - argc++; + argv.push_back(arg0); - if (options.isSet(OptList)) { - argv[argc] = const_cast<char *>(gtestFlags.at("list").c_str()); - argc++; - } + if (options.isSet(OptList)) + argv.push_back("--gtest_list_tests"); if (options.isSet(OptFilter)) { /* * The filter flag needs to be passed as a single parameter, in * the format --gtest_filter=filterStr */ - filterParam = gtestFlags.at("filter") + "=" + - static_cast<const std::string &>(options[OptFilter]); - - argv[argc] = const_cast<char *>(filterParam.c_str()); - argc++; + filterParam = "--gtest_filter=" + options[OptFilter].toString(); + argv.push_back(filterParam.c_str()); } - argv[argc] = nullptr; - - ::testing::InitGoogleTest(&argc, argv); + argv.push_back(nullptr); - delete[] argv; + int argc = argv.size(); + ::testing::InitGoogleTest(&argc, const_cast<char **>(argv.data())); return 0; } diff --git a/src/apps/lc-compliance/tests/capture_test.cpp b/src/apps/lc-compliance/tests/capture_test.cpp index ad3a1da2..93bed48f 100644 --- a/src/apps/lc-compliance/tests/capture_test.cpp +++ b/src/apps/lc-compliance/tests/capture_test.cpp @@ -14,10 +14,13 @@ #include "environment.h" +namespace { + using namespace libcamera; -const std::vector<int> NUMREQUESTS = { 1, 2, 3, 5, 8, 13, 21, 34, 55, 89 }; -const std::vector<StreamRole> ROLES = { +const int NUMREQUESTS[] = { 1, 2, 3, 5, 8, 13, 21, 34, 55, 89 }; + +const StreamRole ROLES[] = { StreamRole::Raw, StreamRole::StillCapture, StreamRole::VideoRecording, @@ -84,11 +87,11 @@ TEST_P(SingleStream, Capture) { auto [role, numRequests] = GetParam(); - CaptureBalanced capture(camera_); + Capture capture(camera_); capture.configure(role); - capture.capture(numRequests); + capture.run(numRequests, numRequests); } /* @@ -103,12 +106,12 @@ TEST_P(SingleStream, CaptureStartStop) auto [role, numRequests] = GetParam(); unsigned int numRepeats = 3; - CaptureBalanced capture(camera_); + Capture capture(camera_); capture.configure(role); for (unsigned int starts = 0; starts < numRepeats; starts++) - capture.capture(numRequests); + capture.run(numRequests, numRequests); } /* @@ -122,11 +125,11 @@ TEST_P(SingleStream, UnbalancedStop) { auto [role, numRequests] = GetParam(); - CaptureUnbalanced capture(camera_); + Capture capture(camera_); capture.configure(role); - capture.capture(numRequests); + capture.run(numRequests); } INSTANTIATE_TEST_SUITE_P(CaptureTests, @@ -134,3 +137,5 @@ INSTANTIATE_TEST_SUITE_P(CaptureTests, testing::Combine(testing::ValuesIn(ROLES), testing::ValuesIn(NUMREQUESTS)), SingleStream::nameParameters); + +} /* namespace */ diff --git a/src/apps/qcam/format_converter.cpp b/src/apps/qcam/format_converter.cpp index 32123493..b025a3c7 100644 --- a/src/apps/qcam/format_converter.cpp +++ b/src/apps/qcam/format_converter.cpp @@ -249,7 +249,7 @@ void FormatConverter::convertYUVPacked(const Image *srcImage, unsigned char *dst dst_stride = width_ * 4; for (src_y = 0, dst_y = 0; dst_y < height_; src_y++, dst_y++) { - for (src_x = 0, dst_x = 0; dst_x < width_; ) { + for (src_x = 0, dst_x = 0; dst_x < width_;) { cb = src[src_y * src_stride + src_x * 4 + cb_pos_]; cr = src[src_y * src_stride + src_x * 4 + cr_pos]; diff --git a/src/apps/qcam/main_window.cpp b/src/apps/qcam/main_window.cpp index 3880a846..d2ccbd23 100644 --- a/src/apps/qcam/main_window.cpp +++ b/src/apps/qcam/main_window.cpp @@ -386,10 +386,7 @@ int MainWindow::startCapture() /* Use a format supported by the viewfinder if available. */ std::vector<PixelFormat> formats = vfConfig.formats().pixelformats(); for (const PixelFormat &format : viewfinder_->nativeFormats()) { - auto match = std::find_if(formats.begin(), formats.end(), - [&](const PixelFormat &f) { - return f == format; - }); + auto match = std::find(formats.begin(), formats.end(), format); if (match != formats.end()) { vfConfig.pixelFormat = format; break; diff --git a/src/gstreamer/gstlibcamera-controls.cpp.in b/src/gstreamer/gstlibcamera-controls.cpp.in index ace36b71..d937b19e 100644 --- a/src/gstreamer/gstlibcamera-controls.cpp.in +++ b/src/gstreamer/gstlibcamera-controls.cpp.in @@ -39,7 +39,7 @@ static void value_set_rectangle(GValue *value, const Rectangle &rect) GValue height = G_VALUE_INIT; g_value_init(&height, G_TYPE_INT); - g_value_set_int(&x, size.height); + g_value_set_int(&height, size.height); gst_value_array_append_and_take_value(value, &height); } diff --git a/src/gstreamer/gstlibcamera-utils.cpp b/src/gstreamer/gstlibcamera-utils.cpp index a466b305..41eea7d8 100644 --- a/src/gstreamer/gstlibcamera-utils.cpp +++ b/src/gstreamer/gstlibcamera-utils.cpp @@ -74,6 +74,7 @@ static struct { { GST_VIDEO_FORMAT_I420, formats::YUV420 }, { GST_VIDEO_FORMAT_YV12, formats::YVU420 }, { GST_VIDEO_FORMAT_Y42B, formats::YUV422 }, + { GST_VIDEO_FORMAT_Y444, formats::YUV444 }, /* YUV Packed */ { GST_VIDEO_FORMAT_UYVY, formats::UYVY }, diff --git a/src/gstreamer/gstlibcameraallocator.cpp b/src/gstreamer/gstlibcameraallocator.cpp index 7e4c904d..d4492d99 100644 --- a/src/gstreamer/gstlibcameraallocator.cpp +++ b/src/gstreamer/gstlibcameraallocator.cpp @@ -8,6 +8,8 @@ #include "gstlibcameraallocator.h" +#include <utility> + #include <libcamera/camera.h> #include <libcamera/framebuffer_allocator.h> #include <libcamera/stream.h> @@ -199,22 +201,20 @@ GstLibcameraAllocator * gst_libcamera_allocator_new(std::shared_ptr<Camera> camera, CameraConfiguration *config_) { - auto *self = GST_LIBCAMERA_ALLOCATOR(g_object_new(GST_TYPE_LIBCAMERA_ALLOCATOR, - nullptr)); + g_autoptr(GstLibcameraAllocator) self = GST_LIBCAMERA_ALLOCATOR(g_object_new(GST_TYPE_LIBCAMERA_ALLOCATOR, + nullptr)); gint ret; self->cm_ptr = new std::shared_ptr<CameraManager>(gst_libcamera_get_camera_manager(ret)); - if (ret) { - g_object_unref(self); + if (ret) return nullptr; - } self->fb_allocator = new FrameBufferAllocator(camera); for (StreamConfiguration &streamCfg : *config_) { Stream *stream = streamCfg.stream(); ret = self->fb_allocator->allocate(stream); - if (ret == 0) + if (ret <= 0) return nullptr; GQueue *pool = g_queue_new(); @@ -228,7 +228,7 @@ gst_libcamera_allocator_new(std::shared_ptr<Camera> camera, g_hash_table_insert(self->pools, stream, pool); } - return self; + return std::exchange(self, nullptr); } bool diff --git a/src/ipa/ipu3/algorithms/awb.h b/src/ipa/ipu3/algorithms/awb.h index 1916990a..dbf69c90 100644 --- a/src/ipa/ipu3/algorithms/awb.h +++ b/src/ipa/ipu3/algorithms/awb.h @@ -13,7 +13,7 @@ #include <libcamera/geometry.h> -#include "libipa/vector.h" +#include "libcamera/internal/vector.h" #include "algorithm.h" diff --git a/src/ipa/libipa/agc_mean_luminance.cpp b/src/ipa/libipa/agc_mean_luminance.cpp index 02555a44..f617fde8 100644 --- a/src/ipa/libipa/agc_mean_luminance.cpp +++ b/src/ipa/libipa/agc_mean_luminance.cpp @@ -541,6 +541,18 @@ AgcMeanLuminance::calculateNewEv(uint32_t constraintModeIndex, std::shared_ptr<ExposureModeHelper> exposureModeHelper = exposureModeHelpers_.at(exposureModeIndex); + if (effectiveExposureValue == 0s) { + LOG(AgcMeanLuminance, Error) + << "Effective exposure value is 0. This is a bug in AGC " + "and must be fixed for proper operation."; + /* + * Return an arbitrary exposure time > 0 to ensure regulation + * doesn't get stuck with 0 in case the sensor driver allows a + * min exposure of 0. + */ + return exposureModeHelper->splitExposure(10ms); + } + double gain = estimateInitialGain(); gain = constraintClampGain(constraintModeIndex, yHist, gain); diff --git a/src/ipa/libipa/awb.cpp b/src/ipa/libipa/awb.cpp new file mode 100644 index 00000000..925fac23 --- /dev/null +++ b/src/ipa/libipa/awb.cpp @@ -0,0 +1,265 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Ideas on Board Oy + * + * Generic AWB algorithms + */ + +#include "awb.h" + +#include <libcamera/base/log.h> + +#include <libcamera/control_ids.h> + +/** + * \file awb.h + * \brief Base classes for AWB algorithms + */ + +namespace libcamera { + +LOG_DEFINE_CATEGORY(Awb) + +namespace ipa { + +/** + * \class AwbResult + * \brief The result of an AWB calculation + * + * This class holds the result of an auto white balance calculation. + */ + +/** + * \var AwbResult::gains + * \brief The calculated white balance gains + */ + +/** + * \var AwbResult::colourTemperature + * \brief The calculated colour temperature in Kelvin + */ + +/** + * \class AwbStats + * \brief An abstraction class wrapping hardware-specific AWB statistics + * + * IPA modules using an AWB algorithm based on the AwbAlgorithm class need to + * implement this class to give the algorithm access to the hardware-specific + * statistics data. + */ + +/** + * \fn AwbStats::computeColourError() + * \brief Compute an error value for when the given gains would be applied + * \param[in] gains The gains to apply + * + * Compute an error value (non-greyness) assuming the given \a gains would be + * applied. To keep the actual implementations computationally inexpensive, + * the squared colour error shall be returned. + * + * If the AWB statistics provide multiple zones, the average of the individual + * squared errors shall be returned. Averaging/normalizing is necessary so that + * the numeric dimensions are the same on all hardware platforms. + * + * \return The computed error value + */ + +/** + * \fn AwbStats::rgbMeans() + * \brief Get RGB means of the statistics + * + * Fetch the RGB means from the statistics. The values of each channel are + * dimensionless and only the ratios are used for further calculations. This is + * used by the simple grey world model to calculate the gains to apply. + * + * \return The RGB means + */ + +/** + * \class AwbAlgorithm + * \brief A base class for auto white balance algorithms + * + * This class is a base class for auto white balance algorithms. It defines an + * interface for the algorithms to implement, and is used by the IPAs to + * interact with the concrete implementation. + */ + +/** + * \fn AwbAlgorithm::init() + * \brief Initialize the algorithm with the given tuning data + * \param[in] tuningData The tuning data to use for the algorithm + * + * \return 0 on success, a negative error code otherwise + */ + +/** + * \fn AwbAlgorithm::calculateAwb() + * \brief Calculate AWB data from the given statistics + * \param[in] stats The statistics to use for the calculation + * \param[in] lux The lux value of the scene + * + * Calculate an AwbResult object from the given statistics and lux value. A \a + * lux value of 0 means it is unknown or invalid and the algorithm shall ignore + * it. + * + * \return The AWB result + */ + +/** + * \fn AwbAlgorithm::gainsFromColourTemperature() + * \brief Compute white balance gains from a colour temperature + * \param[in] colourTemperature The colour temperature in Kelvin + * + * Compute the white balance gains from a \a colourTemperature. This function + * does not take any statistics into account. It is used to compute the colour + * gains when the user manually specifies a colour temperature. + * + * \return The colour gains + */ + +/** + * \fn AwbAlgorithm::controls() + * \brief Get the controls info map for this algorithm + * + * \return The controls info map + */ + +/** + * \fn AwbAlgorithm::handleControls() + * \param[in] controls The controls to handle + * \brief Handle the controls supplied in a request + */ + +/** + * \brief Parse the mode configurations from the tuning data + * \param[in] tuningData the YamlObject representing the tuning data + * \param[in] def The default value for the AwbMode control + * + * Utility function to parse the tuning data for an AwbMode entry and read all + * provided modes. It adds controls::AwbMode to AwbAlgorithm::controls_ and + * populates AwbAlgorithm::modes_. For a list of possible modes see \ref + * controls::AwbModeEnum. + * + * Each mode entry must contain a "lo" and "hi" key to specify the lower and + * upper colour temperature of that mode. For example: + * + * \code{.unparsed} + * algorithms: + * - Awb: + * AwbMode: + * AwbAuto: + * lo: 2500 + * hi: 8000 + * AwbIncandescent: + * lo: 2500 + * hi: 3000 + * ... + * \endcode + * + * If \a def is supplied but not contained in the the \a tuningData, -EINVAL is + * returned. + * + * \sa controls::AwbModeEnum + * \return Zero on success, negative error code otherwise + */ +int AwbAlgorithm::parseModeConfigs(const YamlObject &tuningData, + const ControlValue &def) +{ + std::vector<ControlValue> availableModes; + + const YamlObject &yamlModes = tuningData[controls::AwbMode.name()]; + if (!yamlModes.isDictionary()) { + LOG(Awb, Error) + << "AwbModes must be a dictionary."; + return -EINVAL; + } + + for (const auto &[modeName, modeDict] : yamlModes.asDict()) { + if (controls::AwbModeNameValueMap.find(modeName) == + controls::AwbModeNameValueMap.end()) { + LOG(Awb, Warning) + << "Skipping unknown AWB mode '" + << modeName << "'"; + continue; + } + + if (!modeDict.isDictionary()) { + LOG(Awb, Error) + << "Invalid AWB mode '" << modeName << "'"; + return -EINVAL; + } + + const auto &modeValue = static_cast<controls::AwbModeEnum>( + controls::AwbModeNameValueMap.at(modeName)); + + ModeConfig &config = modes_[modeValue]; + + auto hi = modeDict["hi"].get<double>(); + if (!hi) { + LOG(Awb, Error) << "Failed to read hi param of mode " + << modeName; + return -EINVAL; + } + config.ctHi = *hi; + + auto lo = modeDict["lo"].get<double>(); + if (!lo) { + LOG(Awb, Error) << "Failed to read low param of mode " + << modeName; + return -EINVAL; + } + config.ctLo = *lo; + + availableModes.push_back(modeValue); + } + + if (modes_.empty()) { + LOG(Awb, Error) << "No AWB modes configured"; + return -EINVAL; + } + + if (!def.isNone() && + modes_.find(def.get<controls::AwbModeEnum>()) == modes_.end()) { + const auto &names = controls::AwbMode.enumerators(); + LOG(Awb, Error) << names.at(def.get<controls::AwbModeEnum>()) + << " mode is missing in the configuration."; + return -EINVAL; + } + + controls_[&controls::AwbMode] = ControlInfo(availableModes, def); + + return 0; +} + +/** + * \class AwbAlgorithm::ModeConfig + * \brief Holds the configuration of a single AWB mode + * + * AWB modes limit the regulation of the AWB algorithm to a specific range of + * colour temperatures. + */ + +/** + * \var AwbAlgorithm::ModeConfig::ctLo + * \brief The lowest valid colour temperature of that mode + */ + +/** + * \var AwbAlgorithm::ModeConfig::ctHi + * \brief The highest valid colour temperature of that mode + */ + +/** + * \var AwbAlgorithm::controls_ + * \brief Controls info map for the controls provided by the algorithm + */ + +/** + * \var AwbAlgorithm::modes_ + * \brief Map of all configured modes + * \sa AwbAlgorithm::parseModeConfigs + */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/awb.h b/src/ipa/libipa/awb.h new file mode 100644 index 00000000..4bab7a45 --- /dev/null +++ b/src/ipa/libipa/awb.h @@ -0,0 +1,66 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Ideas on Board Oy + * + * Generic AWB algorithms + */ + +#pragma once + +#include <map> + +#include <libcamera/control_ids.h> +#include <libcamera/controls.h> + +#include "libcamera/internal/vector.h" +#include "libcamera/internal/yaml_parser.h" + +namespace libcamera { + +namespace ipa { + +struct AwbResult { + RGB<double> gains; + double colourTemperature; +}; + +struct AwbStats { + virtual double computeColourError(const RGB<double> &gains) const = 0; + virtual RGB<double> rgbMeans() const = 0; + +protected: + ~AwbStats() = default; +}; + +class AwbAlgorithm +{ +public: + virtual ~AwbAlgorithm() = default; + + virtual int init(const YamlObject &tuningData) = 0; + virtual AwbResult calculateAwb(const AwbStats &stats, unsigned int lux) = 0; + virtual RGB<double> gainsFromColourTemperature(double colourTemperature) = 0; + + const ControlInfoMap::Map &controls() const + { + return controls_; + } + + virtual void handleControls([[maybe_unused]] const ControlList &controls) {} + +protected: + int parseModeConfigs(const YamlObject &tuningData, + const ControlValue &def = {}); + + struct ModeConfig { + double ctHi; + double ctLo; + }; + + ControlInfoMap::Map controls_; + std::map<controls::AwbModeEnum, AwbAlgorithm::ModeConfig> modes_; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/awb_bayes.cpp b/src/ipa/libipa/awb_bayes.cpp new file mode 100644 index 00000000..d1d0eaf0 --- /dev/null +++ b/src/ipa/libipa/awb_bayes.cpp @@ -0,0 +1,505 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * Copyright (C) 2024 Ideas on Board Oy + * + * Implementation of a bayesian AWB algorithm + */ + +#include "awb_bayes.h" + +#include <algorithm> +#include <cmath> +#include <limits> +#include <map> +#include <ostream> +#include <vector> + +#include <libcamera/base/log.h> +#include <libcamera/control_ids.h> + +#include "colours.h" + +/** + * \file awb_bayes.h + * \brief Implementation of bayesian auto white balance algorithm + * + * This implementation is based on the initial implementation done by + * RaspberryPi. + * + * \todo Documentation + * + * \todo Not all the features implemented by RaspberryPi were ported over to + * this algorithm because they either rely on hardware features not generally + * available or were considered not important enough at the moment. + * + * The following parts are not implemented: + * + * - min_pixels: minimum proportion of pixels counted within AWB region for it + * to be "useful" + * - min_g: minimum G value of those pixels, to be regarded a "useful" + * - min_regions: number of AWB regions that must be "useful" in order to do the + * AWB calculation + * - deltaLimit: clamp on colour error term (so as not to penalize non-grey + * excessively) + * - bias_proportion: The biasProportion parameter adds a small proportion of + * the counted pixels to a region biased to the biasCT colour temperature. + * A typical value for biasProportion would be between 0.05 to 0.1. + * - bias_ct: CT target for the search bias + * - sensitivityR: red sensitivity ratio (set to canonical sensor's R/G divided + * by this sensor's R/G) + * - sensitivityB: blue sensitivity ratio (set to canonical sensor's B/G divided + * by this sensor's B/G) + */ + +namespace libcamera { + +LOG_DECLARE_CATEGORY(Awb) + +namespace { + +template<typename T> +class LimitsRecorder +{ +public: + LimitsRecorder() + : min_(std::numeric_limits<T>::max()), + max_(std::numeric_limits<T>::min()) + { + } + + void record(const T &value) + { + min_ = std::min(min_, value); + max_ = std::max(max_, value); + } + + const T &min() const { return min_; } + const T &max() const { return max_; } + +private: + T min_; + T max_; +}; + +#ifndef __DOXYGEN__ +template<typename T> +std::ostream &operator<<(std::ostream &out, const LimitsRecorder<T> &v) +{ + out << "[ " << v.min() << ", " << v.max() << " ]"; + return out; +} +#endif + +} /* namespace */ + +namespace ipa { + +/** + * \brief Step size control for CT search + */ +constexpr double kSearchStep = 0.2; + +/** + * \copydoc libcamera::ipa::Interpolator::interpolate() + */ +template<> +void Interpolator<Pwl>::interpolate(const Pwl &a, const Pwl &b, Pwl &dest, double lambda) +{ + dest = Pwl::combine(a, b, + [=](double /*x*/, double y0, double y1) -> double { + return y0 * (1.0 - lambda) + y1 * lambda; + }); +} + +/** + * \class AwbBayes + * \brief Implementation of a bayesian auto white balance algorithm + * + * In a bayesian AWB algorithm the auto white balance estimation is improved by + * taking the likelihood of a given lightsource based on the estimated lux level + * into account. E.g. If it is very bright we can assume that we are outside and + * that colour temperatures around 6500 are preferred. + * + * The second part of this algorithm is the search for the most likely colour + * temperature. It is implemented in AwbBayes::coarseSearch() and in + * AwbBayes::fineSearch(). The search works very well without prior likelihoods + * and therefore the algorithm itself provides very good results even without + * prior likelihoods. + */ + +/** + * \var AwbBayes::transversePos_ + * \brief How far to wander off CT curve towards "more purple" + */ + +/** + * \var AwbBayes::transverseNeg_ + * \brief How far to wander off CT curve towards "more green" + */ + +/** + * \var AwbBayes::currentMode_ + * \brief The currently selected mode + */ + +int AwbBayes::init(const YamlObject &tuningData) +{ + int ret = colourGainCurve_.readYaml(tuningData["colourGains"], "ct", "gains"); + if (ret) { + LOG(Awb, Error) + << "Failed to parse 'colourGains' " + << "parameter from tuning file"; + return ret; + } + + ctR_.clear(); + ctB_.clear(); + for (const auto &[ct, g] : colourGainCurve_.data()) { + ctR_.append(ct, 1.0 / g[0]); + ctB_.append(ct, 1.0 / g[1]); + } + + /* We will want the inverse functions of these too. */ + ctRInverse_ = ctR_.inverse().first; + ctBInverse_ = ctB_.inverse().first; + + ret = readPriors(tuningData); + if (ret) { + LOG(Awb, Error) << "Failed to read priors"; + return ret; + } + + ret = parseModeConfigs(tuningData, controls::AwbAuto); + if (ret) { + LOG(Awb, Error) + << "Failed to parse mode parameter from tuning file"; + return ret; + } + currentMode_ = &modes_[controls::AwbAuto]; + + transversePos_ = tuningData["transversePos"].get<double>(0.01); + transverseNeg_ = tuningData["transverseNeg"].get<double>(0.01); + if (transversePos_ <= 0 || transverseNeg_ <= 0) { + LOG(Awb, Error) << "AwbConfig: transversePos/Neg must be > 0"; + return -EINVAL; + } + + return 0; +} + +int AwbBayes::readPriors(const YamlObject &tuningData) +{ + const auto &priorsList = tuningData["priors"]; + std::map<uint32_t, Pwl> priors; + + if (!priorsList) { + LOG(Awb, Error) << "No priors specified"; + return -EINVAL; + } + + for (const auto &p : priorsList.asList()) { + if (!p.contains("lux")) { + LOG(Awb, Error) << "Missing lux value"; + return -EINVAL; + } + + uint32_t lux = p["lux"].get<uint32_t>(0); + if (priors.count(lux)) { + LOG(Awb, Error) << "Duplicate prior for lux value " << lux; + return -EINVAL; + } + + std::vector<uint32_t> temperatures = + p["ct"].getList<uint32_t>().value_or(std::vector<uint32_t>{}); + std::vector<double> probabilities = + p["probability"].getList<double>().value_or(std::vector<double>{}); + + if (temperatures.size() != probabilities.size()) { + LOG(Awb, Error) + << "Ct and probability array sizes are unequal"; + return -EINVAL; + } + + if (temperatures.empty()) { + LOG(Awb, Error) + << "Ct and probability arrays are empty"; + return -EINVAL; + } + + std::map<int, double> ctToProbability; + for (unsigned int i = 0; i < temperatures.size(); i++) { + int t = temperatures[i]; + if (ctToProbability.count(t)) { + LOG(Awb, Error) << "Duplicate ct value"; + return -EINVAL; + } + + ctToProbability[t] = probabilities[i]; + } + + auto &pwl = priors[lux]; + for (const auto &[ct, prob] : ctToProbability) { + if (prob < 1e-6) { + LOG(Awb, Error) << "Prior probability must be larger than 1e-6"; + return -EINVAL; + } + pwl.append(ct, prob); + } + } + + if (priors.empty()) { + LOG(Awb, Error) << "No priors specified"; + return -EINVAL; + } + + priors_.setData(std::move(priors)); + + return 0; +} + +void AwbBayes::handleControls(const ControlList &controls) +{ + auto mode = controls.get(controls::AwbMode); + if (mode) { + auto it = modes_.find(static_cast<controls::AwbModeEnum>(*mode)); + if (it != modes_.end()) + currentMode_ = &it->second; + else + LOG(Awb, Error) << "Unsupported AWB mode " << *mode; + } +} + +RGB<double> AwbBayes::gainsFromColourTemperature(double colourTemperature) +{ + /* + * \todo In the RaspberryPi code, the ct curve was interpolated in + * the white point space (1/x) not in gains space. This feels counter + * intuitive, as the gains are in linear space. But I can't prove it. + */ + const auto &gains = colourGainCurve_.getInterpolated(colourTemperature); + return { { gains[0], 1.0, gains[1] } }; +} + +AwbResult AwbBayes::calculateAwb(const AwbStats &stats, unsigned int lux) +{ + ipa::Pwl prior; + if (lux > 0) { + prior = priors_.getInterpolated(lux); + prior.map([](double x, double y) { + LOG(Awb, Debug) << "(" << x << "," << y << ")"; + }); + } else { + prior.append(0, 1.0); + } + + double t = coarseSearch(prior, stats); + double r = ctR_.eval(t); + double b = ctB_.eval(t); + LOG(Awb, Debug) + << "After coarse search: r " << r << " b " << b << " (gains r " + << 1 / r << " b " << 1 / b << ")"; + + /* + * Original comment from RaspberryPi: + * Not entirely sure how to handle the fine search yet. Mostly the + * estimated CT is already good enough, but the fine search allows us to + * wander transversely off the CT curve. Under some illuminants, where + * there may be more or less green light, this may prove beneficial, + * though I probably need more real datasets before deciding exactly how + * this should be controlled and tuned. + */ + fineSearch(t, r, b, prior, stats); + LOG(Awb, Debug) + << "After fine search: r " << r << " b " << b << " (gains r " + << 1 / r << " b " << 1 / b << ")"; + + return { { { 1.0 / r, 1.0, 1.0 / b } }, t }; +} + +double AwbBayes::coarseSearch(const ipa::Pwl &prior, const AwbStats &stats) const +{ + std::vector<Pwl::Point> points; + size_t bestPoint = 0; + double t = currentMode_->ctLo; + int spanR = -1; + int spanB = -1; + LimitsRecorder<double> errorLimits; + LimitsRecorder<double> priorLogLikelihoodLimits; + + /* Step down the CT curve evaluating log likelihood. */ + while (true) { + double r = ctR_.eval(t, &spanR); + double b = ctB_.eval(t, &spanB); + RGB<double> gains({ 1 / r, 1.0, 1 / b }); + double delta2Sum = stats.computeColourError(gains); + double priorLogLikelihood = log(prior.eval(prior.domain().clamp(t))); + double finalLogLikelihood = delta2Sum - priorLogLikelihood; + + errorLimits.record(delta2Sum); + priorLogLikelihoodLimits.record(priorLogLikelihood); + + points.push_back({ { t, finalLogLikelihood } }); + if (points.back().y() < points[bestPoint].y()) + bestPoint = points.size() - 1; + + if (t == currentMode_->ctHi) + break; + + /* + * Ensure even steps along the r/b curve by scaling them by the + * current t. + */ + t = std::min(t + t / 10 * kSearchStep, currentMode_->ctHi); + } + + t = points[bestPoint].x(); + LOG(Awb, Debug) << "Coarse search found CT " << t + << " error limits:" << errorLimits + << " prior log likelihood limits:" << priorLogLikelihoodLimits; + + /* + * We have the best point of the search, but refine it with a quadratic + * interpolation around its neighbors. + */ + if (points.size() > 2) { + bestPoint = std::clamp(bestPoint, std::size_t{ 1 }, points.size() - 2); + t = interpolateQuadratic(points[bestPoint - 1], + points[bestPoint], + points[bestPoint + 1]); + LOG(Awb, Debug) + << "After quadratic refinement, coarse search has CT " + << t; + } + + return t; +} + +void AwbBayes::fineSearch(double &t, double &r, double &b, ipa::Pwl const &prior, const AwbStats &stats) const +{ + int spanR = -1; + int spanB = -1; + double step = t / 10 * kSearchStep * 0.1; + int nsteps = 5; + ctR_.eval(t, &spanR); + ctB_.eval(t, &spanB); + double rDiff = ctR_.eval(t + nsteps * step, &spanR) - + ctR_.eval(t - nsteps * step, &spanR); + double bDiff = ctB_.eval(t + nsteps * step, &spanB) - + ctB_.eval(t - nsteps * step, &spanB); + Pwl::Point transverse({ bDiff, -rDiff }); + if (transverse.length2() < 1e-6) + return; + /* + * transverse is a unit vector orthogonal to the b vs. r function + * (pointing outwards with r and b increasing) + */ + transverse = transverse / transverse.length(); + double bestLogLikelihood = 0; + double bestT = 0; + Pwl::Point bestRB(0); + double transverseRange = transverseNeg_ + transversePos_; + const int maxNumDeltas = 12; + LimitsRecorder<double> errorLimits; + LimitsRecorder<double> priorLogLikelihoodLimits; + + + /* a transverse step approximately every 0.01 r/b units */ + int numDeltas = floor(transverseRange * 100 + 0.5) + 1; + numDeltas = std::clamp(numDeltas, 3, maxNumDeltas); + + /* + * Step down CT curve. March a bit further if the transverse range is + * large. + */ + nsteps += numDeltas; + for (int i = -nsteps; i <= nsteps; i++) { + double tTest = t + i * step; + double priorLogLikelihood = + log(prior.eval(prior.domain().clamp(tTest))); + priorLogLikelihoodLimits.record(priorLogLikelihood); + Pwl::Point rbStart{ { ctR_.eval(tTest, &spanR), + ctB_.eval(tTest, &spanB) } }; + Pwl::Point samples[maxNumDeltas]; + int bestPoint = 0; + + /* + * Sample numDeltas points transversely *off* the CT curve + * in the range [-transverseNeg, transversePos]. + * The x values of a sample contains the distance and the y + * value contains the corresponding log likelihood. + */ + double transverseStep = transverseRange / (numDeltas - 1); + for (int j = 0; j < numDeltas; j++) { + auto &p = samples[j]; + p.x() = -transverseNeg_ + transverseStep * j; + Pwl::Point rbTest = rbStart + transverse * p.x(); + RGB<double> gains({ 1 / rbTest[0], 1.0, 1 / rbTest[1] }); + double delta2Sum = stats.computeColourError(gains); + errorLimits.record(delta2Sum); + p.y() = delta2Sum - priorLogLikelihood; + + if (p.y() < samples[bestPoint].y()) + bestPoint = j; + } + + /* + * We have all samples transversely across the CT curve, + * now let's do a quadratic interpolation for the best result. + */ + bestPoint = std::clamp(bestPoint, 1, numDeltas - 2); + double bestOffset = interpolateQuadratic(samples[bestPoint - 1], + samples[bestPoint], + samples[bestPoint + 1]); + Pwl::Point rbTest = rbStart + transverse * bestOffset; + RGB<double> gains({ 1 / rbTest[0], 1.0, 1 / rbTest[1] }); + double delta2Sum = stats.computeColourError(gains); + errorLimits.record(delta2Sum); + double finalLogLikelihood = delta2Sum - priorLogLikelihood; + + if (bestT == 0 || finalLogLikelihood < bestLogLikelihood) { + bestLogLikelihood = finalLogLikelihood; + bestT = tTest; + bestRB = rbTest; + } + } + + t = bestT; + r = bestRB[0]; + b = bestRB[1]; + LOG(Awb, Debug) + << "Fine search found t " << t << " r " << r << " b " << b + << " error limits: " << errorLimits + << " prior log likelihood limits: " << priorLogLikelihoodLimits; +} + +/** + * \brief Find extremum of function + * \param[in] a First point + * \param[in] b Second point + * \param[in] c Third point + * + * Given 3 points on a curve, find the extremum of the function in that interval + * by fitting a quadratic. + * + * \return The x value of the extremum clamped to the interval [a.x(), c.x()] + */ +double AwbBayes::interpolateQuadratic(Pwl::Point const &a, Pwl::Point const &b, + Pwl::Point const &c) const +{ + const double eps = 1e-3; + Pwl::Point ca = c - a; + Pwl::Point 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()); +} + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/awb_bayes.h b/src/ipa/libipa/awb_bayes.h new file mode 100644 index 00000000..bb933038 --- /dev/null +++ b/src/ipa/libipa/awb_bayes.h @@ -0,0 +1,59 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Ideas on Board Oy + * + * Base class for bayes AWB algorithms + */ + +#pragma once + +#include <libcamera/controls.h> + +#include "libcamera/internal/vector.h" +#include "libcamera/internal/yaml_parser.h" + +#include "awb.h" +#include "interpolator.h" +#include "pwl.h" + +namespace libcamera { + +namespace ipa { + +class AwbBayes : public AwbAlgorithm +{ +public: + AwbBayes() = default; + + int init(const YamlObject &tuningData) override; + AwbResult calculateAwb(const AwbStats &stats, unsigned int lux) override; + RGB<double> gainsFromColourTemperature(double temperatureK) override; + void handleControls(const ControlList &controls) override; + +private: + int readPriors(const YamlObject &tuningData); + + void fineSearch(double &t, double &r, double &b, ipa::Pwl const &prior, + const AwbStats &stats) const; + double coarseSearch(const ipa::Pwl &prior, const AwbStats &stats) const; + double interpolateQuadratic(ipa::Pwl::Point const &a, + ipa::Pwl::Point const &b, + ipa::Pwl::Point const &c) const; + + Interpolator<Pwl> priors_; + Interpolator<Vector<double, 2>> colourGainCurve_; + + ipa::Pwl ctR_; + ipa::Pwl ctB_; + ipa::Pwl ctRInverse_; + ipa::Pwl ctBInverse_; + + double transversePos_; + double transverseNeg_; + + ModeConfig *currentMode_ = nullptr; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/awb_grey.cpp b/src/ipa/libipa/awb_grey.cpp new file mode 100644 index 00000000..d3d2132b --- /dev/null +++ b/src/ipa/libipa/awb_grey.cpp @@ -0,0 +1,114 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Ideas on Board Oy + * + * Implementation of grey world AWB algorithm + */ + +#include "awb_grey.h" + +#include <algorithm> + +#include <libcamera/base/log.h> +#include <libcamera/control_ids.h> + +#include "colours.h" + +using namespace libcamera::controls; + +/** + * \file awb_grey.h + * \brief Implementation of a grey world AWB algorithm + */ + +namespace libcamera { + +LOG_DECLARE_CATEGORY(Awb) +namespace ipa { + +/** + * \class AwbGrey + * \brief A Grey world auto white balance algorithm + */ + +/** + * \brief Initialize the algorithm with the given tuning data + * \param[in] tuningData The tuning data for the algorithm + * + * Load the colour temperature curve from the tuning data. If there is no tuning + * data available, continue with a warning. Manual colour temperature will not + * work in that case. + * + * \return 0 on success, a negative error code otherwise + */ +int AwbGrey::init(const YamlObject &tuningData) +{ + Interpolator<Vector<double, 2>> gains; + int ret = gains.readYaml(tuningData["colourGains"], "ct", "gains"); + if (ret < 0) + LOG(Awb, Warning) + << "Failed to parse 'colourGains' " + << "parameter from tuning file; " + << "manual colour temperature will not work properly"; + else + colourGainCurve_ = gains; + + return 0; +} + +/** + * \brief Calculate AWB data from the given statistics + * \param[in] stats The statistics to use for the calculation + * \param[in] lux The lux value of the scene + * + * The colour temperature is estimated based on the colours::estimateCCT() + * function. The gains are calculated purely based on the RGB means provided by + * the \a stats. The colour temperature is not taken into account when + * calculating the gains. + * + * The \a lux parameter is not used in this algorithm. + * + * \return The AWB result + */ +AwbResult AwbGrey::calculateAwb(const AwbStats &stats, [[maybe_unused]] unsigned int lux) +{ + AwbResult result; + auto means = stats.rgbMeans(); + result.colourTemperature = estimateCCT(means); + + /* + * 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 + * divisor to a minimum value of 1.0. + */ + result.gains.r() = means.g() / std::max(means.r(), 1.0); + result.gains.g() = 1.0; + result.gains.b() = means.g() / std::max(means.b(), 1.0); + return result; +} + +/** + * \brief Compute white balance gains from a colour temperature + * \param[in] colourTemperature The colour temperature in Kelvin + * + * Compute the white balance gains from a \a colourTemperature. This function + * does not take any statistics into account. It simply interpolates the colour + * gains configured in the colour temperature curve. + * + * \return The colour gains if a colour temperature curve is available, + * [1, 1, 1] otherwise. + */ +RGB<double> AwbGrey::gainsFromColourTemperature(double colourTemperature) +{ + if (!colourGainCurve_) { + LOG(Awb, Error) << "No gains defined"; + return RGB<double>({ 1.0, 1.0, 1.0 }); + } + + auto gains = colourGainCurve_->getInterpolated(colourTemperature); + return { { gains[0], 1.0, gains[1] } }; +} + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/awb_grey.h b/src/ipa/libipa/awb_grey.h new file mode 100644 index 00000000..7ec7bfa5 --- /dev/null +++ b/src/ipa/libipa/awb_grey.h @@ -0,0 +1,36 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Ideas on Board Oy + * + * AWB grey world algorithm + */ + +#pragma once + +#include <optional> + +#include "libcamera/internal/vector.h" + +#include "awb.h" +#include "interpolator.h" + +namespace libcamera { + +namespace ipa { + +class AwbGrey : public AwbAlgorithm +{ +public: + AwbGrey() = default; + + int init(const YamlObject &tuningData) override; + AwbResult calculateAwb(const AwbStats &stats, unsigned int lux) override; + RGB<double> gainsFromColourTemperature(double colourTemperature) override; + +private: + std::optional<Interpolator<Vector<double, 2>>> colourGainCurve_; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/colours.h b/src/ipa/libipa/colours.h index fa6a8b57..d39b2ca8 100644 --- a/src/ipa/libipa/colours.h +++ b/src/ipa/libipa/colours.h @@ -9,7 +9,7 @@ #include <stdint.h> -#include "vector.h" +#include "libcamera/internal/vector.h" namespace libcamera { diff --git a/src/ipa/libipa/exposure_mode_helper.cpp b/src/ipa/libipa/exposure_mode_helper.cpp index f235316d..0c1e99e3 100644 --- a/src/ipa/libipa/exposure_mode_helper.cpp +++ b/src/ipa/libipa/exposure_mode_helper.cpp @@ -182,6 +182,7 @@ ExposureModeHelper::splitExposure(utils::Duration exposure) const * the stage limits are initialised. */ + /* Clamp the gain to lastStageGain and regulate exposureTime. */ if (stageExposureTime * lastStageGain >= exposure) { exposureTime = clampExposureTime(exposure / clampGain(lastStageGain)); gain = clampGain(exposure / exposureTime); @@ -189,8 +190,9 @@ ExposureModeHelper::splitExposure(utils::Duration exposure) const return { exposureTime, gain, exposure / (exposureTime * gain) }; } + /* Clamp the exposureTime to stageExposureTime and regulate gain. */ if (stageExposureTime * stageGain >= exposure) { - exposureTime = clampExposureTime(exposure / clampGain(stageGain)); + exposureTime = clampExposureTime(stageExposureTime); gain = clampGain(exposure / exposureTime); return { exposureTime, gain, exposure / (exposureTime * gain) }; diff --git a/src/ipa/libipa/interpolator.cpp b/src/ipa/libipa/interpolator.cpp index 73e8d3b7..f901a86e 100644 --- a/src/ipa/libipa/interpolator.cpp +++ b/src/ipa/libipa/interpolator.cpp @@ -126,6 +126,13 @@ namespace ipa { */ /** + * \fn std::map<unsigned int, T> &Interpolator<T>::data() const + * \brief Access the internal map + * + * \return The internal map + */ + +/** * \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 @@ -136,8 +143,7 @@ namespace ipa { */ /** - * \fn void Interpolator<T>::interpolate(const T &a, const T &b, T &dest, double - * lambda) + * \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 diff --git a/src/ipa/libipa/interpolator.h b/src/ipa/libipa/interpolator.h index fffce214..7880db69 100644 --- a/src/ipa/libipa/interpolator.h +++ b/src/ipa/libipa/interpolator.h @@ -81,6 +81,11 @@ public: lastInterpolatedKey_.reset(); } + const std::map<unsigned int, T> &data() const + { + return data_; + } + const T &getInterpolated(unsigned int key, unsigned int *quantizedKey = nullptr) { ASSERT(data_.size() > 0); diff --git a/src/ipa/libipa/lux.cpp b/src/ipa/libipa/lux.cpp index bae8198f..899e8824 100644 --- a/src/ipa/libipa/lux.cpp +++ b/src/ipa/libipa/lux.cpp @@ -44,11 +44,6 @@ namespace ipa { */ /** - * \var Lux::binSize_ - * \brief The maximum count of each bin - */ - -/** * \var Lux::referenceExposureTime_ * \brief The exposure time of the reference image, in microseconds */ @@ -65,9 +60,8 @@ namespace ipa { /** * \var Lux::referenceY_ - * \brief The measured luminance of the reference image, out of the bin size + * \brief The measured luminance of the reference image, normalized to 1 * - * \sa binSize_ */ /** @@ -77,10 +71,8 @@ namespace ipa { /** * \brief Construct the Lux helper module - * \param[in] binSize The maximum count of each bin */ -Lux::Lux(unsigned int binSize) - : binSize_(binSize) +Lux::Lux() { } @@ -97,7 +89,7 @@ Lux::Lux(unsigned int binSize) * referenceExposureTime: 10000 * referenceAnalogueGain: 4.0 * referenceDigitalGain: 1.0 - * referenceY: 12000 + * referenceY: 0.1831 * referenceLux: 1000 * \endcode * @@ -167,7 +159,7 @@ double Lux::estimateLux(utils::Duration exposureTime, double exposureTimeRatio = referenceExposureTime_ / exposureTime; double aGainRatio = referenceAnalogueGain_ / aGain; double dGainRatio = referenceDigitalGain_ / dGain; - double yRatio = currentY * (binSize_ / yHist.bins()) / referenceY_; + double yRatio = (currentY / yHist.bins()) / referenceY_; double estimatedLux = exposureTimeRatio * aGainRatio * dGainRatio * yRatio * referenceLux_; diff --git a/src/ipa/libipa/lux.h b/src/ipa/libipa/lux.h index 93ca6479..d95bcdaf 100644 --- a/src/ipa/libipa/lux.h +++ b/src/ipa/libipa/lux.h @@ -21,7 +21,7 @@ class Histogram; class Lux { public: - Lux(unsigned int binSize); + Lux(); int parseTuningData(const YamlObject &tuningData); double estimateLux(utils::Duration exposureTime, @@ -29,7 +29,6 @@ public: const Histogram &yHist) const; private: - unsigned int binSize_; utils::Duration referenceExposureTime_; double referenceAnalogueGain_; double referenceDigitalGain_; diff --git a/src/ipa/libipa/meson.build b/src/ipa/libipa/meson.build index f2b2f4be..660be940 100644 --- a/src/ipa/libipa/meson.build +++ b/src/ipa/libipa/meson.build @@ -3,6 +3,9 @@ libipa_headers = files([ 'agc_mean_luminance.h', 'algorithm.h', + 'awb_bayes.h', + 'awb_grey.h', + 'awb.h', 'camera_sensor_helper.h', 'colours.h', 'exposure_mode_helper.h', @@ -14,12 +17,14 @@ libipa_headers = files([ 'lux.h', 'module.h', 'pwl.h', - 'vector.h', ]) libipa_sources = files([ 'agc_mean_luminance.cpp', 'algorithm.cpp', + 'awb_bayes.cpp', + 'awb_grey.cpp', + 'awb.cpp', 'camera_sensor_helper.cpp', 'colours.cpp', 'exposure_mode_helper.cpp', @@ -31,7 +36,6 @@ libipa_sources = files([ 'lux.cpp', 'module.cpp', 'pwl.cpp', - 'vector.cpp', ]) libipa_includes = include_directories('..') diff --git a/src/ipa/libipa/pwl.cpp b/src/ipa/libipa/pwl.cpp index 88fe2022..3fa005ba 100644 --- a/src/ipa/libipa/pwl.cpp +++ b/src/ipa/libipa/pwl.cpp @@ -160,6 +160,11 @@ void Pwl::prepend(double x, double y, const double eps) */ /** + * \fn Pwl::clear() + * \brief Clear the piecewise linear function + */ + +/** * \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 diff --git a/src/ipa/libipa/pwl.h b/src/ipa/libipa/pwl.h index d4ec9f4f..c1496c30 100644 --- a/src/ipa/libipa/pwl.h +++ b/src/ipa/libipa/pwl.h @@ -12,7 +12,7 @@ #include <utility> #include <vector> -#include "vector.h" +#include "libcamera/internal/vector.h" namespace libcamera { @@ -49,6 +49,7 @@ public: void append(double x, double y, double eps = 1e-6); bool empty() const { return points_.empty(); } + void clear() { points_.clear(); } size_t size() const { return points_.size(); } Interval domain() const; diff --git a/src/ipa/libipa/vector.h b/src/ipa/libipa/vector.h deleted file mode 100644 index fe33c9d6..00000000 --- a/src/ipa/libipa/vector.h +++ /dev/null @@ -1,370 +0,0 @@ -/* SPDX-License-Identifier: LGPL-2.1-or-later */ -/* - * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> - * - * Vector and related operations - */ -#pragma once - -#include <algorithm> -#include <array> -#include <cmath> -#include <functional> -#include <numeric> -#include <optional> -#include <ostream> - -#include <libcamera/base/log.h> -#include <libcamera/base/span.h> - -#include "libcamera/internal/matrix.h" -#include "libcamera/internal/yaml_parser.