diff options
Diffstat (limited to 'src')
865 files changed, 48075 insertions, 19332 deletions
diff --git a/src/android/camera3_hal.cpp b/src/android/camera3_hal.cpp index da836bae..a5ad2374 100644 --- a/src/android/camera3_hal.cpp +++ b/src/android/camera3_hal.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * camera3_hal.cpp - Android Camera HALv3 module + * Android Camera HALv3 module */ #include <hardware/camera_common.h> diff --git a/src/android/camera_buffer.h b/src/android/camera_buffer.h index b4531c80..96669962 100644 --- a/src/android/camera_buffer.h +++ b/src/android/camera_buffer.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * camera_buffer.h - Frame buffer handling interface definition + * Frame buffer handling interface definition */ #pragma once diff --git a/src/android/camera_capabilities.cpp b/src/android/camera_capabilities.cpp index 6f197eb8..6f4d48de 100644 --- a/src/android/camera_capabilities.cpp +++ b/src/android/camera_capabilities.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * camera_capabilities.cpp - Camera static properties manager + * Camera static properties manager */ #include "camera_capabilities.h" @@ -31,13 +31,20 @@ namespace { /* * \var camera3Resolutions - * \brief The list of image resolutions defined as mandatory to be supported by - * the Android Camera3 specification + * \brief The list of image resolutions commonly supported by Android + * + * The following are defined as mandatory to be supported by the Android + * Camera3 specification: (320x240), (640x480), (1280x720), (1920x1080). + * + * The following 4:3 resolutions are defined as optional, but commonly + * supported by Android devices: (1280x960), (1600x1200). */ const std::vector<Size> camera3Resolutions = { { 320, 240 }, { 640, 480 }, { 1280, 720 }, + { 1280, 960 }, + { 1600, 1200 }, { 1920, 1080 } }; @@ -367,14 +374,20 @@ void CameraCapabilities::computeHwLevel( camera_metadata_enum_android_info_supported_hardware_level hwLevel = ANDROID_INFO_SUPPORTED_HARDWARE_LEVEL_FULL; - if (!caps.count(ANDROID_REQUEST_AVAILABLE_CAPABILITIES_MANUAL_SENSOR)) + if (!caps.count(ANDROID_REQUEST_AVAILABLE_CAPABILITIES_MANUAL_SENSOR)) { + LOG(HAL, Info) << noFull << "missing manual sensor"; hwLevel = ANDROID_INFO_SUPPORTED_HARDWARE_LEVEL_LIMITED; + } - if (!caps.count(ANDROID_REQUEST_AVAILABLE_CAPABILITIES_MANUAL_POST_PROCESSING)) + if (!caps.count(ANDROID_REQUEST_AVAILABLE_CAPABILITIES_MANUAL_POST_PROCESSING)) { + LOG(HAL, Info) << noFull << "missing manual post processing"; hwLevel = ANDROID_INFO_SUPPORTED_HARDWARE_LEVEL_LIMITED; + } - if (!caps.count(ANDROID_REQUEST_AVAILABLE_CAPABILITIES_BURST_CAPTURE)) + if (!caps.count(ANDROID_REQUEST_AVAILABLE_CAPABILITIES_BURST_CAPTURE)) { + LOG(HAL, Info) << noFull << "missing burst capture"; hwLevel = ANDROID_INFO_SUPPORTED_HARDWARE_LEVEL_LIMITED; + } found = staticMetadata_->getEntry(ANDROID_SYNC_MAX_LATENCY, &entry); if (!found || *entry.data.i32 != 0) { @@ -475,7 +488,7 @@ int CameraCapabilities::initializeStreamConfigurations() * \todo Get this from the camera properties once defined */ std::unique_ptr<CameraConfiguration> cameraConfig = - camera_->generateConfiguration({ StillCapture }); + camera_->generateConfiguration({ StreamRole::StillCapture }); if (!cameraConfig) { LOG(HAL, Error) << "Failed to get maximum resolution"; return -EINVAL; @@ -492,8 +505,8 @@ int CameraCapabilities::initializeStreamConfigurations() /* * Build the list of supported image resolutions. * - * The resolutions listed in camera3Resolution are mandatory to be - * supported, up to the camera maximum resolution. + * The resolutions listed in camera3Resolution are supported, up to the + * camera maximum resolution. * * Augment the list by adding resolutions calculated from the camera * maximum one. @@ -687,6 +700,14 @@ int CameraCapabilities::initializeStreamConfigurations() minFrameDuration = minFrameDurationCap; } + /* + * Calculate FPS as CTS does and adjust the minimum + * frame duration accordingly: see + * Camera2SurfaceViewTestCase.java:getSuitableFpsRangeForDuration() + */ + minFrameDuration = + 1e9 / static_cast<unsigned int>(floor(1e9 / minFrameDuration + 0.05f)); + streamConfigurations_.push_back({ res, androidFormat, minFrameDuration, maxFrameDuration, }); @@ -1042,18 +1063,18 @@ int CameraCapabilities::initializeStaticMetadata() /* Sensor static metadata. */ std::array<int32_t, 2> pixelArraySize; { - const Size &size = properties.get(properties::PixelArraySize); + const Size &size = properties.get(properties::PixelArraySize).value_or(Size{}); pixelArraySize[0] = size.width; pixelArraySize[1] = size.height; staticMetadata_->addEntry(ANDROID_SENSOR_INFO_PIXEL_ARRAY_SIZE, pixelArraySize); } - if (properties.contains(properties::UnitCellSize)) { - const Size &cellSize = properties.get<Size>(properties::UnitCellSize); + const auto &cellSize = properties.get<Size>(properties::UnitCellSize); + if (cellSize) { std::array<float, 2> physicalSize{ - cellSize.width * pixelArraySize[0] / 1e6f, - cellSize.height * pixelArraySize[1] / 1e6f + cellSize->width * pixelArraySize[0] / 1e6f, + cellSize->height * pixelArraySize[1] / 1e6f }; staticMetadata_->addEntry(ANDROID_SENSOR_INFO_PHYSICAL_SIZE, physicalSize); @@ -1061,7 +1082,7 @@ int CameraCapabilities::initializeStaticMetadata() { const Span<const Rectangle> &rects = - properties.get(properties::PixelArrayActiveAreas); + properties.get(properties::PixelArrayActiveAreas).value_or(Span<const Rectangle>{}); std::vector<int32_t> data{ static_cast<int32_t>(rects[0].x), static_cast<int32_t>(rects[0].y), @@ -1079,11 +1100,10 @@ int CameraCapabilities::initializeStaticMetadata() sensitivityRange); /* Report the color filter arrangement if the camera reports it. */ - if (properties.contains(properties::draft::ColorFilterArrangement)) { - uint8_t filterArr = properties.get(properties::draft::ColorFilterArrangement); + const auto &filterArr = properties.get(properties::draft::ColorFilterArrangement); + if (filterArr) staticMetadata_->addEntry(ANDROID_SENSOR_INFO_COLOR_FILTER_ARRANGEMENT, - filterArr); - } + *filterArr); const auto &exposureInfo = controlsInfo.find(&controls::ExposureTime); if (exposureInfo != controlsInfo.end()) { @@ -1287,12 +1307,10 @@ int CameraCapabilities::initializeStaticMetadata() * recording profile. Inspecting the Intel IPU3 HAL * implementation confirms this but no reference has been found * in the metadata documentation. - * - * Calculate FPS as CTS does: see - * Camera2SurfaceViewTestCase.java:getSuitableFpsRangeForDuration() */ - unsigned int fps = static_cast<unsigned int> - (floor(1e9 / entry.minFrameDurationNsec + 0.05f)); + unsigned int fps = + static_cast<unsigned int>(floor(1e9 / entry.minFrameDurationNsec)); + if (entry.androidFormat != HAL_PIXEL_FORMAT_BLOB && fps < 30) continue; diff --git a/src/android/camera_capabilities.h b/src/android/camera_capabilities.h index 6f66f221..56ac1efe 100644 --- a/src/android/camera_capabilities.h +++ b/src/android/camera_capabilities.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * camera_capabilities.h - Camera static properties manager + * Camera static properties manager */ #pragma once diff --git a/src/android/camera_device.cpp b/src/android/camera_device.cpp index 8c039fb9..493f66e7 100644 --- a/src/android/camera_device.cpp +++ b/src/android/camera_device.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * camera_device.cpp - libcamera Android Camera Device + * libcamera Android Camera Device */ #include "camera_device.h" @@ -30,6 +30,7 @@ #include "camera_hal_config.h" #include "camera_ops.h" #include "camera_request.h" +#include "hal_framebuffer.h" using namespace libcamera; @@ -305,9 +306,9 @@ int CameraDevice::initialize(const CameraConfigData *cameraConfigData) */ const ControlList &properties = camera_->properties(); - if (properties.contains(properties::Location)) { - int32_t location = properties.get(properties::Location); - switch (location) { + const auto &location = properties.get(properties::Location); + if (location) { + switch (*location) { case properties::CameraLocationFront: facing_ = CAMERA_FACING_FRONT; break; @@ -355,9 +356,9 @@ int CameraDevice::initialize(const CameraConfigData *cameraConfigData) * value for clockwise direction as required by the Android orientation * metadata. */ - if (properties.contains(properties::Rotation)) { - int rotation = properties.get(properties::Rotation); - orientation_ = (360 - rotation) % 360; + const auto &rotation = properties.get(properties::Rotation); + if (rotation) { + orientation_ = (360 - *rotation) % 360; if (cameraConfigData && cameraConfigData->rotation != -1 && orientation_ != cameraConfigData->rotation) { LOG(HAL, Warning) @@ -432,8 +433,6 @@ void CameraDevice::flush() void CameraDevice::stop() { MutexLocker stateLock(stateMutex_); - if (state_ == State::Stopped) - return; camera_->stop(); @@ -771,7 +770,7 @@ int CameraDevice::configureStreams(camera3_stream_configuration_t *stream_list) return 0; } -std::unique_ptr<FrameBuffer> +std::unique_ptr<HALFrameBuffer> CameraDevice::createFrameBuffer(const buffer_handle_t camera3buffer, PixelFormat pixelFormat, const Size &size) { @@ -794,7 +793,7 @@ CameraDevice::createFrameBuffer(const buffer_handle_t camera3buffer, planes[i].length = buf.size(i); } - return std::make_unique<FrameBuffer>(planes); + return std::make_unique<HALFrameBuffer>(planes, camera3buffer); } int CameraDevice::processControls(Camera3RequestDescriptor *descriptor) @@ -951,8 +950,8 @@ int CameraDevice::processCaptureRequest(camera3_capture_request_t *camera3Reques */ if (camera3Request->settings) lastSettings_ = camera3Request->settings; - else - descriptor->settings_ = lastSettings_; + + descriptor->settings_ = lastSettings_; LOG(HAL, Debug) << "Queueing request " << descriptor->request_->cookie() << " with " << descriptor->buffers_.size() << " streams"; @@ -1076,7 +1075,7 @@ int CameraDevice::processCaptureRequest(camera3_capture_request_t *camera3Reques descriptor->request_->addBuffer(sourceStream->stream(), frameBuffer, nullptr); - requestedStreams.erase(sourceStream); + requestedStreams.insert(sourceStream); } /* @@ -1107,6 +1106,8 @@ int CameraDevice::processCaptureRequest(camera3_capture_request_t *camera3Reques } if (state_ == State::Stopped) { + lastSettings_ = {}; + ret = camera_->start(); if (ret) { LOG(HAL, Error) << "Failed to start camera"; @@ -1181,7 +1182,8 @@ void CameraDevice::requestComplete(Request *request) * as soon as possible, earlier than request completion time. */ uint64_t sensorTimestamp = static_cast<uint64_t>(request->metadata() - .get(controls::SensorTimestamp)); + .get(controls::SensorTimestamp) + .value_or(0)); notifyShutter(descriptor->frameNumber_, sensorTimestamp); LOG(HAL, Debug) << "Request " << request->cookie() << " completed with " @@ -1560,29 +1562,27 @@ CameraDevice::getResultMetadata(const Camera3RequestDescriptor &descriptor) cons rolling_shutter_skew); /* Add metadata tags reported by libcamera. */ - const int64_t timestamp = metadata.get(controls::SensorTimestamp); + const int64_t timestamp = metadata.get(controls::SensorTimestamp).value_or(0); resultMetadata->addEntry(ANDROID_SENSOR_TIMESTAMP, timestamp); - if (metadata.contains(controls::draft::PipelineDepth)) { - uint8_t pipeline_depth = - metadata.get<int32_t>(controls::draft::PipelineDepth); + const auto &pipelineDepth = metadata.get(controls::draft::PipelineDepth); + if (pipelineDepth) resultMetadata->addEntry(ANDROID_REQUEST_PIPELINE_DEPTH, - pipeline_depth); - } + *pipelineDepth); - if (metadata.contains(controls::ExposureTime)) { - int64_t exposure = metadata.get(controls::ExposureTime) * 1000ULL; - resultMetadata->addEntry(ANDROID_SENSOR_EXPOSURE_TIME, exposure); - } + const auto &exposureTime = metadata.get(controls::ExposureTime); + if (exposureTime) + resultMetadata->addEntry(ANDROID_SENSOR_EXPOSURE_TIME, + *exposureTime * 1000ULL); - if (metadata.contains(controls::FrameDuration)) { - int64_t duration = metadata.get(controls::FrameDuration) * 1000; + const auto &frameDuration = metadata.get(controls::FrameDuration); + if (frameDuration) resultMetadata->addEntry(ANDROID_SENSOR_FRAME_DURATION, - duration); - } + *frameDuration * 1000); - if (metadata.contains(controls::ScalerCrop)) { - Rectangle crop = metadata.get(controls::ScalerCrop); + const auto &scalerCrop = metadata.get(controls::ScalerCrop); + if (scalerCrop) { + const Rectangle &crop = *scalerCrop; int32_t cropRect[] = { crop.x, crop.y, static_cast<int32_t>(crop.width), static_cast<int32_t>(crop.height), @@ -1590,12 +1590,10 @@ CameraDevice::getResultMetadata(const Camera3RequestDescriptor &descriptor) cons resultMetadata->addEntry(ANDROID_SCALER_CROP_REGION, cropRect); } - if (metadata.contains(controls::draft::TestPatternMode)) { - const int32_t testPatternMode = - metadata.get(controls::draft::TestPatternMode); + const auto &testPatternMode = metadata.get(controls::draft::TestPatternMode); + if (testPatternMode) resultMetadata->addEntry(ANDROID_SENSOR_TEST_PATTERN_MODE, - testPatternMode); - } + *testPatternMode); /* * Return the result metadata pack even is not valid: get() will return diff --git a/src/android/camera_device.h b/src/android/camera_device.h index 64050416..194ca303 100644 --- a/src/android/camera_device.h +++ b/src/android/camera_device.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * camera_device.h - libcamera Android Camera Device + * libcamera Android Camera Device */ #pragma once @@ -29,6 +29,7 @@ #include "camera_capabilities.h" #include "camera_metadata.h" #include "camera_stream.h" +#include "hal_framebuffer.h" #include "jpeg/encoder.h" class Camera3RequestDescriptor; @@ -83,7 +84,7 @@ private: void stop() LIBCAMERA_TSA_EXCLUDES(stateMutex_); - std::unique_ptr<libcamera::FrameBuffer> + std::unique_ptr<HALFrameBuffer> createFrameBuffer(const buffer_handle_t camera3buffer, libcamera::PixelFormat pixelFormat, const libcamera::Size &size); diff --git a/src/android/camera_hal_config.cpp b/src/android/camera_hal_config.cpp index bacfe4b9..7ef451ef 100644 --- a/src/android/camera_hal_config.cpp +++ b/src/android/camera_hal_config.cpp @@ -2,11 +2,10 @@ /* * Copyright (C) 2021, Google Inc. * - * camera_hal_config.cpp - Camera HAL configuration file manager + * Camera HAL configuration file manager */ #include "camera_hal_config.h" -#include <filesystem> #include <stdlib.h> #include <string> @@ -160,15 +159,15 @@ CameraHalConfig::CameraHalConfig() */ int CameraHalConfig::parseConfigurationFile() { - std::filesystem::path filePath = LIBCAMERA_SYSCONF_DIR; - filePath /= "camera_hal.yaml"; - if (!std::filesystem::is_regular_file(filePath)) { + std::string filePath = LIBCAMERA_SYSCONF_DIR "/camera_hal.yaml"; + + File file(filePath); + if (!file.exists()) { LOG(HALConfig, Debug) << "Configuration file: \"" << filePath << "\" not found"; return -ENOENT; } - File file(filePath); if (!file.open(File::OpenModeFlag::ReadOnly)) { int ret = file.error(); LOG(HALConfig, Error) << "Failed to open configuration file " diff --git a/src/android/camera_hal_config.h b/src/android/camera_hal_config.h index 9df554f9..a4bedb6e 100644 --- a/src/android/camera_hal_config.h +++ b/src/android/camera_hal_config.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * camera_hal_config.h - Camera HAL configuration file manager + * Camera HAL configuration file manager */ #pragma once diff --git a/src/android/camera_hal_manager.cpp b/src/android/camera_hal_manager.cpp index 5f7bfe26..7500c749 100644 --- a/src/android/camera_hal_manager.cpp +++ b/src/android/camera_hal_manager.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * camera_hal_manager.cpp - libcamera Android Camera Manager + * libcamera Android Camera Manager */ #include "camera_hal_manager.h" @@ -140,7 +140,8 @@ void CameraHalManager::cameraAdded(std::shared_ptr<Camera> cam) */ if (!isCameraExternal && !halConfig_.exists()) { LOG(HAL, Error) - << "HAL configuration file is mandatory for internal cameras"; + << "HAL configuration file is mandatory for internal cameras." + << " Camera " << cam->id() << " failed to load"; return; } @@ -228,11 +229,7 @@ void CameraHalManager::cameraRemoved(std::shared_ptr<Camera> cam) int32_t CameraHalManager::cameraLocation(const Camera *cam) { - const ControlList &properties = cam->properties(); - if (!properties.contains(properties::Location)) - return -1; - - return properties.get(properties::Location); + return cam->properties().get(properties::Location).value_or(-1); } CameraDevice *CameraHalManager::cameraDeviceFromHalId(unsigned int id) diff --git a/src/android/camera_hal_manager.h b/src/android/camera_hal_manager.h index a5f8b933..836a8daf 100644 --- a/src/android/camera_hal_manager.h +++ b/src/android/camera_hal_manager.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * camera_hal_manager.h - libcamera Android Camera Manager + * libcamera Android Camera Manager */ #pragma once diff --git a/src/android/camera_metadata.cpp b/src/android/camera_metadata.cpp index b3e515d2..99f033f9 100644 --- a/src/android/camera_metadata.cpp +++ b/src/android/camera_metadata.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * camera_metadata.cpp - libcamera Android Camera Metadata Helper + * libcamera Android Camera Metadata Helper */ #include "camera_metadata.h" diff --git a/src/android/camera_metadata.h b/src/android/camera_metadata.h index 0c31ec6b..474f280c 100644 --- a/src/android/camera_metadata.h +++ b/src/android/camera_metadata.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * camera_metadata.h - libcamera Android Camera Metadata Helper + * libcamera Android Camera Metadata Helper */ #pragma once diff --git a/src/android/camera_ops.cpp b/src/android/camera_ops.cpp index 8a3cfa17..ecaac5a3 100644 --- a/src/android/camera_ops.cpp +++ b/src/android/camera_ops.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * camera_ops.h - Android Camera HAL Operations + * Android Camera HAL Operations */ #include "camera_ops.h" diff --git a/src/android/camera_ops.h b/src/android/camera_ops.h index b501bb7e..750dc945 100644 --- a/src/android/camera_ops.h +++ b/src/android/camera_ops.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * camera_ops.h - Android Camera HAL Operations + * Android Camera HAL Operations */ #pragma once diff --git a/src/android/camera_request.cpp b/src/android/camera_request.cpp index 6c87adba..0d45960d 100644 --- a/src/android/camera_request.cpp +++ b/src/android/camera_request.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019-2021, Google Inc. * - * camera_request.cpp - libcamera Android Camera Request Descriptor + * libcamera Android Camera Request Descriptor */ #include "camera_request.h" diff --git a/src/android/camera_request.h b/src/android/camera_request.h index 37b6ae32..5b479180 100644 --- a/src/android/camera_request.h +++ b/src/android/camera_request.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019-2021, Google Inc. * - * camera_request.h - libcamera Android Camera Request Descriptor + * libcamera Android Camera Request Descriptor */ #pragma once @@ -21,6 +21,7 @@ #include <hardware/camera3.h> #include "camera_metadata.h" +#include "hal_framebuffer.h" class CameraBuffer; class CameraStream; @@ -44,7 +45,7 @@ public: CameraStream *stream; buffer_handle_t *camera3Buffer; - std::unique_ptr<libcamera::FrameBuffer> frameBuffer; + std::unique_ptr<HALFrameBuffer> frameBuffer; libcamera::UniqueFD fence; Status status = Status::Success; libcamera::FrameBuffer *internalBuffer = nullptr; diff --git a/src/android/camera_stream.cpp b/src/android/camera_stream.cpp index 045e6006..1d68540d 100644 --- a/src/android/camera_stream.cpp +++ b/src/android/camera_stream.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * camera_stream.cpp - Camera HAL stream + * Camera HAL stream */ #include "camera_stream.h" diff --git a/src/android/camera_stream.h b/src/android/camera_stream.h index 4c5078b2..395552da 100644 --- a/src/android/camera_stream.h +++ b/src/android/camera_stream.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * camera_stream.h - Camera HAL stream + * Camera HAL stream */ #pragma once diff --git a/src/android/cros/camera3_hal.cpp b/src/android/cros/camera3_hal.cpp index fb863b5f..6010a5ad 100644 --- a/src/android/cros/camera3_hal.cpp +++ b/src/android/cros/camera3_hal.cpp @@ -2,15 +2,17 @@ /* * Copyright (C) 2021, Google Inc. * - * camera3_hal.cpp - cros-specific components of Android Camera HALv3 module + * cros-specific components of Android Camera HALv3 module */ #include <cros-camera/cros_camera_hal.h> #include "../camera_hal_manager.h" +#include "../cros_mojo_token.h" -static void set_up([[maybe_unused]] cros::CameraMojoChannelManagerToken *token) +static void set_up(cros::CameraMojoChannelManagerToken *token) { + gCrosMojoToken = token; } static void tear_down() diff --git a/src/android/cros_mojo_token.h b/src/android/cros_mojo_token.h new file mode 100644 index 00000000..d0baa80f --- /dev/null +++ b/src/android/cros_mojo_token.h @@ -0,0 +1,12 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Google Inc. + * + * cros-specific mojo token + */ + +#pragma once + +#include <cros-camera/cros_camera_hal.h> + +inline cros::CameraMojoChannelManagerToken *gCrosMojoToken = nullptr; diff --git a/src/android/data/nautilus/camera_hal.yaml b/src/android/data/nautilus/camera_hal.yaml index faddd29e..2105fcca 100644 --- a/src/android/data/nautilus/camera_hal.yaml +++ b/src/android/data/nautilus/camera_hal.yaml @@ -1,3 +1,5 @@ +# SPDX-License-Identifier: CC0-1.0 + cameras: "\\_SB_.PCI0.I2C2.CAM0": location: back diff --git a/src/android/data/soraka/camera_hal.yaml b/src/android/data/soraka/camera_hal.yaml index 2e996403..d886af06 100644 --- a/src/android/data/soraka/camera_hal.yaml +++ b/src/android/data/soraka/camera_hal.yaml @@ -1,3 +1,5 @@ +# SPDX-License-Identifier: CC0-1.0 + cameras: "\\_SB_.PCI0.I2C4.CAM1": location: front diff --git a/src/android/frame_buffer_allocator.h b/src/android/frame_buffer_allocator.h index 5d2eeda1..3e68641c 100644 --- a/src/android/frame_buffer_allocator.h +++ b/src/android/frame_buffer_allocator.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * frame_buffer_allocator.h - Interface definition to allocate Frame buffer in + * Interface definition to allocate Frame buffer in * platform dependent way. */ #ifndef __ANDROID_FRAME_BUFFER_ALLOCATOR_H__ @@ -13,9 +13,10 @@ #include <libcamera/base/class.h> #include <libcamera/camera.h> -#include <libcamera/framebuffer.h> #include <libcamera/geometry.h> +#include "hal_framebuffer.h" + class CameraDevice; class PlatformFrameBufferAllocator : libcamera::Extensible @@ -31,7 +32,7 @@ public: * Note: The returned FrameBuffer needs to be destroyed before * PlatformFrameBufferAllocator is destroyed. */ - std::unique_ptr<libcamera::FrameBuffer> allocate( + std::unique_ptr<HALFrameBuffer> allocate( int halPixelFormat, const libcamera::Size &size, uint32_t usage); }; @@ -44,7 +45,7 @@ PlatformFrameBufferAllocator::PlatformFrameBufferAllocator( \ PlatformFrameBufferAllocator::~PlatformFrameBufferAllocator() \ { \ } \ -std::unique_ptr<libcamera::FrameBuffer> \ +std::unique_ptr<HALFrameBuffer> \ PlatformFrameBufferAllocator::allocate(int halPixelFormat, \ const libcamera::Size &size, \ uint32_t usage) \ diff --git a/src/android/hal_framebuffer.cpp b/src/android/hal_framebuffer.cpp new file mode 100644 index 00000000..d4899f45 --- /dev/null +++ b/src/android/hal_framebuffer.cpp @@ -0,0 +1,22 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Google Inc. + * + * HAL Frame Buffer Handling + */ + +#include "hal_framebuffer.h" + +#include <hardware/camera3.h> + +HALFrameBuffer::HALFrameBuffer(std::unique_ptr<Private> d, + buffer_handle_t handle) + : FrameBuffer(std::move(d)), handle_(handle) +{ +} + +HALFrameBuffer::HALFrameBuffer(const std::vector<Plane> &planes, + buffer_handle_t handle) + : FrameBuffer(planes), handle_(handle) +{ +} diff --git a/src/android/hal_framebuffer.h b/src/android/hal_framebuffer.h new file mode 100644 index 00000000..cea49e2d --- /dev/null +++ b/src/android/hal_framebuffer.h @@ -0,0 +1,26 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Google Inc. + * + * HAL Frame Buffer Handling + */ + +#pragma once + +#include "libcamera/internal/framebuffer.h" + +#include <hardware/camera3.h> + +class HALFrameBuffer final : public libcamera::FrameBuffer +{ +public: + HALFrameBuffer(std::unique_ptr<Private> d, + buffer_handle_t handle); + HALFrameBuffer(const std::vector<Plane> &planes, + buffer_handle_t handle); + + buffer_handle_t handle() const { return handle_; } + +private: + buffer_handle_t handle_; +}; diff --git a/src/android/jpeg/encoder.h b/src/android/jpeg/encoder.h index b974d367..ed033c19 100644 --- a/src/android/jpeg/encoder.h +++ b/src/android/jpeg/encoder.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * encoder.h - Image encoding interface + * Image encoding interface */ #pragma once @@ -12,14 +12,15 @@ #include <libcamera/framebuffer.h> #include <libcamera/stream.h> +#include "../camera_request.h" + class Encoder { public: virtual ~Encoder() = default; virtual int configure(const libcamera::StreamConfiguration &cfg) = 0; - virtual int encode(const libcamera::FrameBuffer &source, - libcamera::Span<uint8_t> destination, + virtual int encode(Camera3RequestDescriptor::StreamBuffer *buffer, libcamera::Span<const uint8_t> exifData, unsigned int quality) = 0; }; diff --git a/src/android/jpeg/encoder_jea.cpp b/src/android/jpeg/encoder_jea.cpp new file mode 100644 index 00000000..25dc4317 --- /dev/null +++ b/src/android/jpeg/encoder_jea.cpp @@ -0,0 +1,56 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Google Inc. + * + * JPEG encoding using CrOS JEA + */ + +#include "encoder_jea.h" + +#include "libcamera/internal/mapped_framebuffer.h" + +#include <cros-camera/camera_mojo_channel_manager_token.h> + +#include "../cros_mojo_token.h" +#include "../hal_framebuffer.h" + +EncoderJea::EncoderJea() = default; + +EncoderJea::~EncoderJea() = default; + +int EncoderJea::configure(const libcamera::StreamConfiguration &cfg) +{ + size_ = cfg.size; + + if (jpegCompressor_) + return 0; + + if (gCrosMojoToken == nullptr) + return -ENOTSUP; + + jpegCompressor_ = cros::JpegCompressor::GetInstance(gCrosMojoToken); + + return 0; +} + +int EncoderJea::encode(Camera3RequestDescriptor::StreamBuffer *buffer, + libcamera::Span<const uint8_t> exifData, + unsigned int quality) +{ + if (!jpegCompressor_) + return -ENOTSUP; + + uint32_t outDataSize = 0; + const HALFrameBuffer *fb = + dynamic_cast<const HALFrameBuffer *>(buffer->srcBuffer); + + if (!jpegCompressor_->CompressImageFromHandle(fb->handle(), + *buffer->camera3Buffer, + size_.width, size_.height, + quality, exifData.data(), + exifData.size(), + &outDataSize)) + return -EBUSY; + + return outDataSize; +} diff --git a/src/android/jpeg/encoder_jea.h b/src/android/jpeg/encoder_jea.h new file mode 100644 index 00000000..91115d2e --- /dev/null +++ b/src/android/jpeg/encoder_jea.h @@ -0,0 +1,31 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Google Inc. + * + * JPEG encoding using CrOS JEA + */ + +#pragma once + +#include <libcamera/geometry.h> + +#include <cros-camera/jpeg_compressor.h> + +#include "encoder.h" + +class EncoderJea : public Encoder +{ +public: + EncoderJea(); + ~EncoderJea(); + + int configure(const libcamera::StreamConfiguration &cfg) override; + int encode(Camera3RequestDescriptor::StreamBuffer *buffer, + libcamera::Span<const uint8_t> exifData, + unsigned int quality) override; + +private: + libcamera::Size size_; + + std::unique_ptr<cros::JpegCompressor> jpegCompressor_; +}; diff --git a/src/android/jpeg/encoder_libjpeg.cpp b/src/android/jpeg/encoder_libjpeg.cpp index fd62bd9c..7fc6287e 100644 --- a/src/android/jpeg/encoder_libjpeg.cpp +++ b/src/android/jpeg/encoder_libjpeg.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * encoder_libjpeg.cpp - JPEG encoding using libjpeg native API + * JPEG encoding using libjpeg native API */ #include "encoder_libjpeg.h" @@ -24,6 +24,8 @@ #include "libcamera/internal/formats.h" #include "libcamera/internal/mapped_framebuffer.h" +#include "../camera_buffer.h" + using namespace libcamera; LOG_DECLARE_CATEGORY(JPEG) @@ -178,17 +180,20 @@ void EncoderLibJpeg::compressNV(const std::vector<Span<uint8_t>> &planes) } } -int EncoderLibJpeg::encode(const FrameBuffer &source, Span<uint8_t> dest, - Span<const uint8_t> exifData, unsigned int quality) +int EncoderLibJpeg::encode(Camera3RequestDescriptor::StreamBuffer *buffer, + libcamera::Span<const uint8_t> exifData, + unsigned int quality) { - MappedFrameBuffer frame(&source, MappedFrameBuffer::MapFlag::Read); + MappedFrameBuffer frame(buffer->srcBuffer, + MappedFrameBuffer::MapFlag::Read); if (!frame.isValid()) { LOG(JPEG, Error) << "Failed to map FrameBuffer : " << strerror(frame.error()); return frame.error(); } - return encode(frame.planes(), dest, exifData, quality); + return encode(frame.planes(), buffer->dstBuffer->plane(0), + exifData, quality); } int EncoderLibJpeg::encode(const std::vector<Span<uint8_t>> &src, diff --git a/src/android/jpeg/encoder_libjpeg.h b/src/android/jpeg/encoder_libjpeg.h index 1b3ac067..4ac85c22 100644 --- a/src/android/jpeg/encoder_libjpeg.h +++ b/src/android/jpeg/encoder_libjpeg.