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 explicit Vector(T scalar) - { - data_.fill(scalar); - } - - 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]; - } - - 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 operator+(const Vector &other) const - { - return apply(*this, other, std::plus<>{}); - } - - constexpr Vector operator+(T scalar) const - { - return apply(*this, scalar, std::plus<>{}); - } - - constexpr Vector operator-(const Vector &other) const - { - return apply(*this, other, std::minus<>{}); - } - - constexpr Vector operator-(T scalar) const - { - return apply(*this, scalar, std::minus<>{}); - } - - constexpr Vector operator*(const Vector &other) const - { - return apply(*this, other, std::multiplies<>{}); - } - - constexpr Vector operator*(T scalar) const - { - return apply(*this, scalar, std::multiplies<>{}); - } - - constexpr Vector operator/(const Vector &other) const - { - return apply(*this, other, std::divides<>{}); - } - - constexpr Vector operator/(T scalar) const - { - return apply(*this, scalar, std::divides<>{}); - } - - Vector &operator+=(const Vector &other) - { - return apply(other, [](T a, T b) { return a + b; }); - } - - Vector &operator+=(T scalar) - { - return apply(scalar, [](T a, T b) { return a + b; }); - } - - Vector &operator-=(const Vector &other) - { - return apply(other, [](T a, T b) { return a - b; }); - } - - Vector &operator-=(T scalar) - { - return apply(scalar, [](T a, T b) { return a - b; }); - } - - Vector &operator*=(const Vector &other) - { - return apply(other, [](T a, T b) { return a * b; }); - } - - Vector &operator*=(T scalar) - { - return apply(scalar, [](T a, T b) { return a * b; }); - } - - Vector &operator/=(const Vector &other) - { - return apply(other, [](T a, T b) { return a / b; }); - } - - Vector &operator/=(T scalar) - { - return apply(scalar, [](T a, T b) { return a / b; }); - } - - constexpr Vector min(const Vector &other) const - { - return apply(*this, other, [](T a, T b) { return std::min(a, b); }); - } - - constexpr Vector min(T scalar) const - { - return apply(*this, scalar, [](T a, T b) { return std::min(a, b); }); - } - - constexpr Vector max(const Vector &other) const - { - return apply(*this, other, [](T a, T b) { return std::max(a, b); }); - } - - constexpr Vector max(T scalar) const - { - return apply(*this, scalar, [](T a, T b) -> T { return std::max(a, b); }); - } - - constexpr T dot(const Vector<T, Rows> &other) const - { - T ret = 0; - for (unsigned int i = 0; i < Rows; i++) - ret += data_[i] * other[i]; - return ret; - } - -#ifndef __DOXYGEN__ - template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>> -#endif /* __DOXYGEN__ */ - constexpr const T &x() const { return data_[0]; } -#ifndef __DOXYGEN__ - template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>> -#endif /* __DOXYGEN__ */ - constexpr const T &y() const { return data_[1]; } -#ifndef __DOXYGEN__ - template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>> -#endif /* __DOXYGEN__ */ - constexpr const T &z() const { return data_[2]; } -#ifndef __DOXYGEN__ - template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>> -#endif /* __DOXYGEN__ */ - constexpr T &x() { return data_[0]; } -#ifndef __DOXYGEN__ - template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>> -#endif /* __DOXYGEN__ */ - constexpr T &y() { return data_[1]; } -#ifndef __DOXYGEN__ - template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>> -#endif /* __DOXYGEN__ */ - constexpr T &z() { return data_[2]; } - -#ifndef __DOXYGEN__ - template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>> -#endif /* __DOXYGEN__ */ - constexpr const T &r() const { return data_[0]; } -#ifndef __DOXYGEN__ - template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>> -#endif /* __DOXYGEN__ */ - constexpr const T &g() const { return data_[1]; } -#ifndef __DOXYGEN__ - template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>> -#endif /* __DOXYGEN__ */ - constexpr const T &b() const { return data_[2]; } -#ifndef __DOXYGEN__ - template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 1>> -#endif /* __DOXYGEN__ */ - constexpr T &r() { return data_[0]; } -#ifndef __DOXYGEN__ - template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 2>> -#endif /* __DOXYGEN__ */ - constexpr T &g() { return data_[1]; } -#ifndef __DOXYGEN__ - template<bool Dependent = false, typename = std::enable_if_t<Dependent || Rows >= 3>> -#endif /* __DOXYGEN__ */ - constexpr T &b() { return data_[2]; } - - 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()); - } - - template<typename R = T> - constexpr R sum() const - { - return std::accumulate(data_.begin(), data_.end(), R{}); - } - -private: - template<class BinaryOp> - static constexpr Vector apply(const Vector &lhs, const Vector &rhs, BinaryOp op) - { - Vector result; - std::transform(lhs.data_.begin(), lhs.data_.end(), - rhs.data_.begin(), result.data_.begin(), - op); - - return result; - } - - template<class BinaryOp> - static constexpr Vector apply(const Vector &lhs, T rhs, BinaryOp op) - { - Vector result; - std::transform(lhs.data_.begin(), lhs.data_.end(), - result.data_.begin(), - [&op, rhs](T v) { return op(v, rhs); }); - - return result; - } - - template<class BinaryOp> - Vector &apply(const Vector &other, BinaryOp op) - { - auto itOther = other.data_.begin(); - std::for_each(data_.begin(), data_.end(), - [&op, &itOther](T &v) { v = op(v, *itOther++); }); - - return *this; - } - - template<class BinaryOp> - Vector &apply(T scalar, BinaryOp op) - { - std::for_each(data_.begin(), data_.end(), - [&op, scalar](T &v) { v = op(v, scalar); }); - - return *this; - } - - std::array<T, Rows> data_; -}; - -template<typename T> -using RGB = Vector<T, 3>; - -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 40e5a8f4..b3ac9400 100644 --- a/src/ipa/rkisp1/algorithms/agc.cpp +++ b/src/ipa/rkisp1/algorithms/agc.cpp @@ -148,7 +148,16 @@ int Agc::init(IPAContext &context, const YamlObject &tuningData) if (ret) return ret; - context.ctrlMap[&controls::AeEnable] = ControlInfo(false, true); + context.ctrlMap[&controls::ExposureTimeMode] = + ControlInfo({ { ControlValue(controls::ExposureTimeModeAuto), + ControlValue(controls::ExposureTimeModeManual) } }, + ControlValue(controls::ExposureTimeModeAuto)); + context.ctrlMap[&controls::AnalogueGainMode] = + ControlInfo({ { ControlValue(controls::AnalogueGainModeAuto), + ControlValue(controls::AnalogueGainModeManual) } }, + ControlValue(controls::AnalogueGainModeAuto)); + /* \todo Move this to the Camera class */ + context.ctrlMap[&controls::AeEnable] = ControlInfo(false, true, true); context.ctrlMap.merge(controls()); return 0; @@ -169,7 +178,8 @@ int Agc::configure(IPAContext &context, const IPACameraSensorInfo &configInfo) 10ms / context.configuration.sensor.lineDuration; context.activeState.agc.manual.gain = context.activeState.agc.automatic.gain; context.activeState.agc.manual.exposure = context.activeState.agc.automatic.exposure; - context.activeState.agc.autoEnabled = !context.configuration.raw; + context.activeState.agc.autoExposureEnabled = !context.configuration.raw; + context.activeState.agc.autoGainEnabled = !context.configuration.raw; context.activeState.agc.constraintMode = static_cast<controls::AeConstraintModeEnum>(constraintModes().begin()->first); @@ -178,21 +188,15 @@ int Agc::configure(IPAContext &context, const IPACameraSensorInfo &configInfo) 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.maxExposureTime; + /* Limit the frame duration to match current initialisation */ + ControlInfo &frameDurationLimits = context.ctrlMap[&controls::FrameDurationLimits]; + context.activeState.agc.minFrameDuration = std::chrono::microseconds(frameDurationLimits.min().get<int64_t>()); + context.activeState.agc.maxFrameDuration = std::chrono::microseconds(frameDurationLimits.max().get<int64_t>()); - /* - * Define the measurement window for AGC as a centered rectangle - * covering 3/4 of the image width and height. - */ - context.configuration.agc.measureWindow.h_offs = configInfo.outputSize.width / 8; - context.configuration.agc.measureWindow.v_offs = configInfo.outputSize.height / 8; - context.configuration.agc.measureWindow.h_size = 3 * configInfo.outputSize.width / 4; - context.configuration.agc.measureWindow.v_size = 3 * configInfo.outputSize.height / 4; + context.configuration.agc.measureWindow.h_offs = 0; + context.configuration.agc.measureWindow.v_offs = 0; + context.configuration.agc.measureWindow.h_size = configInfo.outputSize.width; + context.configuration.agc.measureWindow.v_size = configInfo.outputSize.height; setLimits(context.configuration.sensor.minExposureTime, context.configuration.sensor.maxExposureTime, @@ -215,18 +219,47 @@ void Agc::queueRequest(IPAContext &context, auto &agc = context.activeState.agc; if (!context.configuration.raw) { - const auto &agcEnable = controls.get(controls::AeEnable); - if (agcEnable && *agcEnable != agc.autoEnabled) { - agc.autoEnabled = *agcEnable; + const auto &aeEnable = controls.get(controls::ExposureTimeMode); + if (aeEnable && + (*aeEnable == controls::ExposureTimeModeAuto) != agc.autoExposureEnabled) { + agc.autoExposureEnabled = (*aeEnable == controls::ExposureTimeModeAuto); LOG(RkISP1Agc, Debug) - << (agc.autoEnabled ? "Enabling" : "Disabling") - << " AGC"; + << (agc.autoExposureEnabled ? "Enabling" : "Disabling") + << " AGC (exposure)"; + + /* + * If we go from auto -> manual with no manual control + * set, use the last computed value, which we don't + * know until prepare() so save this information. + * + * \todo Check the previous frame at prepare() time + * instead of saving a flag here + */ + if (!agc.autoExposureEnabled && !controls.get(controls::ExposureTime)) + frameContext.agc.autoExposureModeChange = true; + } + + const auto &agEnable = controls.get(controls::AnalogueGainMode); + if (agEnable && + (*agEnable == controls::AnalogueGainModeAuto) != agc.autoGainEnabled) { + agc.autoGainEnabled = (*agEnable == controls::AnalogueGainModeAuto); + + LOG(RkISP1Agc, Debug) + << (agc.autoGainEnabled ? "Enabling" : "Disabling") + << " AGC (gain)"; + /* + * If we go from auto -> manual with no manual control + * set, use the last computed value, which we don't + * know until prepare() so save this information. + */ + if (!agc.autoGainEnabled && !controls.get(controls::AnalogueGain)) + frameContext.agc.autoGainModeChange = true; } } const auto &exposure = controls.get(controls::ExposureTime); - if (exposure && !agc.autoEnabled) { + if (exposure && !agc.autoExposureEnabled) { agc.manual.exposure = *exposure * 1.0us / context.configuration.sensor.lineDuration; @@ -235,18 +268,19 @@ void Agc::queueRequest(IPAContext &context, } const auto &gain = controls.get(controls::AnalogueGain); - if (gain && !agc.autoEnabled) { + if (gain && !agc.autoGainEnabled) { agc.manual.gain = *gain; LOG(RkISP1Agc, Debug) << "Set gain to " << agc.manual.gain; } - frameContext.agc.autoEnabled = agc.autoEnabled; + frameContext.agc.autoExposureEnabled = agc.autoExposureEnabled; + frameContext.agc.autoGainEnabled = agc.autoGainEnabled; - if (!frameContext.agc.autoEnabled) { + if (!frameContext.agc.autoExposureEnabled) frameContext.agc.exposure = agc.manual.exposure; + if (!frameContext.agc.autoGainEnabled) frameContext.agc.gain = agc.manual.gain; - } const auto &meteringMode = controls.get(controls::AeMeteringMode); if (meteringMode) { @@ -270,10 +304,21 @@ void Agc::queueRequest(IPAContext &context, const auto &frameDurationLimits = controls.get(controls::FrameDurationLimits); if (frameDurationLimits) { - utils::Duration maxFrameDuration = - std::chrono::milliseconds((*frameDurationLimits).back()); - agc.maxFrameDuration = maxFrameDuration; + /* Limit the control value to the limits in ControlInfo */ + ControlInfo &limits = context.ctrlMap[&controls::FrameDurationLimits]; + int64_t minFrameDuration = + std::clamp((*frameDurationLimits).front(), + limits.min().get<int64_t>(), + limits.max().get<int64_t>()); + int64_t maxFrameDuration = + std::clamp((*frameDurationLimits).back(), + limits.min().get<int64_t>(), + limits.max().get<int64_t>()); + + agc.minFrameDuration = std::chrono::microseconds(minFrameDuration); + agc.maxFrameDuration = std::chrono::microseconds(maxFrameDuration); } + frameContext.agc.minFrameDuration = agc.minFrameDuration; frameContext.agc.maxFrameDuration = agc.maxFrameDuration; } @@ -283,9 +328,26 @@ void Agc::queueRequest(IPAContext &context, void Agc::prepare(IPAContext &context, const uint32_t frame, IPAFrameContext &frameContext, RkISP1Params *params) { - if (frameContext.agc.autoEnabled) { - frameContext.agc.exposure = context.activeState.agc.automatic.exposure; - frameContext.agc.gain = context.activeState.agc.automatic.gain; + uint32_t activeAutoExposure = context.activeState.agc.automatic.exposure; + double activeAutoGain = context.activeState.agc.automatic.gain; + + /* Populate exposure and gain in auto mode */ + if (frameContext.agc.autoExposureEnabled) + frameContext.agc.exposure = activeAutoExposure; + if (frameContext.agc.autoGainEnabled) + frameContext.agc.gain = activeAutoGain; + + /* + * Populate manual exposure and gain from the active auto values when + * transitioning from auto to manual + */ + if (!frameContext.agc.autoExposureEnabled && frameContext.agc.autoExposureModeChange) { + context.activeState.agc.manual.exposure = activeAutoExposure; + frameContext.agc.exposure = activeAutoExposure; + } + if (!frameContext.agc.autoGainEnabled && frameContext.agc.autoGainModeChange) { + context.activeState.agc.manual.gain = activeAutoGain; + frameContext.agc.gain = activeAutoGain; } if (frame > 0 && !frameContext.agc.updateMetering) @@ -333,14 +395,15 @@ void Agc::fillMetadata(IPAContext &context, IPAFrameContext &frameContext, * 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); - - /* \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>()); + metadata.set(controls::FrameDuration, frameContext.agc.frameDuration.get<std::micro>()); + metadata.set(controls::ExposureTimeMode, + frameContext.agc.autoExposureEnabled + ? controls::ExposureTimeModeAuto + : controls::ExposureTimeModeManual); + metadata.set(controls::AnalogueGainMode, + frameContext.agc.autoGainEnabled + ? controls::AnalogueGainModeAuto + : controls::AnalogueGainModeManual); metadata.set(controls::AeMeteringMode, frameContext.agc.meteringMode); metadata.set(controls::AeExposureMode, frameContext.agc.exposureMode); @@ -372,15 +435,41 @@ void Agc::fillMetadata(IPAContext &context, IPAFrameContext &frameContext, */ double Agc::estimateLuminance(double gain) const { + ASSERT(expMeans_.size() == weights_.size()); double ySum = 0.0; + double wSum = 0.0; /* Sum the averages, saturated to 255. */ - for (uint8_t expMean : expMeans_) - ySum += std::min(expMean * gain, 255.0); + for (unsigned i = 0; i < expMeans_.size(); i++) { + double w = weights_[i]; + ySum += std::min(expMeans_[i] * gain, 255.0) * w; + wSum += w; + } /* \todo Weight with the AWB gains */ - return ySum / expMeans_.size() / 255; + return ySum / wSum / 255; +} + +/** + * \brief Process frame duration and compute vblank + * \param[in] context The shared IPA context + * \param[in] frameContext The current frame context + * \param[in] frameDuration The target frame duration + * + * Compute and populate vblank from the target frame duration. + */ +void Agc::processFrameDuration(IPAContext &context, + IPAFrameContext &frameContext, + utils::Duration frameDuration) +{ + IPACameraSensorInfo &sensorInfo = context.sensorInfo; + utils::Duration lineDuration = context.configuration.sensor.lineDuration; + + frameContext.agc.vblank = (frameDuration / lineDuration) - sensorInfo.outputSize.height; + + /* Update frame duration accounting for line length quantization. */ + frameContext.agc.frameDuration = (sensorInfo.outputSize.height + frameContext.agc.vblank) * lineDuration; } /** @@ -399,16 +488,20 @@ void Agc::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, ControlList &metadata) { if (!stats) { + processFrameDuration(context, frameContext, + frameContext.agc.minFrameDuration); 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; } + const utils::Duration &lineDuration = context.configuration.sensor.lineDuration; + /* * \todo Verify that the exposure and gain applied by the sensor for * this frame match what has been requested. This isn't a hard @@ -423,22 +516,44 @@ void Agc::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, Histogram hist({ params->hist.hist_bins, context.hw->numHistogramBins }, [](uint32_t x) { return x >> 4; }); expMeans_ = { params->ae.exp_mean, context.hw->numAeCells }; + std::vector<uint8_t> &modeWeights = meteringModes_.at(frameContext.agc.meteringMode); + weights_ = { modeWeights.data(), modeWeights.size() }; - utils::Duration maxExposureTime = - std::clamp(frameContext.agc.maxFrameDuration, - context.configuration.sensor.minExposureTime, - context.configuration.sensor.maxExposureTime); - setLimits(context.configuration.sensor.minExposureTime, - maxExposureTime, - context.configuration.sensor.minAnalogueGain, - context.configuration.sensor.maxAnalogueGain); + /* + * Set the AGC limits using the fixed exposure time and/or gain in + * manual mode, or the sensor limits in auto mode. + */ + utils::Duration minExposureTime; + utils::Duration maxExposureTime; + double minAnalogueGain; + double maxAnalogueGain; + + if (frameContext.agc.autoExposureEnabled) { + minExposureTime = context.configuration.sensor.minExposureTime; + maxExposureTime = std::clamp(frameContext.agc.maxFrameDuration, + context.configuration.sensor.minExposureTime, + context.configuration.sensor.maxExposureTime); + } else { + minExposureTime = context.configuration.sensor.lineDuration + * frameContext.agc.exposure; + maxExposureTime = minExposureTime; + } + + if (frameContext.agc.autoGainEnabled) { + minAnalogueGain = context.configuration.sensor.minAnalogueGain; + maxAnalogueGain = context.configuration.sensor.maxAnalogueGain; + } else { + minAnalogueGain = frameContext.agc.gain; + maxAnalogueGain = frameContext.agc.gain; + } + + setLimits(minExposureTime, maxExposureTime, minAnalogueGain, maxAnalogueGain); /* * The Agc algorithm needs to know the effective exposure value that was * applied to the sensor when the statistics were collected. */ - utils::Duration exposureTime = context.configuration.sensor.lineDuration - * frameContext.sensor.exposure; + utils::Duration exposureTime = lineDuration * frameContext.sensor.exposure; double analogueGain = frameContext.sensor.gain; utils::Duration effectiveExposureValue = exposureTime * analogueGain; @@ -455,10 +570,16 @@ void Agc::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, IPAActiveState &activeState = context.activeState; /* Update the estimated exposure and gain. */ - activeState.agc.automatic.exposure = newExposureTime - / context.configuration.sensor.lineDuration; + activeState.agc.automatic.exposure = newExposureTime / lineDuration; activeState.agc.automatic.gain = aGain; + /* + * Expand the target frame duration so that we do not run faster than + * the minimum frame duration when we have short exposures. + */ + processFrameDuration(context, frameContext, + std::max(frameContext.agc.minFrameDuration, newExposureTime)); + fillMetadata(context, frameContext, metadata); expMeans_ = {}; } diff --git a/src/ipa/rkisp1/algorithms/agc.h b/src/ipa/rkisp1/algorithms/agc.h index aa86f2c5..7867eed9 100644 --- a/src/ipa/rkisp1/algorithms/agc.h +++ b/src/ipa/rkisp1/algorithms/agc.h @@ -50,8 +50,12 @@ private: void fillMetadata(IPAContext &context, IPAFrameContext &frameContext, ControlList &metadata); double estimateLuminance(double gain) const override; + void processFrameDuration(IPAContext &context, + IPAFrameContext &frameContext, + utils::Duration frameDuration); Span<const uint8_t> expMeans_; + Span<const uint8_t> weights_; std::map<int32_t, std::vector<uint8_t>> meteringModes_; }; diff --git a/src/ipa/rkisp1/algorithms/awb.cpp b/src/ipa/rkisp1/algorithms/awb.cpp index cffaa06a..eafe9308 100644 --- a/src/ipa/rkisp1/algorithms/awb.cpp +++ b/src/ipa/rkisp1/algorithms/awb.cpp @@ -16,6 +16,8 @@ #include <libcamera/ipa/core_ipa_interface.h> +#include "libipa/awb_bayes.h" +#include "libipa/awb_grey.h" #include "libipa/colours.h" /** @@ -40,6 +42,40 @@ constexpr int32_t kDefaultColourTemperature = 5000; /* Minimum mean value below which AWB can't operate. */ constexpr double kMeanMinThreshold = 2.0; +class RkISP1AwbStats final : public AwbStats +{ +public: + RkISP1AwbStats(const RGB<double> &rgbMeans) + : rgbMeans_(rgbMeans) + { + rg_ = rgbMeans_.r() / rgbMeans_.g(); + bg_ = rgbMeans_.b() / rgbMeans_.g(); + } + + double computeColourError(const RGB<double> &gains) const override + { + /* + * Compute the sum of the squared colour error (non-greyness) as + * it appears in the log likelihood equation. + */ + double deltaR = gains.r() * rg_ - 1.0; + double deltaB = gains.b() * bg_ - 1.0; + double delta2 = deltaR * deltaR + deltaB * deltaB; + + return delta2; + } + + RGB<double> rgbMeans() const override + { + return rgbMeans_; + } + +private: + RGB<double> rgbMeans_; + double rg_; + double bg_; +}; + Awb::Awb() : rgbMode_(false) { @@ -55,15 +91,29 @@ int Awb::init(IPAContext &context, const YamlObject &tuningData) kMaxColourTemperature, kDefaultColourTemperature); - Interpolator<Vector<double, 2>> gainCurve; - int ret = gainCurve.readYaml(tuningData["colourGains"], "ct", "gains"); - if (ret < 0) - LOG(RkISP1Awb, Warning) - << "Failed to parse 'colourGains' " - << "parameter from tuning file; " - << "manual colour temperature will not work properly"; - else - colourGainCurve_ = gainCurve; + if (!tuningData.contains("algorithm")) + LOG(RkISP1Awb, Info) << "No AWB algorithm specified." + << " Default to grey world"; + + auto mode = tuningData["algorithm"].get<std::string>("grey"); + if (mode == "grey") { + awbAlgo_ = std::make_unique<AwbGrey>(); + } else if (mode == "bayes") { + awbAlgo_ = std::make_unique<AwbBayes>(); + } else { + LOG(RkISP1Awb, Error) << "Unknown AWB algorithm: " << mode; + return -EINVAL; + } + LOG(RkISP1Awb, Debug) << "Using AWB algorithm: " << mode; + + int ret = awbAlgo_->init(tuningData); + if (ret) { + LOG(RkISP1Awb, Error) << "Failed to init AWB algorithm"; + return ret; + } + + const auto &src = awbAlgo_->controls(); + cmap.insert(src.begin(), src.end()); return 0; } @@ -75,7 +125,8 @@ int Awb::configure(IPAContext &context, const IPACameraSensorInfo &configInfo) { context.activeState.awb.gains.manual = RGB<double>{ 1.0 }; - context.activeState.awb.gains.automatic = RGB<double>{ 1.0 }; + context.activeState.awb.gains.automatic = + awbAlgo_->gainsFromColourTemperature(kDefaultColourTemperature); context.activeState.awb.autoEnabled = true; context.activeState.awb.temperatureK = kDefaultColourTemperature; @@ -111,6 +162,8 @@ void Awb::queueRequest(IPAContext &context, << (*awbEnable ? "Enabling" : "Disabling") << " AWB"; } + awbAlgo_->handleControls(controls); + frameContext.awb.autoEnabled = awb.autoEnabled; if (awb.autoEnabled) @@ -123,15 +176,15 @@ void Awb::queueRequest(IPAContext &context, awb.gains.manual.r() = (*colourGains)[0]; awb.gains.manual.b() = (*colourGains)[1]; /* - * \todo: Colour temperature reported in metadata is now + * \todo Colour temperature reported in metadata is now * incorrect, as we can't deduce the temperature from the gains. * This will be fixed with the bayes AWB algorithm. */ update = true; - } else if (colourTemperature && colourGainCurve_) { - const auto &gains = colourGainCurve_->getInterpolated(*colourTemperature); - awb.gains.manual.r() = gains[0]; - awb.gains.manual.b() = gains[1]; + } else if (colourTemperature) { + const auto &gains = awbAlgo_->gainsFromColourTemperature(*colourTemperature); + awb.gains.manual.r() = gains.r(); + awb.gains.manual.b() = gains.b(); awb.temperatureK = *colourTemperature; update = true; } @@ -226,10 +279,7 @@ void Awb::process(IPAContext &context, const rkisp1_stat_buffer *stats, ControlList &metadata) { - const rkisp1_cif_isp_stat *params = &stats->params; - const rkisp1_cif_isp_awb_stat *awb = ¶ms->awb; IPAActiveState &activeState = context.activeState; - RGB<double> rgbMeans; metadata.set(controls::AwbEnable, frameContext.awb.autoEnabled); metadata.set(controls::ColourGains, { @@ -243,10 +293,57 @@ void Awb::process(IPAContext &context, return; } + const rkisp1_cif_isp_stat *params = &stats->params; + const rkisp1_cif_isp_awb_stat *awb = ¶ms->awb; + + RGB<double> rgbMeans = calculateRgbMeans(frameContext, awb); + + /* + * If the means are too small we don't have enough information to + * meaningfully calculate gains. Freeze the algorithm in that case. + */ + if (rgbMeans.r() < kMeanMinThreshold && rgbMeans.g() < kMeanMinThreshold && + rgbMeans.b() < kMeanMinThreshold) + return; + + RkISP1AwbStats awbStats{ rgbMeans }; + AwbResult awbResult = awbAlgo_->calculateAwb(awbStats, frameContext.lux.lux); + + activeState.awb.temperatureK = awbResult.colourTemperature; + + /* Metadata shall contain the up to date measurement */ + metadata.set(controls::ColourTemperature, activeState.awb.temperatureK); + + /* + * Clamp the gain values to the hardware, which expresses gains as Q2.8 + * unsigned integer values. Set the minimum just above zero to avoid + * divisions by zero when computing the raw means in subsequent + * iterations. + */ + awbResult.gains = awbResult.gains.max(1.0 / 256).min(1023.0 / 256); + + /* Filter the values to avoid oscillations. */ + double speed = 0.2; + awbResult.gains = awbResult.gains * speed + + activeState.awb.gains.automatic * (1 - speed); + + activeState.awb.gains.automatic = awbResult.gains; + + LOG(RkISP1Awb, Debug) + << std::showpoint + << "Means " << rgbMeans << ", gains " + << activeState.awb.gains.automatic << ", temp " + << activeState.awb.temperatureK << "K"; +} + +RGB<double> Awb::calculateRgbMeans(const IPAFrameContext &frameContext, const rkisp1_cif_isp_awb_stat *awb) const +{ + Vector<double, 3> rgbMeans; + if (rgbMode_) { rgbMeans = {{ - static_cast<double>(awb->awb_mean[0].mean_y_or_g), static_cast<double>(awb->awb_mean[0].mean_cr_or_r), + static_cast<double>(awb->awb_mean[0].mean_y_or_g), static_cast<double>(awb->awb_mean[0].mean_cb_or_b) }}; } else { @@ -301,46 +398,7 @@ void Awb::process(IPAContext &context, */ rgbMeans /= frameContext.awb.gains; - /* - * If the means are too small we don't have enough information to - * meaningfully calculate gains. Freeze the algorithm in that case. - */ - if (rgbMeans.r() < kMeanMinThreshold && rgbMeans.g() < kMeanMinThreshold && - rgbMeans.b() < kMeanMinThreshold) - return; - - activeState.awb.temperatureK = estimateCCT(rgbMeans); - - /* - * 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 - * divisor to a minimum value of 1.0. - */ - RGB<double> gains({ - rgbMeans.g() / std::max(rgbMeans.r(), 1.0), - 1.0, - rgbMeans.g() / std::max(rgbMeans.b(), 1.0) - }); - - /* - * Clamp the gain values to the hardware, which expresses gains as Q2.8 - * unsigned integer values. Set the minimum just above zero to avoid - * divisions by zero when computing the raw means in subsequent - * iterations. - */ - gains = gains.max(1.0 / 256).min(1023.0 / 256); - - /* Filter the values to avoid oscillations. */ - double speed = 0.2; - gains = gains * speed + activeState.awb.gains.automatic * (1 - speed); - - activeState.awb.gains.automatic = gains; - - LOG(RkISP1Awb, Debug) - << std::showpoint - << "Means " << rgbMeans << ", gains " - << activeState.awb.gains.automatic << ", temp " - << activeState.awb.temperatureK << "K"; + return rgbMeans; } REGISTER_IPA_ALGORITHM(Awb, "Awb") diff --git a/src/ipa/rkisp1/algorithms/awb.h b/src/ipa/rkisp1/algorithms/awb.h index e4248048..7e6c3862 100644 --- a/src/ipa/rkisp1/algorithms/awb.h +++ b/src/ipa/rkisp1/algorithms/awb.h @@ -9,8 +9,10 @@ #include <optional> +#include "libcamera/internal/vector.h" + +#include "libipa/awb.h" #include "libipa/interpolator.h" -#include "libipa/vector.h" #include "algorithm.h" @@ -38,7 +40,11 @@ public: ControlList &metadata) override; private: - std::optional<Interpolator<Vector<double, 2>>> colourGainCurve_; + RGB<double> calculateRgbMeans(const IPAFrameContext &frameContext, + const rkisp1_cif_isp_awb_stat *awb) const; + + std::unique_ptr<AwbAlgorithm> awbAlgo_; + bool rgbMode_; }; diff --git a/src/ipa/rkisp1/algorithms/ccm.cpp b/src/ipa/rkisp1/algorithms/ccm.cpp index e2b5cf4d..eb8ca39e 100644 --- a/src/ipa/rkisp1/algorithms/ccm.cpp +++ b/src/ipa/rkisp1/algorithms/ccm.cpp @@ -120,12 +120,7 @@ void Ccm::process([[maybe_unused]] IPAContext &context, [[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); + metadata.set(controls::ColourCorrectionMatrix, frameContext.ccm.ccm.data()); } REGISTER_IPA_ALGORITHM(Ccm, "Ccm") diff --git a/src/ipa/rkisp1/algorithms/lux.cpp b/src/ipa/rkisp1/algorithms/lux.cpp index b0f74963..a467767e 100644 --- a/src/ipa/rkisp1/algorithms/lux.cpp +++ b/src/ipa/rkisp1/algorithms/lux.cpp @@ -33,12 +33,8 @@ namespace ipa::rkisp1::algorithms { /** * \brief Construct an rkisp1 Lux algo module - * - * The Lux helper is initialized to 65535 as that is the max bin count on the - * rkisp1. */ Lux::Lux() - : lux_(65535) { } diff --git a/src/ipa/rkisp1/ipa_context.cpp b/src/ipa/rkisp1/ipa_context.cpp index 80b99df8..99611bd5 100644 --- a/src/ipa/rkisp1/ipa_context.cpp +++ b/src/ipa/rkisp1/ipa_context.cpp @@ -165,8 +165,11 @@ namespace libcamera::ipa::rkisp1 { * \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.autoExposureEnabled + * \brief Manual/automatic AGC state (exposure) as set by the ExposureTimeMode control + * + * \var IPAActiveState::agc.autoGainEnabled + * \brief Manual/automatic AGC state (gain) as set by the AnalogueGainMode control * * \var IPAActiveState::agc.constraintMode * \brief Constraint mode as set by the AeConstraintMode control @@ -177,6 +180,9 @@ namespace libcamera::ipa::rkisp1 { * \var IPAActiveState::agc.meteringMode * \brief Metering mode as set by the AeMeteringMode control * + * \var IPAActiveState::agc.minFrameDuration + * \brief Minimum frame duration as set by the FrameDurationLimits control + * * \var IPAActiveState::agc.maxFrameDuration * \brief Maximum frame duration as set by the FrameDurationLimits control */ @@ -279,7 +285,9 @@ namespace libcamera::ipa::rkisp1 { * \brief Automatic Gain Control parameters for this frame * * The exposure and gain are provided by the AGC algorithm, and are to be - * applied to the sensor in order to take effect for this frame. + * applied to the sensor in order to take effect for this frame. Additionally + * the vertical blanking period is determined to maintain a consistent frame + * rate matched to the FrameDurationLimits as set by the user. * * \var IPAFrameContext::agc.exposure * \brief Exposure time expressed as a number of lines computed by the algorithm @@ -289,8 +297,14 @@ namespace libcamera::ipa::rkisp1 { * * 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.vblank + * \brief Vertical blanking parameter computed by the algorithm + * + * \var IPAFrameContext::agc.autoExposureEnabled + * \brief Manual/automatic AGC state (exposure) as set by the ExposureTimeMode control + * + * \var IPAFrameContext::agc.autoGainEnabled + * \brief Manual/automatic AGC state (gain) as set by the AnalogueGainMode control * * \var IPAFrameContext::agc.constraintMode * \brief Constraint mode as set by the AeConstraintMode control @@ -301,11 +315,27 @@ namespace libcamera::ipa::rkisp1 { * \var IPAFrameContext::agc.meteringMode * \brief Metering mode as set by the AeMeteringMode control * + * \var IPAFrameContext::agc.minFrameDuration + * \brief Minimum frame duration as set by the FrameDurationLimits control + * * \var IPAFrameContext::agc.maxFrameDuration * \brief Maximum frame duration as set by the FrameDurationLimits control * + * \var IPAFrameContext::agc.frameDuration + * \brief The actual FrameDuration used by the algorithm for the frame + * * \var IPAFrameContext::agc.updateMetering * \brief Indicate if new ISP AGC metering parameters need to be applied + * + * \var IPAFrameContext::agc.autoExposureModeChange + * \brief Indicate if autoExposureEnabled has changed from true in the previous + * frame to false in the current frame, and no manual exposure value has been + * supplied in the current frame. + * + * \var IPAFrameContext::agc.autoGainModeChange + * \brief Indicate if autoGainEnabled has changed from true in the previous + * frame to false in the current frame, and no manual gain value has been + * supplied in the current frame. */ /** diff --git a/src/ipa/rkisp1/ipa_context.h b/src/ipa/rkisp1/ipa_context.h index b83c1822..474f7036 100644 --- a/src/ipa/rkisp1/ipa_context.h +++ b/src/ipa/rkisp1/ipa_context.h @@ -22,10 +22,10 @@ #include "libcamera/internal/debug_controls.h" #include "libcamera/internal/matrix.h" +#include "libcamera/internal/vector.h" #include <libipa/camera_sensor_helper.h> #include <libipa/fc_queue.h> -#include <libipa/vector.h> namespace libcamera { @@ -79,10 +79,12 @@ struct IPAActiveState { double gain; } automatic; - bool autoEnabled; + bool autoExposureEnabled; + bool autoGainEnabled; controls::AeConstraintModeEnum constraintMode; controls::AeExposureModeEnum exposureMode; controls::AeMeteringModeEnum meteringMode; + utils::Duration minFrameDuration; utils::Duration maxFrameDuration; } agc; @@ -124,12 +126,18 @@ struct IPAFrameContext : public FrameContext { struct { uint32_t exposure; double gain; - bool autoEnabled; + uint32_t vblank; + bool autoExposureEnabled; + bool autoGainEnabled; controls::AeConstraintModeEnum constraintMode; controls::AeExposureModeEnum exposureMode; controls::AeMeteringModeEnum meteringMode; + utils::Duration minFrameDuration; utils::Duration maxFrameDuration; + utils::Duration frameDuration; bool updateMetering; + bool autoExposureModeChange; + bool autoGainModeChange; } agc; struct { diff --git a/src/ipa/rkisp1/rkisp1.cpp b/src/ipa/rkisp1/rkisp1.cpp index 2ffdd99b..70ce0cba 100644 --- a/src/ipa/rkisp1/rkisp1.cpp +++ b/src/ipa/rkisp1/rkisp1.cpp @@ -211,8 +211,7 @@ int IPARkISP1::init(const IPASettings &settings, unsigned int hwRevision, int IPARkISP1::start() { - setControls(0); - + /* \todo Properly handle startup controls. */ return 0; } @@ -435,9 +434,9 @@ void IPARkISP1::updateControls(const IPACameraSensorInfo &sensorInfo, frameDurations[i] = frameSize / (sensorInfo.pixelRate / 1000000U); } - ctrlMap[&controls::FrameDurationLimits] = ControlInfo(frameDurations[0], - frameDurations[1], - frameDurations[2]); + /* \todo Move this (and other agc-related controls) to agc */ + context_.ctrlMap[&controls::FrameDurationLimits] = + ControlInfo(frameDurations[0], frameDurations[1], frameDurations[2]); ctrlMap.insert(context_.ctrlMap.begin(), context_.ctrlMap.end()); *ipaControls = ControlInfoMap(std::move(ctrlMap), controls::controls); @@ -453,10 +452,16 @@ void IPARkISP1::setControls(unsigned int frame) IPAFrameContext &frameContext = context_.frameContexts.get(frame); uint32_t exposure = frameContext.agc.exposure; uint32_t gain = context_.camHelper->gainCode(frameContext.agc.gain); + uint32_t vblank = frameContext.agc.vblank; + + LOG(IPARkISP1, Debug) + << "Set controls for frame " << frame << ": exposure " << exposure + << ", gain " << frameContext.agc.gain << ", vblank " << vblank; ControlList ctrls(sensorControls_); ctrls.set(V4L2_CID_EXPOSURE, static_cast<int32_t>(exposure)); ctrls.set(V4L2_CID_ANALOGUE_GAIN, static_cast<int32_t>(gain)); + ctrls.set(V4L2_CID_VBLANK, static_cast<int32_t>(vblank)); setSensorControls.emit(frame, ctrls); } diff --git a/src/ipa/rpi/common/ipa_base.cpp b/src/ipa/rpi/common/ipa_base.cpp index 6ff1e22b..6734c32e 100644 --- a/src/ipa/rpi/common/ipa_base.cpp +++ b/src/ipa/rpi/common/ipa_base.cpp @@ -55,9 +55,19 @@ constexpr Duration controllerMinFrameDuration = 1.0s / 30.0; /* List of controls handled by the Raspberry Pi IPA */ const ControlInfoMap::Map ipaControls{ - { &controls::AeEnable, ControlInfo(false, true) }, - { &controls::ExposureTime, ControlInfo(0, 66666) }, - { &controls::AnalogueGain, ControlInfo(1.0f, 16.0f) }, + /* \todo Move this to the Camera class */ + { &controls::AeEnable, ControlInfo(false, true, true) }, + { &controls::ExposureTimeMode, + ControlInfo(static_cast<int32_t>(controls::ExposureTimeModeAuto), + static_cast<int32_t>(controls::ExposureTimeModeManual), + static_cast<int32_t>(controls::ExposureTimeModeAuto)) }, + { &controls::ExposureTime, + ControlInfo(1, 