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * encoder_libjpeg.h - JPEG encoding using libjpeg + * JPEG encoding using libjpeg */ #pragma once @@ -22,8 +22,7 @@ public: ~EncoderLibJpeg(); int configure(const libcamera::StreamConfiguration &cfg) override; - int encode(const libcamera::FrameBuffer &source, - libcamera::Span<uint8_t> destination, + int encode(Camera3RequestDescriptor::StreamBuffer *buffer, libcamera::Span<const uint8_t> exifData, unsigned int quality) override; int encode(const std::vector<libcamera::Span<uint8_t>> &planes, diff --git a/src/android/jpeg/exif.cpp b/src/android/jpeg/exif.cpp index 3220b458..b8c871df 100644 --- a/src/android/jpeg/exif.cpp +++ b/src/android/jpeg/exif.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * exif.cpp - EXIF tag creation using libexif + * EXIF tag creation using libexif */ #include "exif.h" @@ -430,16 +430,13 @@ void Exif::setOrientation(int orientation) setShort(EXIF_IFD_0, EXIF_TAG_ORIENTATION, value); } -/* - * The thumbnail data should remain valid until the Exif object is destroyed. - * Failing to do so, might result in no thumbnail data being set even after a - * call to Exif::setThumbnail(). - */ -void Exif::setThumbnail(Span<const unsigned char> thumbnail, +void Exif::setThumbnail(std::vector<unsigned char> &&thumbnail, Compression compression) { - data_->data = const_cast<unsigned char *>(thumbnail.data()); - data_->size = thumbnail.size(); + thumbnailData_ = std::move(thumbnail); + + data_->data = thumbnailData_.data(); + data_->size = thumbnailData_.size(); setShort(EXIF_IFD_0, EXIF_TAG_COMPRESSION, compression); } diff --git a/src/android/jpeg/exif.h b/src/android/jpeg/exif.h index 2ff8fb78..446d53f3 100644 --- a/src/android/jpeg/exif.h +++ b/src/android/jpeg/exif.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * exif.h - EXIF tag creator using libexif + * EXIF tag creator using libexif */ #pragma once @@ -10,6 +10,7 @@ #include <chrono> #include <string> #include <time.h> +#include <vector> #include <libexif/exif-data.h> @@ -60,7 +61,7 @@ public: void setOrientation(int orientation); void setSize(const libcamera::Size &size); - void setThumbnail(libcamera::Span<const unsigned char> thumbnail, + void setThumbnail(std::vector<unsigned char> &&thumbnail, Compression compression); void setTimestamp(time_t timestamp, std::chrono::milliseconds msec); @@ -106,4 +107,6 @@ private: unsigned char *exifData_; unsigned int size_; + + std::vector<unsigned char> thumbnailData_; }; diff --git a/src/android/jpeg/meson.build b/src/android/jpeg/meson.build new file mode 100644 index 00000000..3402e614 --- /dev/null +++ b/src/android/jpeg/meson.build @@ -0,0 +1,14 @@ +# SPDX-License-Identifier: CC0-1.0 + +android_hal_sources += files([ + 'encoder_libjpeg.cpp', + 'exif.cpp', + 'post_processor_jpeg.cpp', + 'thumbnailer.cpp' +]) + +platform = get_option('android_platform') +if platform == 'cros' + android_hal_sources += files(['encoder_jea.cpp']) + android_deps += [dependency('libcros_camera')] +endif diff --git a/src/android/jpeg/post_processor_jpeg.cpp b/src/android/jpeg/post_processor_jpeg.cpp index d72ebc3c..89b8a401 100644 --- a/src/android/jpeg/post_processor_jpeg.cpp +++ b/src/android/jpeg/post_processor_jpeg.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * post_processor_jpeg.cpp - JPEG Post Processor + * JPEG Post Processor */ #include "post_processor_jpeg.h" @@ -12,7 +12,11 @@ #include "../camera_device.h" #include "../camera_metadata.h" #include "../camera_request.h" +#if defined(OS_CHROMEOS) +#include "encoder_jea.h" +#else /* !defined(OS_CHROMEOS) */ #include "encoder_libjpeg.h" +#endif #include "exif.h" #include <libcamera/base/log.h> @@ -46,7 +50,11 @@ int PostProcessorJpeg::configure(const StreamConfiguration &inCfg, thumbnailer_.configure(inCfg.size, inCfg.pixelFormat); +#if defined(OS_CHROMEOS) + encoder_ = std::make_unique<EncoderJea>(); +#else /* !defined(OS_CHROMEOS) */ encoder_ = std::make_unique<EncoderLibJpeg>(); +#endif return encoder_->configure(inCfg); } @@ -166,7 +174,7 @@ void PostProcessorJpeg::process(Camera3RequestDescriptor::StreamBuffer *streamBu std::vector<unsigned char> thumbnail; generateThumbnail(source, thumbnailSize, quality, &thumbnail); if (!thumbnail.empty()) - exif.setThumbnail(thumbnail, Exif::Compression::JPEG); + exif.setThumbnail(std::move(thumbnail), Exif::Compression::JPEG); } resultMetadata->addEntry(ANDROID_JPEG_THUMBNAIL_SIZE, data, 2); @@ -194,8 +202,7 @@ void PostProcessorJpeg::process(Camera3RequestDescriptor::StreamBuffer *streamBu const uint8_t quality = ret ? *entry.data.u8 : 95; resultMetadata->addEntry(ANDROID_JPEG_QUALITY, quality); - int jpeg_size = encoder_->encode(source, destination->plane(0), - exif.data(), quality); + int jpeg_size = encoder_->encode(streamBuffer, exif.data(), quality); if (jpeg_size < 0) { LOG(JPEG, Error) << "Failed to encode stream image"; processComplete.emit(streamBuffer, PostProcessor::Status::Error); diff --git a/src/android/jpeg/post_processor_jpeg.h b/src/android/jpeg/post_processor_jpeg.h index 98309b01..6fe21457 100644 --- a/src/android/jpeg/post_processor_jpeg.h +++ b/src/android/jpeg/post_processor_jpeg.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * post_processor_jpeg.h - JPEG Post Processor + * JPEG Post Processor */ #pragma once diff --git a/src/android/jpeg/thumbnailer.cpp b/src/android/jpeg/thumbnailer.cpp index 41c71c76..adafc468 100644 --- a/src/android/jpeg/thumbnailer.cpp +++ b/src/android/jpeg/thumbnailer.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * thumbnailer.cpp - Simple image thumbnailer + * Simple image thumbnailer */ #include "thumbnailer.h" diff --git a/src/android/jpeg/thumbnailer.h b/src/android/jpeg/thumbnailer.h index d933cf0e..1b836e59 100644 --- a/src/android/jpeg/thumbnailer.h +++ b/src/android/jpeg/thumbnailer.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * thumbnailer.h - Simple image thumbnailer + * Simple image thumbnailer */ #pragma once diff --git a/src/android/meson.build b/src/android/meson.build index 1bba54de..68646120 100644 --- a/src/android/meson.build +++ b/src/android/meson.build @@ -46,16 +46,14 @@ android_hal_sources = files([ 'camera_ops.cpp', 'camera_request.cpp', 'camera_stream.cpp', - 'jpeg/encoder_libjpeg.cpp', - 'jpeg/exif.cpp', - 'jpeg/post_processor_jpeg.cpp', - 'jpeg/thumbnailer.cpp', + 'hal_framebuffer.cpp', 'yuv/post_processor_yuv.cpp' ]) android_cpp_args = [] subdir('cros') +subdir('jpeg') subdir('mm') android_camera_metadata_sources = files([ diff --git a/src/android/mm/cros_camera_buffer.cpp b/src/android/mm/cros_camera_buffer.cpp index 2ac3dc4a..e2a44a2a 100644 --- a/src/android/mm/cros_camera_buffer.cpp +++ b/src/android/mm/cros_camera_buffer.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * cros_camera_buffer.cpp - Chromium OS buffer backend using CameraBufferManager + * Chromium OS buffer backend using CameraBufferManager */ #include "../camera_buffer.h" diff --git a/src/android/mm/cros_frame_buffer_allocator.cpp b/src/android/mm/cros_frame_buffer_allocator.cpp index 52e8c180..264c0d48 100644 --- a/src/android/mm/cros_frame_buffer_allocator.cpp +++ b/src/android/mm/cros_frame_buffer_allocator.cpp @@ -2,8 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * cros_frame_buffer.cpp - Allocate FrameBuffer for Chromium OS using - * CameraBufferManager + * Allocate FrameBuffer for Chromium OS using CameraBufferManager */ #include <memory> @@ -16,6 +15,7 @@ #include "../camera_device.h" #include "../frame_buffer_allocator.h" +#include "../hal_framebuffer.h" #include "cros-camera/camera_buffer_manager.h" using namespace libcamera; @@ -28,8 +28,9 @@ class CrosFrameBufferData : public FrameBuffer::Private LIBCAMERA_DECLARE_PUBLIC(FrameBuffer) public: - CrosFrameBufferData(cros::ScopedBufferHandle scopedHandle) - : FrameBuffer::Private(), scopedHandle_(std::move(scopedHandle)) + CrosFrameBufferData(cros::ScopedBufferHandle scopedHandle, + const std::vector<FrameBuffer::Plane> &planes) + : FrameBuffer::Private(planes), scopedHandle_(std::move(scopedHandle)) { } @@ -47,11 +48,11 @@ public: { } - std::unique_ptr<libcamera::FrameBuffer> + std::unique_ptr<HALFrameBuffer> allocate(int halPixelFormat, const libcamera::Size &size, uint32_t usage); }; -std::unique_ptr<libcamera::FrameBuffer> +std::unique_ptr<HALFrameBuffer> PlatformFrameBufferAllocator::Private::allocate(int halPixelFormat, const libcamera::Size &size, uint32_t usage) @@ -80,9 +81,8 @@ PlatformFrameBufferAllocator::Private::allocate(int halPixelFormat, plane.length = cros::CameraBufferManager::GetPlaneSize(handle, i); } - return std::make_unique<FrameBuffer>( - std::make_unique<CrosFrameBufferData>(std::move(scopedHandle)), - planes); + return std::make_unique<HALFrameBuffer>( + std::make_unique<CrosFrameBufferData>(std::move(scopedHandle), planes), handle); } PUBLIC_FRAME_BUFFER_ALLOCATOR_IMPLEMENTATION diff --git a/src/android/mm/generic_camera_buffer.cpp b/src/android/mm/generic_camera_buffer.cpp index 1bd7090d..0ffcb445 100644 --- a/src/android/mm/generic_camera_buffer.cpp +++ b/src/android/mm/generic_camera_buffer.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * generic_camera_buffer.cpp - Generic Android frame buffer backend + * Generic Android frame buffer backend */ #include "../camera_buffer.h" diff --git a/src/android/mm/generic_frame_buffer_allocator.cpp b/src/android/mm/generic_frame_buffer_allocator.cpp index acb2fa2b..79625a9a 100644 --- a/src/android/mm/generic_frame_buffer_allocator.cpp +++ b/src/android/mm/generic_frame_buffer_allocator.cpp @@ -2,9 +2,10 @@ /* * Copyright (C) 2021, Google Inc. * - * generic_camera_buffer.cpp - Allocate FrameBuffer using gralloc API + * Allocate FrameBuffer using gralloc API */ +#include <dlfcn.h> #include <memory> #include <vector> @@ -20,6 +21,7 @@ #include "../camera_device.h" #include "../frame_buffer_allocator.h" +#include "../hal_framebuffer.h" using namespace libcamera; @@ -32,8 +34,10 @@ class GenericFrameBufferData : public FrameBuffer::Private public: GenericFrameBufferData(struct alloc_device_t *allocDevice, - buffer_handle_t handle) - : allocDevice_(allocDevice), handle_(handle) + buffer_handle_t handle, + const std::vector<FrameBuffer::Plane> &planes) + : FrameBuffer::Private(planes), allocDevice_(allocDevice), + handle_(handle) { ASSERT(allocDevice_); ASSERT(handle_); @@ -69,20 +73,21 @@ class PlatformFrameBufferAllocator::Private : public Extensible::Private public: Private(CameraDevice *const cameraDevice) : cameraDevice_(cameraDevice), - hardwareModule_(cameraDevice->camera3Device()->common.module), + hardwareModule_(nullptr), allocDevice_(nullptr) { + hw_get_module(GRALLOC_HARDWARE_MODULE_ID, &hardwareModule_); ASSERT(hardwareModule_); } ~Private() override; - std::unique_ptr<libcamera::FrameBuffer> + std::unique_ptr<HALFrameBuffer> allocate(int halPixelFormat, const libcamera::Size &size, uint32_t usage); private: const CameraDevice *const cameraDevice_; - struct hw_module_t *const hardwareModule_; + const struct hw_module_t *hardwareModule_; struct alloc_device_t *allocDevice_; }; @@ -90,9 +95,10 @@ PlatformFrameBufferAllocator::Private::~Private() { if (allocDevice_) gralloc_close(allocDevice_); + dlclose(hardwareModule_->dso); } -std::unique_ptr<libcamera::FrameBuffer> +std::unique_ptr<HALFrameBuffer> PlatformFrameBufferAllocator::Private::allocate(int halPixelFormat, const libcamera::Size &size, uint32_t usage) @@ -135,9 +141,10 @@ PlatformFrameBufferAllocator::Private::allocate(int halPixelFormat, offset += planeSize; } - return std::make_unique<FrameBuffer>( - std::make_unique<GenericFrameBufferData>(allocDevice_, handle), - planes); + return std::make_unique<HALFrameBuffer>( + std::make_unique<GenericFrameBufferData>( + allocDevice_, handle, planes), + handle); } PUBLIC_FRAME_BUFFER_ALLOCATOR_IMPLEMENTATION diff --git a/src/android/mm/libhardware_stub.c b/src/android/mm/libhardware_stub.c new file mode 100644 index 00000000..28faa638 --- /dev/null +++ b/src/android/mm/libhardware_stub.c @@ -0,0 +1,17 @@ +/* SPDX-License-Identifier: Apache-2.0 */ +/* + * Copyright (C) 2023, Ideas on Board + * + * Android libhardware stub for test compilation + */ + +#include <errno.h> + +#include <hardware/hardware.h> + +int hw_get_module(const char *id __attribute__((__unused__)), + const struct hw_module_t **module) +{ + *module = NULL; + return -ENOTSUP; +} diff --git a/src/android/mm/meson.build b/src/android/mm/meson.build index d40a3b0b..e3e0484c 100644 --- a/src/android/mm/meson.build +++ b/src/android/mm/meson.build @@ -4,6 +4,14 @@ platform = get_option('android_platform') if platform == 'generic' android_hal_sources += files(['generic_camera_buffer.cpp', 'generic_frame_buffer_allocator.cpp']) + android_deps += [libdl] + + libhardware = dependency('libhardware', required : false) + if libhardware.found() + android_deps += [libhardware] + else + android_hal_sources += files(['libhardware_stub.c']) + endif elif platform == 'cros' android_hal_sources += files(['cros_camera_buffer.cpp', 'cros_frame_buffer_allocator.cpp']) diff --git a/src/android/post_processor.h b/src/android/post_processor.h index 1a205b05..b504a379 100644 --- a/src/android/post_processor.h +++ b/src/android/post_processor.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * post_processor.h - CameraStream Post Processing Interface + * CameraStream Post Processing Interface */ #pragma once diff --git a/src/android/yuv/post_processor_yuv.cpp b/src/android/yuv/post_processor_yuv.cpp index ed44e6fe..c998807b 100644 --- a/src/android/yuv/post_processor_yuv.cpp +++ b/src/android/yuv/post_processor_yuv.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * post_processor_yuv.cpp - Post Processor using libyuv + * Post Processor using libyuv */ #include "post_processor_yuv.h" diff --git a/src/android/yuv/post_processor_yuv.h b/src/android/yuv/post_processor_yuv.h index a7ac17c5..ed7bb1fb 100644 --- a/src/android/yuv/post_processor_yuv.h +++ b/src/android/yuv/post_processor_yuv.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * post_processor_yuv.h - Post Processor using libyuv + * Post Processor using libyuv */ #pragma once diff --git a/src/cam/camera_session.cpp b/src/apps/cam/camera_session.cpp index 238186a3..f13355ba 100644 --- a/src/cam/camera_session.cpp +++ b/src/apps/cam/camera_session.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * camera_session.cpp - Camera capture session + * Camera capture session */ #include <iomanip> @@ -13,9 +13,11 @@ #include <libcamera/control_ids.h> #include <libcamera/property_ids.h> +#include "../common/event_loop.h" +#include "../common/stream_options.h" + #include "camera_session.h" #include "capture_script.h" -#include "event_loop.h" #include "file_sink.h" #ifdef HAVE_KMS #include "kms_sink.h" @@ -24,7 +26,6 @@ #ifdef HAVE_SDL #include "sdl_sink.h" #endif -#include "stream_options.h" using namespace libcamera; @@ -54,7 +55,7 @@ CameraSession::CameraSession(CameraManager *cm, return; } - StreamRoles roles = StreamKeyValueParser::roles(options_[OptStream]); + std::vector<StreamRole> roles = StreamKeyValueParser::roles(options_[OptStream]); std::unique_ptr<CameraConfiguration> config = camera_->generateConfiguration(roles); @@ -64,6 +65,24 @@ CameraSession::CameraSession(CameraManager *cm, return; } + if (options_.isSet(OptOrientation)) { + std::string orientOpt = options_[OptOrientation].toString(); + static const std::map<std::string, libcamera::Orientation> orientations{ + { "rot0", libcamera::Orientation::Rotate0 }, + { "rot180", libcamera::Orientation::Rotate180 }, + { "mirror", libcamera::Orientation::Rotate0Mirror }, + { "flip", libcamera::Orientation::Rotate180Mirror }, + }; + + auto orientation = orientations.find(orientOpt); + if (orientation == orientations.end()) { + std::cerr << "Invalid orientation " << orientOpt << std::endl; + return; + } + + config->orientation = orientation->second; + } + /* Apply configuration if explicitly requested. */ if (StreamKeyValueParser::updateConfiguration(config.get(), options_[OptStream])) { @@ -207,10 +226,10 @@ int CameraSession::start() if (options_.isSet(OptFile)) { if (!options_[OptFile].toString().empty()) - sink_ = std::make_unique<FileSink>(streamNames_, + sink_ = std::make_unique<FileSink>(camera_.get(), streamNames_, options_[OptFile]); else - sink_ = std::make_unique<FileSink>(streamNames_); + sink_ = std::make_unique<FileSink>(camera_.get(), streamNames_); } if (sink_) { @@ -358,7 +377,7 @@ void CameraSession::requestComplete(Request *request) * Defer processing of the completed request to the event loop, to avoid * blocking the camera manager thread. */ - EventLoop::instance()->callLater([=]() { processRequest(request); }); + EventLoop::instance()->callLater([this, request]() { processRequest(request); }); } void CameraSession::processRequest(Request *request) diff --git a/src/cam/camera_session.h b/src/apps/cam/camera_session.h index d562caae..4442fd9b 100644 --- a/src/cam/camera_session.h +++ b/src/apps/cam/camera_session.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * camera_session.h - Camera capture session + * Camera capture session */ #pragma once @@ -21,7 +21,7 @@ #include <libcamera/request.h> #include <libcamera/stream.h> -#include "options.h" +#include "../common/options.h" class CaptureScript; class FrameSink; diff --git a/src/cam/capture-script.yaml b/src/apps/cam/capture-script.yaml index 6a749bc6..7118865e 100644 --- a/src/cam/capture-script.yaml +++ b/src/apps/cam/capture-script.yaml @@ -4,6 +4,19 @@ # # A capture script allows to associate a list of controls and their values # to frame numbers. +# +# The script allows defining a list of frames associated with controls +# and an optional list of properties that can control the script behaviour. + +# properties: +# # Repeat the controls every 'idx' frames. +# - loop: idx +# +# # List of frame number with associated a list of controls to be applied +# frames: +# - frame-number: +# Control1: value1 +# Control2: value2 # \todo Formally define the capture script structure with a schema @@ -12,10 +25,16 @@ # libcamera::controls:: enumeration # - Controls not supported by the camera currently operated are ignored # - Frame numbers shall be monotonically incrementing, gaps are allowed +# - If a loop limit is specified, frame numbers in the 'frames' list shall be +# less than the loop control + +# Example: Turn brightness up and down every 460 frames + +properties: + - loop: 460 -# Example: frames: - - 1: + - 0: Brightness: 0.0 - 40: @@ -44,3 +63,9 @@ frames: - 340: Brightness: -0.8 + + - 380: + Brightness: -0.4 + + - 420: + Brightness: -0.2 diff --git a/src/apps/cam/capture_script.cpp b/src/apps/cam/capture_script.cpp new file mode 100644 index 00000000..fc1dfa75 --- /dev/null +++ b/src/apps/cam/capture_script.cpp @@ -0,0 +1,662 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2022, Ideas