66666, static_cast<int32_t>(defaultExposureTime.get<std::micro>())) }, + { &controls::AnalogueGainMode, + ControlInfo(static_cast<int32_t>(controls::AnalogueGainModeAuto), + static_cast<int32_t>(controls::AnalogueGainModeManual), + static_cast<int32_t>(controls::AnalogueGainModeAuto)) }, + { &controls::AnalogueGain, ControlInfo(1.0f, 16.0f, 1.0f) }, { &controls::AeMeteringMode, ControlInfo(controls::AeMeteringModeValues) }, { &controls::AeConstraintMode, ControlInfo(controls::AeConstraintModeValues) }, { &controls::AeExposureMode, ControlInfo(controls::AeExposureModeValues) }, @@ -71,7 +81,9 @@ const ControlInfoMap::Map ipaControls{ { &controls::HdrMode, ControlInfo(controls::HdrModeValues) }, { &controls::Sharpness, ControlInfo(0.0f, 16.0f, 1.0f) }, { &controls::ScalerCrop, ControlInfo(Rectangle{}, Rectangle(65535, 65535, 65535, 65535), Rectangle{}) }, - { &controls::FrameDurationLimits, ControlInfo(INT64_C(33333), INT64_C(120000)) }, + { &controls::FrameDurationLimits, + ControlInfo(INT64_C(33333), INT64_C(120000), + static_cast<int64_t>(defaultMinFrameDuration.get<std::micro>())) }, { &controls::draft::NoiseReductionMode, ControlInfo(controls::draft::NoiseReductionModeValues) }, { &controls::rpi::StatsOutputEnable, ControlInfo(false, true, false) }, }; @@ -250,15 +262,18 @@ int32_t IpaBase::configure(const IPACameraSensorInfo &sensorInfo, const ConfigPa ControlInfoMap::Map ctrlMap = ipaControls; ctrlMap[&controls::FrameDurationLimits] = ControlInfo(static_cast<int64_t>(mode_.minFrameDuration.get<std::micro>()), - static_cast<int64_t>(mode_.maxFrameDuration.get<std::micro>())); + static_cast<int64_t>(mode_.maxFrameDuration.get<std::micro>()), + static_cast<int64_t>(defaultMinFrameDuration.get<std::micro>())); ctrlMap[&controls::AnalogueGain] = ControlInfo(static_cast<float>(mode_.minAnalogueGain), - static_cast<float>(mode_.maxAnalogueGain)); + static_cast<float>(mode_.maxAnalogueGain), + static_cast<float>(defaultAnalogueGain)); ctrlMap[&controls::ExposureTime] = ControlInfo(static_cast<int32_t>(mode_.minExposureTime.get<std::micro>()), - static_cast<int32_t>(mode_.maxExposureTime.get<std::micro>())); + static_cast<int32_t>(mode_.maxExposureTime.get<std::micro>()), + static_cast<int32_t>(defaultExposureTime.get<std::micro>())); /* Declare colour processing related controls for non-mono sensors. */ if (!monoSensor_) @@ -749,6 +764,42 @@ void IpaBase::applyControls(const ControlList &controls) af->setMode(mode->second); } + /* + * Because some AE controls are mode-specific, handle the AE-related + * mode changes first. + */ + const auto analogueGainMode = controls.get(controls::AnalogueGainMode); + const auto exposureTimeMode = controls.get(controls::ExposureTimeMode); + + if (analogueGainMode || exposureTimeMode) { + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + if (agc) { + if (analogueGainMode) { + if (*analogueGainMode == controls::AnalogueGainModeManual) + agc->disableAutoGain(); + else + agc->enableAutoGain(); + + libcameraMetadata_.set(controls::AnalogueGainMode, + *analogueGainMode); + } + + if (exposureTimeMode) { + if (*exposureTimeMode == controls::ExposureTimeModeManual) + agc->disableAutoExposure(); + else + agc->enableAutoExposure(); + + libcameraMetadata_.set(controls::ExposureTimeMode, + *exposureTimeMode); + } + } else { + LOG(IPARPI, Warning) + << "Could not set AnalogueGainMode or ExposureTimeMode - no AGC algorithm"; + } + } + /* Iterate over controls */ for (auto const &ctrl : controls) { LOG(IPARPI, Debug) << "Request ctrl: " @@ -756,23 +807,8 @@ void IpaBase::applyControls(const ControlList &controls) << " = " << ctrl.second.toString(); switch (ctrl.first) { - case controls::AE_ENABLE: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.getAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set AE_ENABLE - no AGC algorithm"; - break; - } - - if (ctrl.second.get<bool>() == false) - agc->disableAuto(); - else - agc->enableAuto(); - - libcameraMetadata_.set(controls::AeEnable, ctrl.second.get<bool>()); - break; - } + case controls::EXPOSURE_TIME_MODE: + break; /* We already handled this one above */ case controls::EXPOSURE_TIME: { RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( @@ -783,6 +819,13 @@ void IpaBase::applyControls(const ControlList &controls) break; } + /* + * Ignore manual exposure time when the auto exposure + * algorithm is running. + */ + if (agc->autoExposureEnabled()) + break; + /* The control provides units of microseconds. */ agc->setFixedExposureTime(0, ctrl.second.get<int32_t>() * 1.0us); @@ -790,6 +833,9 @@ void IpaBase::applyControls(const ControlList &controls) break; } + case controls::ANALOGUE_GAIN_MODE: + break; /* We already handled this one above */ + case controls::ANALOGUE_GAIN: { RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( controller_.getAlgorithm("agc")); @@ -799,6 +845,13 @@ void IpaBase::applyControls(const ControlList &controls) break; } + /* + * Ignore manual analogue gain value when the auto gain + * algorithm is running. + */ + if (agc->autoGainEnabled()) + break; + agc->setFixedAnalogueGain(0, ctrl.second.get<float>()); libcameraMetadata_.set(controls::AnalogueGain, @@ -855,6 +908,13 @@ void IpaBase::applyControls(const ControlList &controls) break; } + /* + * Ignore AE_EXPOSURE_MODE if the shutter or the gain + * are in auto mode. + */ + if (agc->autoExposureEnabled() || agc->autoGainEnabled()) + break; + int32_t idx = ctrl.second.get<int32_t>(); if (ExposureModeTable.count(idx)) { agc->setExposureMode(ExposureModeTable.at(idx)); @@ -1334,9 +1394,19 @@ void IpaBase::reportMetadata(unsigned int ipaContext) } AgcPrepareStatus *agcPrepareStatus = rpiMetadata.getLocked<AgcPrepareStatus>("agc.prepare_status"); - if (agcPrepareStatus) { - libcameraMetadata_.set(controls::AeLocked, agcPrepareStatus->locked); + if (agcPrepareStatus) libcameraMetadata_.set(controls::DigitalGain, agcPrepareStatus->digitalGain); + + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + if (agc) { + if (!agc->autoExposureEnabled() && !agc->autoGainEnabled()) + libcameraMetadata_.set(controls::AeState, controls::AeStateIdle); + else if (agcPrepareStatus) + libcameraMetadata_.set(controls::AeState, + agcPrepareStatus->locked + ? controls::AeStateConverged + : controls::AeStateSearching); } LuxStatus *luxStatus = rpiMetadata.getLocked<LuxStatus>("lux.status"); diff --git a/src/ipa/rpi/controller/agc_algorithm.h b/src/ipa/rpi/controller/agc_algorithm.h index c9782857..fdaa10e6 100644 --- a/src/ipa/rpi/controller/agc_algorithm.h +++ b/src/ipa/rpi/controller/agc_algorithm.h @@ -30,8 +30,12 @@ public: virtual void setMeteringMode(std::string const &meteringModeName) = 0; virtual void setExposureMode(std::string const &exposureModeName) = 0; virtual void setConstraintMode(std::string const &contraintModeName) = 0; - virtual void enableAuto() = 0; - virtual void disableAuto() = 0; + virtual void enableAutoExposure() = 0; + virtual void disableAutoExposure() = 0; + virtual bool autoExposureEnabled() const = 0; + virtual void enableAutoGain() = 0; + virtual void disableAutoGain() = 0; + virtual bool autoGainEnabled() const = 0; virtual void setActiveChannels(const std::vector<unsigned int> &activeChannels) = 0; }; diff --git a/src/ipa/rpi/controller/rpi/agc.cpp b/src/ipa/rpi/controller/rpi/agc.cpp index c48fdf15..02bfdb4a 100644 --- a/src/ipa/rpi/controller/rpi/agc.cpp +++ b/src/ipa/rpi/controller/rpi/agc.cpp @@ -74,22 +74,62 @@ int Agc::checkChannel(unsigned int channelIndex) const return 0; } -void Agc::disableAuto() +void Agc::disableAutoExposure() { - LOG(RPiAgc, Debug) << "disableAuto"; + LOG(RPiAgc, Debug) << "disableAutoExposure"; /* All channels are enabled/disabled together. */ for (auto &data : channelData_) - data.channel.disableAuto(); + data.channel.disableAutoExposure(); } -void Agc::enableAuto() +void Agc::enableAutoExposure() { - LOG(RPiAgc, Debug) << "enableAuto"; + LOG(RPiAgc, Debug) << "enableAutoExposure"; /* All channels are enabled/disabled together. */ for (auto &data : channelData_) - data.channel.enableAuto(); + data.channel.enableAutoExposure(); +} + +bool Agc::autoExposureEnabled() const +{ + LOG(RPiAgc, Debug) << "autoExposureEnabled"; + + /* + * We always have at least one channel, and since all channels are + * enabled and disabled together we can simply check the first one. + */ + return channelData_[0].channel.autoExposureEnabled(); +} + +void Agc::disableAutoGain() +{ + LOG(RPiAgc, Debug) << "disableAutoGain"; + + /* All channels are enabled/disabled together. */ + for (auto &data : channelData_) + data.channel.disableAutoGain(); +} + +void Agc::enableAutoGain() +{ + LOG(RPiAgc, Debug) << "enableAutoGain"; + + /* All channels are enabled/disabled together. */ + for (auto &data : channelData_) + data.channel.enableAutoGain(); +} + +bool Agc::autoGainEnabled() const +{ + LOG(RPiAgc, Debug) << "autoGainEnabled"; + + /* + * We always have at least one channel, and since all channels are + * enabled and disabled together we can simply check the first one. + */ + return channelData_[0].channel.autoGainEnabled(); } unsigned int Agc::getConvergenceFrames() const diff --git a/src/ipa/rpi/controller/rpi/agc.h b/src/ipa/rpi/controller/rpi/agc.h index 3aca000b..c3a940bf 100644 --- a/src/ipa/rpi/controller/rpi/agc.h +++ b/src/ipa/rpi/controller/rpi/agc.h @@ -40,8 +40,12 @@ public: void setMeteringMode(std::string const &meteringModeName) override; void setExposureMode(std::string const &exposureModeName) override; void setConstraintMode(std::string const &contraintModeName) override; - void enableAuto() override; - void disableAuto() override; + void enableAutoExposure() override; + void disableAutoExposure() override; + bool autoExposureEnabled() const override; + void enableAutoGain() override; + void disableAutoGain() override; + bool autoGainEnabled() const override; void switchMode(CameraMode const &cameraMode, Metadata *metadata) override; void prepare(Metadata *imageMetadata) override; void process(StatisticsPtr &stats, Metadata *imageMetadata) override; diff --git a/src/ipa/rpi/controller/rpi/agc_channel.cpp b/src/ipa/rpi/controller/rpi/agc_channel.cpp index 79c45973..a5562760 100644 --- a/src/ipa/rpi/controller/rpi/agc_channel.cpp +++ b/src/ipa/rpi/controller/rpi/agc_channel.cpp @@ -12,8 +12,9 @@ #include <libcamera/base/log.h> +#include "libcamera/internal/vector.h" + #include "libipa/colours.h" -#include "libipa/vector.h" #include "../awb_status.h" #include "../device_status.h" @@ -319,18 +320,36 @@ int AgcChannel::read(const libcamera::YamlObject ¶ms, return 0; } -void AgcChannel::disableAuto() +void AgcChannel::disableAutoExposure() { fixedExposureTime_ = status_.exposureTime; - fixedAnalogueGain_ = status_.analogueGain; } -void AgcChannel::enableAuto() +void AgcChannel::enableAutoExposure() { fixedExposureTime_ = 0s; +} + +bool AgcChannel::autoExposureEnabled() const +{ + return fixedExposureTime_ == 0s; +} + +void AgcChannel::disableAutoGain() +{ + fixedAnalogueGain_ = status_.analogueGain; +} + +void AgcChannel::enableAutoGain() +{ fixedAnalogueGain_ = 0; } +bool AgcChannel::autoGainEnabled() const +{ + return fixedAnalogueGain_ == 0; +} + unsigned int AgcChannel::getConvergenceFrames() const { /* @@ -682,7 +701,7 @@ static double computeInitialY(StatisticsPtr &stats, AwbStatus const &awb, * Note that the weights are applied by the IPA to the statistics directly, * before they are given to us here. */ - ipa::RGB<double> sum{ 0.0 }; + RGB<double> sum{ 0.0 }; double pixelSum = 0; for (unsigned int i = 0; i < stats->agcRegions.numRegions(); i++) { auto ®ion = stats->agcRegions.get(i); @@ -698,7 +717,7 @@ static double computeInitialY(StatisticsPtr &stats, AwbStatus const &awb, /* Factor in the AWB correction if needed. */ if (stats->agcStatsPos == Statistics::AgcStatsPos::PreWb) - sum *= ipa::RGB<double>{{ awb.gainR, awb.gainR, awb.gainB }}; + sum *= RGB<double>{ { awb.gainR, awb.gainR, awb.gainB } }; double ySum = ipa::rec601LuminanceFromRGB(sum); diff --git a/src/ipa/rpi/controller/rpi/agc_channel.h b/src/ipa/rpi/controller/rpi/agc_channel.h index 734e5efd..fa697e6f 100644 --- a/src/ipa/rpi/controller/rpi/agc_channel.h +++ b/src/ipa/rpi/controller/rpi/agc_channel.h @@ -96,8 +96,12 @@ public: void setMeteringMode(std::string const &meteringModeName); void setExposureMode(std::string const &exposureModeName); void setConstraintMode(std::string const &contraintModeName); - void enableAuto(); - void disableAuto(); + void enableAutoExposure(); + void disableAutoExposure(); + bool autoExposureEnabled() const; + void enableAutoGain(); + void disableAutoGain(); + bool autoGainEnabled() const; void switchMode(CameraMode const &cameraMode, Metadata *metadata); void prepare(Metadata *imageMetadata); void process(StatisticsPtr &stats, DeviceStatus const &deviceStatus, Metadata *imageMetadata, diff --git a/src/ipa/rpi/pisp/data/imx219.json b/src/ipa/rpi/pisp/data/imx219.json new file mode 100644 index 00000000..5254e60d --- /dev/null +++ b/src/ipa/rpi/pisp/data/imx219.json @@ -0,0 +1,1187 @@ +{ + "version": 2.0, + "target": "pisp", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 21965, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 800, + "reference_Y": 11460 + } + }, + { + "rpi.dpc": + { + "strength": 1 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 3.661 + } + }, + { + "rpi.geq": + { + "offset": 239, + "slope": 0.00766 + } + }, + { + "rpi.denoise": + { + "normal": + { + "sdn": + { + "deviation": 1.6, + "strength": 0.5, + "deviation2": 3.2, + "deviation_no_tdn": 3.2, + "strength_no_tdn": 0.75 + }, + "cdn": + { + "deviation": 200, + "strength": 0.3 + }, + "tdn": + { + "deviation": 0.8, + "threshold": 0.05 + } + }, + "hdr": + { + "sdn": + { + "deviation": 1.6, + "strength": 0.5, + "deviation2": 3.2, + "deviation_no_tdn": 3.2, + "strength_no_tdn": 0.75 + }, + "cdn": + { + "deviation": 200, + "strength": 0.3 + }, + "tdn": + { + "deviation": 1.3, + "threshold": 0.1 + } + }, + "night": + { + "sdn": + { + "deviation": 1.6, + "strength": 0.5, + "deviation2": 3.2, + "deviation_no_tdn": 3.2, + "strength_no_tdn": 0.75 + }, + "cdn": + { + "deviation": 200, + "strength": 0.3 + }, + "tdn": + { + "deviation": 1.3, + "threshold": 0.1 + } + } + } + }, + { + "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": 7700 + }, + "incandescent": + { + "lo": 2500, + "hi": 3000 + }, + "tungsten": + { + "lo": 3000, + "hi": 3500 + }, + "fluorescent": + { + "lo": 4000, + "hi": 4700 + }, + "indoor": + { + "lo": 3000, + "hi": 5000 + }, + "daylight": + { + "lo": 5500, + "hi": 6500 + }, + "cloudy": + { + "lo": 7000, + "hi": 8000 + } + }, + "bayes": 1, + "ct_curve": + [ + 2860.0, 0.9514, 0.4156, + 2960.0, 0.9289, 0.4372, + 3603.0, 0.8305, 0.5251, + 4650.0, 0.6756, 0.6433, + 5858.0, 0.6193, 0.6807, + 7580.0, 0.5019, 0.7495 + ], + "sensitivity_r": 1.0, + "sensitivity_b": 1.0, + "transverse_pos": 0.03392, + "transverse_neg": 0.034 + } + }, + { + "rpi.agc": + { + "channels": [ + { + "comment": "Channel 0 is normal AGC", + "metering_modes": + { + "centre-weighted": + { + "weights": + [ + 0, 0, 1, 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"SingleExposure": + { + "cadence": [ 1 ], + "channel_map": + { + "short": 1 + }, + "spatial_gain": 2.0, + "power_min": 0.7, + "tonemap_enable": 1 + }, + "MultiExposure": + { + "cadence": [ 1, 2 ], + "channel_map": + { + "short": 1, + "long": 2 + }, + "stitch_enable": 1, + "spatial_gain": 2.0, + "power_min": 0.7, + "tonemap_enable": 1 + }, + "Night": + { + "cadence": [ 3 ], + "channel_map": + { + "short": 3 + }, + "tonemap_enable": 1, + "tonemap": + [ + 0, 0, + 5000, 20000, + 10000, 30000, + 20000, 47000, + 30000, 55000, + 65535, 65535 + ] + } + } + } + ] +}
\ No newline at end of file diff --git a/src/ipa/rpi/pisp/data/meson.build b/src/ipa/rpi/pisp/data/meson.build new file mode 100644 index 00000000..f56c4e39 --- /dev/null +++ b/src/ipa/rpi/pisp/data/meson.build @@ -0,0 +1,29 @@ +# SPDX-License-Identifier: CC0-1.0 + +conf_files = files([ + 'imx219.json', + 'imx219_noir.json', + 'imx290.json', + 'imx296.json', + 'imx296_mono.json', + 'imx378.json', + 'imx415.json', + 'imx462.json', + 'imx477.json', + 'imx477_noir.json', + 'imx477_scientific.json', + 'imx519.json', + 'imx708.json', + 'imx708_noir.json', + 'imx708_wide.json', + 'imx708_wide_noir.json', + 'ov5647.json', + 'ov5647_noir.json', + 'ov64a40.json', + 'ov9281_mono.json', + 'se327m12.json', + 'uncalibrated.json', +]) + +install_data(conf_files, + install_dir : ipa_data_dir / 'rpi' / 'pisp') diff --git a/src/ipa/rpi/pisp/data/ov5647.json b/src/ipa/rpi/pisp/data/ov5647.json new file mode 100644 index 00000000..d5156767 --- /dev/null +++ b/src/ipa/rpi/pisp/data/ov5647.json @@ -0,0 +1,1186 @@ +{ + "version": 2.0, + "target": "pisp", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 1024 + } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 29381, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 870, + "reference_Y": 12388 + } + }, + { + "rpi.dpc": + { + "strength": 1 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 4.371 + } + }, + { + "rpi.geq": + { + "offset": 280, + "slope": 0.02153 + } + }, + { + "rpi.denoise": + { + "normal": + { + "sdn": + { + "deviation": 1.6, + "strength": 0.5, + "deviation2": 3.2, + "deviation_no_tdn": 3.2, + "strength_no_tdn": 0.75 + }, + "cdn": + { + "deviation": 200, + "strength": 0.3 + }, + "tdn": + { + "deviation": 0.8, + "threshold": 0.05 + } + }, + "hdr": + { + "sdn": + { + "deviation": 1.6, + "strength": 0.5, + "deviation2": 3.2, + "deviation_no_tdn": 3.2, + "strength_no_tdn": 0.75 + }, + "cdn": + { + "deviation": 200, + "strength": 0.3 + }, + "tdn": + { + 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1.58803, -0.09912, -0.48891, + -0.42594, 2.22303, -0.79709, + -0.00621, -0.90516, 1.91137 + ] + } + ] + } + }, + { + "rpi.sharpen": + { + "threshold": 2.0, + "strength": 0.5, + "limit": 0.5 + } + } + ] +}
\ No newline at end of file diff --git a/src/ipa/rpi/pisp/data/uncalibrated.json b/src/ipa/rpi/pisp/data/uncalibrated.json new file mode 100644 index 00000000..ff1e316e --- /dev/null +++ b/src/ipa/rpi/pisp/data/uncalibrated.json @@ -0,0 +1,135 @@ +{ + "version": 2.0, + "target": "pisp", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.awb": + { + "use_derivatives": 0, + "bayes": 0 + } + }, + { + "rpi.agc": + { + "metering_modes": + { + "centre-weighted": + { + "weights": + [ + 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, + 0, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 0, + 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, + 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 2, 3, 3, 3, 3, 3, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 3, 3, 3, 4, 3, 3, 3, 2, 2, 1, 1, + 1, 1, 2, 2, 3, 3, 4, 4, 4, 3, 3, 2, 2, 1, 1, + 1, 1, 2, 2, 3, 3, 3, 4, 3, 3, 3, 2, 2, 1, 1, + 1, 1, 2, 2, 2, 3, 3, 3, 3, 3, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 1, 1, + 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 1, 1, + 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 1, 1, 1, 1, + 0, 1, 1, 1, 1, 1, 2, 2, 2, 1, 1, 1, 1, 1, 0, + 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0 + ] + } + }, + "exposure_modes": + { + "normal": + { + "shutter": [ 100, 15000, 30000, 60000, 120000 ], + "gain": [ 1.0, 2.0, 3.0, 4.0, 6.0 ] + } + }, + "constraint_modes": + { + "normal": [ + { + "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.ccm": + { + "ccms": [ + { + "ct": 4000, + "ccm": + [ + 2.0, -1.0, 0.0, + -0.5, 2.0, -0.5, + 0, -1.0, 2.0 + ] + } + ] + } + }, + { + "rpi.contrast": + { + "ce_enable": 0, + "gamma_curve": + [ + 0, 0, + 1024, 5040, + 2048, 9338, + 3072, 12356, + 4096, 15312, + 5120, 18051, + 6144, 20790, + 7168, 23193, + 8192, 25744, + 9216, 27942, + 10240, 30035, + 11264, 32005, + 12288, 33975, + 13312, 35815, + 14336, 37600, + 15360, 39168, + 16384, 40642, + 18432, 43379, + 20480, 45749, + 22528, 47753, + 24576, 49621, + 26624, 51253, + 28672, 52698, + 30720, 53796, + 32768, 54876, + 36864, 57012, + 40960, 58656, + 45056, 59954, + 49152, 61183, + 53248, 62355, + 57344, 63419, + 61440, 64476, + 65535, 65535 + ] + } + } + ] +}
\ No newline at end of file diff --git a/src/ipa/rpi/pisp/meson.build b/src/ipa/rpi/pisp/meson.build new file mode 100644 index 00000000..878e3492 --- /dev/null +++ b/src/ipa/rpi/pisp/meson.build @@ -0,0 +1,49 @@ +# SPDX-License-Identifier: CC0-1.0 + +ipa_name = 'ipa_rpi_pisp' + +pisp_ipa_deps = [ + libcamera_private, + libatomic, + libpisp_dep, +] + +pisp_ipa_libs = [ + rpi_ipa_cam_helper_lib, + rpi_ipa_common_lib, + rpi_ipa_controller_lib +] + +pisp_ipa_includes = [ + ipa_includes, + libipa_includes, +] + +pisp_ipa_sources = files([ + 'pisp.cpp', +]) + +pisp_ipa_includes += include_directories('..') + +mod = shared_module(ipa_name, pisp_ipa_sources, + name_prefix : '', + include_directories : pisp_ipa_includes, + dependencies : pisp_ipa_deps, + link_with : libipa, + link_whole : pisp_ipa_libs, + install : true, + cpp_args : '-Wno-address-of-packed-member', + install_dir : ipa_install_dir) + +if ipa_sign_module + custom_target(ipa_name + '.so.sign', + input : mod, + output : ipa_name + '.so.sign', + command : [ipa_sign, ipa_priv_key, '@INPUT@', '@OUTPUT@'], + install : false, + build_by_default : true) +endif + +subdir('data') + +ipa_names += ipa_name diff --git a/src/ipa/rpi/pisp/pisp.cpp b/src/ipa/rpi/pisp/pisp.cpp new file mode 100644 index 00000000..bb50a9e0 --- /dev/null +++ b/src/ipa/rpi/pisp/pisp.cpp @@ -0,0 +1,1068 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * pisp.cpp - Raspberry Pi PiSP IPA + */ +#include <algorithm> +#include <cmath> +#include <mutex> +#include <string> +#include <sys/mman.h> +#include <utility> +#include <vector> + +#include <libcamera/base/log.h> +#include <libcamera/control_ids.h> +#include <libcamera/ipa/ipa_module_info.h> +#include <libipa/pwl.h> + +#include "libpisp/backend/backend.hpp" +#include "libpisp/frontend/frontend.hpp" + +#include "common/ipa_base.h" +#include "controller/af_status.h" +#include "controller/agc_algorithm.h" +#include "controller/alsc_status.h" +#include "controller/awb_algorithm.h" +#include "controller/awb_status.h" +#include "controller/black_level_algorithm.h" +#include "controller/black_level_status.h" +#include "controller/cac_status.h" +#include "controller/ccm_status.h" +#include "controller/contrast_status.h" +#include "controller/denoise_algorithm.h" +#include "controller/denoise_status.h" +#include "controller/dpc_status.h" +#include "controller/geq_status.h" +#include "controller/hdr_status.h" +#include "controller/lux_status.h" +#include "controller/noise_status.h" +#include "controller/saturation_status.h" +#include "controller/sharpen_status.h" +#include "controller/stitch_status.h" +#include "controller/tonemap_status.h" + +using namespace std::literals::chrono_literals; + +namespace libcamera { + +LOG_DECLARE_CATEGORY(IPARPI) + +namespace { + +constexpr unsigned int NumLscCells = PISP_BE_LSC_GRID_SIZE; +constexpr unsigned int NumLscVertexes = NumLscCells + 1; + +inline int32_t clampField(double value, std::size_t fieldBits, std::size_t fracBits = 0, + bool isSigned = false, const char *desc = nullptr) +{ + ASSERT(fracBits <= fieldBits && fieldBits <= 32); + + int min = -(isSigned << (fieldBits - 1)); + int max = (1 << (fieldBits - isSigned)) - 1; + int32_t val = + std::clamp<int32_t>(std::round(value * (1 << fracBits)), min, max); + + if (desc && val / (1 << fracBits) != value) + LOG(IPARPI, Warning) + << desc << " rounded/clamped to " << val / (1 << fracBits); + + return val; +} + +int generateLut(const ipa::Pwl &pwl, uint32_t *lut, std::size_t lutSize, + unsigned int SlopeBits = 14, unsigned int PosBits = 16) +{ + if (pwl.empty()) + return -EINVAL; + + int lastY = 0; + for (unsigned int i = 0; i < lutSize; i++) { + int x, y; + if (i < 32) + x = i * 512; + else if (i < 48) + x = (i - 32) * 1024 + 16384; + else + x = std::min(65535u, (i - 48) * 2048 + 32768); + + y = pwl.eval(x); + if (y < 0 || (i && y < lastY)) { + LOG(IPARPI, Error) + << "Malformed PWL for Gamma, disabling!"; + return -1; + } + + if (i) { + unsigned int slope = y - lastY; + if (slope >= (1u << SlopeBits)) { + slope = (1u << SlopeBits) - 1; + LOG(IPARPI, Info) + << ("Maximum Gamma slope exceeded, adjusting!"); + y = lastY + slope; + } + lut[i - 1] |= slope << PosBits; + } + + lut[i] = y; + lastY = y; + } + + return 0; +} + +void packLscLut(uint32_t packed[NumLscVertexes][NumLscVertexes], + double const rgb[3][NumLscVertexes][NumLscVertexes]) +{ + for (unsigned int y = 0; y < NumLscVertexes; ++y) { + for (unsigned int x = 0; x < NumLscVertexes; ++x) { + /* Jointly encode RGB gains in one of 4 ranges: [0.5:1.5), [0:2), [0:4), [0:8) */ + double lo = std::min({ rgb[0][y][x], rgb[1][y][x], rgb[2][y][x] }); + double hi = std::max({ rgb[0][y][x], rgb[1][y][x], rgb[2][y][x] }); + uint32_t range; + double scale, offset; + if (lo >= 0.5 && hi < 1.5) { + range = 0; + scale = 1024.0; + offset = -511.5; + } else if (hi < 2.0) { + range = 1; + scale = 512.0; + offset = 0.5; + } else if (hi < 4.0) { + range = 2; + scale = 256.0; + offset = 0.5; + } else { + range = 3; + scale = 128.0; + offset = 0.5; + } + int r = clampField(offset + scale * rgb[0][y][x], 10); + int g = clampField(offset + scale * rgb[1][y][x], 10); + int b = clampField(offset + scale * rgb[2][y][x], 10); + packed[y][x] = (range << 30) | (b << 20) | (g << 10) | r; + } + } +} + +/* + * Resamples a srcW x srcH table with central sampling to destW x destH with + * corner sampling. + */ +void resampleTable(double *dest, int destW, int destH, double const *src, + int srcW, int srcH) +{ + /* + * Precalculate and cache the x sampling locations and phases to + * save recomputing them on every row. + */ + ASSERT(destW > 1 && destH > 1 && destW <= 64); + int xLo[64], xHi[64]; + double xf[64]; + double x = -0.5, xInc = srcW / (destW - 1); + for (int i = 0; i < destW; i++, x += xInc) { + xLo[i] = floor(x); + xf[i] = x - xLo[i]; + xHi[i] = xLo[i] < (srcW - 1) ? (xLo[i] + 1) : (srcW - 1); + xLo[i] = xLo[i] > 0 ? xLo[i] : 0; + } + + /* Now march over the output table generating the new values. */ + double y = -0.5, yInc = srcH / (destH - 1); + for (int j = 0; j < destH; j++, y += yInc) { + int yLo = floor(y); + double yf = y - yLo; + int yHi = yLo < (srcH - 1) ? (yLo + 1) : (srcH - 1); + yLo = yLo > 0 ? yLo : 0; + double const *rowAbove = src + yLo * srcW; + double const *rowBelow = src + yHi * srcW; + for (int i = 0; i < destW; i++) { + double above = rowAbove[xLo[i]] * (1 - xf[i]) + + rowAbove[xHi[i]] * xf[i]; + double below = rowBelow[xLo[i]] * (1 - xf[i]) + + rowBelow[xHi[i]] * xf[i]; + *(dest++) = above * (1 - yf) + below * yf; + } + } +} + +} /* namespace */ + +using ::libpisp::BackEnd; +using ::libpisp::FrontEnd; + +namespace ipa::RPi { + +class IpaPiSP final : public IpaBase +{ +public: + IpaPiSP() + : IpaBase(), fe_(nullptr), be_(nullptr) + { + } + + ~IpaPiSP() + { + if (fe_) + munmap(fe_, sizeof(FrontEnd)); + if (be_) + munmap(be_, sizeof(BackEnd)); + } + +private: + int32_t platformInit(const InitParams ¶ms, InitResult *result) override; + int32_t platformStart(const ControlList &controls, StartResult *result) override; + int32_t platformConfigure(const ConfigParams ¶ms, ConfigResult *result) override; + + void platformPrepareIsp(const PrepareParams ¶ms, + RPiController::Metadata &rpiMetadata) override; + RPiController::StatisticsPtr platformProcessStats(Span<uint8_t> mem) override; + + void handleControls(const ControlList &controls) override; + + void applyWBG(const AwbStatus *awbStatus, const AgcPrepareStatus *agcStatus, + pisp_be_global_config &global); + void applyDgOnly(const AgcPrepareStatus *agcPrepareStatus, pisp_be_global_config &global); + void applyCAC(const CacStatus *cacStatus, pisp_be_global_config &global); + void applyContrast(const ContrastStatus *contrastStatus, + pisp_be_global_config &global); + void applyCCM(const CcmStatus *ccmStatus, pisp_be_global_config &global); + void applyBlackLevel(const BlackLevelStatus *blackLevelStatus, + pisp_be_global_config &global); + void applyLensShading(const AlscStatus *alscStatus, + pisp_be_global_config &global); + void applyDPC(const DpcStatus *dpcStatus, pisp_be_global_config &global); + void applySdn(const SdnStatus *sdnStatus, pisp_be_global_config &global); + void applyTdn(const TdnStatus *tdnStatus, const DeviceStatus *deviceStatus, + pisp_be_global_config &global); + void applyCdn(const CdnStatus *cdnStatus, pisp_be_global_config &global); + void applyGeq(const GeqStatus *geqStatus, pisp_be_global_config &global); + void applySaturation(const SaturationStatus *geqStatus, + pisp_be_global_config &global); + void applySharpen(const SharpenStatus *sharpenStatus, + pisp_be_global_config &global); + bool applyStitch(const StitchStatus *stitchStatus, const DeviceStatus *deviceStatus, + const AgcStatus *agcStatus, pisp_be_global_config &global); + void applyTonemap(const TonemapStatus *tonemapStatus, + pisp_be_global_config &global); + void applyFocusStats(const NoiseStatus *noiseStatus); + void applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls); + + void setDefaultConfig(); + void setStatsAndDebin(); + void setHistogramWeights(); + + /* Frontend/Backend objects passed in from the pipeline handler. */ + SharedFD feFD_; + SharedFD beFD_; + FrontEnd *fe_; + BackEnd *be_; + + /* TDN/HDR runtime need the following state. */ + bool tdnReset_; + utils::Duration lastExposure_; + std::map<std::string, utils::Duration> lastStitchExposures_; + HdrStatus lastStitchHdrStatus_; +}; + +int32_t IpaPiSP::platformInit(const InitParams ¶ms, + [[maybe_unused]] InitResult *result) +{ + const std::string &target = controller_.getTarget(); + if (target != "pisp") { + LOG(IPARPI, Error) + << "Tuning data file target returned \"" << target << "\"" + << ", expected \"pisp\""; + return -EINVAL; + } + + /* Acquire the Frontend and Backend objects. */ + feFD_ = std::move(params.fe); + beFD_ = std::move(params.be); + + if (!feFD_.isValid() || !beFD_.isValid()) { + LOG(IPARPI, Error) << "Invalid FE/BE handles!"; + return -ENODEV; + } + + fe_ = static_cast<FrontEnd *>(mmap(nullptr, sizeof(FrontEnd), + PROT_READ | PROT_WRITE, MAP_SHARED, + feFD_.get(), 0)); + be_ = static_cast<BackEnd *>(mmap(nullptr, sizeof(BackEnd), + PROT_READ | PROT_WRITE, MAP_SHARED, + beFD_.get(), 0)); + + if (!fe_ || !be_) { + LOG(IPARPI, Error) << "Unable to map FE/BE handles!"; + return -ENODEV; + } + + setDefaultConfig(); + + return 0; +} + +int32_t IpaPiSP::platformStart([[maybe_unused]] const ControlList &controls, + [[maybe_unused]] StartResult *result) +{ + tdnReset_ = true; + + /* Cause the stitch block to be reset correctly. */ + lastStitchHdrStatus_ = HdrStatus(); + + return 0; +} + +int32_t IpaPiSP::platformConfigure([[maybe_unused]] const ConfigParams ¶ms, + [[maybe_unused]] ConfigResult *result) +{ + setStatsAndDebin(); + return 0; +} + +void IpaPiSP::platformPrepareIsp([[maybe_unused]] const PrepareParams ¶ms, + RPiController::Metadata &rpiMetadata) +{ + std::scoped_lock<RPiController::Metadata> l(rpiMetadata); + + pisp_be_global_config global; + be_->GetGlobal(global); + + global.bayer_enables &= ~(PISP_BE_BAYER_ENABLE_BLC + PISP_BE_BAYER_ENABLE_WBG + + PISP_BE_BAYER_ENABLE_GEQ + PISP_BE_BAYER_ENABLE_LSC + + PISP_BE_BAYER_ENABLE_SDN + PISP_BE_BAYER_ENABLE_CDN + + PISP_BE_BAYER_ENABLE_TDN_OUTPUT + PISP_BE_BAYER_ENABLE_TDN_INPUT + + PISP_BE_BAYER_ENABLE_STITCH_INPUT + PISP_BE_BAYER_ENABLE_STITCH_OUTPUT + + PISP_BE_BAYER_ENABLE_STITCH + PISP_BE_BAYER_ENABLE_TONEMAP); + /* We leave the YCbCr and inverse conversion enabled in case of false colour or sharpening. */ + global.rgb_enables &= ~(PISP_BE_RGB_ENABLE_GAMMA + PISP_BE_RGB_ENABLE_CCM + + PISP_BE_RGB_ENABLE_SHARPEN + PISP_BE_RGB_ENABLE_SAT_CONTROL); + + NoiseStatus *noiseStatus = rpiMetadata.getLocked<NoiseStatus>("noise.status"); + AgcPrepareStatus *agcPrepareStatus = rpiMetadata.getLocked<AgcPrepareStatus>("agc.prepare_status"); + + { + /* All Frontend config goes first, we do not want to hold the FE lock for long! */ + std::scoped_lock<FrontEnd> lf(*fe_); + + if (noiseStatus) + applyFocusStats(noiseStatus); + + BlackLevelStatus *blackLevelStatus = + rpiMetadata.getLocked<BlackLevelStatus>("black_level.status"); + if (blackLevelStatus) + applyBlackLevel(blackLevelStatus, global); + + AwbStatus *awbStatus = rpiMetadata.getLocked<AwbStatus>("awb.status"); + if (awbStatus && agcPrepareStatus) { + /* Applies digital gain as well. */ + applyWBG(awbStatus, agcPrepareStatus, global); + } else if (agcPrepareStatus) { + /* Mono sensor fallback for digital gain. */ + applyDgOnly(agcPrepareStatus, global); + } + } + + CacStatus *cacStatus = rpiMetadata.getLocked<CacStatus>("cac.status"); + if (cacStatus) + applyCAC(cacStatus, global); + + ContrastStatus *contrastStatus = + rpiMetadata.getLocked<ContrastStatus>("contrast.status"); + if (contrastStatus) + applyContrast(contrastStatus, global); + + CcmStatus *ccmStatus = rpiMetadata.getLocked<CcmStatus>("ccm.status"); + if (ccmStatus) + applyCCM(ccmStatus, global); + + AlscStatus *alscStatus = rpiMetadata.getLocked<AlscStatus>("alsc.status"); + if (alscStatus) + applyLensShading(alscStatus, global); + + DpcStatus *dpcStatus = rpiMetadata.getLocked<DpcStatus>("dpc.status"); + if (dpcStatus) + applyDPC(dpcStatus, global); + + SdnStatus *sdnStatus = rpiMetadata.getLocked<SdnStatus>("sdn.status"); + if (sdnStatus) + applySdn(sdnStatus, global); + + DeviceStatus *deviceStatus = rpiMetadata.getLocked<DeviceStatus>("device.status"); + TdnStatus *tdnStatus = rpiMetadata.getLocked<TdnStatus>("tdn.status"); + if (tdnStatus && deviceStatus) + applyTdn(tdnStatus, deviceStatus, global); + + CdnStatus *cdnStatus = rpiMetadata.getLocked<CdnStatus>("cdn.status"); + if (cdnStatus) + applyCdn(cdnStatus, global); + + GeqStatus *geqStatus = rpiMetadata.getLocked<GeqStatus>("geq.status"); + if (geqStatus) + applyGeq(geqStatus, global); + + SaturationStatus *saturationStatus = + rpiMetadata.getLocked<SaturationStatus>("saturation.status"); + if (saturationStatus) + applySaturation(saturationStatus, global); + + SharpenStatus *sharpenStatus = rpiMetadata.getLocked<SharpenStatus>("sharpen.status"); + if (sharpenStatus) + applySharpen(sharpenStatus, global); + + StitchStatus *stitchStatus = rpiMetadata.getLocked<StitchStatus>("stitch.status"); + if (stitchStatus) { + /* + * Note that it's the *delayed* AGC status that contains the HDR mode/channel + * info that pertains to this frame! + */ + AgcStatus *agcStatus = rpiMetadata.getLocked<AgcStatus>("agc.delayed_status"); + /* prepareIsp() will fetch this value. Maybe pass it back differently? */ + stitchSwapBuffers_ = applyStitch(stitchStatus, deviceStatus, agcStatus, global); + } else + lastStitchHdrStatus_ = HdrStatus(); + + TonemapStatus *tonemapStatus = rpiMetadata.getLocked<TonemapStatus>("tonemap.status"); + if (tonemapStatus) + applyTonemap(tonemapStatus, global); + + be_->SetGlobal(global); + + /* Save this for TDN and HDR on the next frame. */ + lastExposure_ = deviceStatus->exposureTime * deviceStatus->analogueGain; + + /* Lens control */ + const AfStatus *afStatus = rpiMetadata.getLocked<AfStatus>("af.status"); + if (afStatus) { + ControlList lensctrls(lensCtrls_); + applyAF(afStatus, lensctrls); + if (!lensctrls.empty()) + setLensControls.emit(lensctrls); + } +} + +RPiController::StatisticsPtr IpaPiSP::platformProcessStats(Span<uint8_t> mem) +{ + using namespace RPiController; + + const pisp_statistics *stats = reinterpret_cast<pisp_statistics *>(mem.data()); + + unsigned int i; + StatisticsPtr statistics = + std::make_unique<Statistics>(Statistics::AgcStatsPos::PostWb, + Statistics::ColourStatsPos::PreLsc); + + /* RGB histograms are not used, so do not populate them. */ + statistics->yHist = RPiController::Histogram(stats->agc.histogram, + PISP_AGC_STATS_NUM_BINS); + + statistics->awbRegions.init({ PISP_AWB_STATS_SIZE, PISP_AWB_STATS_SIZE }); + for (i = 0; i < statistics->awbRegions.numRegions(); i++) + statistics->awbRegions.set(i, { { stats->awb.zones[i].R_sum, + stats->awb.zones[i].G_sum, + stats->awb.zones[i].B_sum }, + stats->awb.zones[i].counted, 0 }); + + /* AGC region sums only get collected on floating zones. */ + statistics->agcRegions.init({ 0, 0 }, PISP_FLOATING_STATS_NUM_ZONES); + for (i = 0; i < statistics->agcRegions.numRegions(); i++) + statistics->agcRegions.setFloating(i, + { { 0, 0, 0, stats->agc.floating[i].Y_sum }, + stats->agc.floating[i].counted, 0 }); + + statistics->focusRegions.init({ PISP_CDAF_STATS_SIZE, PISP_CDAF_STATS_SIZE }); + for (i = 0; i < statistics->focusRegions.numRegions(); i++) + statistics->focusRegions.set(i, { stats->cdaf.foms[i] >> 20, 0, 0 }); + + if (statsMetadataOutput_) { + Span<const uint8_t> statsSpan(reinterpret_cast<const uint8_t *>(stats), + sizeof(pisp_statistics)); + libcameraMetadata_.set(controls::rpi::PispStatsOutput, statsSpan); + } + + return statistics; +} + +void IpaPiSP::handleControls(const ControlList &controls) +{ + for (auto const &ctrl : controls) { + switch (ctrl.first) { + case controls::HDR_MODE: + case controls::AE_METERING_MODE: + setHistogramWeights(); + break; + + case controls::draft::NOISE_REDUCTION_MODE: { + RPiController::DenoiseAlgorithm *denoise = dynamic_cast<RPiController::DenoiseAlgorithm *>( + controller_.getAlgorithm("denoise")); + + if (!denoise) { + LOG(IPARPI, Warning) + << "Could not set NOISE_REDUCTION_MODE - no Denoise algorithm"; + return; + } + + if (ctrl.second.get<int32_t>() == controls::draft::NoiseReductionModeOff) + denoise->setMode(RPiController::DenoiseMode::Off); + else + denoise->setMode(RPiController::DenoiseMode::ColourHighQuality); + + break; + } + } + } +} + +void IpaPiSP::applyWBG(const AwbStatus *awbStatus, const AgcPrepareStatus *agcPrepareStatus, + pisp_be_global_config &global) +{ + pisp_wbg_config wbg; + pisp_fe_rgby_config rgby = {}; + double dg = agcPrepareStatus ? agcPrepareStatus->digitalGain : 1.0; + + wbg.gain_r = clampField(dg * awbStatus->gainR, 14, 10); + wbg.gain_g = clampField(dg * awbStatus->gainG, 14, 10); + wbg.gain_b = clampField(dg * awbStatus->gainB, 14, 10); + + /* + * The YCbCr conversion block should contain the appropriate YCbCr + * matrix. We should not rely on the CSC0 block as that might be + * programmed for RGB outputs. + */ + pisp_be_ccm_config csc; + be_->GetYcbcr(csc); + + /* The CSC coefficients already have the << 10 scaling applied. */ + rgby.gain_r = clampField(csc.coeffs[0] * awbStatus->gainR, 14); + rgby.gain_g = clampField(csc.coeffs[1] * awbStatus->gainG, 14); + rgby.gain_b = clampField(csc.coeffs[2] * awbStatus->gainB, 14); + + LOG(IPARPI, Debug) << "Applying WB R: " << awbStatus->gainR << " B: " + << awbStatus->gainB; + + be_->SetWbg(wbg); + fe_->SetRGBY(rgby); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_WBG; +} + +void IpaPiSP::applyDgOnly(const AgcPrepareStatus *agcPrepareStatus, pisp_be_global_config &global) +{ + pisp_wbg_config wbg; + + wbg.gain_r = clampField(agcPrepareStatus->digitalGain, 14, 10); + wbg.gain_g = clampField(agcPrepareStatus->digitalGain, 14, 10); + wbg.gain_b = clampField(agcPrepareStatus->digitalGain, 14, 10); + + LOG(IPARPI, Debug) << "Applying DG (only) : " << agcPrepareStatus->digitalGain; + + be_->SetWbg(wbg); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_WBG; +} + +void IpaPiSP::applyContrast(const ContrastStatus *contrastStatus, + pisp_be_global_config &global) +{ + pisp_be_gamma_config gamma; + + if (!generateLut(contrastStatus->gammaCurve, gamma.lut, PISP_BE_GAMMA_LUT_SIZE)) { + be_->SetGamma(gamma); + global.rgb_enables |= PISP_BE_RGB_ENABLE_GAMMA; + } +} + +void IpaPiSP::applyCCM(const CcmStatus *ccmStatus, pisp_be_global_config &global) +{ + pisp_be_ccm_config ccm = {}; + + for (unsigned int i = 0; i < 9; i++) + ccm.coeffs[i] = clampField(ccmStatus->matrix[i], 14, 10, true); + + be_->SetCcm(ccm); + global.rgb_enables |= PISP_BE_RGB_ENABLE_CCM; +} + +void IpaPiSP::applyCAC(const CacStatus *cacStatus, pisp_be_global_config &global) +{ + pisp_be_cac_config cac = {}; + + for (int x = 0; x < PISP_BE_CAC_GRID_SIZE + 1; x++) { + for (int y = 0; y < PISP_BE_CAC_GRID_SIZE + 1; y++) { + cac.lut[y][x][0][0] = clampField(cacStatus->lutRx[y * (PISP_BE_CAC_GRID_SIZE + 1) + x], 7, 5, true); + cac.lut[y][x][0][1] = clampField(cacStatus->lutRy[y * (PISP_BE_CAC_GRID_SIZE + 1) + x], 7, 5, true); + cac.lut[y][x][1][0] = clampField(cacStatus->lutBx[y * (PISP_BE_CAC_GRID_SIZE + 1) + x], 7, 5, true); + cac.lut[y][x][1][1] = clampField(cacStatus->lutBy[y * (PISP_BE_CAC_GRID_SIZE + 1) + x], 7, 5, true); + } + } + + be_->SetCac(cac); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_CAC; +} + +void IpaPiSP::applyBlackLevel(const BlackLevelStatus *blackLevelStatus, pisp_be_global_config &global) +{ + uint16_t minBlackLevel = std::min({ blackLevelStatus->blackLevelR, blackLevelStatus->blackLevelG, + blackLevelStatus->blackLevelB }); + pisp_bla_config bla; + + /* + * Set the Frontend to adjust the black level to the smallest black level + * of all channels (in 16-bits). + */ + bla.black_level_r = blackLevelStatus->blackLevelR; + bla.black_level_gr = blackLevelStatus->blackLevelG; + bla.black_level_gb = blackLevelStatus->blackLevelG; + bla.black_level_b = blackLevelStatus->blackLevelB; + bla.output_black_level = minBlackLevel; + fe_->SetBla(bla); + + /* Frontend Stats and Backend black level correction. */ + bla.black_level_r = bla.black_level_gr = + bla.black_level_gb = bla.black_level_b = minBlackLevel; + bla.output_black_level = 0; + fe_->SetBlc(bla); + be_->SetBlc(bla); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_BLC; +} + +void IpaPiSP::applyLensShading(const AlscStatus *alscStatus, + pisp_be_global_config &global) +{ + pisp_be_lsc_extra lscExtra = {}; + pisp_be_lsc_config lsc = {}; + double rgb[3][NumLscVertexes][NumLscVertexes] = {}; + + resampleTable(&rgb[0][0][0], NumLscVertexes, NumLscVertexes, + alscStatus->r.data(), NumLscCells, NumLscCells); + resampleTable(&rgb[1][0][0], NumLscVertexes, NumLscVertexes, + alscStatus->g.data(), NumLscCells, NumLscCells); + resampleTable(&rgb[2][0][0], NumLscVertexes, NumLscVertexes, + alscStatus->b.data(), NumLscCells, NumLscCells); + packLscLut(lsc.lut_packed, rgb); + be_->SetLsc(lsc, lscExtra); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_LSC; +} + +void IpaPiSP::applyDPC(const DpcStatus *dpcStatus, pisp_be_global_config &global) +{ + pisp_be_dpc_config dpc = {}; + + switch (dpcStatus->strength) { + case 0: /* "off" */ + break; + case 1: /* "normal" */ + dpc.coeff_level = 1; + dpc.coeff_range = 8; + global.bayer_enables |= PISP_BE_BAYER_ENABLE_DPC; + break; + case 2: /* "strong" */ + dpc.coeff_level = 0; + dpc.coeff_range = 0; + global.bayer_enables |= PISP_BE_BAYER_ENABLE_DPC; + break; + default: + ASSERT(0); + } + + be_->SetDpc(dpc); +} + +void IpaPiSP::applySdn(const SdnStatus *sdnStatus, pisp_be_global_config &global) +{ + pisp_be_sdn_config sdn = {}; + pisp_bla_config blc; + + be_->GetBlc(blc); + /* All R/G/B black levels are the same value in the BE after FE alignment */ + sdn.black_level = blc.black_level_r; + /* leakage is "amount of the original pixel we let through", thus 1 - strength */ + sdn.leakage = clampField(1.0 - sdnStatus->strength, 8, 8); + sdn.noise_constant = clampField(sdnStatus->noiseConstant, 16); + sdn.noise_slope = clampField(sdnStatus->noiseSlope, 16, 8); + sdn.noise_constant2 = clampField(sdnStatus->noiseConstant2, 16); + sdn.noise_slope2 = clampField(sdnStatus->noiseSlope2, 16, 8); + be_->SetSdn(sdn); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_SDN; +} + +void IpaPiSP::applyTdn(const TdnStatus *tdnStatus, const DeviceStatus *deviceStatus, + pisp_be_global_config &global) +{ + utils::Duration exposure = deviceStatus->exposureTime * deviceStatus->analogueGain; + pisp_be_tdn_config tdn = {}; + + double ratio = tdnReset_ ? 