on Board Oy + * + * Capture session configuration script + */ + +#include "capture_script.h" + +#include <iostream> +#include <stdio.h> +#include <stdlib.h> + +using namespace libcamera; + +CaptureScript::CaptureScript(std::shared_ptr<Camera> camera, + const std::string &fileName) + : camera_(camera), loop_(0), valid_(false) +{ + FILE *fh = fopen(fileName.c_str(), "r"); + if (!fh) { + int ret = -errno; + std::cerr << "Failed to open capture script " << fileName + << ": " << strerror(-ret) << std::endl; + return; + } + + /* + * Map the camera's controls to their name so that they can be + * easily identified when parsing the script file. + */ + for (const auto &[control, info] : camera_->controls()) + controls_[control->name()] = control; + + int ret = parseScript(fh); + fclose(fh); + if (ret) + return; + + valid_ = true; +} + +/* Retrieve the control list associated with a frame number. */ +const ControlList &CaptureScript::frameControls(unsigned int frame) +{ + static ControlList controls{}; + unsigned int idx = frame; + + /* If we loop, repeat the controls every 'loop_' frames. */ + if (loop_) + idx = frame % loop_; + + auto it = frameControls_.find(idx); + if (it == frameControls_.end()) + return controls; + + return it->second; +} + +CaptureScript::EventPtr CaptureScript::nextEvent(yaml_event_type_t expectedType) +{ + EventPtr event(new yaml_event_t); + + if (!yaml_parser_parse(&parser_, event.get())) + return nullptr; + + if (expectedType != YAML_NO_EVENT && !checkEvent(event, expectedType)) + return nullptr; + + return event; +} + +bool CaptureScript::checkEvent(const EventPtr &event, yaml_event_type_t expectedType) const +{ + if (event->type != expectedType) { + std::cerr << "Capture script error on line " << event->start_mark.line + << " column " << event->start_mark.column << ": " + << "Expected " << eventTypeName(expectedType) + << " event, got " << eventTypeName(event->type) + << std::endl; + return false; + } + + return true; +} + +std::string CaptureScript::eventScalarValue(const EventPtr &event) +{ + return std::string(reinterpret_cast<char *>(event->data.scalar.value), + event->data.scalar.length); +} + +std::string CaptureScript::eventTypeName(yaml_event_type_t type) +{ + static const std::map<yaml_event_type_t, std::string> typeNames = { + { YAML_STREAM_START_EVENT, "stream-start" }, + { YAML_STREAM_END_EVENT, "stream-end" }, + { YAML_DOCUMENT_START_EVENT, "document-start" }, + { YAML_DOCUMENT_END_EVENT, "document-end" }, + { YAML_ALIAS_EVENT, "alias" }, + { YAML_SCALAR_EVENT, "scalar" }, + { YAML_SEQUENCE_START_EVENT, "sequence-start" }, + { YAML_SEQUENCE_END_EVENT, "sequence-end" }, + { YAML_MAPPING_START_EVENT, "mapping-start" }, + { YAML_MAPPING_END_EVENT, "mapping-end" }, + }; + + auto it = typeNames.find(type); + if (it == typeNames.end()) + return "[type " + std::to_string(type) + "]"; + + return it->second; +} + +int CaptureScript::parseScript(FILE *script) +{ + int ret = yaml_parser_initialize(&parser_); + if (!ret) { + std::cerr << "Failed to initialize yaml parser" << std::endl; + return ret; + } + + /* Delete the parser upon function exit. */ + struct ParserDeleter { + ParserDeleter(yaml_parser_t *parser) : parser_(parser) { } + ~ParserDeleter() { yaml_parser_delete(parser_); } + yaml_parser_t *parser_; + } deleter(&parser_); + + yaml_parser_set_input_file(&parser_, script); + + EventPtr event = nextEvent(YAML_STREAM_START_EVENT); + if (!event) + return -EINVAL; + + event = nextEvent(YAML_DOCUMENT_START_EVENT); + if (!event) + return -EINVAL; + + event = nextEvent(YAML_MAPPING_START_EVENT); + if (!event) + return -EINVAL; + + while (1) { + event = nextEvent(); + if (!event) + return -EINVAL; + + if (event->type == YAML_MAPPING_END_EVENT) + return 0; + + if (!checkEvent(event, YAML_SCALAR_EVENT)) + return -EINVAL; + + std::string section = eventScalarValue(event); + + if (section == "properties") { + ret = parseProperties(); + if (ret) + return ret; + } else if (section == "frames") { + ret = parseFrames(); + if (ret) + return ret; + } else { + std::cerr << "Unsupported section '" << section << "'" + << std::endl; + return -EINVAL; + } + } +} + +int CaptureScript::parseProperty() +{ + EventPtr event = nextEvent(YAML_MAPPING_START_EVENT); + if (!event) + return -EINVAL; + + std::string prop = parseScalar(); + if (prop.empty()) + return -EINVAL; + + if (prop == "loop") { + event = nextEvent(); + if (!event) + return -EINVAL; + + std::string value = eventScalarValue(event); + if (value.empty()) + return -EINVAL; + + loop_ = atoi(value.c_str()); + if (!loop_) { + std::cerr << "Invalid loop limit '" << loop_ << "'" + << std::endl; + return -EINVAL; + } + } else { + std::cerr << "Unsupported property '" << prop << "'" << std::endl; + return -EINVAL; + } + + event = nextEvent(YAML_MAPPING_END_EVENT); + if (!event) + return -EINVAL; + + return 0; +} + +int CaptureScript::parseProperties() +{ + EventPtr event = nextEvent(YAML_SEQUENCE_START_EVENT); + if (!event) + return -EINVAL; + + while (1) { + if (event->type == YAML_SEQUENCE_END_EVENT) + return 0; + + int ret = parseProperty(); + if (ret) + return ret; + + event = nextEvent(); + if (!event) + return -EINVAL; + } + + return 0; +} + +int CaptureScript::parseFrames() +{ + EventPtr event = nextEvent(YAML_SEQUENCE_START_EVENT); + if (!event) + return -EINVAL; + + while (1) { + event = nextEvent(); + if (!event) + return -EINVAL; + + if (event->type == YAML_SEQUENCE_END_EVENT) + return 0; + + int ret = parseFrame(std::move(event)); + if (ret) + return ret; + } +} + +int CaptureScript::parseFrame(EventPtr event) +{ + if (!checkEvent(event, YAML_MAPPING_START_EVENT)) + return -EINVAL; + + std::string key = parseScalar(); + if (key.empty()) + return -EINVAL; + + unsigned int frameId = atoi(key.c_str()); + if (loop_ && frameId >= loop_) { + std::cerr + << "Frame id (" << frameId << ") shall be smaller than" + << "loop limit (" << loop_ << ")" << std::endl; + return -EINVAL; + } + + event = nextEvent(YAML_MAPPING_START_EVENT); + if (!event) + return -EINVAL; + + ControlList controls{}; + + while (1) { + event = nextEvent(); + if (!event) + return -EINVAL; + + if (event->type == YAML_MAPPING_END_EVENT) + break; + + int ret = parseControl(std::move(event), controls); + if (ret) + return ret; + } + + frameControls_[frameId] = std::move(controls); + + event = nextEvent(YAML_MAPPING_END_EVENT); + if (!event) + return -EINVAL; + + return 0; +} + +int CaptureScript::parseControl(EventPtr event, ControlList &controls) +{ + /* We expect a value after a key. */ + std::string name = eventScalarValue(event); + if (name.empty()) + return -EINVAL; + + /* If the camera does not support the control just ignore it. */ + auto it = controls_.find(name); + if (it == controls_.end()) { + std::cerr << "Unsupported control '" << name << "'" << std::endl; + return -EINVAL; + } + + const ControlId *controlId = it->second; + + ControlValue val = unpackControl(controlId); + if (val.isNone()) { + std::cerr << "Error unpacking control '" << name << "'" + << std::endl; + return -EINVAL; + } + + controls.set(controlId->id(), val); + + return 0; +} + +std::string CaptureScript::parseScalar() +{ + EventPtr event = nextEvent(YAML_SCALAR_EVENT); + if (!event) + return ""; + + return eventScalarValue(event); +} + +ControlValue CaptureScript::parseRectangles() +{ + std::vector<libcamera::Rectangle> rectangles; + + std::vector<std::vector<std::string>> arrays = parseArrays(); + if (arrays.empty()) + return {}; + + for (const std::vector<std::string> &values : arrays) { + if (values.size() != 4) { + std::cerr << "Error parsing Rectangle: expected " + << "array with 4 parameters" << std::endl; + return {}; + } + + Rectangle rect = unpackRectangle(values); + rectangles.push_back(rect); + } + + ControlValue controlValue; + if (rectangles.size() == 1) + controlValue.set(rectangles.at(0)); + else + controlValue.set(Span<const Rectangle>(rectangles)); + + return controlValue; +} + +std::vector<std::vector<std::string>> CaptureScript::parseArrays() +{ + EventPtr event = nextEvent(YAML_SEQUENCE_START_EVENT); + if (!event) + return {}; + + event = nextEvent(); + if (!event) + return {}; + + std::vector<std::vector<std::string>> valueArrays; + + /* Parse single array. */ + if (event->type == YAML_SCALAR_EVENT) { + std::string firstValue = eventScalarValue(event); + if (firstValue.empty()) + return {}; + + std::vector<std::string> remaining = parseSingleArray(); + + std::vector<std::string> values = { firstValue }; + values.insert(std::end(values), + std::begin(remaining), std::end(remaining)); + valueArrays.push_back(values); + + return valueArrays; + } + + /* Parse array of arrays. */ + while (1) { + switch (event->type) { + case YAML_SEQUENCE_START_EVENT: { + std::vector<std::string> values = parseSingleArray(); + valueArrays.push_back(values); + break; + } + case YAML_SEQUENCE_END_EVENT: + return valueArrays; + default: + return {}; + } + + event = nextEvent(); + if (!event) + return {}; + } +} + +std::vector<std::string> CaptureScript::parseSingleArray() +{ + std::vector<std::string> values; + + while (1) { + EventPtr event = nextEvent(); + if (!event) + return {}; + + switch (event->type) { + case YAML_SCALAR_EVENT: { + std::string value = eventScalarValue(event); + if (value.empty()) + return {}; + values.push_back(value); + break; + } + case YAML_SEQUENCE_END_EVENT: + return values; + default: + return {}; + } + } +} + +void CaptureScript::unpackFailure(const ControlId *id, const std::string &repr) +{ + static const std::map<unsigned int, const char *> typeNames = { + { ControlTypeNone, "none" }, + { ControlTypeBool, "bool" }, + { ControlTypeByte, "byte" }, + { ControlTypeInteger32, "int32" }, + { ControlTypeInteger64, "int64" }, + { ControlTypeFloat, "float" }, + { ControlTypeString, "string" }, + { ControlTypeRectangle, "Rectangle" }, + { ControlTypeSize, "Size" }, + }; + + const char *typeName; + auto it = typeNames.find(id->type()); + if (it != typeNames.end()) + typeName = it->second; + else + typeName = "unknown"; + + std::cerr << "Unsupported control '" << repr << "' for " + << typeName << " control " << id->name() << std::endl; +} + +ControlValue CaptureScript::parseScalarControl(const ControlId *id, + const std::string repr) +{ + ControlValue value{}; + + switch (id->type()) { + case ControlTypeNone: + break; + case ControlTypeBool: { + bool val; + + if (repr == "true") { + val = true; + } else if (repr == "false") { + val = false; + } else { + unpackFailure(id, repr); + return value; + } + + value.set<bool>(val); + break; + } + case ControlTypeByte: { + uint8_t val = strtol(repr.c_str(), NULL, 10); + value.set<uint8_t>(val); + break; + } + case ControlTypeInteger32: { + int32_t val = strtol(repr.c_str(), NULL, 10); + value.set<int32_t>(val); + break; + } + case ControlTypeInteger64: { + int64_t val = strtoll(repr.c_str(), NULL, 10); + value.set<int64_t>(val); + break; + } + case ControlTypeFloat: { + float val = strtof(repr.c_str(), NULL); + value.set<float>(val); + break; + } + case ControlTypeString: { + value.set<std::string>(repr); + break; + } + default: + std::cerr << "Unsupported control type" << std::endl; + break; + } + + return value; +} + +ControlValue CaptureScript::parseArrayControl(const ControlId *id, + const std::vector<std::string> &repr) +{ + ControlValue value{}; + + switch (id->type()) { + case ControlTypeNone: + break; + case ControlTypeBool: { + /* + * This is unpleasant, but we cannot use an std::vector<> as its + * boolean type overload does not allow to access the raw data, + * as boolean values are stored in a bitmask for efficiency. + * + * As we need a contiguous memory region to wrap in a Span<>, + * use an array instead but be strict about not overflowing it + * by limiting the number of controls we can store. + * + * Be loud but do not fail, as the issue would present at + * runtime and it's not fatal. + */ + static constexpr unsigned int kMaxNumBooleanControls = 1024; + std::array<bool, kMaxNumBooleanControls> values; + unsigned int idx = 0; + + for (const std::string &s : repr) { + bool val; + + if (s == "true") { + val = true; + } else if (s == "false") { + val = false; + } else { + unpackFailure(id, s); + return value; + } + + if (idx == kMaxNumBooleanControls) { + std::cerr << "Cannot parse more than " + << kMaxNumBooleanControls + << " boolean controls" << std::endl; + break; + } + + values[idx++] = val; + } + + value = Span<bool>(values.data(), idx); + break; + } + case ControlTypeByte: { + std::vector<uint8_t> values; + for (const std::string &s : repr) { + uint8_t val = strtoll(s.c_str(), NULL, 10); + values.push_back(val); + } + + value = Span<const uint8_t>(values.data(), values.size()); + break; + } + case ControlTypeInteger32: { + std::vector<int32_t> values; + for (const std::string &s : repr) { + int32_t val = strtoll(s.c_str(), NULL, 10); + values.push_back(val); + } + + value = Span<const int32_t>(values.data(), values.size()); + break; + } + case ControlTypeInteger64: { + std::vector<int64_t> values; + for (const std::string &s : repr) { + int64_t val = strtoll(s.c_str(), NULL, 10); + values.push_back(val); + } + + value = Span<const int64_t>(values.data(), values.size()); + break; + } + case ControlTypeFloat: { + std::vector<float> values; + for (const std::string &s : repr) + values.push_back(strtof(s.c_str(), NULL)); + + value = Span<const float>(values.data(), values.size()); + break; + } + case ControlTypeString: { + value = Span<const std::string>(repr.data(), repr.size()); + break; + } + default: + std::cerr << "Unsupported control type" << std::endl; + break; + } + + return value; +} + +ControlValue CaptureScript::unpackControl(const ControlId *id) +{ + /* Parse complex types. */ + switch (id->type()) { + case ControlTypeRectangle: + return parseRectangles(); + case ControlTypeSize: + /* \todo Parse Sizes. */ + return {}; + default: + break; + } + + /* Check if the control has a single scalar value or is an array. */ + EventPtr event = nextEvent(); + if (!event) + return {}; + + switch (event->type) { + case YAML_SCALAR_EVENT: { + const std::string repr = eventScalarValue(event); + if (repr.empty()) + return {}; + + return parseScalarControl(id, repr); + } + case YAML_SEQUENCE_START_EVENT: { + std::vector<std::string> array = parseSingleArray(); + if (array.empty()) + return {}; + + return parseArrayControl(id, array); + } + default: + std::cerr << "Unexpected event type: " << event->type << std::endl; + return {}; + } +} + +libcamera::Rectangle CaptureScript::unpackRectangle(const std::vector<std::string> &strVec) +{ + int x = strtol(strVec[0].c_str(), NULL, 10); + int y = strtol(strVec[1].c_str(), NULL, 10); + unsigned int width = strtoul(strVec[2].c_str(), NULL, 10); + unsigned int height = strtoul(strVec[3].c_str(), NULL, 10); + + return Rectangle(x, y, width, height); +} diff --git a/src/cam/capture_script.h b/src/apps/cam/capture_script.h index 8b4f8f62..294b9203 100644 --- a/src/cam/capture_script.h +++ b/src/apps/cam/capture_script.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Ideas on Board Oy * - * capture_script.h - Capture session configuration script + * Capture session configuration script */ #pragma once @@ -40,6 +40,7 @@ private: std::map<unsigned int, libcamera::ControlList> frameControls_; std::shared_ptr<libcamera::Camera> camera_; yaml_parser_t parser_; + unsigned int loop_; bool valid_; EventPtr nextEvent(yaml_event_type_t expectedType = YAML_NO_EVENT); @@ -49,14 +50,24 @@ private: int parseScript(FILE *script); + int parseProperties(); + int parseProperty(); int parseFrames(); int parseFrame(EventPtr event); int parseControl(EventPtr event, libcamera::ControlList &controls); + libcamera::ControlValue parseScalarControl(const libcamera::ControlId *id, + const std::string repr); + libcamera::ControlValue parseArrayControl(const libcamera::ControlId *id, + const std::vector<std::string> &repr); + std::string parseScalar(); + libcamera::ControlValue parseRectangles(); + std::vector<std::vector<std::string>> parseArrays(); + std::vector<std::string> parseSingleArray(); void unpackFailure(const libcamera::ControlId *id, const std::string &repr); - libcamera::ControlValue unpackControl(const libcamera::ControlId *id, - const std::string &repr); + libcamera::ControlValue unpackControl(const libcamera::ControlId *id); + libcamera::Rectangle unpackRectangle(const std::vector<std::string> &strVec); }; diff --git a/src/cam/drm.cpp b/src/apps/cam/drm.cpp index fbfc0a59..47bbb6b0 100644 --- a/src/cam/drm.cpp +++ b/src/apps/cam/drm.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas on Board Oy * - * drm.cpp - DRM/KMS Helpers + * DRM/KMS Helpers */ #include "drm.h" @@ -24,7 +24,7 @@ #include <libdrm/drm_mode.h> -#include "event_loop.h" +#include "../common/event_loop.h" namespace DRM { @@ -377,6 +377,8 @@ int AtomicRequest::commit(unsigned int flags) drmFlags |= DRM_MODE_ATOMIC_ALLOW_MODESET; if (flags & FlagAsync) drmFlags |= DRM_MODE_PAGE_FLIP_EVENT | DRM_MODE_ATOMIC_NONBLOCK; + if (flags & FlagTestOnly) + drmFlags |= DRM_MODE_ATOMIC_TEST_ONLY; return drmModeAtomicCommit(dev_->fd(), request_, drmFlags, this); } @@ -428,7 +430,8 @@ int Device::init() int Device::openCard() { const std::string dirName = "/dev/dri/"; - int ret = -ENOENT; + bool found = false; + int ret; /* * Open the first DRM/KMS device beginning with /dev/dri/card. The @@ -447,24 +450,42 @@ int Device::openCard() } for (struct dirent *res; (res = readdir(folder));) { + uint64_t cap; + if (strncmp(res->d_name, "card", 4)) continue; const std::string devName = dirName + res->d_name; fd_ = open(devName.c_str(), O_RDWR | O_CLOEXEC); - if (fd_ >= 0) { - ret = 0; - break; + if (fd_ < 0) { + ret = -errno; + std::cerr << "Failed to open DRM/KMS device " << devName << ": " + << strerror(-ret) << std::endl; + continue; } - ret = -errno; - std::cerr << "Failed to open DRM/KMS device " << devName << ": " - << strerror(-ret) << std::endl; + /* + * Skip devices that don't support the modeset API, to avoid + * selecting a DRM device corresponding to a GPU. There is no + * modeset capability, but the kernel returns an error for most + * caps if mode setting isn't support by the driver. The + * DRM_CAP_DUMB_BUFFER capability is one of those, other would + * do as well. The capability value itself isn't relevant. + */ + ret = drmGetCap(fd_, DRM_CAP_DUMB_BUFFER, &cap); + if (ret < 0) { + drmClose(fd_); + fd_ = -1; + continue; + } + + found = true; + break; } closedir(folder); - return ret; + return found ? 0 : -ENOENT; } int Device::getResources() diff --git a/src/cam/drm.h b/src/apps/cam/drm.h index 655a7509..1ba83b6e 100644 --- a/src/cam/drm.h +++ b/src/apps/cam/drm.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas on Board Oy * - * drm.h - DRM/KMS Helpers + * DRM/KMS Helpers */ #pragma once @@ -251,6 +251,7 @@ public: enum Flags { FlagAllowModeset = (1 << 0), FlagAsync = (1 << 1), + FlagTestOnly = (1 << 2), }; AtomicRequest(Device *dev); diff --git a/src/cam/file_sink.cpp b/src/apps/cam/file_sink.cpp index 45213d4a..3e000d2f 100644 --- a/src/cam/file_sink.cpp +++ b/src/apps/cam/file_sink.