1.0 : exposure / lastExposure_; + if (ratio >= 4.0) { + /* If the exposure ratio goes above 4x, we need to reset TDN. */ + ratio = 1; + tdnReset_ = true; + } + + LOG(IPARPI, Debug) << "TDN: exposure: " << exposure + << " last: " << lastExposure_ + << " ratio: " << ratio; + + pisp_bla_config blc; + be_->GetBlc(blc); + /* All R/G/B black levels are the same value in the BE after FE alignment */ + tdn.black_level = blc.black_level_r; + tdn.ratio = clampField(ratio, 16, 14); + tdn.noise_constant = clampField(tdnStatus->noiseConstant, 16); + tdn.noise_slope = clampField(tdnStatus->noiseSlope, 16, 8); + tdn.threshold = clampField(tdnStatus->threshold, 16, 16); + + global.bayer_enables |= PISP_BE_BAYER_ENABLE_TDN + PISP_BE_BAYER_ENABLE_TDN_OUTPUT; + + /* Only enable the TDN Input after a state reset. */ + if (!tdnReset_) { + global.bayer_enables |= PISP_BE_BAYER_ENABLE_TDN_INPUT; + tdn.reset = 0; + } else + tdn.reset = 1; + + be_->SetTdn(tdn); + tdnReset_ = false; +} + +void IpaPiSP::applyCdn(const CdnStatus *cdnStatus, pisp_be_global_config &global) +{ + pisp_be_cdn_config cdn = {}; + + cdn.thresh = clampField(cdnStatus->threshold, 16); + cdn.iir_strength = clampField(cdnStatus->strength, 8, 8); + cdn.g_adjust = clampField(0, 8, 8); + be_->SetCdn(cdn); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_CDN; +} + +void IpaPiSP::applyGeq(const GeqStatus *geqStatus, pisp_be_global_config &global) +{ + pisp_be_geq_config geq = {}; + + geq.min = 0; + geq.max = 0xffff; + geq.offset = clampField(geqStatus->offset, 16); + geq.slope_sharper = clampField(geqStatus->slope, 10, 10); + be_->SetGeq(geq); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_GEQ; +} + +void IpaPiSP::applySaturation(const SaturationStatus *saturationStatus, + pisp_be_global_config &global) +{ + pisp_be_sat_control_config saturation; + pisp_wbg_config wbg; + + saturation.shift_r = std::min<uint8_t>(2, saturationStatus->shiftR); + saturation.shift_g = std::min<uint8_t>(2, saturationStatus->shiftG); + saturation.shift_b = std::min<uint8_t>(2, saturationStatus->shiftB); + be_->SetSatControl(saturation); + + be_->GetWbg(wbg); + wbg.gain_r >>= saturationStatus->shiftR; + wbg.gain_g >>= saturationStatus->shiftG; + wbg.gain_b >>= saturationStatus->shiftB; + be_->SetWbg(wbg); + + global.rgb_enables |= PISP_BE_RGB_ENABLE_SAT_CONTROL; +} + +void IpaPiSP::applySharpen(const SharpenStatus *sharpenStatus, + pisp_be_global_config &global) +{ + /* + * This threshold scaling is to normalise the VC4 and PiSP parameter + * scales in the tuning config. + */ + static constexpr double ThresholdScaling = 0.25; + const double scaling = sharpenStatus->threshold * ThresholdScaling; + + pisp_be_sh_fc_combine_config shfc; + pisp_be_sharpen_config sharpen; + + be_->InitialiseSharpen(sharpen, shfc); + sharpen.threshold_offset0 = clampField(sharpen.threshold_offset0 * scaling, 16); + sharpen.threshold_offset1 = clampField(sharpen.threshold_offset1 * scaling, 16); + sharpen.threshold_offset2 = clampField(sharpen.threshold_offset2 * scaling, 16); + sharpen.threshold_offset3 = clampField(sharpen.threshold_offset3 * scaling, 16); + sharpen.threshold_offset4 = clampField(sharpen.threshold_offset4 * scaling, 16); + sharpen.threshold_slope0 = clampField(sharpen.threshold_slope0 * scaling, 12); + sharpen.threshold_slope1 = clampField(sharpen.threshold_slope1 * scaling, 12); + sharpen.threshold_slope2 = clampField(sharpen.threshold_slope2 * scaling, 12); + sharpen.threshold_slope3 = clampField(sharpen.threshold_slope3 * scaling, 12); + sharpen.threshold_slope4 = clampField(sharpen.threshold_slope4 * scaling, 12); + sharpen.positive_strength = clampField(sharpen.positive_strength * sharpenStatus->strength, 12); + sharpen.negative_strength = clampField(sharpen.negative_strength * sharpenStatus->strength, 12); + sharpen.positive_pre_limit = clampField(sharpen.positive_pre_limit * sharpenStatus->limit, 16); + sharpen.positive_limit = clampField(sharpen.positive_limit * sharpenStatus->limit, 16); + sharpen.negative_pre_limit = clampField(sharpen.negative_pre_limit * sharpenStatus->limit, 16); + sharpen.negative_limit = clampField(sharpen.negative_limit * sharpenStatus->limit, 16); + + be_->SetSharpen(sharpen); + /* The conversion to YCbCr and back is always enabled. */ + global.rgb_enables |= PISP_BE_RGB_ENABLE_SHARPEN; +} + +bool IpaPiSP::applyStitch(const StitchStatus *stitchStatus, const DeviceStatus *deviceStatus, + const AgcStatus *agcStatus, pisp_be_global_config &global) +{ + /* + * Find out what HDR mode/channel this frame is. Normally this will be in the delayed + * HDR status (in the AGC status), though after a mode switch this will be absent and + * the information will have been stored in the hdrStatus_ field. + */ + const HdrStatus *hdrStatus = &hdrStatus_; + if (agcStatus) + hdrStatus = &agcStatus->hdr; + + bool modeChange = hdrStatus->mode != lastStitchHdrStatus_.mode; + bool channelChange = !modeChange && hdrStatus->channel != lastStitchHdrStatus_.channel; + lastStitchHdrStatus_ = *hdrStatus; + + /* Check for a change of HDR mode. That forces us to start over. */ + if (modeChange) + lastStitchExposures_.clear(); + + if (hdrStatus->channel != "short" && hdrStatus->channel != "long") { + /* The channel *must* be long or short, anything else does not make sense. */ + LOG(IPARPI, Warning) << "Stitch channel is not long or short"; + return false; + } + + /* Whatever happens, we're going to output this buffer now. */ + global.bayer_enables |= PISP_BE_BAYER_ENABLE_STITCH_OUTPUT; + + utils::Duration exposure = deviceStatus->exposureTime * deviceStatus->analogueGain; + lastStitchExposures_[hdrStatus->channel] = exposure; + + /* If the other channel hasn't been seen there's nothing more we can do. */ + std::string otherChannel = hdrStatus->channel == "short" ? "long" : "short"; + if (lastStitchExposures_.find(otherChannel) == lastStitchExposures_.end()) { + /* The first channel should be "short". */ + if (hdrStatus->channel != "short") + LOG(IPARPI, Warning) << "First frame is not short"; + return false; + } + + /* We have both channels, we need to enable stitching. */ + global.bayer_enables |= PISP_BE_BAYER_ENABLE_STITCH_INPUT + PISP_BE_BAYER_ENABLE_STITCH; + + utils::Duration otherExposure = lastStitchExposures_[otherChannel]; + bool phaseLong = hdrStatus->channel == "long"; + double ratio = phaseLong ? otherExposure / exposure : exposure / otherExposure; + + pisp_be_stitch_config stitch = {}; + stitch.exposure_ratio = clampField(ratio, 15, 15); + if (phaseLong) + stitch.exposure_ratio |= PISP_BE_STITCH_STREAMING_LONG; + /* These will be filled in correctly once we have implemented the HDR algorithm. */ + stitch.threshold_lo = stitchStatus->thresholdLo; + stitch.threshold_diff_power = stitchStatus->diffPower; + stitch.motion_threshold_256 = stitchStatus->motionThreshold; + be_->SetStitch(stitch); + + return channelChange; +} + +void IpaPiSP::applyTonemap(const TonemapStatus *tonemapStatus, pisp_be_global_config &global) +{ + pisp_be_tonemap_config tonemap = {}; + + tonemap.detail_constant = clampField(tonemapStatus->detailConstant, 16); + tonemap.detail_slope = clampField(tonemapStatus->detailSlope, 16, 8); + tonemap.iir_strength = clampField(tonemapStatus->iirStrength, 12, 4); + tonemap.strength = clampField(tonemapStatus->strength, 12, 8); + + if (!generateLut(tonemapStatus->tonemap, tonemap.lut, PISP_BE_TONEMAP_LUT_SIZE)) { + be_->SetTonemap(tonemap); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_TONEMAP; + } +} + +void IpaPiSP::applyFocusStats(const NoiseStatus *noiseStatus) +{ + pisp_fe_cdaf_stats_config cdaf; + fe_->GetCdafStats(cdaf); + + cdaf.noise_constant = noiseStatus->noiseConstant; + cdaf.noise_slope = noiseStatus->noiseSlope; + fe_->SetCdafStats(cdaf); +} + +void IpaPiSP::applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls) +{ + if (afStatus->lensSetting) { + ControlValue v(afStatus->lensSetting.value()); + lensCtrls.set(V4L2_CID_FOCUS_ABSOLUTE, v); + } +} + +void IpaPiSP::setDefaultConfig() +{ + std::scoped_lock<FrontEnd> l(*fe_); + + pisp_be_global_config beGlobal; + pisp_fe_global_config feGlobal; + + fe_->GetGlobal(feGlobal); + be_->GetGlobal(beGlobal); + /* + * Always go to YCbCr and back. We need them if the false colour block is enabled, + * and even for mono sensors if sharpening is enabled. So we're better off enabling + * them all the time. + */ + beGlobal.rgb_enables |= PISP_BE_RGB_ENABLE_YCBCR + PISP_BE_RGB_ENABLE_YCBCR_INVERSE; + + if (!monoSensor()) { + beGlobal.bayer_enables |= PISP_BE_BAYER_ENABLE_DEMOSAIC; + beGlobal.rgb_enables |= PISP_BE_RGB_ENABLE_FALSE_COLOUR; + } + + /* + * Ask the AWB algorithm for reasonable gain values so that we can program the + * front end stats sensibly. We must also factor in the conversion to luminance. + */ + pisp_fe_rgby_config rgby = {}; + double gainR = 1.5, gainB = 1.5; + RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( + controller_.getAlgorithm("awb")); + if (awb) + awb->initialValues(gainR, gainB); + /* The BT.601 RGB -> Y coefficients will do. The precise values are not critical. */ + rgby.gain_r = clampField(gainR * 0.299, 14, 10); + rgby.gain_g = clampField(1.0 * .587, 14, 10); + rgby.gain_b = clampField(gainB * .114, 14, 10); + fe_->SetRGBY(rgby); + feGlobal.enables |= PISP_FE_ENABLE_RGBY; + + /* Also get sensible front end black level defaults, for the same reason. */ + RPiController::BlackLevelAlgorithm *blackLevel = dynamic_cast<RPiController::BlackLevelAlgorithm *>( + controller_.getAlgorithm("black_level")); + if (blackLevel) { + uint16_t blackLevelR, blackLevelG, blackLevelB; + BlackLevelStatus blackLevelStatus; + + blackLevel->initialValues(blackLevelR, blackLevelG, blackLevelB); + blackLevelStatus.blackLevelR = blackLevelR; + blackLevelStatus.blackLevelG = blackLevelG; + blackLevelStatus.blackLevelB = blackLevelB; + applyBlackLevel(&blackLevelStatus, beGlobal); + feGlobal.enables |= PISP_FE_ENABLE_BLA + PISP_FE_ENABLE_BLC; + } + + fe_->SetGlobal(feGlobal); + be_->SetGlobal(beGlobal); +} + +void IpaPiSP::setStatsAndDebin() +{ + pisp_fe_crop_config crop{ 0, 0, mode_.width, mode_.height }; + + pisp_fe_awb_stats_config awb = {}; + awb.r_lo = awb.g_lo = awb.b_lo = 0; + awb.r_hi = awb.g_hi = awb.b_hi = 65535 * 0.98; + + pisp_fe_cdaf_stats_config cdaf = {}; + cdaf.mode = (1 << 4) + (1 << 2) + 1; /* Gr / Gb count with weights of (1, 1) */ + + { + std::scoped_lock<FrontEnd> l(*fe_); + pisp_fe_global_config feGlobal; + fe_->GetGlobal(feGlobal); + feGlobal.enables |= PISP_FE_ENABLE_AWB_STATS + PISP_FE_ENABLE_AGC_STATS + + PISP_FE_ENABLE_CDAF_STATS; + + fe_->SetGlobal(feGlobal); + fe_->SetStatsCrop(crop); + fe_->SetAwbStats(awb); + fe_->SetCdafStats(cdaf); + } + + /* + * Apply the correct AGC region weights to the Frontend. Need to do this + * out of the Frontend scoped lock. + */ + setHistogramWeights(); + + pisp_be_global_config beGlobal; + be_->GetGlobal(beGlobal); + + if (mode_.binX > 1 || mode_.binY > 1) { + pisp_be_debin_config debin; + + be_->GetDebin(debin); + debin.h_enable = (mode_.binX > 1); + debin.v_enable = (mode_.binY > 1); + be_->SetDebin(debin); + beGlobal.bayer_enables |= PISP_BE_BAYER_ENABLE_DEBIN; + } else + beGlobal.bayer_enables &= ~PISP_BE_BAYER_ENABLE_DEBIN; + + be_->SetGlobal(beGlobal); +} + +void IpaPiSP::setHistogramWeights() +{ + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + if (!agc) + return; + + const std::vector<double> &weights = agc->getWeights(); + + pisp_fe_agc_stats_config config; + memset(&config, 0, sizeof(config)); + + /* + * The AGC software gives us a 15x15 table of weights which we + * map onto 16x16 in the hardware, ensuring the rightmost column + * and bottom row all have zero weight. We align everything to + * the native 2x2 Bayer pixel blocks. + */ + const Size &size = controller_.getHardwareConfig().agcZoneWeights; + int width = (mode_.width / size.width) & ~1; + int height = (mode_.height / size.height) & ~1; + config.offset_x = ((mode_.width - size.width * width) / 2) & ~1; + config.offset_y = ((mode_.height - size.height * height) / 2) & ~1; + config.size_x = width; + config.size_y = height; + + unsigned int idx = 0; + for (unsigned int row = 0; row < size.height; row++) { + unsigned int col = 0; + for (; col < size.width / 2; col++) { + int wt0 = clampField(weights[idx++], 4, 0, false, "agc weights"); + int wt1 = clampField(weights[idx++], 4, 0, false, "agc weights"); + config.weights[row * 8 + col] = (wt1 << 4) | wt0; + } + if (size.width & 1) + config.weights[row * 8 + col] = + clampField(weights[idx++], 4, 0, false, "agc weights"); + } + + std::scoped_lock<FrontEnd> l(*fe_); + fe_->SetAgcStats(config); +} + +} /* namespace ipa::RPi */ + +/* + * External IPA module interface + */ +extern "C" { +const IPAModuleInfo ipaModuleInfo = { + IPA_MODULE_API_VERSION, + 1, + "rpi/pisp", + "rpi/pisp", +}; + +IPAInterface *ipaCreate() +{ + return new ipa::RPi::IpaPiSP(); +} + +} /* extern "C" */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/agc.cpp b/src/ipa/simple/algorithms/agc.cpp index 72aade14..c46bb0eb 100644 --- a/src/ipa/simple/algorithms/agc.cpp +++ b/src/ipa/simple/algorithms/agc.cpp @@ -11,6 +11,8 @@ #include <libcamera/base/log.h> +#include "control_ids.h" + namespace libcamera { LOG_DEFINE_CATEGORY(IPASoftExposure) @@ -97,10 +99,15 @@ void Agc::updateExposure(IPAContext &context, IPAFrameContext &frameContext, dou void Agc::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, - [[maybe_unused]] IPAFrameContext &frameContext, + IPAFrameContext &frameContext, const SwIspStats *stats, - [[maybe_unused]] ControlList &metadata) + ControlList &metadata) { + utils::Duration exposureTime = + context.configuration.agc.lineDuration * frameContext.sensor.exposure; + metadata.set(controls::ExposureTime, exposureTime.get<std::micro>()); + metadata.set(controls::AnalogueGain, frameContext.sensor.gain); + /* * Calculate Mean Sample Value (MSV) according to formula from: * https://www.araa.asn.au/acra/acra2007/papers/paper84final.pdf diff --git a/src/ipa/simple/algorithms/awb.cpp b/src/ipa/simple/algorithms/awb.cpp index 195de41d..55719059 100644 --- a/src/ipa/simple/algorithms/awb.cpp +++ b/src/ipa/simple/algorithms/awb.cpp @@ -12,8 +12,13 @@ #include <libcamera/base/log.h> +#include <libcamera/control_ids.h> + +#include "libipa/colours.h" #include "simple/ipa_context.h" +#include "control_ids.h" + namespace libcamera { LOG_DEFINE_CATEGORY(IPASoftAwb) @@ -23,21 +28,38 @@ 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; + auto &gains = context.activeState.awb.gains; + gains = { { 1.0, 1.0, 1.0 } }; return 0; } +void Awb::prepare(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + [[maybe_unused]] DebayerParams *params) +{ + auto &gains = context.activeState.awb.gains; + frameContext.gains.red = gains.r(); + frameContext.gains.blue = gains.b(); +} + void Awb::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, - [[maybe_unused]] IPAFrameContext &frameContext, + IPAFrameContext &frameContext, const SwIspStats *stats, - [[maybe_unused]] ControlList &metadata) + ControlList &metadata) { const SwIspStats::Histogram &histogram = stats->yHistogram; const uint8_t blackLevel = context.activeState.blc.level; + const float maxGain = 1024.0; + const float mdGains[] = { + static_cast<float>(frameContext.gains.red / maxGain), + static_cast<float>(frameContext.gains.blue / maxGain) + }; + metadata.set(controls::ColourGains, mdGains); + /* * Black level must be subtracted to get the correct AWB ratios, they * would be off if they were computed from the whole brightness range @@ -54,12 +76,20 @@ void Awb::process(IPAContext &context, * 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; + auto &gains = context.activeState.awb.gains; + gains = { { + sumR <= sumG / 4 ? 4.0f : static_cast<float>(sumG) / sumR, + 1.0, + sumB <= sumG / 4 ? 4.0f : static_cast<float>(sumG) / sumB, + } }; + + RGB<double> rgbGains{ { 1 / gains.r(), 1 / gains.g(), 1 / gains.b() } }; + context.activeState.awb.temperatureK = estimateCCT(rgbGains); + metadata.set(controls::ColourTemperature, context.activeState.awb.temperatureK); + + LOG(IPASoftAwb, Debug) + << "gain R/B: " << gains << "; temperature: " + << context.activeState.awb.temperatureK; } REGISTER_IPA_ALGORITHM(Awb, "Awb") diff --git a/src/ipa/simple/algorithms/awb.h b/src/ipa/simple/algorithms/awb.h index db1496cd..ad993f39 100644 --- a/src/ipa/simple/algorithms/awb.h +++ b/src/ipa/simple/algorithms/awb.h @@ -1,6 +1,6 @@ /* SPDX-License-Identifier: LGPL-2.1-or-later */ /* - * Copyright (C) 2024, Red Hat Inc. + * Copyright (C) 2024-2025 Red Hat Inc. * * Auto white balance */ @@ -20,6 +20,10 @@ public: ~Awb() = default; int configure(IPAContext &context, const IPAConfigInfo &configInfo) override; + void prepare(IPAContext &context, + const uint32_t frame, + IPAFrameContext &frameContext, + DebayerParams *params) override; void process(IPAContext &context, const uint32_t frame, IPAFrameContext &frameContext, diff --git a/src/ipa/simple/algorithms/blc.cpp b/src/ipa/simple/algorithms/blc.cpp index 1d7d370b..53c356c8 100644 --- a/src/ipa/simple/algorithms/blc.cpp +++ b/src/ipa/simple/algorithms/blc.cpp @@ -11,6 +11,8 @@ #include <libcamera/base/log.h> +#include "control_ids.h" + namespace libcamera { namespace ipa::soft::algorithms { @@ -49,8 +51,15 @@ void BlackLevel::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, IPAFrameContext &frameContext, const SwIspStats *stats, - [[maybe_unused]] ControlList &metadata) + ControlList &metadata) { + /* Assign each of the R G G B channels as the same black level. */ + const int32_t blackLevel = context.activeState.blc.level * 256; + const int32_t blackLevels[] = { + blackLevel, blackLevel, blackLevel, blackLevel + }; + metadata.set(controls::SensorBlackLevels, blackLevels); + if (context.configuration.black.level.has_value()) return; diff --git a/src/ipa/simple/algorithms/ccm.cpp b/src/ipa/simple/algorithms/ccm.cpp new file mode 100644 index 00000000..d5ba928d --- /dev/null +++ b/src/ipa/simple/algorithms/ccm.cpp @@ -0,0 +1,76 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas On Board + * Copyright (C) 2024-2025, Red Hat Inc. + * + * Color correction matrix + */ + +#include "ccm.h" + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +#include <libcamera/control_ids.h> + +namespace { + +constexpr unsigned int kTemperatureThreshold = 100; + +} + +namespace libcamera { + +namespace ipa::soft::algorithms { + +LOG_DEFINE_CATEGORY(IPASoftCcm) + +int Ccm::init([[maybe_unused]] IPAContext &context, const YamlObject &tuningData) +{ + int ret = ccm_.readYaml(tuningData["ccms"], "ct", "ccm"); + if (ret < 0) { + LOG(IPASoftCcm, Error) + << "Failed to parse 'ccm' parameter from tuning file."; + return ret; + } + + context.ccmEnabled = true; + + return 0; +} + +void Ccm::prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, [[maybe_unused]] DebayerParams *params) +{ + const unsigned int ct = context.activeState.awb.temperatureK; + + /* Change CCM only on bigger temperature changes. */ + if (frame > 0 && + utils::abs_diff(ct, lastCt_) < kTemperatureThreshold) { + frameContext.ccm.ccm = context.activeState.ccm.ccm; + context.activeState.ccm.changed = false; + return; + } + + lastCt_ = ct; + Matrix<float, 3, 3> ccm = ccm_.getInterpolated(ct); + + context.activeState.ccm.ccm = ccm; + frameContext.ccm.ccm = ccm; + context.activeState.ccm.changed = true; +} + +void Ccm::process([[maybe_unused]] IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + [[maybe_unused]] const SwIspStats *stats, + ControlList &metadata) +{ + metadata.set(controls::ColourCorrectionMatrix, frameContext.ccm.ccm.data()); +} + +REGISTER_IPA_ALGORITHM(Ccm, "Ccm") + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/ccm.h b/src/ipa/simple/algorithms/ccm.h new file mode 100644 index 00000000..f4e2b85b --- /dev/null +++ b/src/ipa/simple/algorithms/ccm.h @@ -0,0 +1,43 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024-2025, Red Hat Inc. + * + * Color correction matrix + */ + +#pragma once + +#include "libcamera/internal/matrix.h" + +#include <libipa/interpolator.h> + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::soft::algorithms { + +class Ccm : public Algorithm +{ +public: + Ccm() = default; + ~Ccm() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + void prepare(IPAContext &context, + const uint32_t frame, + IPAFrameContext &frameContext, + DebayerParams *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const SwIspStats *stats, + ControlList &metadata) override; + +private: + unsigned int lastCt_; + Interpolator<Matrix<float, 3, 3>> ccm_; +}; + +} /* namespace ipa::soft::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/algorithms/lut.cpp b/src/ipa/simple/algorithms/lut.cpp index 0ba2391f..e8638f27 100644 --- a/src/ipa/simple/algorithms/lut.cpp +++ b/src/ipa/simple/algorithms/lut.cpp @@ -1,6 +1,6 @@ /* SPDX-License-Identifier: LGPL-2.1-or-later */ /* - * Copyright (C) 2024, Red Hat Inc. + * Copyright (C) 2024-2025, Red Hat Inc. * * Color lookup tables construction */ @@ -14,9 +14,9 @@ #include <libcamera/base/log.h> -#include "simple/ipa_context.h" +#include <libcamera/control_ids.h> -#include "control_ids.h" +#include "simple/ipa_context.h" namespace libcamera { @@ -80,42 +80,78 @@ void Lut::updateGammaTable(IPAContext &context) context.activeState.gamma.contrast = contrast; } +int16_t Lut::ccmValue(unsigned int i, float ccm) const +{ + return std::round(i * ccm); +} + void Lut::prepare(IPAContext &context, [[maybe_unused]] const uint32_t frame, - [[maybe_unused]] IPAFrameContext &frameContext, - [[maybe_unused]] DebayerParams *params) + IPAFrameContext &frameContext, + DebayerParams *params) { + frameContext.contrast = context.activeState.knobs.contrast; + /* * 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 || - context.activeState.gamma.contrast != context.activeState.knobs.contrast) + const bool gammaUpdateNeeded = + context.activeState.gamma.blackLevel != context.activeState.blc.level || + context.activeState.gamma.contrast != context.activeState.knobs.contrast; + if (gammaUpdateNeeded) updateGammaTable(context); - auto &gains = context.activeState.gains; + auto &gains = context.activeState.awb.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]; + const double div = static_cast<double>(DebayerParams::kRGBLookupSize) / + gammaTableSize; + + if (!context.ccmEnabled) { + for (unsigned int i = 0; i < DebayerParams::kRGBLookupSize; i++) { + /* Apply gamma after gain! */ + const RGB<float> lutGains = (gains * i / div).min(gammaTableSize - 1); + params->red[i] = gammaTable[static_cast<unsigned int>(lutGains.r())]; + params->green[i] = gammaTable[static_cast<unsigned int>(lutGains.g())]; + params->blue[i] = gammaTable[static_cast<unsigned int>(lutGains.b())]; + } + } else if (context.activeState.ccm.changed || gammaUpdateNeeded) { + Matrix<float, 3, 3> gainCcm = { { gains.r(), 0, 0, + 0, gains.g(), 0, + 0, 0, gains.b() } }; + auto ccm = gainCcm * context.activeState.ccm.ccm; + auto &red = params->redCcm; + auto &green = params->greenCcm; + auto &blue = params->blueCcm; + for (unsigned int i = 0; i < DebayerParams::kRGBLookupSize; i++) { + red[i].r = ccmValue(i, ccm[0][0]); + red[i].g = ccmValue(i, ccm[1][0]); + red[i].b = ccmValue(i, ccm[2][0]); + green[i].r = ccmValue(i, ccm[0][1]); + green[i].g = ccmValue(i, ccm[1][1]); + green[i].b = ccmValue(i, ccm[2][1]); + blue[i].r = ccmValue(i, ccm[0][2]); + blue[i].g = ccmValue(i, ccm[1][2]); + blue[i].b = ccmValue(i, ccm[2][2]); + params->gammaLut[i] = gammaTable[i / div]; + } } } +void Lut::process([[maybe_unused]] IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + [[maybe_unused]] const SwIspStats *stats, + ControlList &metadata) +{ + const auto &contrast = frameContext.contrast; + if (contrast) + metadata.set(controls::Contrast, contrast.value()); +} + REGISTER_IPA_ALGORITHM(Lut, "Lut") } /* namespace ipa::soft::algorithms */ diff --git a/src/ipa/simple/algorithms/lut.h b/src/ipa/simple/algorithms/lut.h index 889f864b..ba8b9021 100644 --- a/src/ipa/simple/algorithms/lut.h +++ b/src/ipa/simple/algorithms/lut.h @@ -30,9 +30,15 @@ public: const uint32_t frame, IPAFrameContext &frameContext, DebayerParams *params) override; + void process(IPAContext &context, + const uint32_t frame, + IPAFrameContext &frameContext, + const SwIspStats *stats, + ControlList &metadata) override; private: void updateGammaTable(IPAContext &context); + int16_t ccmValue(unsigned int i, float ccm) const; }; } /* namespace ipa::soft::algorithms */ diff --git a/src/ipa/simple/algorithms/meson.build b/src/ipa/simple/algorithms/meson.build index 37a2eb53..2d0adb05 100644 --- a/src/ipa/simple/algorithms/meson.build +++ b/src/ipa/simple/algorithms/meson.build @@ -4,5 +4,6 @@ soft_simple_ipa_algorithms = files([ 'awb.cpp', 'agc.cpp', 'blc.cpp', + 'ccm.cpp', 'lut.cpp', ]) diff --git a/src/ipa/simple/data/uncalibrated.yaml b/src/ipa/simple/data/uncalibrated.yaml index 3f147112..5508e668 100644 --- a/src/ipa/simple/data/uncalibrated.yaml +++ b/src/ipa/simple/data/uncalibrated.yaml @@ -5,6 +5,15 @@ version: 1 algorithms: - BlackLevel: - Awb: + # Color correction matrices can be defined here. The CCM algorithm + # has a significant performance impact, and should only be enabled + # if tuned. + # - Ccm: + # ccms: + # - ct: 6500 + # ccm: [ 1, 0, 0, + # 0, 1, 0, + # 0, 0, 1] - Lut: - Agc: ... diff --git a/src/ipa/simple/ipa_context.h b/src/ipa/simple/ipa_context.h index 4af51306..7dc2cd7a 100644 --- a/src/ipa/simple/ipa_context.h +++ b/src/ipa/simple/ipa_context.h @@ -1,6 +1,6 @@ /* SPDX-License-Identifier: LGPL-2.1-or-later */ /* - * Copyright (C) 2024 Red Hat, Inc. + * Copyright (C) 2024-2025 Red Hat, Inc. * * Simple pipeline IPA Context */ @@ -13,8 +13,13 @@ #include <libcamera/controls.h> +#include "libcamera/internal/matrix.h" +#include "libcamera/internal/vector.h" + #include <libipa/fc_queue.h> +#include "core_ipa_interface.h" + namespace libcamera { namespace ipa::soft { @@ -24,6 +29,7 @@ struct IPASessionConfiguration { struct { int32_t exposureMin, exposureMax; double againMin, againMax, againMinStep; + utils::Duration lineDuration; } agc; struct { std::optional<uint8_t> level; @@ -36,10 +42,9 @@ struct IPAActiveState { } blc; struct { - double red; - double green; - double blue; - } gains; + RGB<float> gains; + unsigned int temperatureK; + } awb; static constexpr unsigned int kGammaLookupSize = 1024; struct { @@ -47,6 +52,12 @@ struct IPAActiveState { uint8_t blackLevel; double contrast; } gamma; + + struct { + Matrix<float, 3, 3> ccm; + bool changed; + } ccm; + struct { /* 0..2 range, 1.0 = normal */ std::optional<double> contrast; @@ -55,9 +66,18 @@ struct IPAActiveState { struct IPAFrameContext : public FrameContext { struct { + Matrix<float, 3, 3> ccm; + } ccm; + + struct { int32_t exposure; double gain; } sensor; + struct { + double red; + double blue; + } gains; + std::optional<double> contrast; }; struct IPAContext { @@ -66,10 +86,12 @@ struct IPAContext { { } + IPACameraSensorInfo sensorInfo; IPASessionConfiguration configuration; IPAActiveState activeState; FCQueue<IPAFrameContext> frameContexts; ControlInfoMap::Map ctrlMap; + bool ccmEnabled; }; } /* namespace ipa::soft */ diff --git a/src/ipa/simple/soft_simple.cpp b/src/ipa/simple/soft_simple.cpp index b26e4e15..c94c4cd5 100644 --- a/src/ipa/simple/soft_simple.cpp +++ b/src/ipa/simple/soft_simple.cpp @@ -5,6 +5,7 @@ * Simple Software Image Processing Algorithm module */ +#include <chrono> #include <stdint.h> #include <sys/mman.h> @@ -32,6 +33,8 @@ namespace libcamera { LOG_DEFINE_CATEGORY(IPASoft) +using namespace std::literals::chrono_literals; + namespace ipa::soft { /* Maximum number of frame contexts to be held */ @@ -50,8 +53,10 @@ public: int init(const IPASettings &settings, const SharedFD &fdStats, const SharedFD &fdParams, - const ControlInfoMap &sensorInfoMap, - ControlInfoMap *ipaControls) override; + const IPACameraSensorInfo &sensorInfo, + const ControlInfoMap &sensorControls, + ControlInfoMap *ipaControls, + bool *ccmEnabled) override; int configure(const IPAConfigInfo &configInfo) override; int start() override; @@ -88,8 +93,10 @@ IPASoftSimple::~IPASoftSimple() int IPASoftSimple::init(const IPASettings &settings, const SharedFD &fdStats, const SharedFD &fdParams, - const ControlInfoMap &sensorInfoMap, - ControlInfoMap *ipaControls) + const IPACameraSensorInfo &sensorInfo, + const ControlInfoMap &sensorControls, + ControlInfoMap *ipaControls, + bool *ccmEnabled) { camHelper_ = CameraSensorHelperFactoryBase::create(settings.sensorModel); if (!camHelper_) { @@ -98,6 +105,8 @@ int IPASoftSimple::init(const IPASettings &settings, << settings.sensorModel; } + context_.sensorInfo = sensorInfo; + /* Load the tuning data file */ File file(settings.configurationFile); if (!file.open(File::OpenModeFlag::ReadOnly)) { @@ -125,6 +134,8 @@ int IPASoftSimple::init(const IPASettings &settings, if (ret) return ret; + *ccmEnabled = context_.ccmEnabled; + params_ = nullptr; stats_ = nullptr; @@ -169,12 +180,12 @@ int IPASoftSimple::init(const IPASettings &settings, * Don't save the min and max control values yet, as e.g. the limits * for V4L2_CID_EXPOSURE depend on the configured sensor resolution. */ - if (sensorInfoMap.find(V4L2_CID_EXPOSURE) == sensorInfoMap.end()) { + if (sensorControls.find(V4L2_CID_EXPOSURE) == sensorControls.end()) { LOG(IPASoft, Error) << "Don't have exposure control"; return -EINVAL; } - if (sensorInfoMap.find(V4L2_CID_ANALOGUE_GAIN) == sensorInfoMap.end()) { + if (sensorControls.find(V4L2_CID_ANALOGUE_GAIN) == sensorControls.end()) { LOG(IPASoft, Error) << "Don't have gain control"; return -EINVAL; } @@ -194,6 +205,8 @@ int IPASoftSimple::configure(const IPAConfigInfo &configInfo) context_.activeState = {}; context_.frameContexts.clear(); + context_.configuration.agc.lineDuration = + context_.sensorInfo.minLineLength * 1.0s / context_.sensorInfo.pixelRate; context_.configuration.agc.exposureMin = exposureInfo.min().get<int32_t>(); context_.configuration.agc.exposureMax = exposureInfo.max().get<int32_t>(); if (!context_.configuration.agc.exposureMin) { @@ -295,15 +308,10 @@ void IPASoftSimple::processStats(const uint32_t frame, int32_t again = sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>(); frameContext.sensor.gain = camHelper_ ? camHelper_->gain(again) : again; - /* - * Software ISP currently does not produce any metadata. Use an empty - * ControlList for now. - * - * \todo Implement proper metadata handling - */ ControlList metadata(controls::controls); for (auto const &algo : algorithms()) algo->process(context_, frame, frameContext, stats_, metadata); + metadataReady.emit(frame, metadata); /* Sanity check */ if (!sensorControls.contains(V4L2_CID_EXPOSURE) || diff --git a/src/libcamera/base/log.cpp b/src/libcamera/base/log.cpp index 3a656b8f..8bf3e1da 100644 --- a/src/libcamera/base/log.cpp +++ b/src/libcamera/base/log.cpp @@ -8,12 +8,15 @@ #include <libcamera/base/log.h> #include <array> +#include <charconv> +#include <fnmatch.h> #include <fstream> #include <iostream> #include <list> #include <stdio.h> #include <stdlib.h> #include <string.h> +#include <string_view> #include <syslog.h> #include <time.h> #include <unordered_set> @@ -38,8 +41,8 @@ * The levels are configurable through the LIBCAMERA_LOG_LEVELS environment * variable that contains a comma-separated list of 'category:level' pairs. * - * The category names are strings and can include a wildcard ('*') character at - * the end to match multiple categories. + * The category names are strings and can include a wildcard ('*') character to + * match multiple categories. * * The level are either numeric values, or strings containing the log level * name. The available log levels are DEBUG, INFO, WARN, ERROR and FATAL. Log @@ -311,15 +314,15 @@ private: void parseLogFile(); void parseLogLevels(); - static LogSeverity parseLogLevel(const std::string &level); + static LogSeverity parseLogLevel(std::string_view level); friend LogCategory; - void registerCategory(LogCategory *category); - LogCategory *findCategory(const char *name) const; + LogCategory *findOrCreateCategory(std::string_view name); static bool destroyed_; - std::vector<LogCategory *> categories_; + Mutex mutex_; + std::vector<std::unique_ptr<LogCategory>> categories_ LIBCAMERA_TSA_GUARDED_BY(mutex_); std::list<std::pair<std::string, LogSeverity>> levels_; std::shared_ptr<LogOutput> output_; @@ -436,9 +439,6 @@ void logSetLevel(const char *category, const char *level) Logger::~Logger() { destroyed_ = true; - - for (LogCategory *category : categories_) - delete category; } /** @@ -569,7 +569,9 @@ void Logger::logSetLevel(const char *category, const char *level) if (severity == LogInvalid) return; - for (LogCategory *c : categories_) { + MutexLocker locker(mutex_); + + for (const auto &c : categories_) { if (c->name() == category) { c->setSeverity(severity); break; @@ -640,17 +642,17 @@ void Logger::parseLogLevels() if (!len) continue; - std::string category; - std::string level; + std::string_view category; + std::string_view level; const char *colon = static_cast<const char *>(memchr(pair, ':', len)); if (!colon) { /* 'x' is a shortcut for '*:x'. */ category = "*"; - level = std::string(pair, len); + level = std::string_view(pair, len); } else { - category = std::string(pair, colon - pair); - level = std::string(colon + 1, comma - colon - 1); + category = std::string_view(pair, colon - pair); + level = std::string_view(colon + 1, comma - colon - 1); } /* Both the category and the level must be specified. */ @@ -661,7 +663,7 @@ void Logger::parseLogLevels() if (severity == LogInvalid) continue; - levels_.push_back({ category, severity }); + levels_.emplace_back(category, severity); } } @@ -675,7 +677,7 @@ void Logger::parseLogLevels() * * \return The log severity, or LogInvalid if the string is invalid */ -LogSeverity Logger::parseLogLevel(const std::string &level) +LogSeverity Logger::parseLogLevel(std::string_view level) { static const char *const names[] = { "DEBUG", @@ -685,15 +687,13 @@ LogSeverity Logger::parseLogLevel(const std::string &level) "FATAL", }; - int severity; + unsigned int severity = LogInvalid; if (std::isdigit(level[0])) { - char *endptr; - severity = strtoul(level.c_str(), &endptr, 10); - if (*endptr != '\0' || severity > LogFatal) + auto [end, ec] = std::from_chars(level.data(), level.data() + level.size(), severity); + if (ec != std::errc() || *end != '\0' || severity > LogFatal) severity = LogInvalid; } else { - severity = LogInvalid; for (unsigned int i = 0; i < std::size(names); ++i) { if (names[i] == level) { severity = i; @@ -706,52 +706,28 @@ LogSeverity Logger::parseLogLevel(const std::string &level) } /** - * \brief Register a log category with the logger - * \param[in] category The log category - * - * Log categories must have unique names. It is invalid to call this function - * if a log category with the same name already exists. + * \brief Find an existing log category with the given name or create one + * \param[in] name Name of the log category + * \return The pointer to the log category found or created */ -void Logger::registerCategory(LogCategory *category) +LogCategory *Logger::findOrCreateCategory(std::string_view name) { - categories_.push_back(category); - - const std::string &name = category->name(); - for (const std::pair<std::string, LogSeverity> &level : levels_) { - bool match = true; - - for (unsigned int i = 0; i < level.first.size(); ++i) { - if (level.first[i] == '*') - break; - - if (i >= name.size() || - name[i] != level.first[i]) { - match = false; - break; - } - } + MutexLocker locker(mutex_); - if (match) { - category->setSeverity(level.second); - break; - } + for (const auto &category : categories_) { + if (category->name() == name) + return category.get(); } -} -/** - * \brief Find an existing log category with the given name - * \param[in] name Name of the log category - * \return The pointer to the found log category or nullptr if not found - */ -LogCategory *Logger::findCategory(const char *name) const -{ - if (auto it = std::find_if(categories_.begin(), categories_.end(), - [name](auto c) { return c->name() == name; }); - it != categories_.end()) { - return *it; + LogCategory *category = categories_.emplace_back(std::unique_ptr<LogCategory>(new LogCategory(name))).get(); + const char *categoryName = category->name().c_str(); + + for (const auto &[pattern, severity] : levels_) { + if (fnmatch(pattern.c_str(), categoryName, FNM_NOESCAPE) == 0) + category->setSeverity(severity); } - return nullptr; + return category; } /** @@ -787,25 +763,16 @@ LogCategory *Logger::findCategory(const char *name) const * * \return The pointer to the LogCategory */ -LogCategory *LogCategory::create(const char *name) +LogCategory *LogCategory::create(std::string_view name) { - static Mutex mutex_; - MutexLocker locker(mutex_); - LogCategory *category = Logger::instance()->findCategory(name); - - if (!category) { - category = new LogCategory(name); - Logger::instance()->registerCategory(category); - } - - return category; + return Logger::instance()->findOrCreateCategory(name); } /** * \brief Construct a log category * \param[in] name The category name */ -LogCategory::LogCategory(const char *name) +LogCategory::LogCategory(std::string_view name) : name_(name), severity_(LogSeverity::LogInfo) { } @@ -824,15 +791,12 @@ LogCategory::LogCategory(const char *name) */ /** + * \fn LogCategory::setSeverity(LogSeverity severity) * \brief Set the severity of the log category * * Messages of severity higher than or equal to the severity of the log category * are printed, other messages are discarded. */ -void LogCategory::setSeverity(LogSeverity severity) -{ - severity_ = severity; -} /** * \brief Retrieve the default log category @@ -874,39 +838,12 @@ const LogCategory &LogCategory::defaultCategory() */ LogMessage::LogMessage(const char *fileName, unsigned int line, const LogCategory &category, LogSeverity severity, - const std::string &prefix) - : category_(category), severity_(severity), prefix_(prefix) + std::string prefix) + : category_(category), severity_(severity), + timestamp_(utils::clock::now()), + fileInfo_(static_cast<std::ostringstream &&>(std::ostringstream() << utils::basename(fileName) << ":" << line).str()), + prefix_(std::move(prefix)) { - init(fileName, line); -} - -/** - * \brief Move-construct a log message - * \param[in] other The other message - * - * The move constructor is meant to support the _log() functions. Thanks to copy - * elision it will likely never be called, but C++11 only permits copy elision, - * it doesn't enforce it unlike C++17. To avoid potential link errors depending - * on the compiler type and version, and optimization level, the move - * constructor is defined even if it will likely never be called, and ensures - * that the destructor of the \a other message will not output anything to the - * log by setting the severity to LogInvalid. - */ -LogMessage::LogMessage(LogMessage &&other) - : msgStream_(std::move(other.msgStream_)), category_(other.category_), - severity_(other.severity_) -{ - other.severity_ = LogInvalid; -} - -void LogMessage::init(const char *fileName, unsigned int line) -{ - /* Log the timestamp, severity and file information. */ - timestamp_ = utils::clock::now(); - - std::ostringstream ossFileInfo; - ossFileInfo << utils::basename(fileName) << ":" << line; - fileInfo_ = ossFileInfo.str(); } LogMessage::~LogMessage() diff --git a/src/libcamera/base/object.cpp b/src/libcamera/base/object.cpp index 745d2565..37d133cc 100644 --- a/src/libcamera/base/object.cpp +++ b/src/libcamera/base/object.cpp @@ -350,7 +350,7 @@ void Object::connect(SignalBase *signal) void Object::disconnect(SignalBase *signal) { - for (auto iter = signals_.begin(); iter != signals_.end(); ) { + for (auto iter = signals_.begin(); iter != signals_.end();) { if (*iter == signal) iter = signals_.erase(iter); else diff --git a/src/libcamera/base/signal.cpp b/src/libcamera/base/signal.cpp index b782e050..7876a21d 100644 --- a/src/libcamera/base/signal.cpp +++ b/src/libcamera/base/signal.cpp @@ -49,7 +49,7 @@ void SignalBase::disconnect(std::function<bool(SlotList::iterator &)> match) { MutexLocker locker(signalsLock); - for (auto iter = slots_.begin(); iter != slots_.end(); ) { + for (auto iter = slots_.begin(); iter != slots_.end();) { if (match(iter)) { Object *object = (*iter)->object(); if (object) diff --git a/src/libcamera/base/thread.cpp b/src/libcamera/base/thread.cpp index f6322fe3..d8fe0d69 100644 --- a/src/libcamera/base/thread.cpp +++ b/src/libcamera/base/thread.cpp @@ -257,6 +257,8 @@ void Thread::start() data_->exit_.store(false, std::memory_order_relaxed); thread_ = std::thread(&Thread::startThread, this); + + setThreadAffinityInternal(); } void Thread::startThread() @@ -284,8 +286,6 @@ void Thread::startThread() data_->tid_ = syscall(SYS_gettid); currentThreadData = data_; - setThreadAffinityInternal(); - run(); } @@ -604,10 +604,12 @@ void Thread::removeMessages(Object *receiver) /** * \brief Dispatch posted messages for this thread * \param[in] type The message type + * \param[in] receiver The receiver whose messages to dispatch * - * This function immediately dispatches all the messages previously posted for - * this thread with postMessage() that match the message \a type. If the \a type - * is Message::Type::None, all messages are dispatched. + * This function immediately dispatches all the messages of the given \a type + * previously posted to this thread for the \a receiver with postMessage(). If + * the \a type is Message::Type::None, all messages types are dispatched. If the + * \a receiver is null, messages to all receivers are dispatched. * * Messages shall only be dispatched from the current thread, typically within * the thread from the run() function. Calling this function outside of the @@ -617,7 +619,7 @@ void Thread::removeMessages(Object *receiver) * same thread from an object's message handler. It guarantees delivery of * messages in the order they have been posted in all cases. */ -void Thread::dispatchMessages(Message::Type type) +void Thread::dispatchMessages(Message::Type type, Object *receiver) { ASSERT(data_ == ThreadData::current()); @@ -634,6 +636,9 @@ void Thread::dispatchMessages(Message::Type type) if (type != Message::Type::None && msg->type() != type) continue; + if (receiver && receiver != msg->receiver_) + continue; + /* * Move the message, setting the entry in the list to null. It * will cause recursive calls to ignore the entry, and the erase @@ -641,12 +646,12 @@ void Thread::dispatchMessages(Message::Type type) */ std::unique_ptr<Message> message = std::move(msg); - Object *receiver = message->receiver_; - ASSERT(data_ == receiver->thread()->data_); - receiver->pendingMessages_--; + Object *messageReceiver = message->receiver_; + ASSERT(data_ == messageReceiver->thread()->data_); + messageReceiver->pendingMessages_--; locker.unlock(); - receiver->message(message.get()); + messageReceiver->message(message.get()); message.reset(); locker.lock(); } @@ -657,7 +662,7 @@ void Thread::dispatchMessages(Message::Type type) * the outer calls. */ if (!--data_->messages_.recursion_) { - for (auto iter = messages.begin(); iter != messages.end(); ) { + for (auto iter = messages.begin(); iter != messages.end();) { if (!*iter) iter = messages.erase(iter); else diff --git a/src/libcamera/camera.cpp b/src/libcamera/camera.cpp index 69a7ee53..c180a5fd 100644 --- a/src/libcamera/camera.cpp +++ b/src/libcamera/camera.cpp @@ -19,7 +19,9 @@ #include <libcamera/base/thread.h> #include <libcamera/color_space.h> +#include <libcamera/control_ids.h> #include <libcamera/framebuffer_allocator.h> +#include <libcamera/property_ids.h> #include <libcamera/request.h> #include <libcamera/stream.h> @@ -586,7 +588,8 @@ CameraConfiguration::Status CameraConfiguration::validateColorSpaces(ColorSpaceF * \param[in] pipe The pipeline handler responsible for the camera device */ Camera::Private::Private(PipelineHandler *pipe) - : requestSequence_(0), pipe_(pipe->shared_from_this()), + : controlInfo_({}, controls::controls), properties_(properties::properties), + requestSequence_(0), pipe_(pipe->shared_from_this()), disconnected_(false), state_(CameraAvailable) { } @@ -1325,6 +1328,25 @@ int Camera::queueRequest(Request *request) } } + /* Pre-process AeEnable. */ + ControlList &controls = request->controls(); + const auto &aeEnable = controls.get(controls::AeEnable); + if (aeEnable) { + if (_d()->controlInfo_.count(controls::AnalogueGainMode.id()) && + !controls.contains(controls::AnalogueGainMode.id())) { + controls.set(controls::AnalogueGainMode, + *aeEnable ? controls::AnalogueGainModeAuto + : controls::AnalogueGainModeManual); + } + + if (_d()->controlInfo_.count(controls::ExposureTimeMode.id()) && + !controls.contains(controls::ExposureTimeMode.id())) { + controls.set(controls::ExposureTimeMode, + *aeEnable ? controls::ExposureTimeModeAuto + : controls::ExposureTimeModeManual); + } + } + d->pipe_->invokeMethod(&PipelineHandler::queueRequest, ConnectionTypeQueued, request); diff --git a/src/libcamera/camera_manager.cpp b/src/libcamera/camera_manager.cpp index 87e6717e..400109f1 100644 --- a/src/libcamera/camera_manager.cpp +++ b/src/libcamera/camera_manager.cpp @@ -202,24 +202,24 @@ void CameraManager::Private::addCamera(std::shared_ptr<Camera> camera) { ASSERT(Thread::current() == this); - MutexLocker locker(mutex_); + { + MutexLocker locker(mutex_); - for (const std::shared_ptr<Camera> &c : cameras_) { - if (c->id() == camera->id()) { - LOG(Camera, Fatal) - << "Trying to register a camera with a duplicated ID '" - << camera->id() << "'"; - return; + for (const std::shared_ptr<Camera> &c : cameras_) { + if (c->id() == camera->id()) { + LOG(Camera, Fatal) + << "Trying to register a camera with a duplicated ID '" + << camera->id() << "'"; + return; + } } - } - cameras_.push_back(std::move(camera)); - - unsigned int index = cameras_.size() - 1; + cameras_.push_back(camera); + } /* Report the addition to the public signal */ CameraManager *const o = LIBCAMERA_O_PTR(); - o->cameraAdded.emit(cameras_[index]); + o->cameraAdded.emit(camera); } /** @@ -236,20 +236,22 @@ void CameraManager::Private::removeCamera(std::shared_ptr<Camera> camera) { ASSERT(Thread::current() == this); - MutexLocker locker(mutex_); + { + MutexLocker locker(mutex_); - auto iter = std::find_if(cameras_.begin(), cameras_.end(), - [camera](std::shared_ptr<Camera> &c) { - return c.get() == camera.get(); - }); - if (iter == cameras_.end()) - return; + auto iter = std::find_if(cameras_.begin(), cameras_.end(), + [camera](std::shared_ptr<Camera> &c) { + return c.get() == camera.get(); + }); + if (iter == cameras_.end()) + return; + + cameras_.erase(iter); + } LOG(Camera, Debug) << "Unregistering camera '" << camera->id() << "'"; - cameras_.erase(iter); - /* Report the removal to the public signal */ CameraManager *const o = LIBCAMERA_O_PTR(); o->cameraRemoved.emit(camera); diff --git a/src/libcamera/control_ids_core.yaml b/src/libcamera/control_ids_core.yaml index 1dfaee0c..aa744864 100644 --- a/src/libcamera/control_ids_core.yaml +++ b/src/libcamera/control_ids_core.yaml @@ -10,23 +10,82 @@ vendor: libcamera controls: - AeEnable: type: bool - direction: inout + direction: in description: | - Enable or disable the AE. + Enable or disable the AEGC algorithm. When this control is set to true, + both ExposureTimeMode and AnalogueGainMode are set to auto, and if this + control is set to false then both are set to manual. - \sa ExposureTime AnalogueGain + If ExposureTimeMode or AnalogueGainMode are also set in the same + request as AeEnable, then the modes supplied by ExposureTimeMode or + AnalogueGainMode will take precedence. - - AeLocked: - type: bool + \sa ExposureTimeMode AnalogueGainMode + + - AeState: + type: int32_t direction: out description: | - Report the lock status of a running AE algorithm. + Report the AEGC algorithm state. - If the AE algorithm is locked the value shall be set to true, if it's - converging it shall be set to false. If the AE algorithm is not - running the control shall not be present in the metadata control list. + The AEGC algorithm computes the exposure time and the analogue gain + to be applied to the image sensor. + + The AEGC algorithm behaviour is controlled by the ExposureTimeMode and + AnalogueGainMode controls, which allow applications to decide how + the exposure time and gain are computed, in Auto or Manual mode, + independently from one another. + + The AeState control reports the AEGC algorithm state through a single + value and describes it as a single computation block which computes + both the exposure time and the analogue gain values. + + When both the exposure time and analogue gain values are configured to + be in Manual mode, the AEGC algorithm is quiescent and does not actively + compute any value and the AeState control will report AeStateIdle. + + When at least the exposure time or analogue gain are configured to be + computed by the AEGC algorithm, the AeState control will report if the + algorithm has converged to stable values for all of the controls set + to be computed in Auto mode. + + \sa AnalogueGainMode + \sa ExposureTimeMode + + enum: + - name: AeStateIdle + value: 0 + description: | + The AEGC algorithm is inactive. + + This state is returned when both AnalogueGainMode and + ExposureTimeMode are set to Manual and the algorithm is not + actively computing any value. + - name: AeStateSearching + value: 1 + description: | + The AEGC algorithm is actively computing new values, for either the + exposure time or the analogue gain, but has not converged to a + stable result yet. + + This state is returned if at least one of AnalogueGainMode or + ExposureTimeMode is auto and the algorithm hasn't converged yet. + + The AEGC algorithm converges once stable values are computed for + all of the controls set to be computed in Auto mode. Once the + algorithm converges the state is moved to AeStateConverged. + - name: AeStateConverged + value: 2 + description: | + The AEGC algorithm has converged. - \sa AeEnable + This state is returned if at least one of AnalogueGainMode or + ExposureTimeMode is Auto, and the AEGC algorithm has converged to a + stable value. + + If the measurements move too far away from the convergence point + then the AEGC algorithm might start adjusting again, in which case + the state is moved to AeStateSearching. # AeMeteringMode needs further attention: # - Auto-generate max enum value. @@ -109,6 +168,13 @@ controls: The exposure modes specify how the desired total exposure is divided between the exposure time and the sensor's analogue gain. They are platform specific, and not all exposure modes may be supported. + + When one of AnalogueGainMode or ExposureTimeMode is set to Manual, + the fixed values will override any choices made by AeExposureMode. + + \sa AnalogueGainMode + \sa ExposureTimeMode + enum: - name: ExposureNormal value: 0 @@ -130,13 +196,15 @@ controls: Specify an Exposure Value (EV) parameter. The EV parameter will only be applied if the AE algorithm is currently - enabled. + enabled, that is, at least one of AnalogueGainMode and ExposureTimeMode + are in Auto mode. By convention EV adjusts the exposure as log2. For example EV = [-2, -1, -0.5, 0, 0.5, 1, 2] results in an exposure adjustment of [1/4x, 1/2x, 1/sqrt(2)x, 1x, sqrt(2)x, 2x, 4x]. - \sa AeEnable + \sa AnalogueGainMode + \sa ExposureTimeMode - ExposureTime: type: int32_t @@ -146,17 +214,108 @@ controls: This value is specified in micro-seconds. - Setting this value means that it is now fixed and the AE algorithm may - not change it. Setting it back to zero returns it to the control of the - AE algorithm. + This control will only take effect if ExposureTimeMode is Manual. If + this control is set when ExposureTimeMode is Auto, the value will be + ignored and will not be retained. + + When reported in metadata, this control indicates what exposure time + was used for the current frame, regardless of ExposureTimeMode. + ExposureTimeMode will indicate the source of the exposure time value, + whether it came from the AE algorithm or not. + + \sa AnalogueGain + \sa ExposureTimeMode + + - ExposureTimeMode: + type: int32_t + direction: inout + description: | + Controls the source of the exposure time that is applied to the image + sensor. + + When set to Auto, the AE algorithm computes the exposure time and + configures the image sensor accordingly. When set to Manual, the value + of the ExposureTime control is used. + + When transitioning from Auto to Manual mode and no ExposureTime control + is provided by the application, the last value computed by the AE + algorithm when the mode was Auto will be used. If the ExposureTimeMode + was never set to Auto (either because the camera started in Manual mode, + or Auto is not supported by the camera), the camera should use a + best-effort default value. - \sa AnalogueGain AeEnable + If ExposureTimeModeManual is supported, the ExposureTime control must + also be supported. - \todo Document the interactions between AeEnable and setting a fixed - value for this control. Consider interactions with other AE features, - such as aperture and aperture/shutter priority mode, and decide if - control of which features should be automatically adjusted shouldn't - better be handled through a separate AE mode control. + Cameras that support manual control of the sensor shall support manual + mode for both ExposureTimeMode and AnalogueGainMode, and shall expose + the ExposureTime and AnalogueGain controls. If the camera also has an + AEGC implementation, both ExposureTimeMode and AnalogueGainMode shall + support both manual and auto mode. If auto mode is available, it shall + be the default mode. These rules do not apply to black box cameras + such as UVC cameras, where the available gain and exposure modes are + completely dependent on what the device exposes. + + \par Flickerless exposure mode transitions + + Applications that wish to transition from ExposureTimeModeAuto to direct + control of the exposure time without causing extra flicker can do so by + selecting an ExposureTime value as close as possible to the last value + computed by the auto exposure algorithm in order to avoid any visible + flickering. + + To select the correct value to use as ExposureTime value, applications + should accommodate the natural delay in applying controls caused by the + capture pipeline frame depth. + + When switching to manual exposure mode, applications should not + immediately specify an ExposureTime value in the same request where + ExposureTimeMode is set to Manual. They should instead wait for the + first Request where ExposureTimeMode is reported as + ExposureTimeModeManual in the Request metadata, and use the reported + ExposureTime to populate the control value in the next Request to be + queued to the Camera. + + The implementation of the auto-exposure algorithm should equally try to + minimize flickering and when transitioning from manual exposure mode to + auto exposure use the last value provided by the application as starting + point. + + 1. Start with ExposureTimeMode set to Auto + + 2. Set ExposureTimeMode to Manual + + 3. Wait for the first completed request that has ExposureTimeMode + set to Manual + + 4. Copy the value reported in ExposureTime into a new request, and + submit it + + 5. Proceed to run manual exposure time as desired + + \sa ExposureTime + enum: + - name: ExposureTimeModeAuto + value: 0 + description: | + The exposure time will be calculated automatically and set by the + AE algorithm. + + If ExposureTime is set while this mode is active, it will be + ignored, and its value will not be retained. + + When transitioning from Manual to Auto mode, the AEGC should start + its adjustments based on the last set manual ExposureTime value. + - name: ExposureTimeModeManual + value: 1 + description: | + The exposure time will not be updated by the AE algorithm. + + When transitioning from Auto to Manual mode, the last computed + exposure value is used until a new value is specified through the + ExposureTime control. If an ExposureTime value is specified in the + same request where the ExposureTimeMode is changed from Auto to + Manual, the provided ExposureTime is applied immediately. - AnalogueGain: type: float @@ -167,17 +326,77 @@ controls: The value of the control specifies the gain multiplier applied to all colour channels. This value cannot be lower than 1.0. - Setting this value means that it is now fixed and the AE algorithm may - not change it. Setting it back to zero returns it to the control of the - AE algorithm. + This control will only take effect if AnalogueGainMode is Manual. If + this control is set when AnalogueGainMode is Auto, the value will be + ignored and will not be retained. + + When reported in metadata, this control indicates what analogue gain + was used for the current request, regardless of AnalogueGainMode. + AnalogueGainMode will indicate the source of the analogue gain value, + whether it came from the AEGC algorithm or not. + + \sa ExposureTime + \sa AnalogueGainMode + + - AnalogueGainMode: + type: int32_t + direction: inout + description: | + Controls the source of the analogue gain that is applied to the image + sensor. + + When set to Auto, the AEGC algorithm computes the analogue gain and + configures the image sensor accordingly. When set to Manual, the value + of the AnalogueGain control is used. + + When transitioning from Auto to Manual mode and no AnalogueGain control + is provided by the application, the last value computed by the AEGC + algorithm when the mode was Auto will be used. If the AnalogueGainMode + was never set to Auto (either because the camera started in Manual mode, + or Auto is not supported by the camera), the camera should use a + best-effort default value. + + If AnalogueGainModeManual is supported, the AnalogueGain control must + also be supported. + + For cameras where we have control over the ISP, both ExposureTimeMode + and AnalogueGainMode are expected to support manual mode, and both + controls (as well as ExposureTimeMode and AnalogueGain) are expected to + be present. If the camera also has an AEGC implementation, both + ExposureTimeMode and AnalogueGainMode shall support both manual and + auto mode. If auto mode is available, it shall be the default mode. + These rules do not apply to black box cameras such as UVC cameras, + where the available gain and exposure modes are completely dependent on + what the hardware exposes. + + The same procedure described for performing flickerless transitions in + the ExposureTimeMode control documentation can be applied to analogue + gain. + + \sa ExposureTimeMode + \sa AnalogueGain + enum: + - name: AnalogueGainModeAuto + value: 0 + description: | + The analogue gain will be calculated automatically and set by the + AEGC algorithm. + + If AnalogueGain is set while this mode is active, it will be + ignored, and it will also not be retained. - \sa ExposureTime AeEnable + When transitioning from Manual to Auto mode, the AEGC should start + its adjustments based on the last set manual AnalogueGain value. + - name: AnalogueGainModeManual + value: 1 + description: | + The analogue gain will not be updated by the AEGC algorithm. - \todo Document the interactions between AeEnable and setting a fixed - value for this control. Consider interactions with other AE features, - such as aperture and aperture/shutter priority mode, and decide if - control of which features should be automatically adjusted shouldn't - better be handled through a separate AE mode control. + When transitioning from Auto to Manual mode, the last computed + gain value is used until a new value is specified through the + AnalogueGain control. If an AnalogueGain value is specified in the + same request where the AnalogueGainMode is changed from Auto to + Manual, the provided AnalogueGain is applied immediately. - AeFlickerMode: type: int32_t diff --git a/src/libcamera/control_ids_draft.yaml b/src/libcamera/control_ids_draft.yaml index 87e4e02d..03309eea 100644 --- a/src/libcamera/control_ids_draft.yaml +++ b/src/libcamera/control_ids_draft.yaml @@ -80,36 +80,6 @@ controls: High quality aberration correction which might reduce the frame rate. - - AeState: - type: int32_t - direction: out - description: | - Control to report the current AE algorithm state. Currently identical to - ANDROID_CONTROL_AE_STATE. - - Current state of the AE algorithm. - enum: - - name: AeStateInactive - value: 0 - description: The AE algorithm is inactive. - - name: AeStateSearching - value: 1 - description: The AE algorithm has not converged yet. - - name: AeStateConverged - value: 2 - description: The AE algorithm has converged. - - name: AeStateLocked - value: 3 - description: The AE algorithm is locked. - - name: AeStateFlashRequired - value: 4 - description: The AE algorithm would need a flash for good results - - name: AeStatePrecapture - value: 5 - description: | - The AE algorithm has started a pre-capture metering session. - \sa AePrecaptureTrigger - - AwbState: type: int32_t direction: out diff --git a/src/libcamera/control_ids_rpi.yaml b/src/libcamera/control_ids_rpi.yaml index 7524c5d2..8d1e8b47 100644 --- a/src/libcamera/control_ids_rpi.yaml +++ b/src/libcamera/control_ids_rpi.yaml @@ -58,4 +58,17 @@ controls: official libcamera API support for per-stream controls in the future. \sa ScalerCrop + + - PispStatsOutput: + type: uint8_t + direction: out + size: [n] + description: | + Span of the PiSP Frontend ISP generated statistics for the current + frame. This is sent in the Request metadata if the StatsOutputEnable is + set to true. The statistics struct definition can be found in + https://github.com/raspberrypi/libpisp/blob/main/src/libpisp/frontend/pisp_statistics.h + + \sa StatsOutputEnable + ... diff --git a/src/libcamera/converter/converter_v4l2_m2m.cpp b/src/libcamera/converter/converter_v4l2_m2m.cpp index 566f18ce..ee05b798 100644 --- a/src/libcamera/converter/converter_v4l2_m2m.cpp +++ b/src/libcamera/converter/converter_v4l2_m2m.cpp @@ -738,7 +738,7 @@ int V4L2M2MConverter::queueBuffers(FrameBuffer *input, } /* - * \todo: This should be extended to include Feature::Flag to denote + * \todo This should be extended to include Feature::Flag to denote * what each converter supports feature-wise. */ static std::initializer_list<std::string> compatibles = { diff --git a/src/libcamera/dma_buf_allocator.cpp b/src/libcamera/dma_buf_allocator.cpp index a014c3b4..d8c62dd6 100644 --- a/src/libcamera/dma_buf_allocator.cpp +++ b/src/libcamera/dma_buf_allocator.cpp @@ -325,7 +325,12 @@ DmaSyncer::DmaSyncer(SharedFD fd, SyncType type) DmaSyncer::~DmaSyncer() { - sync(DMA_BUF_SYNC_END); + /* + * DmaSyncer might be moved and left with an empty SharedFD. + * Avoid syncing with an invalid file descriptor in this case. + */ + if (fd_.isValid()) + sync(DMA_BUF_SYNC_END); } void DmaSyncer::sync(uint64_t step) diff --git a/src/libcamera/ipa_manager.cpp b/src/libcamera/ipa_manager.cpp index cfc24d38..830750dc 100644 --- a/src/libcamera/ipa_manager.cpp +++ b/src/libcamera/ipa_manager.cpp @@ -149,11 +149,7 @@ IPAManager::IPAManager() << "No IPA found in '" IPA_MODULE_DIR "'"; } -IPAManager::~IPAManager() -{ - for (IPAModule *module : modules_) - delete module; -} +IPAManager::~IPAManager() = default; /** * \brief Identify shared library objects within a directory @@ -226,15 +222,13 @@ unsigned int IPAManager::addDir(const char *libDir, unsigned int maxDepth) unsigned int count = 0; for (const std::string &file : files) { - IPAModule *ipaModule = new IPAModule(file); - if (!ipaModule->isValid()) { - delete ipaModule; + auto ipaModule = std::make_unique<IPAModule>(file); + if (!ipaModule->isValid()) continue; - } LOG(IPAManager, Debug) << "Loaded IPA module '" << file << "'"; - modules_.push_back(ipaModule); + modules_.push_back(std::move(ipaModule)); count++; } @@ -250,9 +244,9 @@ unsigned int IPAManager::addDir(const char *libDir, unsigned int maxDepth) IPAModule *IPAManager::module(PipelineHandler *pipe, uint32_t minVersion, uint32_t maxVersion) { - for (IPAModule *module : modules_) { + for (const auto &module : modules_) { if (module->match(pipe, minVersion, maxVersion)) - return module; + return module.get(); } return nullptr; diff --git a/src/libcamera/ipa_proxy.cpp b/src/libcamera/ipa_proxy.cpp index 85004737..9907b961 100644 --- a/src/libcamera/ipa_proxy.cpp +++ b/src/libcamera/ipa_proxy.cpp @@ -98,16 +98,33 @@ IPAProxy::~IPAProxy() std::string IPAProxy::configurationFile(const std::string &name, const std::string &fallbackName) const { - struct stat statbuf; - int ret; - /* * The IPA module name can be used as-is to build directory names as it * has been validated when loading the module. */ - std::string ipaName = ipam_->info().name; + const std::string ipaName = ipam_->info().name; + + /* + * Start with any user override through the module-specific environment + * variable. Use the name of the IPA module up to the first '/' to + * construct the variable name. + */ + std::string ipaEnvName = ipaName.substr(0, ipaName.find('/')); + std::transform(ipaEnvName.begin(), ipaEnvName.end(), ipaEnvName.begin(), + [](unsigned char c) { return std::toupper(c); }); + ipaEnvName = "LIBCAMERA_" + ipaEnvName + "_TUNING_FILE"; - /* Check the environment variable first. */ + char const *configFromEnv = utils::secure_getenv(ipaEnvName.c_str()); + if (configFromEnv && *configFromEnv != '\0') + return { configFromEnv }; + + struct stat statbuf; + int ret; + + /* + * Check the directory pointed to by the IPA config path environment + * variable next. + */ const char *confPaths = utils::secure_getenv("LIBCAMERA_IPA_CONFIG_PATH"); if (confPaths) { for (const auto &dir : utils::split(confPaths, ":")) { diff --git a/src/libcamera/matrix.cpp b/src/libcamera/matrix.cpp index 4d95a19b..e7e02722 100644 --- a/src/libcamera/matrix.cpp +++ b/src/libcamera/matrix.cpp @@ -53,6 +53,17 @@ LOG_DEFINE_CATEGORY(Matrix) */ /** + * \fn Matrix::data() + * \brief Access the matrix data as a linear array + * + * Access the contents of the matrix as a one-dimensional linear array of + * values in row-major order. The size of the array is equal to the product of + * the number of rows and columns of the matrix (Rows x Cols). + * + * \return A span referencing the matrix data as a linear array + */ + +/** * \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 diff --git a/src/libcamera/media_device.cpp b/src/libcamera/media_device.cpp index d71dad74..75abd91d 100644 --- a/src/libcamera/media_device.cpp +++ b/src/libcamera/media_device.cpp @@ -13,6 +13,7 @@ #include <string> #include <string.h> #include <sys/ioctl.h> +#include <tuple> #include <unistd.h> #include <vector> @@ -164,7 +165,7 @@ void MediaDevice::unlock() if (!fd_.isValid()) return; - lockf(fd_.get(), F_ULOCK, 0); + std::ignore = lockf(fd_.get(), F_ULOCK, 0); } /** diff --git a/src/libcamera/meson.build b/src/libcamera/meson.build index 57fde8a8..de22b8e6 100644 --- a/src/libcamera/meson.build +++ b/src/libcamera/meson.build @@ -53,6 +53,7 @@ libcamera_internal_sources = files([ 'v4l2_pixelformat.cpp', 'v4l2_subdevice.cpp', 'v4l2_videodevice.cpp', + 'vector.cpp', 'yaml_parser.cpp', ]) diff --git a/src/libcamera/pipeline/mali-c55/mali-c55.cpp b/src/libcamera/pipeline/mali-c55/mali-c55.cpp index 5abd6b20..a05e11fc 100644 --- a/src/libcamera/pipeline/mali-c55/mali-c55.cpp +++ b/src/libcamera/pipeline/mali-c55/mali-c55.cpp @@ -1615,7 +1615,7 @@ bool PipelineHandlerMaliC55::registerSensorCamera(MediaLink *ispLink) isp_->frameStart.connect(data->delayedCtrls_.get(), &DelayedControls::applyControls); - /* \todo: Init properties. */ + /* \todo Init properties. */ if (!registerMaliCamera(std::move(data), sensor->name())) return false; diff --git a/src/libcamera/pipeline/rkisp1/rkisp1.cpp b/src/libcamera/pipeline/rkisp1/rkisp1.cpp index 35c793da..52633fe3 100644 --- a/src/libcamera/pipeline/rkisp1/rkisp1.cpp +++ b/src/libcamera/pipeline/rkisp1/rkisp1.cpp @@ -380,18 +380,9 @@ int RkISP1CameraData::loadIPA(unsigned int hwRevision) ipa_->paramsComputed.connect(this, &RkISP1CameraData::paramsComputed); ipa_->metadataReady.connect(this, &RkISP1CameraData::metadataReady); - /* - * The API tuning file is made from the sensor name unless the - * environment variable overrides it. - */ - std::string ipaTuningFile; - char const *configFromEnv = utils::secure_getenv("LIBCAMERA_RKISP1_TUNING_FILE"); - if (!configFromEnv || *configFromEnv == '\0') { - ipaTuningFile = - ipa_->configurationFile(sensor_->model() + ".yaml", "uncalibrated.yaml"); - } else { - ipaTuningFile = std::string(configFromEnv); - } + /* The IPA tuning file is made from the sensor name. */ + std::string ipaTuningFile = + ipa_->configurationFile(sensor_->model() + ".yaml", "uncalibrated.yaml"); IPACameraSensorInfo sensorInfo{}; int ret = sensor_->sensorInfo(&sensorInfo); @@ -1334,6 +1325,7 @@ int PipelineHandlerRkISP1::createCamera(MediaEntity *sensor) std::unordered_map<uint32_t, DelayedControls::ControlParams> params = { { V4L2_CID_ANALOGUE_GAIN, { delays.gainDelay, false } }, { V4L2_CID_EXPOSURE, { delays.exposureDelay, false } }, + { V4L2_CID_VBLANK, { 1, false } }, }; data->delayedCtrls_ = diff --git a/src/libcamera/pipeline/rpi/common/pipeline_base.cpp b/src/libcamera/pipeline/rpi/common/pipeline_base.cpp index 4b147fdb..1f13e523 100644 --- a/src/libcamera/pipeline/rpi/common/pipeline_base.cpp +++ b/src/libcamera/pipeline/rpi/common/pipeline_base.cpp @@ -1156,20 +1156,11 @@ int CameraData::loadIPA(ipa::RPi::InitResult *result) if (!ipa_) return -ENOENT; - /* - * The configuration (tuning file) is made from the sensor name unless - * the environment variable overrides it. - */ - std::string configurationFile; - char const *configFromEnv = utils::secure_getenv("LIBCAMERA_RPI_TUNING_FILE"); - if (!configFromEnv || *configFromEnv == '\0') { - std::string model = sensor_->model(); - if (isMonoSensor(sensor_)) - model += "_mono"; - configurationFile = ipa_->configurationFile(model + ".json"); - } else { - configurationFile = std::string(configFromEnv); - } + /* The configuration (tuning file) is made from the sensor name. */ + std::string model = sensor_->model(); + if (isMonoSensor(sensor_)) + model += "_mono"; + std::string configurationFile = ipa_->configurationFile(model + ".json"); IPASettings settings(configurationFile, sensor_->model()); ipa::RPi::InitParams params; diff --git a/src/libcamera/pipeline/rpi/common/rpi_stream.h b/src/libcamera/pipeline/rpi/common/rpi_stream.h index a13d5dc0..0dba1296 100644 --- a/src/libcamera/pipeline/rpi/common/rpi_stream.h +++ b/src/libcamera/pipeline/rpi/common/rpi_stream.h @@ -82,6 +82,16 @@ public: * to be applied after ISP processing. */ Needs32bitConv = (1 << 4), + /* + * Indicates that the input stream needs a software 16-bit endian + * conversion to be applied before ISP processing. + */ + Needs16bitEndianSwap = (1 << 5), + /* + * Indicates that the input stream needs a software 14-bit to + * 16-bit unpacking. + */ + Needs14bitUnpack = (1 << 6), }; using StreamFlags = Flags<StreamFlag>; diff --git a/src/libcamera/pipeline/rpi/pisp/data/example.yaml b/src/libcamera/pipeline/rpi/pisp/data/example.yaml new file mode 100644 index 00000000..d67e654a --- /dev/null +++ b/src/libcamera/pipeline/rpi/pisp/data/example.yaml @@ -0,0 +1,45 @@ +{ + "version": 1.0, + "target": "pisp", + + "pipeline_handler": + { + # Number of CFE config and stats buffers to allocate and use. A + # larger number minimises the possibility of dropping frames, + # but increases the latency for updating the HW configuration. + # + # "num_cfe_config_stats_buffers": 12, + + # Number of jobs to queue ahead to the CFE on startup. A larger + # number will increase latency for 3A changes, but may reduce + # avoidable frame drops. + # + # "num_cfe_config_queue": 2, + + # Override any request from the IPA to drop a number of startup + # frames. + # + # "disable_startup_frame_drops": false, + + # Custom timeout value (in ms) for camera to use. This overrides + # the value computed by the pipeline handler based on frame + # durations. + # + # Set this value to 0 to use the pipeline handler computed + # timeout value. + # + # "camera_timeout_value_ms": 0, + + # Disables temporal denoise functionality in the ISP pipeline. + # Disabling temporal denoise avoids allocating 2 additional + # Bayer framebuffers required for its operation. + # + # "disable_tdn": false, + + # Disables multiframe HDR functionality in the ISP pipeline. + # Disabling multiframe HDR avoids allocating 2 additional Bayer + # framebuffers required for its operation. + # + # "disable_hdr": false, + } +} diff --git a/src/libcamera/pipeline/rpi/pisp/data/meson.build b/src/libcamera/pipeline/rpi/pisp/data/meson.build new file mode 100644 index 00000000..17dfc435 --- /dev/null +++ b/src/libcamera/pipeline/rpi/pisp/data/meson.build @@ -0,0 +1,8 @@ +# SPDX-License-Identifier: CC0-1.0 + +conf_files = files([ + 'example.yaml', +]) + +install_data(conf_files, + install_dir : pipeline_data_dir / 'rpi' / 'pisp') diff --git a/src/libcamera/pipeline/rpi/pisp/meson.build b/src/libcamera/pipeline/rpi/pisp/meson.build new file mode 100644 index 00000000..178df94c --- /dev/null +++ b/src/libcamera/pipeline/rpi/pisp/meson.build @@ -0,0 +1,12 @@ +# SPDX-License-Identifier: CC0-1.0 + +libcamera_internal_sources += files([ + 'pisp.cpp', +]) + +librt = cc.find_library('rt', required : true) +libpisp_dep = dependency('libpisp', fallback : ['libpisp', 'libpisp_dep']) + +libcamera_deps += [libpisp_dep, librt] + +subdir('data') diff --git a/src/libcamera/pipeline/rpi/pisp/pisp.cpp b/src/libcamera/pipeline/rpi/pisp/pisp.cpp new file mode 100644 index 00000000..42ca7c80 --- /dev/null +++ b/src/libcamera/pipeline/rpi/pisp/pisp.cpp @@ -0,0 +1,2372 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * pisp.cpp - Pipeline handler for PiSP based Raspberry Pi devices + */ + +#include <algorithm> +#include <fstream> +#include <memory> +#include <mutex> +#include <numeric> +#include <queue> +#include <set> +#include <sstream> +#include <string> +#include <sys/ioctl.h> +#include <unordered_map> +#include <vector> + +#include <linux/dma-buf.h> +#include <linux/v4l2-controls.h> +#include <linux/videodev2.h> + +#include <libcamera/base/shared_fd.h> +#include <libcamera/formats.h> + +#include "libcamera/internal/device_enumerator.h" +#include "libcamera/internal/shared_mem_object.h" + +#include "libpisp/backend/backend.hpp" +#include "libpisp/common/logging.hpp" +#include "libpisp/common/utils.hpp" +#include "libpisp/common/version.hpp" +#include "libpisp/frontend/frontend.hpp" +#include "libpisp/variants/variant.hpp" + +#include "../common/pipeline_base.h" +#include "../common/rpi_stream.h" + +namespace libcamera { + +LOG_DECLARE_CATEGORY(RPI) + +using StreamFlag = RPi::Stream::StreamFlag; +using StreamParams = RPi::RPiCameraConfiguration::StreamParams; + +namespace { + +enum class Cfe : unsigned int { Output0, Embedded, Stats, Config }; +enum class Isp : unsigned int { Input, Output0, Output1, TdnInput, TdnOutput, + StitchInput, StitchOutput, Config }; + +/* Offset for all compressed buffers; mode for TDN and Stitch. */ +constexpr unsigned int DefaultCompressionOffset = 2048; +constexpr unsigned int DefaultCompressionMode = 1; + +const std::vector<std::pair<BayerFormat, unsigned int>> BayerToMbusCodeMap{ + { { BayerFormat::BGGR, 8, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SBGGR8_1X8, }, + { { BayerFormat::GBRG, 8, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGBRG8_1X8, }, + { { BayerFormat::GRBG, 8, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGRBG8_1X8, }, + { { BayerFormat::RGGB, 8, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SRGGB8_1X8, }, + { { BayerFormat::BGGR, 10, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SBGGR10_1X10, }, + { { BayerFormat::GBRG, 10, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGBRG10_1X10, }, + { { BayerFormat::GRBG, 10, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGRBG10_1X10, }, + { { BayerFormat::RGGB, 10, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SRGGB10_1X10, }, + { { BayerFormat::BGGR, 12, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SBGGR12_1X12, }, + { { BayerFormat::GBRG, 12, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGBRG12_1X12, }, + { { BayerFormat::GRBG, 12, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGRBG12_1X12, }, + { { BayerFormat::RGGB, 12, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SRGGB12_1X12, }, + { { BayerFormat::BGGR, 14, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SBGGR14_1X14, }, + { { BayerFormat::GBRG, 14, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGBRG14_1X14, }, + { { BayerFormat::GRBG, 14, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGRBG14_1X14, }, + { { BayerFormat::RGGB, 14, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SRGGB14_1X14, }, + { { BayerFormat::BGGR, 16, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SBGGR16_1X16, }, + { { BayerFormat::GBRG, 16, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGBRG16_1X16, }, + { { BayerFormat::GRBG, 16, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SGRBG16_1X16, }, + { { BayerFormat::RGGB, 16, BayerFormat::Packing::None }, MEDIA_BUS_FMT_SRGGB16_1X16, }, + { { BayerFormat::BGGR, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_SBGGR16_1X16, }, + { { BayerFormat::GBRG, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_SGBRG16_1X16, }, + { { BayerFormat::GRBG, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_SGRBG16_1X16, }, + { { BayerFormat::RGGB, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_SRGGB16_1X16, }, + { { BayerFormat::RGGB, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_SRGGB16_1X16, }, + { { BayerFormat::MONO, 16, BayerFormat::Packing::None }, MEDIA_BUS_FMT_Y16_1X16, }, + { { BayerFormat::MONO, 16, BayerFormat::Packing::PISP1 }, MEDIA_BUS_FMT_Y16_1X16, }, +}; + +unsigned int bayerToMbusCode(const BayerFormat &bayer) +{ + const auto it = std::find_if(BayerToMbusCodeMap.begin(), BayerToMbusCodeMap.end(), + [bayer](const std::pair<BayerFormat, unsigned int> &match) { + return bayer == match.first; + }); + + if (it != BayerToMbusCodeMap.end()) + return it->second; + + return 0; +} + +uint32_t mbusCodeUnpacked16(unsigned int code) +{ + BayerFormat bayer = BayerFormat::fromMbusCode(code); + BayerFormat bayer16(bayer.order, 16, BayerFormat::Packing::None); + + return bayerToMbusCode(bayer16); +} + +uint8_t toPiSPBayerOrder(V4L2PixelFormat format) +{ + BayerFormat bayer = BayerFormat::fromV4L2PixelFormat(format); + + switch (bayer.order) { + case BayerFormat::Order::BGGR: + return PISP_BAYER_ORDER_BGGR; + case BayerFormat::Order::GBRG: + return PISP_BAYER_ORDER_GBRG; + case BayerFormat::Order::GRBG: + return PISP_BAYER_ORDER_GRBG; + case BayerFormat::Order::RGGB: + return PISP_BAYER_ORDER_RGGB; + case BayerFormat::Order::MONO: + return PISP_BAYER_ORDER_GREYSCALE; + default: + ASSERT(0); + return -1; + } +} + +pisp_image_format_config toPiSPImageFormat(V4L2DeviceFormat &format) +{ + pisp_image_format_config image = {}; + + image.width = format.size.width; + image.height = format.size.height; + image.stride = format.planes[0].bpl; + + PixelFormat pix = format.fourcc.toPixelFormat(); + + if (RPi::PipelineHandlerBase::isRaw(pix)) { + BayerFormat bayer = BayerFormat::fromPixelFormat(pix); + switch (bayer.packing) { + case BayerFormat::Packing::None: + image.format = PISP_IMAGE_FORMAT_BPS_16 + + PISP_IMAGE_FORMAT_UNCOMPRESSED; + break; + case BayerFormat::Packing::PISP1: + image.format = PISP_IMAGE_FORMAT_COMPRESSION_MODE_1; + break; + case BayerFormat::Packing::PISP2: + image.format = PISP_IMAGE_FORMAT_COMPRESSION_MODE_2; + break; + default: + ASSERT(0); + } + return image; + } + + switch (pix) { + case formats::YUV420: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_420 + + PISP_IMAGE_FORMAT_PLANARITY_PLANAR; + image.stride2 = image.stride / 2; + break; + case formats::NV12: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_420 + + PISP_IMAGE_FORMAT_PLANARITY_SEMI_PLANAR; + image.stride2 = image.stride; + break; + case formats::NV21: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_420 + + PISP_IMAGE_FORMAT_PLANARITY_SEMI_PLANAR + + PISP_IMAGE_FORMAT_ORDER_SWAPPED; + image.stride2 = image.stride; + break; + case formats::YUYV: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_422 + + PISP_IMAGE_FORMAT_PLANARITY_INTERLEAVED; + break; + case formats::UYVY: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_422 + + PISP_IMAGE_FORMAT_PLANARITY_INTERLEAVED + + PISP_IMAGE_FORMAT_ORDER_SWAPPED; + break; + case formats::NV16: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_422 + + PISP_IMAGE_FORMAT_PLANARITY_SEMI_PLANAR; + image.stride2 = image.stride; + break; + case formats::NV61: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + + PISP_IMAGE_FORMAT_BPS_8 + + PISP_IMAGE_FORMAT_SAMPLING_422 + + PISP_IMAGE_FORMAT_PLANARITY_SEMI_PLANAR + + PISP_IMAGE_FORMAT_ORDER_SWAPPED; + image.stride2 = image.stride; + break; + case formats::RGB888: + case formats::BGR888: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL; + break; + case formats::XRGB8888: + case formats::XBGR8888: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + PISP_IMAGE_FORMAT_BPP_32; + break; + case formats::RGBX8888: + case formats::BGRX8888: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + PISP_IMAGE_FORMAT_BPP_32 + + PISP_IMAGE_FORMAT_ORDER_SWAPPED; + break; + case formats::RGB161616: + case formats::BGR161616: + image.format = PISP_IMAGE_FORMAT_THREE_CHANNEL + PISP_IMAGE_FORMAT_BPS_16; + break; + default: + LOG(RPI, Error) << "Pixel format " << pix << " unsupported"; + ASSERT(0); + } + + return image; +} + +void computeOptimalStride(V4L2DeviceFormat &format) +{ + pisp_image_format_config fmt = toPiSPImageFormat(format); + + libpisp::compute_optimal_stride(fmt); + + uint32_t fourcc = format.fourcc.fourcc(); + + /* + * For YUV420/422 non-multiplanar formats, double the U/V stride for the + * Y-plane to ensure we get the optimal alignment on all three planes. + */ + if (fourcc == V4L2_PIX_FMT_YUV420 || fourcc == V4L2_PIX_FMT_YUV422P || + fourcc == V4L2_PIX_FMT_YVU420) + fmt.stride = fmt.stride2 * 2; + + format.planes[0].bpl = fmt.stride; + format.planes[1].bpl = fmt.stride2; + format.planes[2].bpl = fmt.stride2; + + /* + * Need to set planesCount correctly so that V4L2VideoDevice::trySetFormatMultiplane() + * copies the bpl fields correctly. + */ + const PixelFormat &pixFormat = format.fourcc.toPixelFormat(); + const PixelFormatInfo &info = PixelFormatInfo::info(pixFormat); + format.planesCount = info.numPlanes(); +} + +void setupOutputClipping(const V4L2DeviceFormat &v4l2Format, + pisp_be_output_format_config &outputFormat) +{ + const PixelFormat &pixFormat = v4l2Format.fourcc.toPixelFormat(); + const PixelFormatInfo &info = PixelFormatInfo::info(pixFormat); + + if (info.colourEncoding != PixelFormatInfo::ColourEncodingYUV) + return; + + if (v4l2Format.colorSpace == ColorSpace::Sycc) { + outputFormat.lo = 0; + outputFormat.hi = 65535; + outputFormat.lo2 = 0; + outputFormat.hi2 = 65535; + } else if (v4l2Format.colorSpace == ColorSpace::Smpte170m || + v4l2Format.colorSpace == ColorSpace::Rec709) { + outputFormat.lo = 16 << 8; + outputFormat.hi = 235 << 8; + outputFormat.lo2 = 16 << 8; + outputFormat.hi2 = 240 << 8; + } else { + LOG(RPI, Warning) + << "Unrecognised colour space " + << ColorSpace::toString(v4l2Format.colorSpace) + << ", using full range"; + outputFormat.lo = 0; + outputFormat.hi = 65535; + outputFormat.lo2 = 0; + outputFormat.hi2 = 65535; + } +} + +int dmabufSyncStart(const SharedFD &fd) +{ + struct dma_buf_sync dma_sync {}; + dma_sync.flags = DMA_BUF_SYNC_START | DMA_BUF_SYNC_RW; + + int ret = ::ioctl(fd.get(), DMA_BUF_IOCTL_SYNC, &dma_sync); + if (ret) + LOG(RPI, Error) << "failed to lock-sync-write dma buf"; + + return ret; +} + +int dmabufSyncEnd(const SharedFD &fd) +{ + struct dma_buf_sync dma_sync {}; + dma_sync.flags = DMA_BUF_SYNC_END | DMA_BUF_SYNC_RW; + + int ret = ::ioctl(fd.get(), DMA_BUF_IOCTL_SYNC, &dma_sync); + + if (ret) + LOG(RPI, Error) << "failed to unlock-sync-write dma buf"; + + return ret; +} + +void do32BitConversion(void *mem, unsigned int width, unsigned int height, + unsigned int stride) +{ + /* + * The arm64 version is actually not that much quicker because the + * vast bulk of the time is spent waiting for memory. + */ +#if __aarch64__ + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + uint64_t count = (width + 15) / 16; + uint8_t *dest = ptr + count * 64; + uint8_t *src = ptr + count * 48; + + /* Pre-decrement would have been nice. */ + asm volatile("movi v3.16b, #255 \n" + "1: \n" + "sub %[src], %[src], #48 \n" + "sub %[dest], %[dest], #64 \n" + "subs %[count], %[count], #1 \n" + "ld3 {v0.16b, v1.16b, v2.16b}, [%[src]] \n" + "st4 {v0.16b, v1.16b, v2.16b, v3.16b}, [%[dest]] \n" + "b.gt 1b \n" + : [count]"+r" (count) + : [src]"r" (src), [dest]"r" (dest) + : "cc", "v1", "v2", "v3", "v4", "memory" + ); + } +#else + std::vector<uint8_t> incache(3 * width); + std::vector<uint8_t> outcache(4 * width); + + memcpy(incache.data(), mem, 3 * width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *ptr3 = incache.data(); + uint8_t *ptr4 = outcache.data(); + for (unsigned int i = 0; i < width; i++) { + *(ptr4++) = *(ptr3++); + *(ptr4++) = *(ptr3++); + *(ptr4++) = *(ptr3++); + *(ptr4++) = 255; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 3 * width); + memcpy(ptr, outcache.data(), 4 * width); + } +#endif +} + +void do16BitEndianSwap([[maybe_unused]] void *mem, [[maybe_unused]] unsigned int width, + [[maybe_unused]] unsigned int height, [[maybe_unused]] unsigned int stride) +{ +#if __aarch64__ + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + uint64_t count = (width + 7) / 8; + + asm volatile("1: \n" + "ld1 {v1.16b}, [%[ptr]] \n" + "rev16 v1.16b, v1.16b \n" + "st1 {v1.16b}, [%[ptr]], #16 \n" + "subs %[count], %[count], #1 \n" + "b.gt 1b \n" + : [count]"+r" (count), [ptr]"+r" (ptr) + : + : "cc", "v1", "memory" + ); + } +#endif +} + +void do14bitUnpack(void *mem, unsigned int width, unsigned int height, + unsigned int stride) +{ + std::vector<uint8_t> cache(stride); + + for (unsigned int j = 0; j < height; j++) { + const uint8_t *in = ((uint8_t *)mem) + j * stride; + uint8_t *out = ((uint8_t *)mem) + j * stride; + uint8_t *p = cache.data(); + + std::memcpy(p, in, stride); + for (unsigned int i = 0; i < width; i += 4, p += 7) { + uint16_t p0 = (p[0] << 8) | ((p[4] & 0x3f) << 2); + uint16_t p1 = (p[1] << 8) | ((p[4] & 0xc0) >> 4) | ((p[5] & 0x0f) << 4); + uint16_t p2 = (p[2] << 8) | ((p[5] & 0xf0) >> 2) | ((p[6] & 0x03) << 6); + uint16_t p3 = (p[3] << 8) | (p[6] & 0xfc); + + *(uint16_t *)(out + i * 2 + 0) = p0; + *(uint16_t *)(out + i * 2 + 2) = p1; + *(uint16_t *)(out + i * 2 + 4) = p2; + *(uint16_t *)(out + i * 2 + 6) = p3; + } + } +} + +void downscaleInterleaved3(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride) +{ + std::vector<uint8_t> incache(3 * src_width); + unsigned int dst_width = src_width / 2; + std::vector<uint8_t> outcache(3 * dst_width); + + memcpy(incache.data(), mem, 3 * src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 6, dst += 3) { + dst[0] = ((int)src[0] + (int)src[3] + 1) >> 1; + dst[1] = ((int)src[1] + (int)src[4] + 1) >> 1; + dst[2] = ((int)src[2] + (int)src[5] + 1) >> 1; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 3 * src_width); + memcpy(ptr, outcache.data(), 3 * dst_width); + } +} + +void downscaleInterleaved4(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride) +{ + std::vector<uint8_t> incache(4 * src_width); + unsigned int dst_width = src_width / 2; + std::vector<uint8_t> outcache(4 * dst_width); + + memcpy(incache.data(), mem, 4 * src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 8, dst += 4) { + dst[0] = ((int)src[0] + (int)src[4] + 1) >> 1; + dst[1] = ((int)src[1] + (int)src[5] + 1) >> 1; + dst[2] = ((int)src[2] + (int)src[6] + 1) >> 1; + dst[3] = ((int)src[3] + (int)src[7] + 1) >> 1; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 4 * src_width); + memcpy(ptr, outcache.data(), 4 * dst_width); + } +} + +void downscalePlaneInternal(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride, std::vector<uint8_t> &incache, + std::vector<uint8_t> &outcache) +{ + unsigned int dst_width = src_width / 2; + memcpy(incache.data(), mem, src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 2, dst++) + *dst = ((int)src[0] + (int)src[1] + 1) >> 1; + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, src_width); + memcpy(ptr, outcache.data(), dst_width); + } +} + +void downscalePlanar420(void *memY, void *memU, void *memV, unsigned int height, + unsigned int src_width, unsigned int stride) +{ + std::vector<uint8_t> incache(src_width); + std::vector<uint8_t> outcache(src_width / 2); + + downscalePlaneInternal(memY, height, src_width, stride, incache, outcache); + downscalePlaneInternal(memU, height / 2, src_width / 2, stride / 2, incache, outcache); + downscalePlaneInternal(memV, height / 2, src_width / 2, stride / 2, incache, outcache); +} + +void downscalePlanar422(void *memY, void *memU, void *memV, + unsigned int height, unsigned int src_width, unsigned int stride) +{ + std::vector<uint8_t> incache(src_width); + std::vector<uint8_t> outcache(src_width / 2); + + downscalePlaneInternal(memY, height, src_width, stride, incache, outcache); + downscalePlaneInternal(memU, height, src_width / 2, stride / 2, incache, outcache); + downscalePlaneInternal(memV, height, src_width / 2, stride / 2, incache, outcache); +} + +void downscaleInterleavedYuyv(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride) +{ + std::vector<uint8_t> incache(2 * src_width); + unsigned int dst_width = src_width / 2; + std::vector<uint8_t> outcache(2 * dst_width); + + memcpy(incache.data(), mem, 2 * src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 8, dst += 4) { + dst[0] = ((int)src[0] + (int)src[2] + 1) >> 1; + dst[1] = ((int)src[1] + (int)src[5] + 1) >> 1; + dst[2] = ((int)src[4] + (int)src[6] + 1) >> 1; + dst[3] = ((int)src[3] + (int)src[7] + 1) >> 1; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 4 * src_width); + memcpy(ptr, outcache.data(), 2 * dst_width); + } +} + +void downscaleInterleavedUyvy(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride) +{ + std::vector<uint8_t> incache(2 * src_width); + unsigned int dst_width = src_width / 2; + std::vector<uint8_t> outcache(2 * dst_width); + + memcpy(incache.data(), mem, 2 * src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 8, dst += 4) { + dst[0] = ((int)src[0] + (int)src[4] + 1) >> 1; + dst[1] = ((int)src[1] + (int)src[3] + 1) >> 1; + dst[2] = ((int)src[2] + (int)src[6] + 1) >> 1; + dst[3] = ((int)src[5] + (int)src[7] + 1) >> 1; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 4 * src_width); + memcpy(ptr, outcache.data(), 2 * dst_width); + } +} + +void downscaleInterleaved2Internal(void *mem, unsigned int height, unsigned int src_width, + unsigned int stride, std::vector<uint8_t> &incache, + std::vector<uint8_t> &outcache) +{ + unsigned int dst_width = src_width / 2; + memcpy(incache.data(), mem, 2 * src_width); + for (unsigned int j = 0; j < height; j++) { + uint8_t *ptr = (uint8_t *)mem + j * stride; + + uint8_t *src = incache.data(), *dst = outcache.data(); + for (unsigned int i = 0; i < dst_width; i++, src += 4, dst += 2) { + dst[0] = ((int)src[0] + (int)src[2] + 1) >> 1; + dst[1] = ((int)src[1] + (int)src[3] + 1) >> 1; + } + + if (j < height - 1) + memcpy(incache.data(), ptr + stride, 2 * src_width); + memcpy(ptr, outcache.data(), 2 * dst_width); + } +} + +void downscaleSemiPlanar420(void *memY, void *memUV, unsigned int height, + unsigned int src_width, unsigned int stride) +{ + std::vector<uint8_t> incache(src_width); + std::vector<uint8_t> outcache(src_width / 2); + + downscalePlaneInternal(memY, height, src_width, stride, incache, outcache); + downscaleInterleaved2Internal(memUV, height / 2, src_width / 2, stride, + incache, outcache); +} + +void downscaleStreamBuffer(RPi::Stream *stream, int index) +{ + unsigned int downscale = stream->swDownscale(); + /* Must be a power of 2. */ + ASSERT((downscale & (downscale - 1)) == 0); + + unsigned int stride = stream->configuration().stride; + unsigned int dst_width = stream->configuration().size.width; + unsigned int height = stream->configuration().size.height; + const PixelFormat &pixFormat = stream->configuration().pixelFormat; + const RPi::BufferObject &b = stream->getBuffer(index); + void *mem = b.mapped->planes()[0].data(); + ASSERT(b.mapped); + + /* Do repeated downscale-by-2 in place until we're done. */ + for (; downscale > 1; downscale >>= 1) { + unsigned int src_width = downscale * dst_width; + + if (pixFormat == formats::RGB888 || pixFormat == formats::BGR888) { + downscaleInterleaved3(mem, height, src_width, stride); + } else if (pixFormat == formats::XRGB8888 || pixFormat == formats::XBGR8888) { + /* On some devices these may actually be 24bpp at this point. */ + if (stream->getFlags() & StreamFlag::Needs32bitConv) + downscaleInterleaved3(mem, height, src_width, stride); + else + downscaleInterleaved4(mem, height, src_width, stride); + } else if (pixFormat == formats::YUV420 || pixFormat == formats::YVU420) { + /* These may look like either single or multi-planar buffers. */ + void *mem1; + void *mem2; + if (b.mapped->planes().size() == 3) { + mem1 = b.mapped->planes()[1].data(); + mem2 = b.mapped->planes()[2].data(); + } else { + unsigned int ySize = height * stride; + mem1 = static_cast<uint8_t *>(mem) + ySize; + mem2 = static_cast<uint8_t *>(mem1) + ySize / 4; + } + downscalePlanar420(mem, mem1, mem2, height, src_width, stride); + } else if (pixFormat == formats::YUV422 || pixFormat == formats::YVU422) { + /* These may look like either single or multi-planar buffers. */ + void *mem1; + void *mem2; + if (b.mapped->planes().size() == 3) { + mem1 = b.mapped->planes()[1].data(); + mem2 = b.mapped->planes()[2].data(); + } else { + unsigned int ySize = height * stride; + mem1 = static_cast<uint8_t *>(mem) + ySize; + mem2 = static_cast<uint8_t *>(mem1) + ySize / 2; + } + downscalePlanar422(mem, mem1, mem2, height, src_width, stride); + } else if (pixFormat == formats::YUYV || pixFormat == formats::YVYU) { + downscaleInterleavedYuyv(mem, height, src_width, stride); + } else if (pixFormat == formats::UYVY || pixFormat == formats::VYUY) { + downscaleInterleavedUyvy(mem, height, src_width, stride); + } else if (pixFormat == formats::NV12 || pixFormat == formats::NV21) { + /* These may look like either single or multi-planar buffers. */ + void *mem1; + if (b.mapped->planes().size() == 2) + mem1 = b.mapped->planes()[1].data(); + else + mem1 = static_cast<uint8_t *>(mem) + height * stride; + downscaleSemiPlanar420(mem, mem1, height, src_width, stride); + } else { + LOG(RPI, Error) << "Sw downscale unsupported for " << pixFormat; + ASSERT(0); + } + } +} + +/* Return largest width of any of these streams (or of the camera input). */ +unsigned int getLargestWidth(const V4L2SubdeviceFormat &sensorFormat, + const std::vector<StreamParams> &outStreams) +{ + unsigned int largestWidth = sensorFormat.size.width; + + for (const auto &stream : outStreams) + largestWidth = std::max(largestWidth, stream.cfg->size.width); + + return largestWidth; +} + +/* Return the minimum number of pixels required to write out multiples of 16 bytes. */ +unsigned int getFormatAlignment(const V4L2PixelFormat &fourcc) +{ + const PixelFormatInfo &info = PixelFormatInfo::info(fourcc); + unsigned int formatAlignment = 0; + for (const auto &plane : info.planes) { + if (plane.bytesPerGroup) { + /* How many pixels we need in this plane for a multiple of 16 bytes (??). */ + unsigned int align = 16 * info.pixelsPerGroup / + std::gcd(16u, plane.bytesPerGroup); + formatAlignment = std::max(formatAlignment, align); + } + } + + return formatAlignment; +} + +/* Calculate the amount of software downscale required (which is a power of 2). */ +unsigned int calculateSwDownscale(const V4L2DeviceFormat &format, unsigned int largestWidth, + unsigned int platformMaxDownscale) +{ + unsigned int formatAlignment = getFormatAlignment(format.fourcc); + unsigned int maxDownscale = platformMaxDownscale * 16 / formatAlignment; + unsigned int limitWidth = largestWidth / maxDownscale; + + unsigned int hwWidth = format.size.width; + unsigned int swDownscale = 1; + for (; hwWidth < limitWidth; hwWidth *= 2, swDownscale *= 2); + + return swDownscale; +} + +} /* namespace */ + +using ::libpisp::BackEnd; +using ::libpisp::FrontEnd; + +class PiSPCameraData final : public RPi::CameraData +{ +public: + PiSPCameraData(PipelineHandler *pipe, const libpisp::PiSPVariant &variant) + : RPi::CameraData(pipe), pispVariant_(variant) + { + /* Initialise internal libpisp logging. */ + ::libpisp::logging_init(); + LOG(RPI, Info) << "libpisp version " << ::libpisp::version(); + } + + ~PiSPCameraData() + { + freeBuffers(); + } + + V4L2VideoDevice::Formats ispFormats() const override + { + return isp_[Isp::Output0].dev()->formats(); + } + + V4L2VideoDevice::Formats rawFormats() const override + { + return cfe_[Cfe::Output0].dev()->formats(); + } + + V4L2VideoDevice *frontendDevice() override + { + return cfe_[Cfe::Output0].dev(); + } + + CameraConfiguration::Status + platformValidate(RPi::RPiCameraConfiguration *rpiConfig) const override; + + int platformPipelineConfigure(const std::unique_ptr<YamlObject> &root) override; + + void platformStart() override; + void platformStop() override; + void platformFreeBuffers() override; + + void cfeBufferDequeue(FrameBuffer *buffer); + void beInputDequeue(FrameBuffer *buffer); + void beOutputDequeue(FrameBuffer *buffer); + + void processStatsComplete(const ipa::RPi::BufferIds &buffers); + void prepareIspComplete(const ipa::RPi::BufferIds &buffers, bool stitchSwapBuffers); + void setCameraTimeout(uint32_t maxFrameLengthMs); + + /* Array of CFE and ISP device streams and associated buffers/streams. */ + RPi::Device<Cfe, 4> cfe_; + RPi::Device<Isp, 8> isp_; + + const libpisp::PiSPVariant &pispVariant_; + + /* Frontend/Backend objects shared with the IPA. */ + SharedMemObject<FrontEnd> fe_; + SharedMemObject<BackEnd> be_; + bool beEnabled_; + + std::unique_ptr<V4L2Subdevice> csi2Subdev_; + std::unique_ptr<V4L2Subdevice> feSubdev_; + + std::vector<FrameBuffer *> tdnBuffers_; + std::vector<FrameBuffer *> stitchBuffers_; + unsigned int tdnInputIndex_; + unsigned int stitchInputIndex_; + + struct Config { + /* + * Number of CFE config and stats buffers to allocate and use. A + * larger number minimises the possibility of dropping frames, + * but increases the latency for updating the HW configuration. + */ + unsigned int numCfeConfigStatsBuffers; + /* + * Number of jobs to queue ahead to the CFE on startup. + * A larger number will increase latency for 3A changes. + */ + unsigned int numCfeConfigQueue; + /* Don't use BE temporal denoise and free some memory resources. */ + bool disableTdn; + /* Don't use BE HDR and free some memory resources. */ + bool disableHdr; + }; + + Config config_; + + bool adjustDeviceFormat(V4L2DeviceFormat &format) const; + +private: + int platformConfigure(const RPi::RPiCameraConfiguration *rpiConfig) override; + + int platformConfigureIpa([[maybe_unused]] ipa::RPi::ConfigParams ¶ms) override + { + return 0; + } + + int platformInitIpa(ipa::RPi::InitParams ¶ms) override; + + int configureEntities(V4L2SubdeviceFormat sensorFormat, + V4L2SubdeviceFormat &embeddedFormat); + int configureCfe(); + bool calculateCscConfiguration(const V4L2DeviceFormat &v4l2Format, pisp_be_ccm_config &csc); + int configureBe(const std::optional<ColorSpace> &yuvColorSpace); + + void platformSetIspCrop(unsigned int index, const Rectangle &ispCrop) override; + + void prepareCfe(); + void prepareBe(uint32_t bufferId, bool stitchSwapBuffers); + + void tryRunPipeline() override; + + struct CfeJob { + ControlList sensorControls; + unsigned int delayContext; + std::unordered_map<const RPi::Stream *, FrameBuffer *> buffers; + }; + + std::queue<CfeJob> cfeJobQueue_; + + bool cfeJobComplete() const + { + if (cfeJobQueue_.empty()) + return false; + + const CfeJob &job = cfeJobQueue_.back(); + return job.buffers.count(&cfe_[Cfe::Output0]) && + job.buffers.count(&cfe_[Cfe::Stats]) && + (!sensorMetadata_ || + job.buffers.count(&cfe_[Cfe::Embedded])); + } + + std::string last_dump_file_; +}; + +class PipelineHandlerPiSP : public RPi::PipelineHandlerBase +{ +public: + PipelineHandlerPiSP(CameraManager *manager) + : RPi::PipelineHandlerBase(manager) + { + } + + ~PipelineHandlerPiSP() + { + } + + bool match(DeviceEnumerator *enumerator) override; + +private: + PiSPCameraData *cameraData(Camera *camera) + { + return static_cast<PiSPCameraData *>(camera->_d()); + } + + int prepareBuffers(Camera *camera) override; + int platformRegister(std::unique_ptr<RPi::CameraData> &cameraData, + MediaDevice *cfe, MediaDevice *isp) override; +}; + +bool PipelineHandlerPiSP::match(DeviceEnumerator *enumerator) +{ + constexpr unsigned int numCfeDevices = 2; + + /* + * Loop over all CFE instances, but return out once a match is found. + * This is to ensure we correctly enumerate the camera when an instance + * of the CFE has registered with media controller, but has not registered + * device nodes due to a sensor subdevice failure. + */ + for (unsigned int i = 0; i < numCfeDevices; i++) { + DeviceMatch cfe("rp1-cfe"); + cfe.add("rp1-cfe-fe-image0"); + cfe.add("rp1-cfe-fe-stats"); + cfe.add("rp1-cfe-fe-config"); + MediaDevice *cfeDevice = acquireMediaDevice(enumerator, cfe); + + if (!cfeDevice) { + LOG(RPI, Debug) << "Unable to acquire a CFE instance"; + break; + } + + DeviceMatch isp("pispbe"); + isp.add("pispbe-input"); + isp.add("pispbe-config"); + isp.add("pispbe-output0"); + isp.add("pispbe-output1"); + isp.add("pispbe-tdn_output"); + isp.add("pispbe-tdn_input"); + isp.add("pispbe-stitch_output"); + isp.add("pispbe-stitch_input"); + MediaDevice *ispDevice = acquireMediaDevice(enumerator, isp); + + if (!ispDevice) { + LOG(RPI, Debug) << "Unable to acquire ISP instance"; + break; + } + + /* + * The loop below is used to register multiple cameras behind + * one or more video mux devices that are attached to a + * particular CFE instance. Obviously these cameras cannot be + * used simultaneously. + */ + unsigned int numCameras = 0; + for (MediaEntity *entity : cfeDevice->entities()) { + if (entity->function() != MEDIA_ENT_F_CAM_SENSOR) + continue; + + const libpisp::PiSPVariant &variant = + libpisp::get_variant(cfeDevice->hwRevision(), + ispDevice->hwRevision()); + if (!variant.NumFrontEnds() || !variant.NumBackEnds()) { + LOG(RPI, Error) << "Unsupported PiSP variant"; + break; + } + + std::unique_ptr<RPi::CameraData> cameraData = + std::make_unique<PiSPCameraData>(this, variant); + PiSPCameraData *pisp = + static_cast<PiSPCameraData *>(cameraData.get()); + + pisp->fe_ = SharedMemObject<FrontEnd> + ("pisp_frontend", true, pisp->pispVariant_); + pisp->be_ = SharedMemObject<BackEnd> + ("pisp_backend", BackEnd::Config({}), pisp->pispVariant_); + + if (!pisp->fe_.fd().isValid() || !pisp->be_.fd().isValid()) { + LOG(RPI, Error) << "Failed to create ISP shared objects"; + break; + } + + int ret = registerCamera(cameraData, cfeDevice, "csi2", + ispDevice, entity); + if (ret) + LOG(RPI, Error) << "Failed to register camera " + << entity->name() << ": " << ret; + else + numCameras++; + } + + if (numCameras) + return true; + } + + return false; +} + +int PipelineHandlerPiSP::prepareBuffers(Camera *camera) +{ + PiSPCameraData *data = cameraData(camera); + unsigned int numRawBuffers = 0; + int ret; + + for (Stream *s : camera->streams()) { + if (PipelineHandlerBase::isRaw(s->configuration().pixelFormat)) { + numRawBuffers = s->configuration().bufferCount; + break; + } + } + + /* Decide how many internal buffers to allocate. */ + for (auto const stream : data->streams_) { + unsigned int numBuffers; + /* + * For CFE, allocate a minimum of 4 buffers as we want + * to avoid any frame drops. + */ + constexpr unsigned int minBuffers = 4; + if (stream == &data->cfe_[Cfe::Output0]) { + /* + * If an application has configured a RAW stream, allocate + * additional buffers to make up the minimum, but ensure + * we have at least 2 sets of internal buffers to use to + * minimise frame drops. + */ + numBuffers = std::max<int>(2, minBuffers - numRawBuffers); + } else if (stream == &data->isp_[Isp::Input]) { + /* + * ISP input buffers are imported from the CFE, so follow + * similar logic as above to count all the RAW buffers + * available. + */ + numBuffers = numRawBuffers + + std::max<int>(2, minBuffers - numRawBuffers); + } else if (stream == &data->cfe_[Cfe::Embedded]) { + /* + * Embedded data buffers are (currently) for internal use, + * so allocate a reasonably large amount. + */ + numBuffers = 12; + } else if (stream == &data->cfe_[Cfe::Stats] || + stream == &data->cfe_[Cfe::Config]) { + numBuffers = data->config_.numCfeConfigStatsBuffers; + } else if (!data->beEnabled_) { + /* Backend not enabled, we don't need to allocate buffers. */ + numBuffers = 0; + } else if (stream == &data->isp_[Isp::TdnOutput] && data->config_.disableTdn) { + /* TDN is explicitly disabled. */ + continue; + } else if (stream == &data->isp_[Isp::StitchOutput] && data->config_.disableHdr) { + /* Stitch/HDR is explicitly disabled. */ + continue; + } else { + /* Allocate 2 sets of all other Backend buffers */ + numBuffers = 2; + } + + LOG(RPI, Debug) << "Preparing " << numBuffers + << " buffers for stream " << stream->name(); + + ret = stream->prepareBuffers(numBuffers); + if (ret < 0) + return ret; + } + + /* + * Store the Framebuffer pointers for convenience as we will ping-pong + * these buffers between the input and output nodes for TDN and Stitch. + * + * The buffer size needs to be setup here as well. Conveniently this is + * the same for both TDN and stitch. + */ + pisp_image_format_config tdn; + data->be_->GetTdnOutputFormat(tdn); + unsigned int size = tdn.stride * tdn.height; + for (auto const &buffer : data->isp_[Isp::TdnOutput].getBuffers()) { + FrameBuffer *b = buffer.second.buffer; + b->_d()->metadata().planes()[0].bytesused = size; + data->tdnBuffers_.push_back(b); + } + for (auto const &buffer : data->isp_[Isp::StitchOutput].getBuffers()) { + FrameBuffer *b = buffer.second.buffer; + b->_d()->metadata().planes()[0].bytesused = size; + data->stitchBuffers_.push_back(b); + } + + /* Size up the config buffers as well. */ + for (auto &b : data->isp_[Isp::Config].getBuffers()) { + FrameMetadata::Plane &plane = b.second.buffer->_d()->metadata().planes()[0]; + plane.bytesused = sizeof(pisp_be_tiles_config); + } + + /* + * Pass the stats and embedded data buffers to the IPA. No other + * buffers need to be passed. + */ + mapBuffers(camera, data->cfe_[Cfe::Stats].getBuffers(), RPi::MaskStats); + if (data->sensorMetadata_) + mapBuffers(camera, data->cfe_[Cfe::Embedded].getBuffers(), + RPi::MaskEmbeddedData); + + return 0; +} + +int PipelineHandlerPiSP::platformRegister(std::unique_ptr<RPi::CameraData> &cameraData, + MediaDevice *cfe, MediaDevice *isp) +{ + PiSPCameraData *data = static_cast<PiSPCameraData *>(cameraData.get()); + int ret; + + MediaEntity *cfeImage = cfe->getEntityByName("rp1-cfe-fe-image0"); + MediaEntity *cfeEmbedded = cfe->getEntityByName("rp1-cfe-csi2-ch1"); + MediaEntity *cfeStats = cfe->getEntityByName("rp1-cfe-fe-stats"); + MediaEntity *cfeConfig = cfe->getEntityByName("rp1-cfe-fe-config"); + MediaEntity *ispInput = isp->getEntityByName("pispbe-input"); + MediaEntity *IpaPrepare = isp->getEntityByName("pispbe-config"); + MediaEntity *ispOutput0 = isp->getEntityByName("pispbe-output0"); + MediaEntity *ispOutput1 = isp->getEntityByName("pispbe-output1"); + MediaEntity *ispTdnOutput = isp->getEntityByName("pispbe-tdn_output"); + MediaEntity *ispTdnInput = isp->getEntityByName("pispbe-tdn_input"); + MediaEntity *ispStitchOutput = isp->getEntityByName("pispbe-stitch_output"); + MediaEntity *ispStitchInput = isp->getEntityByName("pispbe-stitch_input"); + + /* Locate and open the cfe video streams. */ + data->cfe_[Cfe::Output0] = RPi::Stream("CFE Image", cfeImage, StreamFlag::RequiresMmap); + data->cfe_[Cfe::Embedded] = RPi::Stream("CFE Embedded", cfeEmbedded); + data->cfe_[Cfe::Stats] = RPi::Stream("CFE Stats", cfeStats); + data->cfe_[Cfe::Config] = RPi::Stream("CFE Config", cfeConfig, + StreamFlag::Recurrent | StreamFlag::RequiresMmap); + + /* Tag the ISP input stream as an import stream. */ + data->isp_[Isp::Input] = + RPi::Stream("ISP Input", ispInput, StreamFlag::ImportOnly); + data->isp_[Isp::Config] = + RPi::Stream("ISP Config", IpaPrepare, StreamFlag::Recurrent | + StreamFlag::RequiresMmap); + data->isp_[Isp::Output0] = + RPi::Stream("ISP Output0", ispOutput0, StreamFlag::RequiresMmap); + data->isp_[Isp::Output1] = + RPi::Stream("ISP Output1", ispOutput1, StreamFlag::RequiresMmap); + data->isp_[Isp::TdnOutput] = + RPi::Stream("ISP TDN Output", ispTdnOutput, StreamFlag::Recurrent); + data->isp_[Isp::TdnInput] = + RPi::Stream("ISP TDN Input", ispTdnInput, StreamFlag::ImportOnly | + StreamFlag::Recurrent); + data->isp_[Isp::StitchOutput] = + RPi::Stream("ISP Stitch Output", ispStitchOutput, StreamFlag::Recurrent); + data->isp_[Isp::StitchInput] = + RPi::Stream("ISP Stitch Input", ispStitchInput, StreamFlag::ImportOnly | + StreamFlag::Recurrent); + + /* Wire up all the buffer connections. */ + data->cfe_[Cfe::Output0].dev()->bufferReady.connect(data, &PiSPCameraData::cfeBufferDequeue); + data->cfe_[Cfe::Stats].dev()->bufferReady.connect(data, &PiSPCameraData::cfeBufferDequeue); + data->cfe_[Cfe::Config].dev()->bufferReady.connect(data, &PiSPCameraData::cfeBufferDequeue); + data->isp_[Isp::Input].dev()->bufferReady.connect(data, &PiSPCameraData::beInputDequeue); + data->isp_[Isp::Config].dev()->bufferReady.connect(data, &PiSPCameraData::beOutputDequeue); + data->isp_[Isp::Output0].dev()->bufferReady.connect(data, &PiSPCameraData::beOutputDequeue); + data->isp_[Isp::Output1].dev()->bufferReady.connect(data, &PiSPCameraData::beOutputDequeue); + data->cfe_[Cfe::Embedded].dev()->bufferReady.connect(data, &PiSPCameraData::cfeBufferDequeue); + + data->csi2Subdev_ = std::make_unique<V4L2Subdevice>(cfe->getEntityByName("csi2")); + data->feSubdev_ = std::make_unique<V4L2Subdevice>(cfe->getEntityByName("pisp-fe")); + data->csi2Subdev_->open(); + data->feSubdev_->open(); + + /* + * Open all CFE and ISP streams. The exception is the embedded data + * stream, which only gets opened below if the IPA reports that the sensor + * supports embedded data. + * + * The below grouping is just for convenience so that we can easily + * iterate over all streams in one go. + */ + data->streams_.push_back(&data->cfe_[Cfe::Output0]); + data->streams_.push_back(&data->cfe_[Cfe::Config]); + data->streams_.push_back(&data->cfe_[Cfe::Stats]); + if (data->sensorMetadata_) + data->streams_.push_back(&data->cfe_[Cfe::Embedded]); + + data->streams_.push_back(&data->isp_[Isp::Input]); + data->streams_.push_back(&data->isp_[Isp::Output0]); + data->streams_.push_back(&data->isp_[Isp::Output1]); + data->streams_.push_back(&data->isp_[Isp::Config]); + data->streams_.push_back(&data->isp_[Isp::TdnInput]); + data->streams_.push_back(&data->isp_[Isp::TdnOutput]); + data->streams_.push_back(&data->isp_[Isp::StitchInput]); + data->streams_.push_back(&data->isp_[Isp::StitchOutput]); + + for (auto stream : data->streams_) { + ret = stream->dev()->open(); + if (ret) + return ret; + } + + /* Write up all the IPA connections. */ + data->ipa_->prepareIspComplete.connect(data, &PiSPCameraData::prepareIspComplete); + data->ipa_->processStatsComplete.connect(data, &PiSPCameraData::processStatsComplete); + data->ipa_->setCameraTimeout.connect(data, &PiSPCameraData::setCameraTimeout); + + /* + * List the available streams an application may request. At present, we + * do not advertise CFE Embedded and ISP Statistics streams, as there + * is no mechanism for the application to request non-image buffer formats. + */ + std::set<Stream *> streams; + streams.insert(&data->cfe_[Cfe::Output0]); + streams.insert(&data->isp_[Isp::Output0]); + streams.insert(&data->isp_[Isp::Output1]); + + /* Create and register the camera. */ + const std::string &id = data->sensor_->id(); + std::shared_ptr<Camera> camera = + Camera::create(std::move(cameraData), id, streams); + PipelineHandler::registerCamera(std::move(camera)); + + LOG(RPI, Info) << "Registered camera " << id + << " to CFE device " << cfe->deviceNode() + << " and ISP device " << isp->deviceNode() + << " using PiSP variant " << data->pispVariant_.Name(); + + return 0; +} + +CameraConfiguration::Status +PiSPCameraData::platformValidate(RPi::RPiCameraConfiguration *rpiConfig) const +{ + std::vector<StreamParams> &rawStreams = rpiConfig->rawStreams_; + std::vector<StreamParams> &outStreams = rpiConfig->outStreams_; + + CameraConfiguration::Status status = CameraConfiguration::Status::Valid; + + /* Can only output 1 RAW stream and/or 2 YUV/RGB streams for now. */ + if (rawStreams.size() > 1 || outStreams.size() > 2) { + LOG(RPI, Error) << "Invalid number of streams requested"; + return CameraConfiguration::Status::Invalid; + } + + if (!rawStreams.empty()) { + rawStreams[0].dev = cfe_[Cfe::Output0].dev(); + + StreamConfiguration *rawStream = rawStreams[0].cfg; + BayerFormat bayer = BayerFormat::fromPixelFormat(rawStream->pixelFormat); + /* + * We cannot output CSI2 packed or non 16-bit output from the frontend, + * so signal the output as unpacked 16-bits in these cases. + */ + if (bayer.packing == BayerFormat::Packing::CSI2 || bayer.bitDepth != 16) { + bayer.packing = (bayer.packing == BayerFormat::Packing::CSI2) ? + BayerFormat::Packing::PISP1 : BayerFormat::Packing::None; + bayer.bitDepth = 16; + } + + /* The RAW stream size cannot exceed the sensor frame output - for now. */ + if (rawStream->size != rpiConfig->sensorFormat_.size || + rawStream->pixelFormat != bayer.toPixelFormat()) { + rawStream->size = rpiConfig->sensorFormat_.size; + rawStream->pixelFormat = bayer.toPixelFormat(); + status = CameraConfiguration::Adjusted; + } + + rawStreams[0].format = + RPi::PipelineHandlerBase::toV4L2DeviceFormat(cfe_[Cfe::Output0].dev(), rawStream); + + computeOptimalStride(rawStreams[0].format); + } + + /* + * For the two ISP outputs, the lower resolution must be routed from + * Output 1 + * + * Index 0 contains the largest requested resolution. + */ + unsigned int largestWidth = getLargestWidth(rpiConfig->sensorFormat_, + rpiConfig->outStreams_); + + for (unsigned int i = 0; i < outStreams.size(); i++) { + StreamConfiguration *cfg = outStreams[i].cfg; + + /* + * Output 1 must be for the smallest resolution. We will + * have that fixed up in the code above. + */ + auto ispOutput = i == 1 || outStreams.size() == 1 ? Isp::Output1 + : Isp::Output0; + outStreams[i].dev = isp_[ispOutput].dev(); + + /* + * Don't let The output streams downscale by more than 64x when + * a downscaler block is available, or 16x when there's only the + * resampler. + */ + Size rawSize = rpiConfig->sensorFormat_.size.boundedToAspectRatio(cfg->size); + unsigned int outputIndex = ispOutput == Isp::Output0 ? 0 : 1; + Size minSize; + if (pispVariant_.BackEndDownscalerAvailable(0, outputIndex)) { + /* + * Downscaler available. Allow up to 64x downscale. If not a multiple of + * 64, round up to the next integer, but also ensure the result is even. + */ + const unsigned int downscale = 64; + minSize.width = (rawSize.width + downscale - 1) / downscale; + minSize.width = (minSize.width + 1) & ~1; /* ensure even */ + minSize.height = (rawSize.height + downscale - 1) / downscale; + minSize.height = (minSize.height + 1) & ~1; /* ensure even */ + } else { + /* No downscale. Resampler requires: (output_dim - 1) * 16 <= input_dim - 1 */ + const unsigned int downscale = 16; + minSize.width = (rawSize.width - 1 + downscale - 1) / downscale + 1; + minSize.width = (minSize.width + 1) & ~1; /* ensure even */ + minSize.height = (rawSize.height - 1 + downscale - 1) / downscale + 1; + minSize.height = (minSize.height + 1) & ~1; /* ensure even */ + } + LOG(RPI, Debug) << "minSize: width " << minSize.width << " height " << minSize.height; + + /* Bound the output size to minSize, preserve aspect ratio, and ensure even numbers. */ + if (cfg->size.width < minSize.width) { + cfg->size.height = (cfg->size.height * minSize.width / cfg->size.width + 1) & ~1; + cfg->size.width = minSize.width; + status = CameraConfiguration::Status::Adjusted; + } + + if (cfg->size.height < minSize.height) { + cfg->size.width = (cfg->size.width * minSize.height / cfg->size.height + 1) & ~1; + cfg->size.height = minSize.height; + status = CameraConfiguration::Status::Adjusted; + } + + /* Make sure output1 is no larger than output 0. */ + Size size = cfg->size.boundedTo(outStreams[0].cfg->size); + + /* \todo Warn if upscaling: reduces image quality. */ + + if (cfg->size != size) { + cfg->size = size; + status = CameraConfiguration::Status::Adjusted; + } + + outStreams[i].format = + RPi::PipelineHandlerBase::toV4L2DeviceFormat(outStreams[i].dev, outStreams[i].cfg); + + /* Compute the optimal stride for the BE output buffers. */ + computeOptimalStride(outStreams[i].format); + + /* + * We need to check for software downscaling. This must happen + * after adjusting the device format so that we can choose the + * largest stride - which might have been the original + * unadjusted format, or the adjusted one (if software + * downscaling means it's larger). + */ + V4L2DeviceFormat adjustedFormat = outStreams[i].format; + adjustDeviceFormat(adjustedFormat); + + unsigned int swDownscale = + calculateSwDownscale(adjustedFormat, largestWidth, + be_->GetMaxDownscale()); + LOG(RPI, Debug) << "For stream " << adjustedFormat + << " swDownscale is " << swDownscale; + if (swDownscale > 1) { + adjustedFormat.size.width *= swDownscale; + computeOptimalStride(adjustedFormat); + for (unsigned int p = 0; p < outStreams[i].format.planesCount; p++) + outStreams[i].format.planes[p].bpl = + std::max(outStreams[i].format.planes[p].bpl, adjustedFormat.planes[p].bpl); + } + } + + return status; +} + +int PiSPCameraData::platformPipelineConfigure(const std::unique_ptr<YamlObject> &root) +{ + config_ = { + .numCfeConfigStatsBuffers = 12, + .numCfeConfigQueue = 2, + .disableTdn = false, + .disableHdr = false, + }; + + if (!root) + return 0; + + std::optional<double> ver = (*root)["version"].get<double>(); + if (!ver || *ver != 1.0) { + LOG(RPI, Error) << "Unexpected configuration file version reported"; + return -EINVAL; + } + + std::optional<std::string> target = (*root)["target"].get<std::string>(); + if (!target || *target != "pisp") { + LOG(RPI, Error) << "Unexpected target reported: expected \"pisp\", got " + << *target; + return -EINVAL; + } + + const YamlObject &phConfig = (*root)["pipeline_handler"]; + config_.numCfeConfigStatsBuffers = + phConfig["num_cfe_config_stats_buffers"].get<unsigned int>(config_.numCfeConfigStatsBuffers); + config_.numCfeConfigQueue = + phConfig["num_cfe_config_queue"].get<unsigned int>(config_.numCfeConfigQueue); + config_.disableTdn = phConfig["disable_tdn"].get<bool>(config_.disableTdn); + config_.disableHdr = phConfig["disable_hdr"].get<bool>(config_.disableHdr); + + if (config_.disableTdn) { + LOG(RPI, Info) << "TDN disabled by user config"; + streams_.erase(std::remove_if(streams_.begin(), streams_.end(), + [this] (const RPi::Stream *s) { return s == &isp_[Isp::TdnInput] || + s == &isp_[Isp::TdnInput]; }), + streams_.end()); + } + + if (config_.disableHdr) { + LOG(RPI, Info) << "HDR disabled by user config"; + streams_.erase(std::remove_if(streams_.begin(), streams_.end(), + [this] (const RPi::Stream *s) { return s == &isp_[Isp::StitchInput] || + s == &isp_[Isp::StitchOutput]; }), + streams_.end()); + } + + if (config_.numCfeConfigStatsBuffers < 1) { + LOG(RPI, Error) + << "Invalid configuration: num_cfe_config_stats_buffers must be >= 1"; + return -EINVAL; + } + + if (config_.numCfeConfigQueue < 1) { + LOG(RPI, Error) + << "Invalid configuration: numCfeConfigQueue must be >= 1"; + return -EINVAL; + } + + return 0; +} + +std::unordered_map<uint32_t, uint32_t> deviceAdjustTable = { + { V4L2_PIX_FMT_RGBX32, V4L2_PIX_FMT_RGB24 }, + { V4L2_PIX_FMT_XBGR32, V4L2_PIX_FMT_BGR24 } +}; + +bool PiSPCameraData::adjustDeviceFormat(V4L2DeviceFormat &format) const +{ + auto it = deviceAdjustTable.find(format.fourcc.fourcc()); + + if (pispVariant_.BackendRGB32Supported(0)) + return false; + + if (it != deviceAdjustTable.end()) { + LOG(RPI, Debug) << "Swapping 32-bit for 24-bit format"; + format.fourcc = V4L2PixelFormat(it->second); + return true; + } + + return false; +} + +int PiSPCameraData::platformConfigure(const RPi::RPiCameraConfiguration *rpiConfig) +{ + const std::vector<RPi::RPiCameraConfiguration::StreamParams> &rawStreams = rpiConfig->rawStreams_; + const std::vector<RPi::RPiCameraConfiguration::StreamParams> &outStreams = rpiConfig->outStreams_; + int ret; + V4L2VideoDevice *cfe = cfe_[Cfe::Output0].dev(); + V4L2DeviceFormat cfeFormat; + + /* + * See which streams are requested, and route the user + * StreamConfiguration appropriately. + */ + if (rawStreams.empty()) { + /* + * The CFE Frontend output will always be 16-bits unpacked, so adjust the + * mbus code right at the start. + */ + V4L2SubdeviceFormat sensorFormatMod = rpiConfig->sensorFormat_; + sensorFormatMod.code = mbusCodeUnpacked16(sensorFormatMod.code); + cfeFormat = RPi::PipelineHandlerBase::toV4L2DeviceFormat(cfe, + sensorFormatMod, + BayerFormat::Packing::PISP1); + computeOptimalStride(cfeFormat); + } else { + rawStreams[0].cfg->setStream(&cfe_[Cfe::Output0]); + cfe_[Cfe::Output0].setFlags(StreamFlag::External); + cfeFormat = rawStreams[0].format; + } + + /* + * If the sensor output is 16-bits, we must endian swap the buffer + * contents to account for the HW missing this feature. + */ + cfe_[Cfe::Output0].clearFlags(StreamFlag::Needs16bitEndianSwap); + if (MediaBusFormatInfo::info(rpiConfig->sensorFormat_.code).bitsPerPixel == 16) { + cfe_[Cfe::Output0].setFlags(StreamFlag::Needs16bitEndianSwap); + LOG(RPI, Warning) + << "The sensor is configured for a 16-bit output, statistics" + << " will not be correct. You must use manual camera settings."; + } + + /* Ditto for the 14-bit unpacking. */ + cfe_[Cfe::Output0].clearFlags(StreamFlag::Needs14bitUnpack); + if (MediaBusFormatInfo::info(rpiConfig->sensorFormat_.code).bitsPerPixel == 14) { + cfe_[Cfe::Output0].setFlags(StreamFlag::Needs14bitUnpack); + LOG(RPI, Warning) + << "The sensor is configured for a 14-bit output, statistics" + << " will not be correct. You must use manual camera settings."; + } + + ret = cfe->setFormat(&cfeFormat); + if (ret) + return ret; + + /* Set the TDN and Stitch node formats in case they are turned on. */ + isp_[Isp::TdnOutput].dev()->setFormat(&cfeFormat); + isp_[Isp::TdnInput].dev()->setFormat(&cfeFormat); + isp_[Isp::StitchOutput].dev()->setFormat(&cfeFormat); + isp_[Isp::StitchInput].dev()->setFormat(&cfeFormat); + + ret = isp_[Isp::Input].dev()->setFormat(&cfeFormat); + if (ret) + return ret; + + LOG(RPI, Info) << "Sensor: " << sensor_->id() + << " - Selected sensor format: " << rpiConfig->sensorFormat_ + << " - Selected CFE format: " << cfeFormat; + + /* + * Find the largest width of any stream; we'll use it later to check for + * excessive downscaling. + */ + unsigned int largestWidth = getLargestWidth(rpiConfig->sensorFormat_, outStreams); + + unsigned int beEnables = 0; + V4L2DeviceFormat format; + + /* + * First thing is to remove Isp::Output0 and Isp::Output1 from streams_ + * as they may be unused depending on the configuration. Add them back + * only if needed. + */ + streams_.erase(std::remove_if(streams_.begin(), streams_.end(), + [this] (const RPi::Stream *s) { return s == &isp_[Isp::Output0] || + s == &isp_[Isp::Output1]; }), + streams_.end()); + + cropParams_.clear(); + for (unsigned int i = 0; i < outStreams.size(); i++) { + StreamConfiguration *cfg = outStreams[i].cfg; + unsigned int ispIndex; + + /* + * Output 1 must be for the smallest resolution. We will + * have that fixed up in the code above. + */ + RPi::Stream *stream; + if (i == 1 || outStreams.size() == 1) { + stream = &isp_[Isp::Output1]; + beEnables |= PISP_BE_RGB_ENABLE_OUTPUT1; + ispIndex = 1; + } else { + stream = &isp_[Isp::Output0]; + beEnables |= PISP_BE_RGB_ENABLE_OUTPUT0; + ispIndex = 0; + } + + format = outStreams[i].format; + bool needs32BitConversion = adjustDeviceFormat(format); + + /* + * This pixel format may not be the same as the configured + * pixel format if adjustDeviceFormat() above has reqused a change. + */ + PixelFormat pixFmt = format.fourcc.toPixelFormat(); + + /* If there's excessive downscaling we'll do some of it in software. */ + unsigned int swDownscale = calculateSwDownscale(format, largestWidth, + be_->GetMaxDownscale()); + unsigned int hwWidth = format.size.width * swDownscale; + format.size.width = hwWidth; + + LOG(RPI, Debug) << "Setting " << stream->name() << " to " + << format << " (sw downscale " << swDownscale << ")"; + + ret = stream->dev()->setFormat(&format); + if (ret) + return -EINVAL; + LOG(RPI, Debug) << "After setFormat, stride " << format.planes[0].bpl; + + if (format.size.height != cfg->size.height || + format.size.width != hwWidth || format.fourcc.toPixelFormat() != pixFmt) { + LOG(RPI, Error) + << "Failed to set requested format on " << stream->name() + << ", returned " << format; + return -EINVAL; + } + + LOG(RPI, Debug) + << "Stream " << stream->name() << " has color space " + << ColorSpace::toString(cfg->colorSpace); + + libcamera::RPi::Stream::StreamFlags flags = StreamFlag::External; + + stream->clearFlags(StreamFlag::Needs32bitConv); + if (needs32BitConversion) + flags |= StreamFlag::Needs32bitConv; + + /* Set smallest selection the ISP will allow. */ + Size minCrop{ 32, 32 }; + + /* Adjust aspect ratio by providing crops on the input image. */ + Size size = cfeFormat.size.boundedToAspectRatio(outStreams[i].cfg->size); + Rectangle ispCrop = size.centeredTo(Rectangle(cfeFormat.size).center()); + + /* + * Calculate the minimum crop. The rule is that (output_dim - 1) / (input_dim - 1) + * must be strictly < 16. We add 2 after dividing because +1 + * comes from the division that rounds down, and +1 because we + * had (input_dim - 1). + */ + Size scalingMinSize = outStreams[i].cfg->size.shrunkBy({ 1, 1 }) / 16; + scalingMinSize.growBy({ 2, 2 }); + minCrop.expandTo(scalingMinSize); + + platformSetIspCrop(ispIndex, ispCrop); + /* + * Set the scaler crop to the value we are using (scaled to native sensor + * coordinates). + */ + cropParams_.emplace(std::piecewise_construct, + std::forward_as_tuple(outStreams[i].index), + std::forward_as_tuple(ispCrop, minCrop, ispIndex)); + + cfg->setStream(stream); + stream->setFlags(flags); + stream->setSwDownscale(swDownscale); + streams_.push_back(stream); + } + + pisp_be_global_config global; + be_->GetGlobal(global); + global.rgb_enables &= ~(PISP_BE_RGB_ENABLE_OUTPUT0 + PISP_BE_RGB_ENABLE_OUTPUT1); + global.rgb_enables |= beEnables; + be_->SetGlobal(global); + + beEnabled_ = beEnables & (PISP_BE_RGB_ENABLE_OUTPUT0 | PISP_BE_RGB_ENABLE_OUTPUT1); + + /* CFE statistics output format. */ + format = {}; + format.fourcc = V4L2PixelFormat(V4L2_META_FMT_RPI_FE_STATS); + ret = cfe_[Cfe::Stats].dev()->setFormat(&format); + if (ret) { + LOG(RPI, Error) << "Failed to set format on CFE stats stream: " + << format; + return ret; + } + + /* CFE config format. */ + format = {}; + format.fourcc = V4L2PixelFormat(V4L2_META_FMT_RPI_FE_CFG); + ret = cfe_[Cfe::Config].dev()->setFormat(&format); + if (ret) { + LOG(RPI, Error) << "Failed to set format on CFE config stream: " + << format; + return ret; + } + + /* + * Configure the CFE embedded data output format only if the sensor + * supports it. + */ + V4L2SubdeviceFormat embeddedFormat = sensor_->embeddedDataFormat(); + if (sensorMetadata_) { + static const std::map<uint32_t, V4L2PixelFormat> metaFormats{ + { MEDIA_BUS_FMT_META_8, V4L2PixelFormat(V4L2_META_FMT_GENERIC_8) }, + { MEDIA_BUS_FMT_META_10, V4L2PixelFormat(V4L2_META_FMT_GENERIC_CSI2_10) }, + { MEDIA_BUS_FMT_META_12, V4L2PixelFormat(V4L2_META_FMT_GENERIC_CSI2_12) }, + { MEDIA_BUS_FMT_META_14, V4L2PixelFormat(V4L2_META_FMT_GENERIC_CSI2_14) }, + }; + + const auto metaFormat = metaFormats.find(embeddedFormat.code); + if (metaFormat == metaFormats.end()) { + LOG(RPI, Error) + << "Unsupported metadata format " + << utils::hex(embeddedFormat.code, 4); + return -EINVAL; + } + + format = {}; + format.fourcc = metaFormat->second; + format.size = embeddedFormat.size; + + LOG(RPI, Debug) << "Setting embedded data format " << format; + ret = cfe_[Cfe::Embedded].dev()->setFormat(&format); + if (ret) { + LOG(RPI, Error) << "Failed to set format on CFE embedded: " + << format; + return ret; + } + } + + configureEntities(rpiConfig->sensorFormat_, embeddedFormat); + configureCfe(); + + if (beEnabled_) + configureBe(rpiConfig->yuvColorSpace_); + + return 0; +} + +void PiSPCameraData::platformStart() +{ + /* + * We don't need to worry about dequeue events for the TDN and Stitch + * nodes as the buffers are simply ping-ponged every frame. But we do + * want to track the currently used input index. + */ + tdnInputIndex_ = 0; + stitchInputIndex_ = 0; + + cfeJobQueue_ = {}; + + for (unsigned int i = 0; i < config_.numCfeConfigQueue; i++) + prepareCfe(); + + /* Clear the debug dump file history. */ + last_dump_file_.clear(); +} + +void PiSPCameraData::platformStop() +{ + cfeJobQueue_ = {}; +} + +void PiSPCameraData::platformFreeBuffers() +{ + tdnBuffers_.clear(); + stitchBuffers_.clear(); +} + +void PiSPCameraData::cfeBufferDequeue(FrameBuffer *buffer) +{ + RPi::Stream *stream = nullptr; + int index = 0; + + if (!isRunning()) + return; + + for (RPi::Stream &s : cfe_) { + index = s.getBufferId(buffer); + if (index) { + stream = &s; + break; + } + } + + /* If the last CFE job has completed, we need a new job entry in the queue. */ + if (cfeJobQueue_.empty() || cfeJobComplete()) + cfeJobQueue_.push({}); + + CfeJob &job = cfeJobQueue_.back(); + + /* The buffer must belong to one of our streams. */ + ASSERT(stream); + + LOG(RPI, Debug) << "Stream " << stream->name() << " buffer dequeue" + << ", buffer id " << index + << ", timestamp: " << buffer->metadata().timestamp; + + job.buffers[stream] = buffer; + + if (stream == &cfe_[Cfe::Output0]) { + /* Do an endian swap or 14-bit unpacking if needed. */ + if (stream->getFlags() & StreamFlag::Needs16bitEndianSwap || + stream->getFlags() & StreamFlag::Needs14bitUnpack) { + const unsigned int stride = stream->configuration().stride; + const unsigned int width = stream->configuration().size.width; + const unsigned int height = stream->configuration().size.height; + const RPi::BufferObject &b = stream->getBuffer(index); + + ASSERT(b.mapped); + void *mem = b.mapped->planes()[0].data(); + + dmabufSyncStart(buffer->planes()[0].fd); + if (stream->getFlags() & StreamFlag::Needs16bitEndianSwap) + do16BitEndianSwap(mem, width, height, stride); + else + do14bitUnpack(mem, width, height, stride); + dmabufSyncEnd(buffer->planes()[0].fd); + } + + /* + * Lookup the sensor controls used for this frame sequence from + * DelayedControl and queue them along with the frame buffer. + */ + auto [ctrl, delayContext] = delayedCtrls_->get(buffer->metadata().sequence); + /* + * Add the frame timestamp to the ControlList for the IPA to use + * as it does not receive the FrameBuffer object. + */ + ctrl.set(controls::SensorTimestamp, buffer->metadata().timestamp); + job.sensorControls = std::move(ctrl); + job.delayContext = delayContext; + } else if (stream == &cfe_[Cfe::Config]) { + /* The config buffer can be re-queued back straight away. */ + handleStreamBuffer(buffer, &cfe_[Cfe::Config]); + prepareCfe(); + } + + handleState(); +} + +void PiSPCameraData::beInputDequeue(FrameBuffer *buffer) +{ + if (!isRunning()) + return; + + LOG(RPI, Debug) << "Stream ISP Input buffer complete" + << ", buffer id " << cfe_[Cfe::Output0].getBufferId(buffer) + << ", timestamp: " << buffer->metadata().timestamp; + + /* The ISP input buffer gets re-queued into CFE. */ + handleStreamBuffer(buffer, &cfe_[Cfe::Output0]); + handleState(); +} + +void PiSPCameraData::beOutputDequeue(FrameBuffer *buffer) +{ + RPi::Stream *stream = nullptr; + int index; + + if (!isRunning()) + return; + + for (RPi::Stream &s : isp_) { + index = s.getBufferId(buffer); + if (index) { + stream = &s; + break; + } + } + + /* The buffer must belong to one of our ISP output streams. */ + ASSERT(stream); + + LOG(RPI, Debug) << "Stream " << stream->name() << " buffer complete" + << ", buffer id " << index + << ", timestamp: " << buffer->metadata().timestamp; + + bool downscale = stream->swDownscale() > 1; + bool needs32bitConv = !!(stream->getFlags() & StreamFlag::Needs32bitConv); + + if (downscale || needs32bitConv) + dmabufSyncStart(buffer->planes()[0].fd); + + if (downscale) { + /* Further software downscaling must be applied. */ + downscaleStreamBuffer(stream, index); + } + + /* Convert 24bpp outputs to 32bpp outputs where necessary. */ + if (needs32bitConv) { + unsigned int stride = stream->configuration().stride; + unsigned int width = stream->configuration().size.width; + unsigned int height = stream->configuration().size.height; + + const RPi::BufferObject &b = stream->getBuffer(index); + + ASSERT(b.mapped); + void *mem = b.mapped->planes()[0].data(); + do32BitConversion(mem, width, height, stride); + } + + if (downscale || needs32bitConv) + dmabufSyncEnd(buffer->planes()[0].fd); + + handleStreamBuffer(buffer, stream); + + /* + * Increment the number of ISP outputs generated. + * This is needed to track dropped frames. + */ + ispOutputCount_++; + handleState(); +} + +void PiSPCameraData::processStatsComplete(const ipa::RPi::BufferIds &buffers) +{ + if (!isRunning()) + return; + + handleStreamBuffer(cfe_[Cfe::Stats].getBuffers().at(buffers.stats & RPi::MaskID).buffer, + &cfe_[Cfe::Stats]); +} + +void PiSPCameraData::setCameraTimeout(uint32_t maxFrameLengthMs) +{ + /* + * Set the dequeue timeout to the larger of 5x the maximum reported + * frame length advertised by the IPA over a number of frames. Allow + * a minimum timeout value of 1s. + */ + utils::Duration timeout = + std::max<utils::Duration>(1s, 5 * maxFrameLengthMs * 1ms); + + LOG(RPI, Debug) << "Setting CFE timeout to " << timeout; + cfe_[Cfe::Output0].dev()->setDequeueTimeout(timeout); +} + +void PiSPCameraData::prepareIspComplete(const ipa::RPi::BufferIds &buffers, bool stitchSwapBuffers) +{ + unsigned int embeddedId = buffers.embedded & RPi::MaskID; + unsigned int bayerId = buffers.bayer & RPi::MaskID; + FrameBuffer *buffer; + + if (!isRunning()) + return; + + if (sensorMetadata_ && embeddedId) { + buffer = cfe_[Cfe::Embedded].getBuffers().at(embeddedId).buffer; + handleStreamBuffer(buffer, &cfe_[Cfe::Embedded]); + } + + if (!beEnabled_) { + /* + * If there is no need to run the Backend, just signal that the + * input buffer is completed and all Backend outputs are ready. + */ + ispOutputCount_ = ispOutputTotal_; + buffer = cfe_[Cfe::Output0].getBuffers().at(bayerId).buffer; + handleStreamBuffer(buffer, &cfe_[Cfe::Output0]); + } else + prepareBe(bayerId, stitchSwapBuffers); + + state_ = State::IpaComplete; + handleState(); +} + +int PiSPCameraData::configureCfe() +{ + V4L2DeviceFormat cfeFormat; + cfe_[Cfe::Output0].dev()->getFormat(&cfeFormat); + + std::scoped_lock<FrontEnd> l(*fe_); + + pisp_fe_global_config global; + fe_->GetGlobal(global); + global.enables &= ~PISP_FE_ENABLE_COMPRESS0; + + global.enables |= PISP_FE_ENABLE_OUTPUT0; + global.bayer_order = toPiSPBayerOrder(cfeFormat.fourcc); + + pisp_image_format_config image = toPiSPImageFormat(cfeFormat); + pisp_fe_input_config input = {}; + + input.streaming = 1; + input.format = image; + input.format.format = PISP_IMAGE_FORMAT_BPS_16; + + if (PISP_IMAGE_FORMAT_COMPRESSED(image.format)) { + pisp_compress_config compress; + compress.offset = DefaultCompressionOffset; + compress.mode = (image.format & PISP_IMAGE_FORMAT_COMPRESSION_MASK) / + PISP_IMAGE_FORMAT_COMPRESSION_MODE_1; + global.enables |= PISP_FE_ENABLE_COMPRESS0; + fe_->SetCompress(0, compress); + } + + if (input.format.width > pispVariant_.FrontEndDownscalerMaxWidth(0, 0)) + global.enables |= PISP_FE_ENABLE_DECIMATE; + + fe_->SetGlobal(global); + fe_->SetInput(input); + fe_->SetOutputFormat(0, image); + + return 0; +} + +bool PiSPCameraData::calculateCscConfiguration(const V4L2DeviceFormat &v4l2Format, pisp_be_ccm_config &csc) +{ + const PixelFormat &pixFormat = v4l2Format.fourcc.toPixelFormat(); + const PixelFormatInfo &info = PixelFormatInfo::info(pixFormat); + memset(&csc, 0, sizeof(csc)); + + if (info.colourEncoding == PixelFormatInfo::ColourEncodingYUV) { + /* Look up the correct YCbCr conversion matrix for this colour space. */ + if (v4l2Format.colorSpace == ColorSpace::Sycc) + be_->InitialiseYcbcr(csc, "jpeg"); + else if (v4l2Format.colorSpace == ColorSpace::Smpte170m) + be_->InitialiseYcbcr(csc, "smpte170m"); + else if (v4l2Format.colorSpace == ColorSpace::Rec709) + be_->InitialiseYcbcr(csc, "rec709"); + else { + LOG(RPI, Warning) + << "Unrecognised colour space " + << ColorSpace::toString(v4l2Format.colorSpace) + << ", defaulting to sYCC"; + be_->InitialiseYcbcr(csc, "jpeg"); + } + return true; + } + /* There will be more formats to check for in due course. */ + else if (pixFormat == formats::RGB888 || pixFormat == formats::RGBX8888 || + pixFormat == formats::XRGB8888 || pixFormat == formats::RGB161616) { + /* Identity matrix but with RB colour swap. */ + csc.coeffs[2] = csc.coeffs[4] = csc.coeffs[6] = 1 << 10; + return true; + } + + return false; +} + +int PiSPCameraData::configureBe(const std::optional<ColorSpace> &yuvColorSpace) +{ + pisp_image_format_config inputFormat; + V4L2DeviceFormat cfeFormat; + + isp_[Isp::Input].dev()->getFormat(&cfeFormat); + inputFormat = toPiSPImageFormat(cfeFormat); + + pisp_be_global_config global; + be_->GetGlobal(global); + global.bayer_enables &= ~(PISP_BE_BAYER_ENABLE_DECOMPRESS + + PISP_BE_BAYER_ENABLE_TDN_DECOMPRESS + + PISP_BE_BAYER_ENABLE_TDN_COMPRESS + + PISP_BE_BAYER_ENABLE_STITCH_DECOMPRESS + + PISP_BE_BAYER_ENABLE_STITCH_COMPRESS); + global.rgb_enables &= ~(PISP_BE_RGB_ENABLE_RESAMPLE0 + + PISP_BE_RGB_ENABLE_RESAMPLE1 + + PISP_BE_RGB_ENABLE_DOWNSCALE0 + + PISP_BE_RGB_ENABLE_DOWNSCALE1 + + PISP_BE_RGB_ENABLE_CSC0 + + PISP_BE_RGB_ENABLE_CSC1); + + global.bayer_enables |= PISP_BE_BAYER_ENABLE_INPUT; + global.bayer_order = toPiSPBayerOrder(cfeFormat.fourcc); + + ispOutputTotal_ = 1; /* Config buffer */ + if (PISP_IMAGE_FORMAT_COMPRESSED(inputFormat.format)) { + pisp_decompress_config decompress; + decompress.offset = DefaultCompressionOffset; + decompress.mode = (inputFormat.format & PISP_IMAGE_FORMAT_COMPRESSION_MASK) + / PISP_IMAGE_FORMAT_COMPRESSION_MODE_1; + global.bayer_enables |= PISP_BE_BAYER_ENABLE_DECOMPRESS; + be_->SetDecompress(decompress); + } + + if (global.rgb_enables & PISP_BE_RGB_ENABLE_OUTPUT0) { + pisp_be_output_format_config outputFormat0 = {}; + V4L2DeviceFormat ispFormat0 = {}; + + isp_[Isp::Output0].dev()->getFormat(&ispFormat0); + outputFormat0.image = toPiSPImageFormat(ispFormat0); + + pisp_be_ccm_config csc; + if (calculateCscConfiguration(ispFormat0, csc)) { + global.rgb_enables |= PISP_BE_RGB_ENABLE_CSC0; + be_->SetCsc(0, csc); + } + + BackEnd::SmartResize resize = {}; + resize.width = ispFormat0.size.width; + resize.height = ispFormat0.size.height; + be_->SetSmartResize(0, resize); + + setupOutputClipping(ispFormat0, outputFormat0); + + be_->SetOutputFormat(0, outputFormat0); + ispOutputTotal_++; + } + + if (global.rgb_enables & PISP_BE_RGB_ENABLE_OUTPUT1) { + pisp_be_output_format_config outputFormat1 = {}; + V4L2DeviceFormat ispFormat1 = {}; + + isp_[Isp::Output1].dev()->getFormat(&ispFormat1); + outputFormat1.image = toPiSPImageFormat(ispFormat1); + + pisp_be_ccm_config csc; + if (calculateCscConfiguration(ispFormat1, csc)) { + global.rgb_enables |= PISP_BE_RGB_ENABLE_CSC1; + be_->SetCsc(1, csc); + } + + BackEnd::SmartResize resize = {}; + resize.width = ispFormat1.size.width; + resize.height = ispFormat1.size.height; + be_->SetSmartResize(1, resize); + + setupOutputClipping(ispFormat1, outputFormat1); + + be_->SetOutputFormat(1, outputFormat1); + ispOutputTotal_++; + } + + /* Setup the TDN I/O blocks in case TDN gets turned on later. */ + V4L2DeviceFormat tdnV4L2Format; + isp_[Isp::TdnOutput].dev()->getFormat(&tdnV4L2Format); + pisp_image_format_config tdnFormat = toPiSPImageFormat(tdnV4L2Format); + be_->SetTdnOutputFormat(tdnFormat); + be_->SetTdnInputFormat(tdnFormat); + + if (PISP_IMAGE_FORMAT_COMPRESSED(tdnFormat.format)) { + pisp_decompress_config tdnDecompress; + pisp_compress_config tdnCompress; + + tdnDecompress.offset = tdnCompress.offset = DefaultCompressionOffset; + tdnDecompress.mode = tdnCompress.mode = DefaultCompressionMode; + be_->SetTdnDecompress(tdnDecompress); + be_->SetTdnCompress(tdnCompress); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_TDN_DECOMPRESS + + PISP_BE_BAYER_ENABLE_TDN_COMPRESS; + } + + /* Likewise for the Stitch block. */ + V4L2DeviceFormat stitchV4L2Format; + isp_[Isp::StitchOutput].dev()->getFormat(&stitchV4L2Format); + pisp_image_format_config stitchFormat = toPiSPImageFormat(stitchV4L2Format); + be_->SetStitchOutputFormat(stitchFormat); + be_->SetStitchInputFormat(stitchFormat); + + if (PISP_IMAGE_FORMAT_COMPRESSED(stitchFormat.format)) { + pisp_decompress_config stitchDecompress; + pisp_compress_config stitchCompress; + + /* Stitch block is after BLC, so compression offset should be 0. */ + stitchDecompress.offset = stitchCompress.offset = 0; + stitchDecompress.mode = stitchCompress.mode = DefaultCompressionMode; + be_->SetStitchDecompress(stitchDecompress); + be_->SetStitchCompress(stitchCompress); + global.bayer_enables |= PISP_BE_BAYER_ENABLE_STITCH_DECOMPRESS + + PISP_BE_BAYER_ENABLE_STITCH_COMPRESS; + } + + /* + * For the bit of the pipeline where we go temporarily into YCbCr, we'll use the + * same flavour of YCbCr as dictated by the headline colour space. But there's + * no benefit from compressing and shifting the range, so we'll stick with the + * full range version of whatever that colour space is. + */ + if (yuvColorSpace) { + pisp_be_ccm_config ccm; + if (yuvColorSpace == ColorSpace::Sycc) { + be_->InitialiseYcbcr(ccm, "jpeg"); + be_->SetYcbcr(ccm); + be_->InitialiseYcbcrInverse(ccm, "jpeg"); + be_->SetYcbcrInverse(ccm); + } else if (yuvColorSpace == ColorSpace::Smpte170m) { + /* We want the full range version of smpte170m, aka. jpeg */ + be_->InitialiseYcbcr(ccm, "jpeg"); + be_->SetYcbcr(ccm); + be_->InitialiseYcbcrInverse(ccm, "jpeg"); + be_->SetYcbcrInverse(ccm); + } else if (yuvColorSpace == ColorSpace::Rec709) { + be_->InitialiseYcbcr(ccm, "rec709_full"); + be_->SetYcbcr(ccm); + be_->InitialiseYcbcrInverse(ccm, "rec709_full"); + be_->SetYcbcrInverse(ccm); + } else { + /* Validation should have ensured this can't happen. */ + LOG(RPI, Error) + << "Invalid colour space " + << ColorSpace::toString(yuvColorSpace); + ASSERT(0); + } + } else { + /* Again, validation should have prevented this. */ + LOG(RPI, Error) << "No YUV colour space"; + ASSERT(0); + } + + be_->SetGlobal(global); + be_->SetInputFormat(inputFormat); + + return 0; +} + +void PiSPCameraData::platformSetIspCrop(unsigned int index, const Rectangle &ispCrop) +{ + pisp_be_crop_config beCrop = { + static_cast<uint16_t>(ispCrop.x), + static_cast<uint16_t>(ispCrop.y), + static_cast<uint16_t>(ispCrop.width), + static_cast<uint16_t>(ispCrop.height) + }; + + LOG(RPI, Debug) << "Output " << index << " " << ispCrop.toString(); + be_->SetCrop(index, beCrop); +} + +int PiSPCameraData::platformInitIpa(ipa::RPi::InitParams ¶ms) +{ + params.fe = fe_.fd(); + params.be = be_.fd(); + return 0; +} + +int PiSPCameraData::configureEntities(V4L2SubdeviceFormat sensorFormat, + V4L2SubdeviceFormat &embeddedFormat) +{ + int ret = 0; + + constexpr unsigned int csiVideoSinkPad = 0; + constexpr unsigned int csiVideoSourcePad = 1; + constexpr unsigned int csiMetaSourcePad = 2; + + constexpr unsigned int feVideoSinkPad = 0; + constexpr unsigned int feConfigSinkPad = 1; + constexpr unsigned int feVideo0SourcePad = 2; + constexpr unsigned int feVideo1SourcePad = 3; + constexpr unsigned int feStatsSourcePad = 4; + + const MediaEntity *csi2 = csi2Subdev_->entity(); + const MediaEntity *fe = feSubdev_->entity(); + + for (MediaLink *link : csi2->pads()[csiVideoSourcePad]->links()) { + if (link->sink()->entity()->name() == "rp1-cfe-csi2-ch0") + link->setEnabled(false); + else if (link->sink()->entity()->name() == "pisp-fe") + link->setEnabled(true); + } + + csi2->pads()[csiMetaSourcePad]->links()[0]->setEnabled(sensorMetadata_); + + fe->pads()[feConfigSinkPad]->links()[0]->setEnabled(true); + fe->pads()[feVideo0SourcePad]->links()[0]->setEnabled(true); + fe->pads()[feVideo1SourcePad]->links()[0]->setEnabled(false); + fe->pads()[feStatsSourcePad]->links()[0]->setEnabled(true); + + const V4L2Subdevice::Stream imageStream{ + csiVideoSinkPad, + sensor_->imageStream().stream + }; + const V4L2Subdevice::Stream embeddedDataStream{ + csiVideoSinkPad, + sensor_->embeddedDataStream().value_or(V4L2Subdevice::Stream{}).stream + }; + + V4L2Subdevice::Routing routing; + routing.emplace_back(imageStream, V4L2Subdevice::Stream{ csiVideoSourcePad, 0 }, + V4L2_SUBDEV_ROUTE_FL_ACTIVE); + + if (sensorMetadata_) + routing.emplace_back(embeddedDataStream, + V4L2Subdevice::Stream{ csiMetaSourcePad, 0 }, + V4L2_SUBDEV_ROUTE_FL_ACTIVE); + + ret = csi2Subdev_->setRouting(&routing); + if (ret) + return ret; + + ret = csi2Subdev_->setFormat(imageStream, &sensorFormat); + if (ret) + return ret; + + if (sensorMetadata_) { + ret = csi2Subdev_->setFormat(embeddedDataStream, &embeddedFormat); + if (ret) + return ret; + } + + V4L2SubdeviceFormat feFormat = sensorFormat; + feFormat.code = mbusCodeUnpacked16(sensorFormat.code); + ret = feSubdev_->setFormat(feVideoSinkPad, &feFormat); + if (ret) + return ret; + + ret = csi2Subdev_->setFormat(csiVideoSourcePad, &feFormat); + if (ret) + return ret; + + V4L2DeviceFormat feOutputFormat; + cfe_[Cfe::Output0].dev()->getFormat(&feOutputFormat); + BayerFormat feOutputBayer = BayerFormat::fromV4L2PixelFormat(feOutputFormat.fourcc); + + feFormat.code = bayerToMbusCode(feOutputBayer); + ret = feSubdev_->setFormat(feVideo0SourcePad, &feFormat); + + return ret; +} + +void PiSPCameraData::prepareCfe() +{ + /* Fetch an unused config buffer from the stream .*/ + const RPi::BufferObject &config = cfe_[Cfe::Config].acquireBuffer(); + ASSERT(config.mapped); + + { + std::scoped_lock<FrontEnd> l(*fe_); + Span<uint8_t> configBuffer = config.mapped->planes()[0]; + fe_->Prepare(reinterpret_cast<pisp_fe_config *>(configBuffer.data())); + } + + config.buffer->_d()->metadata().planes()[0].bytesused = sizeof(pisp_fe_config); + cfe_[Cfe::Config].queueBuffer(config.buffer); +} + +void PiSPCameraData::prepareBe(uint32_t bufferId, bool stitchSwapBuffers) +{ + ispOutputCount_ = 0; + + FrameBuffer *buffer = cfe_[Cfe::Output0].getBuffers().at(bufferId).buffer; + + LOG(RPI, Debug) << "Input re-queue to ISP, buffer id " << bufferId + << ", timestamp: " << buffer->metadata().timestamp; + + isp_[Isp::Input].queueBuffer(buffer); + + /* Ping-pong between input/output buffers for the TDN and Stitch nodes. */ + if (!config_.disableTdn) { + isp_[Isp::TdnInput].queueBuffer(tdnBuffers_[tdnInputIndex_]); + isp_[Isp::TdnOutput].queueBuffer(tdnBuffers_[tdnInputIndex_ ^ 1]); + tdnInputIndex_ ^= 1; + } + + if (!config_.disableHdr) { + if (stitchSwapBuffers) + stitchInputIndex_ ^= 1; + isp_[Isp::StitchInput].queueBuffer(stitchBuffers_[stitchInputIndex_]); + isp_[Isp::StitchOutput].queueBuffer(stitchBuffers_[stitchInputIndex_ ^ 1]); + } + + /* Fetch an unused config buffer from the stream .*/ + const RPi::BufferObject &config = isp_[Isp::Config].acquireBuffer(); + ASSERT(config.mapped); + + Span<uint8_t> configBufferSpan = config.mapped->planes()[0]; + pisp_be_tiles_config *configBuffer = reinterpret_cast<pisp_be_tiles_config *>(configBufferSpan.data()); + be_->Prepare(configBuffer); + + /* + * If the LIBCAMERA_RPI_PISP_CONFIG_DUMP environment variable is set, + * dump the Backend config to the given file. This is a one-shot + * operation, so log the filename that was provided and allow the + * application to change the filename for multiple dumps in a single + * run. + * + * \todo Using an environment variable is only a temporary solution + * until we have support for vendor specific controls in libcamera. + */ + const char *config_dump = utils::secure_getenv("LIBCAMERA_RPI_PISP_CONFIG_DUMP"); + if (config_dump && last_dump_file_ != config_dump) { + std::ofstream of(config_dump); + if (of.is_open()) { + of << be_->GetJsonConfig(configBuffer); + last_dump_file_ = config_dump; + } + } + + isp_[Isp::Config].queueBuffer(config.buffer); +} + +void PiSPCameraData::tryRunPipeline() +{ + /* If any of our request or buffer queues are empty, we cannot proceed. */ + if (state_ != State::Idle || requestQueue_.empty() || !cfeJobComplete()) + return; + + CfeJob &job = cfeJobQueue_.front(); + + /* Take the first request from the queue and action the IPA. */ + Request *request = requestQueue_.front(); + + /* See if a new ScalerCrop value needs to be applied. */ + applyScalerCrop(request->controls()); + + /* + * Clear the request metadata and fill it with some initial non-IPA + * related controls. We clear it first because the request metadata + * may have been populated if we have dropped the previous frame. + */ + request->metadata().clear(); + fillRequestMetadata(job.sensorControls, request); + + /* Set our state to say the pipeline is active. */ + state_ = State::Busy; + + unsigned int bayerId = cfe_[Cfe::Output0].getBufferId(job.buffers[&cfe_[Cfe::Output0]]); + unsigned int statsId = cfe_[Cfe::Stats].getBufferId(job.buffers[&cfe_[Cfe::Stats]]); + ASSERT(bayerId && statsId); + + std::stringstream ss; + ss << "Signalling IPA processStats and prepareIsp:" + << " Bayer buffer id: " << bayerId + << " Stats buffer id: " << statsId; + + ipa::RPi::PrepareParams params; + params.buffers.bayer = RPi::MaskBayerData | bayerId; + params.buffers.stats = RPi::MaskStats | statsId; + params.buffers.embedded = 0; + params.ipaContext = requestQueue_.front()->sequence(); + params.delayContext = job.delayContext; + params.sensorControls = std::move(job.sensorControls); + params.requestControls = request->controls(); + + if (sensorMetadata_) { + unsigned int embeddedId = + cfe_[Cfe::Embedded].getBufferId(job.buffers[&cfe_[Cfe::Embedded]]); + + ASSERT(embeddedId); + params.buffers.embedded = RPi::MaskEmbeddedData | embeddedId; + ss << " Embedded buffer id: " << embeddedId; + } + + LOG(RPI, Debug) << ss.str(); + + cfeJobQueue_.pop(); + ipa_->prepareIsp(params); +} + +REGISTER_PIPELINE_HANDLER(PipelineHandlerPiSP, "rpi/pisp") + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/simple/simple.cpp b/src/libcamera/pipeline/simple/simple.cpp index 8ac24e6e..fd0ccdca 100644 --- a/src/libcamera/pipeline/simple/simple.cpp +++ b/src/libcamera/pipeline/simple/simple.cpp @@ -181,6 +181,56 @@ LOG_DEFINE_CATEGORY(SimplePipeline) class SimplePipelineHandler; +struct SimpleFrameInfo { + SimpleFrameInfo(uint32_t f, Request *r, bool m) + : frame(f), request(r), metadataRequired(m), metadataProcessed(false) + { + } + + uint32_t frame; + Request *request; + bool metadataRequired; + bool metadataProcessed; +}; + +class SimpleFrames +{ +public: + void create(Request *request, bool metadataRequested); + void destroy(uint32_t frame); + void clear(); + + SimpleFrameInfo *find(uint32_t frame); + +private: + std::map<uint32_t, SimpleFrameInfo> frameInfo_; +}; + +void SimpleFrames::create(Request *request, bool metadataRequired) +{ + const uint32_t frame = request->sequence(); + auto [it, inserted] = frameInfo_.try_emplace(frame, frame, request, metadataRequired); + ASSERT(inserted); +} + +void SimpleFrames::destroy(uint32_t frame) +{ + frameInfo_.erase(frame); +} + +void SimpleFrames::clear() +{ + frameInfo_.clear(); +} + +SimpleFrameInfo *SimpleFrames::find(uint32_t frame) +{ + auto info = frameInfo_.find(frame); + if (info == frameInfo_.end()) + return nullptr; + return &info->second; +} + struct SimplePipelineInfo { const char *driver; /* @@ -293,15 +343,18 @@ public: std::unique_ptr<Converter> converter_; std::unique_ptr<SoftwareIsp> swIsp_; + SimpleFrames frameInfo_; private: void tryPipeline(unsigned int code, const Size &size); static std::vector<const MediaPad *> routedSourcePads(MediaPad *sink); + void tryCompleteRequest(Request *request); void conversionInputDone(FrameBuffer *buffer); void conversionOutputDone(FrameBuffer *buffer); void ispStatsReady(uint32_t frame, uint32_t bufferId); + void metadataReady(uint32_t frame, const ControlList &metadata); void setSensorControls(const ControlList &sensorControls); }; @@ -537,23 +590,10 @@ int SimpleCameraData::init() << "Failed to create software ISP, disabling software debayering"; swIsp_.reset(); } else { - /* - * The inputBufferReady signal is emitted from the soft ISP thread, - * and needs to be handled in the pipeline handler thread. Signals - * implement queued delivery, but this works transparently only if - * the receiver is bound to the target thread. As the - * SimpleCameraData class doesn't inherit from the Object class, it - * is not bound to any thread, and the signal would be delivered - * synchronously. Instead, connect the signal to a lambda function - * bound explicitly to the pipe, which is bound to the pipeline - * handler thread. The function then simply forwards the call to - * conversionInputDone(). - */ - swIsp_->inputBufferReady.connect(pipe, [this](FrameBuffer *buffer) { - this->conversionInputDone(buffer); - }); + swIsp_->inputBufferReady.connect(this, &SimpleCameraData::conversionInputDone); swIsp_->outputBufferReady.connect(this, &SimpleCameraData::conversionOutputDone); swIsp_->ispStatsReady.connect(this, &SimpleCameraData::ispStatsReady); + swIsp_->metadataReady.connect(this, &SimpleCameraData::metadataReady); swIsp_->setSensorControls.connect(this, &SimpleCameraData::setSensorControls); } } @@ -799,7 +839,7 @@ void SimpleCameraData::imageBufferReady(FrameBuffer *buffer) /* No conversion, just complete the request. */ Request *request = buffer->request(); pipe->completeBuffer(request, buffer); - pipe->completeRequest(request); + tryCompleteRequest(request); return; } @@ -817,7 +857,10 @@ void SimpleCameraData::imageBufferReady(FrameBuffer *buffer) const RequestOutputs &outputs = conversionQueue_.front(); for (auto &[stream, buf] : outputs.outputs) pipe->completeBuffer(outputs.request, buf); - pipe->completeRequest(outputs.request); + SimpleFrameInfo *info = frameInfo_.find(outputs.request->sequence()); + if (info) + info->metadataRequired = false; + tryCompleteRequest(outputs.request); conversionQueue_.pop(); return; @@ -875,7 +918,7 @@ void SimpleCameraData::imageBufferReady(FrameBuffer *buffer) /* Otherwise simply complete the request. */ pipe->completeBuffer(request, buffer); - pipe->completeRequest(request); + tryCompleteRequest(request); } void SimpleCameraData::clearIncompleteRequests() @@ -886,6 +929,24 @@ void SimpleCameraData::clearIncompleteRequests() } } +void SimpleCameraData::tryCompleteRequest(Request *request) +{ + if (request->hasPendingBuffers()) + return; + + SimpleFrameInfo *info = frameInfo_.find(request->sequence()); + if (!info) { + /* Something is really wrong, let's return. */ + return; + } + + if (info->metadataRequired && !info->metadataProcessed) + return; + + frameInfo_.destroy(info->frame); + pipe()->completeRequest(request); +} + void SimpleCameraData::conversionInputDone(FrameBuffer *buffer) { /* Queue the input buffer back for capture. */ @@ -899,7 +960,7 @@ void SimpleCameraData::conversionOutputDone(FrameBuffer *buffer) /* Complete the buffer and the request. */ Request *request = buffer->request(); if (pipe->completeBuffer(request, buffer)) - pipe->completeRequest(request); + tryCompleteRequest(request); } void SimpleCameraData::ispStatsReady(uint32_t frame, uint32_t bufferId) @@ -908,6 +969,17 @@ void SimpleCameraData::ispStatsReady(uint32_t frame, uint32_t bufferId) delayedCtrls_->get(frame)); } +void SimpleCameraData::metadataReady(uint32_t frame, const ControlList &metadata) +{ + SimpleFrameInfo *info = frameInfo_.find(frame); + if (!info) + return; + + info->request->metadata().merge(metadata); + info->metadataProcessed = true; + tryCompleteRequest(info->request); +} + void SimpleCameraData::setSensorControls(const ControlList &sensorControls) { delayedCtrls_->push(sensorControls); @@ -1412,6 +1484,7 @@ void SimplePipelineHandler::stopDevice(Camera *camera) video->bufferReady.disconnect(data, &SimpleCameraData::imageBufferReady); + data->frameInfo_.clear(); data->clearIncompleteRequests(); data->conversionBuffers_.clear(); @@ -1440,6 +1513,7 @@ int SimplePipelineHandler::queueRequestDevice(Camera *camera, Request *request) } } + data->frameInfo_.create(request, !!data->swIsp_); if (data->useConversion_) { data->conversionQueue_.push({ request, std::move(buffers) }); if (data->swIsp_) diff --git a/src/libcamera/pipeline/uvcvideo/uvcvideo.cpp b/src/libcamera/pipeline/uvcvideo/uvcvideo.cpp index 8c2c6baf..7470b562 100644 --- a/src/libcamera/pipeline/uvcvideo/uvcvideo.cpp +++ b/src/libcamera/pipeline/uvcvideo/uvcvideo.cpp @@ -298,7 +298,7 @@ int PipelineHandlerUVC::processControl(ControlList *controls, unsigned int id, cid = V4L2_CID_CONTRAST; else if (id == controls::Saturation) cid = V4L2_CID_SATURATION; - else if (id == controls::AeEnable) + else if (id == controls::ExposureTimeMode) cid = V4L2_CID_EXPOSURE_AUTO; else if (id == controls::ExposureTime) cid = V4L2_CID_EXPOSURE_ABSOLUTE; @@ -647,7 +647,7 @@ void UVCCameraData::addControl(uint32_t cid, const ControlInfo &v4l2Info, id = &controls::Saturation; break; case V4L2_CID_EXPOSURE_AUTO: - id = &controls::AeEnable; + id = &controls::ExposureTimeMode; break; case V4L2_CID_EXPOSURE_ABSOLUTE: id = &controls::ExposureTime; @@ -660,6 +660,7 @@ void UVCCameraData::addControl(uint32_t cid, const ControlInfo &v4l2Info, } /* Map the control info. */ + const std::vector<ControlValue> &v4l2Values = v4l2Info.values(); int32_t min = v4l2Info.min().get<int32_t>(); int32_t max = v4l2Info.max().get<int32_t>(); int32_t def = v4l2Info.def().get<int32_t>(); @@ -697,10 +698,52 @@ void UVCCameraData::addControl(uint32_t cid, const ControlInfo &v4l2Info, }; break; - case V4L2_CID_EXPOSURE_AUTO: - info = ControlInfo{ false, true, true }; + case V4L2_CID_EXPOSURE_AUTO: { + /* + * From the V4L2_CID_EXPOSURE_AUTO documentation: + * + * ------------------------------------------------------------ + * V4L2_EXPOSURE_AUTO: + * Automatic exposure time, automatic iris aperture. + * + * V4L2_EXPOSURE_MANUAL: + * Manual exposure time, manual iris. + * + * V4L2_EXPOSURE_SHUTTER_PRIORITY: + * Manual exposure time, auto iris. + * + * V4L2_EXPOSURE_APERTURE_PRIORITY: + * Auto exposure time, manual iris. + *------------------------------------------------------------- + * + * ExposureTimeModeAuto = { V4L2_EXPOSURE_AUTO, + * V4L2_EXPOSURE_APERTURE_PRIORITY } + * + * + * ExposureTimeModeManual = { V4L2_EXPOSURE_MANUAL, + * V4L2_EXPOSURE_SHUTTER_PRIORITY } + */ + std::array<int32_t, 2> values{}; + + auto it = std::find_if(v4l2Values.begin(), v4l2Values.end(), + [&](const ControlValue &val) { + return (val.get<int32_t>() == V4L2_EXPOSURE_APERTURE_PRIORITY || + val.get<int32_t>() == V4L2_EXPOSURE_AUTO) ? true : false; + }); + if (it != v4l2Values.end()) + values.back() = static_cast<int32_t>(controls::ExposureTimeModeAuto); + + it = std::find_if(v4l2Values.begin(), v4l2Values.end(), + [&](const ControlValue &val) { + return (val.get<int32_t>() == V4L2_EXPOSURE_SHUTTER_PRIORITY || + val.get<int32_t>() == V4L2_EXPOSURE_MANUAL) ? true : false; + }); + if (it != v4l2Values.end()) + values.back() = static_cast<int32_t>(controls::ExposureTimeModeManual); + + info = ControlInfo{Span<int32_t>{values}, values[0]}; break; - + } case V4L2_CID_EXPOSURE_ABSOLUTE: /* * ExposureTime is in units of 1 µs, and UVC expects diff --git a/src/libcamera/pipeline/virtual/config_parser.cpp b/src/libcamera/pipeline/virtual/config_parser.cpp index 0cbfe39b..1e009946 100644 --- a/src/libcamera/pipeline/virtual/config_parser.cpp +++ b/src/libcamera/pipeline/virtual/config_parser.cpp @@ -54,7 +54,7 @@ ConfigParser::parseConfigFile(File &file, PipelineHandler *pipe) data->config_.id = cameraId; ControlInfoMap::Map controls; - /* todo: Check which resolution's frame rate to be reported */ + /* \todo Check which resolution's frame rate to be reported */ controls[&controls::FrameDurationLimits] = ControlInfo(1000000 / data->config_.resolutions[0].frameRates[1], 1000000 / data->config_.resolutions[0].frameRates[0]); diff --git a/src/libcamera/pipeline/virtual/data/meson.build b/src/libcamera/pipeline/virtual/data/meson.build new file mode 100644 index 00000000..ce63f9a2 --- /dev/null +++ b/src/libcamera/pipeline/virtual/data/meson.build @@ -0,0 +1,4 @@ +install_data('virtual.yaml', + install_dir : pipeline_data_dir / 'virtual', + install_tag : 'runtime', + rename: 'virtual.yaml.example') diff --git a/src/libcamera/pipeline/virtual/meson.build b/src/libcamera/pipeline/virtual/meson.build index 4786fe2e..c8434593 100644 --- a/src/libcamera/pipeline/virtual/meson.build +++ b/src/libcamera/pipeline/virtual/meson.build @@ -11,3 +11,5 @@ libjpeg = dependency('libjpeg', required : true) libcamera_deps += [libyuv_dep] libcamera_deps += [libjpeg] + +subdir('data') diff --git a/src/libcamera/pipeline/virtual/virtual.cpp b/src/libcamera/pipeline/virtual/virtual.cpp index e692a543..049ebcba 100644 --- a/src/libcamera/pipeline/virtual/virtual.cpp +++ b/src/libcamera/pipeline/virtual/virtual.cpp @@ -232,8 +232,7 @@ PipelineHandlerVirtual::generateConfiguration(Camera *camera, default: LOG(Virtual, Error) << "Requested stream role not supported: " << role; - config.reset(); - return config; + return {}; } std::map<PixelFormat, std::vector<SizeRange>> streamFormats; @@ -287,6 +286,11 @@ int PipelineHandlerVirtual::exportFrameBuffers([[maybe_unused]] Camera *camera, int PipelineHandlerVirtual::start([[maybe_unused]] Camera *camera, [[maybe_unused]] const ControlList *controls) { + VirtualCameraData *data = cameraData(camera); + + for (auto &s : data->streamConfigs_) + s.seq = 0; + return 0; } @@ -298,16 +302,27 @@ int PipelineHandlerVirtual::queueRequestDevice([[maybe_unused]] Camera *camera, Request *request) { VirtualCameraData *data = cameraData(camera); + const auto timestamp = currentTimestamp(); for (auto const &[stream, buffer] : request->buffers()) { bool found = false; /* map buffer and fill test patterns */ for (auto &streamConfig : data->streamConfigs_) { if (stream == &streamConfig.stream) { + FrameMetadata &fmd = buffer->_d()->metadata(); + + fmd.status = FrameMetadata::Status::FrameSuccess; + fmd.sequence = streamConfig.seq++; + fmd.timestamp = timestamp; + + for (const auto [i, p] : utils::enumerate(buffer->planes())) + fmd.planes()[i].bytesused = p.length; + found = true; + if (streamConfig.frameGenerator->generateFrame( stream->configuration().size, buffer)) - buffer->_d()->cancel(); + fmd.status = FrameMetadata::Status::FrameError; completeBuffer(request, buffer); break; @@ -316,7 +331,7 @@ int PipelineHandlerVirtual::queueRequestDevice([[maybe_unused]] Camera *camera, ASSERT(found); } - request->metadata().set(controls::SensorTimestamp, currentTimestamp()); + request->metadata().set(controls::SensorTimestamp, timestamp); completeRequest(request); return 0; @@ -329,10 +344,17 @@ bool PipelineHandlerVirtual::match([[maybe_unused]] DeviceEnumerator *enumerator created_ = true; - File file(configurationFile("virtual", "virtual.yaml")); - bool isOpen = file.open(File::OpenModeFlag::ReadOnly); - if (!isOpen) { - LOG(Virtual, Error) << "Failed to open config file: " << file.fileName(); + std::string configFile = configurationFile("virtual", "virtual.yaml", true); + if (configFile.empty()) { + LOG(Virtual, Debug) + << "Configuration file not found, skipping virtual cameras"; + return false; + } + + File file(configFile); + if (!file.open(File::OpenModeFlag::ReadOnly)) { + LOG(Virtual, Error) + << "Failed to open config file `" << file.fileName() << "`"; return false; } diff --git a/src/libcamera/pipeline/virtual/virtual.h b/src/libcamera/pipeline/virtual/virtual.h index 92ad7d4a..683cb82b 100644 --- a/src/libcamera/pipeline/virtual/virtual.h +++ b/src/libcamera/pipeline/virtual/virtual.h @@ -37,6 +37,7 @@ public: struct StreamConfig { Stream stream; std::unique_ptr<FrameGenerator> frameGenerator; + unsigned int seq = 0; }; /* The config file is parsed to the Configuration struct */ struct Configuration { diff --git a/src/libcamera/pipeline_handler.cpp b/src/libcamera/pipeline_handler.cpp index caa5c20e..d84dff3c 100644 --- a/src/libcamera/pipeline_handler.cpp +++ b/src/libcamera/pipeline_handler.cpp @@ -581,6 +581,7 @@ void PipelineHandler::cancelRequest(Request *request) * \brief Retrieve the absolute path to a platform configuration file * \param[in] subdir The pipeline handler specific subdirectory name * \param[in] name The configuration file name + * \param[in] silent Disable error messages * * This function locates a named platform configuration file and returns * its absolute path to the pipeline handler. It searches the following @@ -596,7 +597,8 @@ void PipelineHandler::cancelRequest(Request *request) * string if no configuration file can be found */ std::string PipelineHandler::configurationFile(const std::string &subdir, - const std::string &name) const + const std::string &name, + bool silent) const { std::string confPath; struct stat statbuf; @@ -626,9 +628,11 @@ std::string PipelineHandler::configurationFile(const std::string &subdir, if (ret == 0 && (statbuf.st_mode & S_IFMT) == S_IFREG) return confPath; - LOG(Pipeline, Error) - << "Configuration file '" << confPath - << "' not found for pipeline handler '" << PipelineHandler::name() << "'"; + if (!silent) + LOG(Pipeline, Error) + << "Configuration file '" << confPath + << "' not found for pipeline handler '" + << PipelineHandler::name() << "'"; return std::string(); } diff --git a/src/libcamera/process.cpp b/src/libcamera/process.cpp index bc9833f4..68fad327 100644 --- a/src/libcamera/process.cpp +++ b/src/libcamera/process.cpp @@ -75,7 +75,7 @@ void ProcessManager::sighandler() return; } - for (auto it = processes_.begin(); it != processes_.end(); ) { + for (auto it = processes_.begin(); it != processes_.end();) { Process *process = *it; int wstatus; diff --git a/src/libcamera/request.cpp b/src/libcamera/request.cpp index 8c56ed30..b206ac13 100644 --- a/src/libcamera/request.cpp +++ b/src/libcamera/request.cpp @@ -475,6 +475,15 @@ int Request::addBuffer(const Stream *stream, FrameBuffer *buffer, return -EINVAL; } + /* + * Make sure the fence has been extracted from the buffer + * to avoid waiting on a stale fence. + */ + if (buffer->_d()->fence()) { + LOG(Request, Error) << "Can't add buffer that still references a fence"; + return -EEXIST; + } + auto it = bufferMap_.find(stream); if (it != bufferMap_.end()) { LOG(Request, Error) << "FrameBuffer already set for stream"; @@ -485,15 +494,6 @@ int Request::addBuffer(const Stream *stream, FrameBuffer *buffer, _d()->pending_.insert(buffer); bufferMap_[stream] = buffer; - /* - * Make sure the fence has been extracted from the buffer - * to avoid waiting on a stale fence. - */ - if (buffer->_d()->fence()) { - LOG(Request, Error) << "Can't add buffer that still references a fence"; - return -EEXIST; - } - if (fence && fence->isValid()) buffer->_d()->setFence(std::move(fence)); diff --git a/src/libcamera/software_isp/debayer.cpp b/src/libcamera/software_isp/debayer.cpp index f0b83261..e9e18c48 100644 --- a/src/libcamera/software_isp/debayer.cpp +++ b/src/libcamera/software_isp/debayer.cpp @@ -1,7 +1,7 @@ /* SPDX-License-Identifier: LGPL-2.1-or-later */ /* * Copyright (C) 2023, Linaro Ltd - * Copyright (C) 2023, 2024 Red Hat Inc. + * Copyright (C) 2023-2025 Red Hat Inc. * * Authors: * Hans de Goede <hdegoede@redhat.com> @@ -24,8 +24,39 @@ namespace libcamera { */ /** - * \typedef DebayerParams::ColorLookupTable - * \brief Type of the lookup tables for red, green, blue values + * \struct DebayerParams::CcmColumn + * \brief Type of a single column of a color correction matrix (CCM) + * + * When multiplying an input pixel, columns in the CCM correspond to the red, + * green or blue component of input pixel values, while rows correspond to the + * red, green or blue components of the output pixel values. The members of the + * CcmColumn structure are named after the colour components of the output pixel + * values they correspond to. + */ + +/** + * \var DebayerParams::CcmColumn::r + * \brief Red (first) component of a CCM column + */ + +/** + * \var DebayerParams::CcmColumn::g + * \brief Green (second) component of a CCM column + */ + +/** + * \var DebayerParams::CcmColumn::b + * \brief Blue (third) component of a CCM column + */ + +/** + * \typedef DebayerParams::LookupTable + * \brief Type of the lookup tables for single lookup values + */ + +/** + * \typedef DebayerParams::CcmLookupTable + * \brief Type of the CCM lookup tables for red, green, blue values */ /** @@ -44,6 +75,26 @@ namespace libcamera { */ /** + * \var DebayerParams::redCcm + * \brief Lookup table for the CCM red column, mapping input values to output values + */ + +/** + * \var DebayerParams::greenCcm + * \brief Lookup table for the CCM green column, mapping input values to output values + */ + +/** + * \var DebayerParams::blueCcm + * \brief Lookup table for the CCM blue column, mapping input values to output values + */ + +/** + * \var DebayerParams::gammaLut + * \brief Gamma lookup table used with color correction matrix + */ + +/** * \class Debayer * \brief Base debayering class * @@ -57,10 +108,11 @@ Debayer::~Debayer() } /** - * \fn int Debayer::configure(const StreamConfiguration &inputCfg, const std::vector<std::reference_wrapper<StreamConfiguration>> &outputCfgs) + * \fn int Debayer::configure() * \brief Configure the debayer object according to the passed in parameters * \param[in] inputCfg The input configuration * \param[in] outputCfgs The output configurations + * \param[in] ccmEnabled Whether a color correction matrix is applied * * \return 0 on success, a negative errno on failure */ diff --git a/src/libcamera/software_isp/debayer.h b/src/libcamera/software_isp/debayer.h index d7ca060d..ba033d44 100644 --- a/src/libcamera/software_isp/debayer.h +++ b/src/libcamera/software_isp/debayer.h @@ -33,7 +33,8 @@ public: virtual ~Debayer() = 0; virtual int configure(const StreamConfiguration &inputCfg, - const std::vector<std::reference_wrapper<StreamConfiguration>> &outputCfgs) = 0; + const std::vector<std::reference_wrapper<StreamConfiguration>> &outputCfgs, + bool ccmEnabled) = 0; virtual std::vector<PixelFormat> formats(PixelFormat inputFormat) = 0; diff --git a/src/libcamera/software_isp/debayer_cpu.cpp b/src/libcamera/software_isp/debayer_cpu.cpp index 31ab96ab..66f6038c 100644 --- a/src/libcamera/software_isp/debayer_cpu.cpp +++ b/src/libcamera/software_isp/debayer_cpu.cpp @@ -1,7 +1,7 @@ /* SPDX-License-Identifier: LGPL-2.1-or-later */ /* * Copyright (C) 2023, Linaro Ltd - * Copyright (C) 2023, Red Hat Inc. + * Copyright (C) 2023-2025 Red Hat Inc. * * Authors: * Hans de Goede <hdegoede@redhat.com> @@ -11,9 +11,11 @@ #include "debayer_cpu.h" +#include <algorithm> #include <stdlib.h> #include <sys/ioctl.h> #include <time.h> +#include <utility> #include <linux/dma-buf.h> @@ -51,8 +53,12 @@ DebayerCpu::DebayerCpu(std::unique_ptr<SwStatsCpu> stats) enableInputMemcpy_ = true; /* Initialize color lookup tables */ - for (unsigned int i = 0; i < DebayerParams::kRGBLookupSize; i++) + for (unsigned int i = 0; i < DebayerParams::kRGBLookupSize; i++) { red_[i] = green_[i] = blue_[i] = i; + redCcm_[i] = { static_cast<int16_t>(i), 0, 0 }; + greenCcm_[i] = { 0, static_cast<int16_t>(i), 0 }; + blueCcm_[i] = { 0, 0, static_cast<int16_t>(i) }; + } } DebayerCpu::~DebayerCpu() = default; @@ -62,59 +68,71 @@ DebayerCpu::~DebayerCpu() = default; const pixel_t *curr = (const pixel_t *)src[1] + xShift_; \ const pixel_t *next = (const pixel_t *)src[2] + xShift_; +#define GAMMA(value) \ + *dst++ = gammaLut_[std::clamp(value, 0, static_cast<int>(gammaLut_.size()) - 1)] + +#define STORE_PIXEL(b_, g_, r_) \ + if constexpr (ccmEnabled) { \ + const DebayerParams::CcmColumn &blue = blueCcm_[b_]; \ + const DebayerParams::CcmColumn &green = greenCcm_[g_]; \ + const DebayerParams::CcmColumn &red = redCcm_[r_]; \ + GAMMA(blue.b + green.b + red.b); \ + GAMMA(blue.g + green.g + red.g); \ + GAMMA(blue.r + green.r + red.r); \ + } else { \ + *dst++ = blue_[b_]; \ + *dst++ = green_[g_]; \ + *dst++ = red_[r_]; \ + } \ + if constexpr (addAlphaByte) \ + *dst++ = 255; \ + x++; + /* * RGR * GBG * RGR */ -#define BGGR_BGR888(p, n, div) \ - *dst++ = blue_[curr[x] / (div)]; \ - *dst++ = green_[(prev[x] + curr[x - p] + curr[x + n] + next[x]) / (4 * (div))]; \ - *dst++ = red_[(prev[x - p] + prev[x + n] + next[x - p] + next[x + n]) / (4 * (div))]; \ - if constexpr (addAlphaByte) \ - *dst++ = 255; \ - x++; +#define BGGR_BGR888(p, n, div) \ + STORE_PIXEL( \ + curr[x] / (div), \ + (prev[x] + curr[x - p] + curr[x + n] + next[x]) / (4 * (div)), \ + (prev[x - p] + prev[x + n] + next[x - p] + next[x + n]) / (4 * (div))) /* * GBG * RGR * GBG */ -#define GRBG_BGR888(p, n, div) \ - *dst++ = blue_[(prev[x] + next[x]) / (2 * (div))]; \ - *dst++ = green_[curr[x] / (div)]; \ - *dst++ = red_[(curr[x - p] + curr[x + n]) / (2 * (div))]; \ - if constexpr (addAlphaByte) \ - *dst++ = 255; \ - x++; +#define GRBG_BGR888(p, n, div) \ + STORE_PIXEL( \ + (prev[x] + next[x]) / (2 * (div)), \ + curr[x] / (div), \ + (curr[x - p] + curr[x + n]) / (2 * (div))) /* * GRG * BGB * GRG */ -#define GBRG_BGR888(p, n, div) \ - *dst++ = blue_[(curr[x - p] + curr[x + n]) / (2 * (div))]; \ - *dst++ = green_[curr[x] / (div)]; \ - *dst++ = red_[(prev[x] + next[x]) / (2 * (div))]; \ - if constexpr (addAlphaByte) \ - *dst++ = 255; \ - x++; +#define GBRG_BGR888(p, n, div) \ + STORE_PIXEL( \ + (curr[x - p] + curr[x + n]) / (2 * (div)), \ + curr[x] / (div), \ + (prev[x] + next[x]) / (2 * (div))) /* * BGB * GRG * BGB */ -#define RGGB_BGR888(p, n, div) \ - *dst++ = blue_[(prev[x - p] + prev[x + n] + next[x - p] + next[x + n]) / (4 * (div))]; \ - *dst++ = green_[(prev[x] + curr[x - p] + curr[x + n] + next[x]) / (4 * (div))]; \ - *dst++ = red_[curr[x] / (div)]; \ - if constexpr (addAlphaByte) \ - *dst++ = 255; \ - x++; +#define RGGB_BGR888(p, n, div) \ + STORE_PIXEL( \ + (prev[x - p] + prev[x + n] + next[x - p] + next[x + n]) / (4 * (div)), \ + (prev[x] + curr[x - p] + curr[x + n] + next[x]) / (4 * (div)), \ + curr[x] / (div)) -template<bool addAlphaByte> +template<bool addAlphaByte, bool ccmEnabled> void DebayerCpu::debayer8_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]) { DECLARE_SRC_POINTERS(uint8_t) @@ -125,7 +143,7 @@ void DebayerCpu::debayer8_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]) } } -template<bool addAlphaByte> +template<bool addAlphaByte, bool ccmEnabled> void DebayerCpu::debayer8_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]) { DECLARE_SRC_POINTERS(uint8_t) @@ -136,7 +154,7 @@ void DebayerCpu::debayer8_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]) } } -template<bool addAlphaByte> +template<bool addAlphaByte, bool ccmEnabled> void DebayerCpu::debayer10_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]) { DECLARE_SRC_POINTERS(uint16_t) @@ -148,7 +166,7 @@ void DebayerCpu::debayer10_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]) } } -template<bool addAlphaByte> +template<bool addAlphaByte, bool ccmEnabled> void DebayerCpu::debayer10_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]) { DECLARE_SRC_POINTERS(uint16_t) @@ -160,7 +178,7 @@ void DebayerCpu::debayer10_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]) } } -template<bool addAlphaByte> +template<bool addAlphaByte, bool ccmEnabled> void DebayerCpu::debayer12_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]) { DECLARE_SRC_POINTERS(uint16_t) @@ -172,7 +190,7 @@ void DebayerCpu::debayer12_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]) } } -template<bool addAlphaByte> +template<bool addAlphaByte, bool ccmEnabled> void DebayerCpu::debayer12_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]) { DECLARE_SRC_POINTERS(uint16_t) @@ -184,7 +202,7 @@ void DebayerCpu::debayer12_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]) } } -template<bool addAlphaByte> +template<bool addAlphaByte, bool ccmEnabled> void DebayerCpu::debayer10P_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]) { const int widthInBytes = window_.width * 5 / 4; @@ -210,7 +228,7 @@ void DebayerCpu::debayer10P_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]) } } -template<bool addAlphaByte> +template<bool addAlphaByte, bool ccmEnabled> void DebayerCpu::debayer10P_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]) { const int widthInBytes = window_.width * 5 / 4; @@ -231,7 +249,7 @@ void DebayerCpu::debayer10P_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]) } } -template<bool addAlphaByte> +template<bool addAlphaByte, bool ccmEnabled> void DebayerCpu::debayer10P_GBGB_BGR888(uint8_t *dst, const uint8_t *src[]) { const int widthInBytes = window_.width * 5 / 4; @@ -252,7 +270,7 @@ void DebayerCpu::debayer10P_GBGB_BGR888(uint8_t *dst, const uint8_t *src[]) } } -template<bool addAlphaByte> +template<bool addAlphaByte, bool ccmEnabled> void DebayerCpu::debayer10P_RGRG_BGR888(uint8_t *dst, const uint8_t *src[]) { const int widthInBytes = window_.width * 5 / 4; @@ -368,7 +386,17 @@ int DebayerCpu::setupStandardBayerOrder(BayerFormat::Order order) return 0; } -int DebayerCpu::setDebayerFunctions(PixelFormat inputFormat, PixelFormat outputFormat) +#define SET_DEBAYER_METHODS(method0, method1) \ + debayer0_ = addAlphaByte \ + ? (ccmEnabled ? &DebayerCpu::method0<true, true> : &DebayerCpu::method0<true, false>) \ + : (ccmEnabled ? &DebayerCpu::method0<false, true> : &DebayerCpu::method0<false, false>); \ + debayer1_ = addAlphaByte \ + ? (ccmEnabled ? &DebayerCpu::method1<true, true> : &DebayerCpu::method1<true, false>) \ + : (ccmEnabled ? &DebayerCpu::method1<false, true> : &DebayerCpu::method1<false, false>); + +int DebayerCpu::setDebayerFunctions(PixelFormat inputFormat, + PixelFormat outputFormat, + bool ccmEnabled) { BayerFormat bayerFormat = BayerFormat::fromPixelFormat(inputFormat); @@ -423,16 +451,13 @@ int DebayerCpu::setDebayerFunctions(PixelFormat inputFormat, PixelFormat outputF isStandardBayerOrder(bayerFormat.order)) { switch (bayerFormat.bitDepth) { case 8: - debayer0_ = addAlphaByte ? &DebayerCpu::debayer8_BGBG_BGR888<true> : &DebayerCpu::debayer8_BGBG_BGR888<false>; - debayer1_ = addAlphaByte ? &DebayerCpu::debayer8_GRGR_BGR888<true> : &DebayerCpu::debayer8_GRGR_BGR888<false>; + SET_DEBAYER_METHODS(debayer8_BGBG_BGR888, debayer8_GRGR_BGR888) break; case 10: - debayer0_ = addAlphaByte ? &DebayerCpu::debayer10_BGBG_BGR888<true> : &DebayerCpu::debayer10_BGBG_BGR888<false>; - debayer1_ = addAlphaByte ? &DebayerCpu::debayer10_GRGR_BGR888<true> : &DebayerCpu::debayer10_GRGR_BGR888<false>; + SET_DEBAYER_METHODS(debayer10_BGBG_BGR888, debayer10_GRGR_BGR888) break; case 12: - debayer0_ = addAlphaByte ? &DebayerCpu::debayer12_BGBG_BGR888<true> : &DebayerCpu::debayer12_BGBG_BGR888<false>; - debayer1_ = addAlphaByte ? &DebayerCpu::debayer12_GRGR_BGR888<true> : &DebayerCpu::debayer12_GRGR_BGR888<false>; + SET_DEBAYER_METHODS(debayer12_BGBG_BGR888, debayer12_GRGR_BGR888) break; } setupStandardBayerOrder(bayerFormat.order); @@ -443,20 +468,16 @@ int DebayerCpu::setDebayerFunctions(PixelFormat inputFormat, PixelFormat outputF bayerFormat.packing == BayerFormat::Packing::CSI2) { switch (bayerFormat.order) { case BayerFormat::BGGR: - debayer0_ = addAlphaByte ? &DebayerCpu::debayer10P_BGBG_BGR888<true> : &DebayerCpu::debayer10P_BGBG_BGR888<false>; - debayer1_ = addAlphaByte ? &DebayerCpu::debayer10P_GRGR_BGR888<true> : &DebayerCpu::debayer10P_GRGR_BGR888<false>; + SET_DEBAYER_METHODS(debayer10P_BGBG_BGR888, debayer10P_GRGR_BGR888) return 0; case BayerFormat::GBRG: - debayer0_ = addAlphaByte ? &DebayerCpu::debayer10P_GBGB_BGR888<true> : &DebayerCpu::debayer10P_GBGB_BGR888<false>; - debayer1_ = addAlphaByte ? &DebayerCpu::debayer10P_RGRG_BGR888<true> : &DebayerCpu::debayer10P_RGRG_BGR888<false>; + SET_DEBAYER_METHODS(debayer10P_GBGB_BGR888, debayer10P_RGRG_BGR888) return 0; case BayerFormat::GRBG: - debayer0_ = addAlphaByte ? &DebayerCpu::debayer10P_GRGR_BGR888<true> : &DebayerCpu::debayer10P_GRGR_BGR888<false>; - debayer1_ = addAlphaByte ? &DebayerCpu::debayer10P_BGBG_BGR888<true> : &DebayerCpu::debayer10P_BGBG_BGR888<false>; + SET_DEBAYER_METHODS(debayer10P_GRGR_BGR888, debayer10P_BGBG_BGR888) return 0; case BayerFormat::RGGB: - debayer0_ = addAlphaByte ? &DebayerCpu::debayer10P_RGRG_BGR888<true> : &DebayerCpu::debayer10P_RGRG_BGR888<false>; - debayer1_ = addAlphaByte ? &DebayerCpu::debayer10P_GBGB_BGR888<true> : &DebayerCpu::debayer10P_GBGB_BGR888<false>; + SET_DEBAYER_METHODS(debayer10P_RGRG_BGR888, debayer10P_GBGB_BGR888) return 0; default: break; @@ -467,7 +488,8 @@ int DebayerCpu::setDebayerFunctions(PixelFormat inputFormat, PixelFormat outputF } int DebayerCpu::configure(const StreamConfiguration &inputCfg, - const std::vector<std::reference_wrapper<StreamConfiguration>> &outputCfgs) + const std::vector<std::reference_wrapper<StreamConfiguration>> &outputCfgs, + bool ccmEnabled) { if (getInputConfig(inputCfg.pixelFormat, inputConfig_) != 0) return -EINVAL; @@ -506,7 +528,10 @@ int DebayerCpu::configure(const StreamConfiguration &inputCfg, return -EINVAL; } - if (setDebayerFunctions(inputCfg.pixelFormat, outputCfg.pixelFormat) != 0) + int ret = setDebayerFunctions(inputCfg.pixelFormat, + outputCfg.pixelFormat, + ccmEnabled); + if (ret != 0) return -EINVAL; window_.x = ((inputCfg.size.width - outputCfg.size.width) / 2) & @@ -748,8 +773,23 @@ void DebayerCpu::process(uint32_t frame, FrameBuffer *input, FrameBuffer *output dmaSyncers.emplace_back(plane.fd, DmaSyncer::SyncType::Write); green_ = params.green; - red_ = swapRedBlueGains_ ? params.blue : params.red; - blue_ = swapRedBlueGains_ ? params.red : params.blue; + greenCcm_ = params.greenCcm; + if (swapRedBlueGains_) { + red_ = params.blue; + blue_ = params.red; + redCcm_ = params.blueCcm; + blueCcm_ = params.redCcm; + for (unsigned int i = 0; i < 256; i++) { + std::swap(redCcm_[i].r, redCcm_[i].b); + std::swap(blueCcm_[i].r, blueCcm_[i].b); + } + } else { + red_ = params.red; + blue_ = params.blue; + redCcm_ = params.redCcm; + blueCcm_ = params.blueCcm; + } + gammaLut_ = params.gammaLut; /* Copy metadata from the input buffer */ FrameMetadata &metadata = output->_d()->metadata(); diff --git a/src/libcamera/software_isp/debayer_cpu.h b/src/libcamera/software_isp/debayer_cpu.h index 2c47e7c6..926195e9 100644 --- a/src/libcamera/software_isp/debayer_cpu.h +++ b/src/libcamera/software_isp/debayer_cpu.h @@ -1,7 +1,7 @@ /* SPDX-License-Identifier: LGPL-2.1-or-later */ /* * Copyright (C) 2023, Linaro Ltd - * Copyright (C) 2023, Red Hat Inc. + * Copyright (C) 2023-2025 Red Hat Inc. * * Authors: * Hans de Goede <hdegoede@redhat.com> @@ -31,7 +31,8 @@ public: ~DebayerCpu(); int configure(const StreamConfiguration &inputCfg, - const std::vector<std::reference_wrapper<StreamConfiguration>> &outputCfgs); + const std::vector<std::reference_wrapper<StreamConfiguration>> &outputCfgs, + bool ccmEnabled); Size patternSize(PixelFormat inputFormat); std::vector<PixelFormat> formats(PixelFormat input); std::tuple<unsigned int, unsigned int> @@ -85,28 +86,28 @@ private: using debayerFn = void (DebayerCpu::*)(uint8_t *dst, const uint8_t *src[]); /* 8-bit raw bayer format */ - template<bool addAlphaByte> + template<bool addAlphaByte, bool ccmEnabled> void debayer8_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]); - template<bool addAlphaByte> + template<bool addAlphaByte, bool ccmEnabled> void debayer8_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]); /* unpacked 10-bit raw bayer format */ - template<bool addAlphaByte> + template<bool addAlphaByte, bool ccmEnabled> void debayer10_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]); - template<bool addAlphaByte> + template<bool addAlphaByte, bool ccmEnabled> void debayer10_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]); /* unpacked 12-bit raw bayer format */ - template<bool addAlphaByte> + template<bool addAlphaByte, bool ccmEnabled> void debayer12_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]); - template<bool addAlphaByte> + template<bool addAlphaByte, bool ccmEnabled> void debayer12_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]); /* CSI-2 packed 10-bit raw bayer format (all the 4 orders) */ - template<bool addAlphaByte> + template<bool addAlphaByte, bool ccmEnabled> void debayer10P_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]); - template<bool addAlphaByte> + template<bool addAlphaByte, bool ccmEnabled> void debayer10P_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]); - template<bool addAlphaByte> + template<bool addAlphaByte, bool ccmEnabled> void debayer10P_GBGB_BGR888(uint8_t *dst, const uint8_t *src[]); - template<bool addAlphaByte> + template<bool addAlphaByte, bool ccmEnabled> void debayer10P_RGRG_BGR888(uint8_t *dst, const uint8_t *src[]); struct DebayerInputConfig { @@ -125,7 +126,9 @@ private: int getInputConfig(PixelFormat inputFormat, DebayerInputConfig &config); int getOutputConfig(PixelFormat outputFormat, DebayerOutputConfig &config); int setupStandardBayerOrder(BayerFormat::Order order); - int setDebayerFunctions(PixelFormat inputFormat, PixelFormat outputFormat); + int setDebayerFunctions(PixelFormat inputFormat, + PixelFormat outputFormat, + bool ccmEnabled); void setupInputMemcpy(const uint8_t *linePointers[]); void shiftLinePointers(const uint8_t *linePointers[], const uint8_t *src); void memcpyNextLine(const uint8_t *linePointers[]); @@ -135,9 +138,13 @@ private: /* Max. supported Bayer pattern height is 4, debayering this requires 5 lines */ static constexpr unsigned int kMaxLineBuffers = 5; - DebayerParams::ColorLookupTable red_; - DebayerParams::ColorLookupTable green_; - DebayerParams::ColorLookupTable blue_; + DebayerParams::LookupTable red_; + DebayerParams::LookupTable green_; + DebayerParams::LookupTable blue_; + DebayerParams::CcmLookupTable redCcm_; + DebayerParams::CcmLookupTable greenCcm_; + DebayerParams::CcmLookupTable blueCcm_; + DebayerParams::LookupTable gammaLut_; debayerFn debayer0_; debayerFn debayer1_; debayerFn debayer2_; diff --git a/src/libcamera/software_isp/software_isp.cpp b/src/libcamera/software_isp/software_isp.cpp index 2bea64d9..28e2a360 100644 --- a/src/libcamera/software_isp/software_isp.cpp +++ b/src/libcamera/software_isp/software_isp.cpp @@ -13,10 +13,14 @@ #include <sys/types.h> #include <unistd.h> +#include <libcamera/base/log.h> +#include <libcamera/base/thread.h> + #include <libcamera/controls.h> #include <libcamera/formats.h> #include <libcamera/stream.h> +#include "libcamera/internal/framebuffer.h" #include "libcamera/internal/ipa_manager.h" #include "libcamera/internal/software_isp/debayer_params.h" @@ -52,6 +56,11 @@ LOG_DEFINE_CATEGORY(SoftwareIsp) */ /** + * \var SoftwareIsp::metadataReady + * \brief A signal emitted when the metadata for IPA is ready + */ + +/** * \var SoftwareIsp::setSensorControls * \brief A signal emitted when the values to write to the sensor controls are * ready @@ -124,11 +133,20 @@ SoftwareIsp::SoftwareIsp(PipelineHandler *pipe, const CameraSensor *sensor, std::string ipaTuningFile = ipa_->configurationFile(sensor->model() + ".yaml", "uncalibrated.yaml"); - int ret = ipa_->init(IPASettings{ ipaTuningFile, sensor->model() }, - debayer_->getStatsFD(), - sharedParams_.fd(), - sensor->controls(), - ipaControls); + IPACameraSensorInfo sensorInfo{}; + int ret = sensor->sensorInfo(&sensorInfo); + if (ret) { + LOG(SoftwareIsp, Error) << "Camera sensor information not available"; + return; + } + + ret = ipa_->init(IPASettings{ ipaTuningFile, sensor->model() }, + debayer_->getStatsFD(), + sharedParams_.fd(), + sensorInfo, + sensor->controls(), + ipaControls, + &ccmEnabled_); if (ret) { LOG(SoftwareIsp, Error) << "IPA init failed"; debayer_.reset(); @@ -136,6 +154,10 @@ SoftwareIsp::SoftwareIsp(PipelineHandler *pipe, const CameraSensor *sensor, } ipa_->setIspParams.connect(this, &SoftwareIsp::saveIspParams); + ipa_->metadataReady.connect(this, + [this](uint32_t frame, const ControlList &metadata) { + metadataReady.emit(frame, metadata); + }); ipa_->setSensorControls.connect(this, &SoftwareIsp::setSensorCtrls); debayer_->moveToThread(&ispWorkerThread_); @@ -240,7 +262,7 @@ int SoftwareIsp::configure(const StreamConfiguration &inputCfg, if (ret < 0) return ret; - return debayer_->configure(inputCfg, outputCfgs); + return debayer_->configure(inputCfg, outputCfgs, ccmEnabled_); } /** @@ -291,15 +313,22 @@ int SoftwareIsp::queueBuffers(uint32_t frame, FrameBuffer *input, if (outputs.empty()) return -EINVAL; + /* We only support a single stream for now. */ + if (outputs.size() != 1) + return -EINVAL; + for (auto [stream, buffer] : outputs) { if (!buffer) return -EINVAL; - if (outputs.size() != 1) /* only single stream atm */ - return -EINVAL; } - for (auto iter = outputs.begin(); iter != outputs.end(); iter++) - process(frame, input, iter->second); + queuedInputBuffers_.push_back(input); + + for (auto iter = outputs.begin(); iter != outputs.end(); iter++) { + FrameBuffer *const buffer = iter->second; + queuedOutputBuffers_.push_back(buffer); + process(frame, input, buffer); + } return 0; } @@ -320,13 +349,32 @@ int SoftwareIsp::start() /** * \brief Stops the Software ISP streaming operation + * + * All pending buffers are returned back as canceled before this function + * returns. */ void SoftwareIsp::stop() { ispWorkerThread_.exit(); ispWorkerThread_.wait(); + Thread::current()->dispatchMessages(Message::Type::InvokeMessage, this); + ipa_->stop(); + + for (auto buffer : queuedOutputBuffers_) { + FrameMetadata &metadata = buffer->_d()->metadata(); + metadata.status = FrameMetadata::FrameCancelled; + outputBufferReady.emit(buffer); + } + queuedOutputBuffers_.clear(); + + for (auto buffer : queuedInputBuffers_) { + FrameMetadata &metadata = buffer->_d()->metadata(); + metadata.status = FrameMetadata::FrameCancelled; + inputBufferReady.emit(buffer); + } + queuedInputBuffers_.clear(); } /** @@ -359,11 +407,15 @@ void SoftwareIsp::statsReady(uint32_t frame, uint32_t bufferId) void SoftwareIsp::inputReady(FrameBuffer *input) { + ASSERT(queuedInputBuffers_.front() == input); + queuedInputBuffers_.pop_front(); inputBufferReady.emit(input); } void SoftwareIsp::outputReady(FrameBuffer *output) { + ASSERT(queuedOutputBuffers_.front() == output); + queuedOutputBuffers_.pop_front(); outputBufferReady.emit(output); } diff --git a/src/libcamera/v4l2_subdevice.cpp b/src/libcamera/v4l2_subdevice.cpp index 7a064d87..33279654 100644 --- a/src/libcamera/v4l2_subdevice.cpp +++ b/src/libcamera/v4l2_subdevice.cpp @@ -8,12 +8,18 @@ #include "libcamera/internal/v4l2_subdevice.h" #include <fcntl.h> -#include <regex> #include <sstream> #include <string.h> #include <sys/ioctl.h> #include <unistd.h> +#pragma GCC diagnostic push +#if defined __SANITIZE_ADDRESS__ && defined __OPTIMIZE__ +#pragma GCC diagnostic ignored "-Wmaybe-uninitialized" +#endif +#include <regex> +#pragma GCC diagnostic pop + #include <linux/media-bus-format.h> #include <linux/v4l2-subdev.h> diff --git a/src/libcamera/v4l2_videodevice.cpp b/src/libcamera/v4l2_videodevice.cpp index e241eb47..f5b3fa09 100644 --- a/src/libcamera/v4l2_videodevice.cpp +++ b/src/libcamera/v4l2_videodevice.cpp @@ -190,7 +190,7 @@ V4L2BufferCache::V4L2BufferCache(const std::vector<std::unique_ptr<FrameBuffer>> { for (const std::unique_ptr<FrameBuffer> &buffer : buffers) cache_.emplace_back(true, - lastUsedCounter_.fetch_add(1, std::memory_order_acq_rel), + lastUsedCounter_++, *buffer.get()); } @@ -258,7 +258,7 @@ int V4L2BufferCache::get(const FrameBuffer &buffer) return -ENOENT; cache_[use] = Entry(false, - lastUsedCounter_.fetch_add(1, std::memory_order_acq_rel), + lastUsedCounter_++, buffer); return use; diff --git a/src/ipa/libipa/vector.cpp b/src/libcamera/vector.cpp index 8019f8cf..85ca2208 100644 --- a/src/ipa/libipa/vector.cpp +++ b/src/libcamera/vector.cpp @@ -5,7 +5,7 @@ * Vector and related operations */ -#include "vector.h" +#include "libcamera/internal/vector.h" #include <libcamera/base/log.h> @@ -18,8 +18,6 @@ namespace libcamera { LOG_DEFINE_CATEGORY(Vector) -namespace ipa { - /** * \class Vector * \brief Vector class @@ -346,6 +344,4 @@ bool vectorValidateYaml(const YamlObject &obj, unsigned int size) } #endif /* __DOXYGEN__ */ -} /* namespace ipa */ - } /* namespace libcamera */ diff --git a/src/meson.build b/src/meson.build index 76198e95..8eb8f05b 100644 --- a/src/meson.build +++ b/src/meson.build @@ -29,8 +29,18 @@ endif # libyuv, used by the Android adaptation layer and the virtual pipeline handler. # Fallback to a subproject if libyuv isn't found, as it's typically not provided -# by distributions. -libyuv_dep = dependency('libyuv', required : false) +# by distributions. Where libyuv is provided by a distribution, it may not +# always supply a pkg-config implementation, requiring cxx.find_library() to +# search for it. +if not get_option('force_fallback_for').contains('libyuv') + libyuv_dep = dependency('libyuv', required : false) + if not libyuv_dep.found() + libyuv_dep = cxx.find_library('yuv', has_headers : 'libyuv.h', + required : false) + endif +else + libyuv_dep = dependency('', required : false) +endif if (pipelines.contains('virtual') or get_option('android').allowed()) and \ not libyuv_dep.found() diff --git a/src/v4l2/meson.build b/src/v4l2/meson.build index 58f53bf3..2c040414 100644 --- a/src/v4l2/meson.build +++ b/src/v4l2/meson.build @@ -1,12 +1,11 @@ # SPDX-License-Identifier: CC0-1.0 -if not get_option('v4l2') - v4l2_enabled = false +v4l2_enabled = get_option('v4l2').allowed() + +if not v4l2_enabled subdir_done() endif -v4l2_enabled = true - v4l2_compat_sources = files([ 'v4l2_camera.cpp', 'v4l2_camera_file.cpp', |