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * file_sink.cpp - File Sink + * File Sink */ #include <assert.h> @@ -15,14 +15,22 @@ #include <libcamera/camera.h> +#include "../common/dng_writer.h" +#include "../common/image.h" +#include "../common/ppm_writer.h" + #include "file_sink.h" -#include "image.h" using namespace libcamera; -FileSink::FileSink(const std::map<const libcamera::Stream *, std::string> &streamNames, +FileSink::FileSink([[maybe_unused]] const libcamera::Camera *camera, + const std::map<const libcamera::Stream *, std::string> &streamNames, const std::string &pattern) - : streamNames_(streamNames), pattern_(pattern) + : +#ifdef HAVE_TIFF + camera_(camera), +#endif + streamNames_(streamNames), pattern_(pattern) { } @@ -51,12 +59,13 @@ void FileSink::mapBuffer(FrameBuffer *buffer) bool FileSink::processRequest(Request *request) { for (auto [stream, buffer] : request->buffers()) - writeBuffer(stream, buffer); + writeBuffer(stream, buffer, request->metadata()); return true; } -void FileSink::writeBuffer(const Stream *stream, FrameBuffer *buffer) +void FileSink::writeBuffer(const Stream *stream, FrameBuffer *buffer, + [[maybe_unused]] const ControlList &metadata) { std::string filename; size_t pos; @@ -65,6 +74,11 @@ void FileSink::writeBuffer(const Stream *stream, FrameBuffer *buffer) if (!pattern_.empty()) filename = pattern_; +#ifdef HAVE_TIFF + bool dng = filename.find(".dng", filename.size() - 4) != std::string::npos; +#endif /* HAVE_TIFF */ + bool ppm = filename.find(".ppm", filename.size() - 4) != std::string::npos; + if (filename.empty() || filename.back() == '/') filename += "frame-#.bin"; @@ -76,6 +90,30 @@ void FileSink::writeBuffer(const Stream *stream, FrameBuffer *buffer) filename.replace(pos, 1, ss.str()); } + Image *image = mappedBuffers_[buffer].get(); + +#ifdef HAVE_TIFF + if (dng) { + ret = DNGWriter::write(filename.c_str(), camera_, + stream->configuration(), metadata, + buffer, image->data(0).data()); + if (ret < 0) + std::cerr << "failed to write DNG file `" << filename + << "'" << std::endl; + + return; + } +#endif /* HAVE_TIFF */ + if (ppm) { + ret = PPMWriter::write(filename.c_str(), stream->configuration(), + image->data(0)); + if (ret < 0) + std::cerr << "failed to write PPM file `" << filename + << "'" << std::endl; + + return; + } + fd = open(filename.c_str(), O_CREAT | O_WRONLY | (pos == std::string::npos ? O_APPEND : O_TRUNC), S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH | S_IWOTH); @@ -86,16 +124,19 @@ void FileSink::writeBuffer(const Stream *stream, FrameBuffer *buffer) return; } - Image *image = mappedBuffers_[buffer].get(); - for (unsigned int i = 0; i < buffer->planes().size(); ++i) { - const FrameMetadata::Plane &meta = buffer->metadata().planes()[i]; + /* + * This was formerly a local "const FrameMetadata::Plane &" + * however this causes a false positive warning for dangling + * references on gcc 13. + */ + const unsigned int bytesused = buffer->metadata().planes()[i].bytesused; Span<uint8_t> data = image->data(i); - unsigned int length = std::min<unsigned int>(meta.bytesused, data.size()); + const unsigned int length = std::min<unsigned int>(bytesused, data.size()); - if (meta.bytesused > data.size()) - std::cerr << "payload size " << meta.bytesused + if (bytesused > data.size()) + std::cerr << "payload size " << bytesused << " larger than plane size " << data.size() << std::endl; diff --git a/src/cam/file_sink.h b/src/apps/cam/file_sink.h index 067736f5..9d560783 100644 --- a/src/cam/file_sink.h +++ b/src/apps/cam/file_sink.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * file_sink.h - File Sink + * File Sink */ #pragma once @@ -20,7 +20,8 @@ class Image; class FileSink : public FrameSink { public: - FileSink(const std::map<const libcamera::Stream *, std::string> &streamNames, + FileSink(const libcamera::Camera *camera, + const std::map<const libcamera::Stream *, std::string> &streamNames, const std::string &pattern = ""); ~FileSink(); @@ -32,8 +33,12 @@ public: private: void writeBuffer(const libcamera::Stream *stream, - libcamera::FrameBuffer *buffer); + libcamera::FrameBuffer *buffer, + const libcamera::ControlList &metadata); +#ifdef HAVE_TIFF + const libcamera::Camera *camera_; +#endif std::map<const libcamera::Stream *, std::string> streamNames_; std::string pattern_; std::map<libcamera::FrameBuffer *, std::unique_ptr<Image>> mappedBuffers_; diff --git a/src/cam/frame_sink.cpp b/src/apps/cam/frame_sink.cpp index af21d575..68d6f2c1 100644 --- a/src/cam/frame_sink.cpp +++ b/src/apps/cam/frame_sink.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas on Board Oy * - * frame_sink.cpp - Base Frame Sink Class + * Base Frame Sink Class */ #include "frame_sink.h" diff --git a/src/cam/frame_sink.h b/src/apps/cam/frame_sink.h index ca4347cb..11105c6c 100644 --- a/src/cam/frame_sink.h +++ b/src/apps/cam/frame_sink.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas on Board Oy * - * frame_sink.h - Base Frame Sink Class + * Base Frame Sink Class */ #pragma once diff --git a/src/cam/kms_sink.cpp b/src/apps/cam/kms_sink.cpp index 37a3bd50..672c985a 100644 --- a/src/cam/kms_sink.cpp +++ b/src/apps/cam/kms_sink.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas on Board Oy * - * kms_sink.cpp - KMS Sink + * KMS Sink */ #include "kms_sink.h" @@ -149,6 +149,81 @@ int KMSSink::configure(const libcamera::CameraConfiguration &config) size_ = cfg.size; stride_ = cfg.stride; + /* Configure color space. */ + colorEncoding_ = std::nullopt; + colorRange_ = std::nullopt; + + if (cfg.colorSpace->ycbcrEncoding == libcamera::ColorSpace::YcbcrEncoding::None) + return 0; + + /* + * The encoding and range enums are defined in the kernel but not + * exposed in public headers. + */ + enum drm_color_encoding { + DRM_COLOR_YCBCR_BT601, + DRM_COLOR_YCBCR_BT709, + DRM_COLOR_YCBCR_BT2020, + }; + + enum drm_color_range { + DRM_COLOR_YCBCR_LIMITED_RANGE, + DRM_COLOR_YCBCR_FULL_RANGE, + }; + + const DRM::Property *colorEncoding = plane_->property("COLOR_ENCODING"); + const DRM::Property *colorRange = plane_->property("COLOR_RANGE"); + + if (colorEncoding) { + drm_color_encoding encoding; + + switch (cfg.colorSpace->ycbcrEncoding) { + case libcamera::ColorSpace::YcbcrEncoding::Rec601: + default: + encoding = DRM_COLOR_YCBCR_BT601; + break; + case libcamera::ColorSpace::YcbcrEncoding::Rec709: + encoding = DRM_COLOR_YCBCR_BT709; + break; + case libcamera::ColorSpace::YcbcrEncoding::Rec2020: + encoding = DRM_COLOR_YCBCR_BT2020; + break; + } + + for (const auto &[id, name] : colorEncoding->enums()) { + if (id == encoding) { + colorEncoding_ = encoding; + break; + } + } + } + + if (colorRange) { + drm_color_range range; + + switch (cfg.colorSpace->range) { + case libcamera::ColorSpace::Range::Limited: + default: + range = DRM_COLOR_YCBCR_LIMITED_RANGE; + break; + case libcamera::ColorSpace::Range::Full: + range = DRM_COLOR_YCBCR_FULL_RANGE; + break; + } + + for (const auto &[id, name] : colorRange->enums()) { + if (id == range) { + colorRange_ = range; + break; + } + } + } + + if (!colorEncoding_ || !colorRange_) + std::cerr << "Color space " << cfg.colorSpace->toString() + << " not supported by the display device." + << " Colors may be wrong." << std::endl; + return 0; } @@ -228,24 +303,22 @@ int KMSSink::configurePipeline(const libcamera::PixelFormat &format) int KMSSink::start() { - std::unique_ptr<DRM::AtomicRequest> request; - int ret = FrameSink::start(); if (ret < 0) return ret; /* Disable all CRTCs and planes to start from a known valid state. */ - request = std::make_unique<DRM::AtomicRequest>(&dev_); + DRM::AtomicRequest request(&dev_); for (const DRM::Crtc &crtc : dev_.crtcs()) - request->addProperty(&crtc, "ACTIVE", 0); + request.addProperty(&crtc, "ACTIVE", 0); for (const DRM::Plane &plane : dev_.planes()) { - request->addProperty(&plane, "CRTC_ID", 0); - request->addProperty(&plane, "FB_ID", 0); + request.addProperty(&plane, "CRTC_ID", 0); + request.addProperty(&plane, "FB_ID", 0); } - ret = request->commit(DRM::AtomicRequest::FlagAllowModeset); + ret = request.commit(DRM::AtomicRequest::FlagAllowModeset); if (ret < 0) { std::cerr << "Failed to disable CRTCs and planes: " @@ -284,6 +357,94 @@ int KMSSink::stop() return FrameSink::stop(); } +bool KMSSink::testModeSet(DRM::FrameBuffer *drmBuffer, + const libcamera::Rectangle &src, + const libcamera::Rectangle &dst) +{ + DRM::AtomicRequest drmRequest{ &dev_ }; + + drmRequest.addProperty(connector_, "CRTC_ID", crtc_->id()); + + drmRequest.addProperty(crtc_, "ACTIVE", 1); + drmRequest.addProperty(crtc_, "MODE_ID", mode_->toBlob(&dev_)); + + drmRequest.addProperty(plane_, "CRTC_ID", crtc_->id()); + drmRequest.addProperty(plane_, "FB_ID", drmBuffer->id()); + drmRequest.addProperty(plane_, "SRC_X", src.x << 16); + drmRequest.addProperty(plane_, "SRC_Y", src.y << 16); + drmRequest.addProperty(plane_, "SRC_W", src.width << 16); + drmRequest.addProperty(plane_, "SRC_H", src.height << 16); + drmRequest.addProperty(plane_, "CRTC_X", dst.x); + drmRequest.addProperty(plane_, "CRTC_Y", dst.y); + drmRequest.addProperty(plane_, "CRTC_W", dst.width); + drmRequest.addProperty(plane_, "CRTC_H", dst.height); + + return !drmRequest.commit(DRM::AtomicRequest::FlagAllowModeset | + DRM::AtomicRequest::FlagTestOnly); +} + +bool KMSSink::setupComposition(DRM::FrameBuffer *drmBuffer) +{ + /* + * Test composition options, from most to least desirable, to select the + * best one. + */ + const libcamera::Rectangle framebuffer{ size_ }; + const libcamera::Rectangle display{ 0, 0, mode_->hdisplay, mode_->vdisplay }; + + /* 1. Scale the frame buffer to full screen, preserving aspect ratio. */ + libcamera::Rectangle src = framebuffer; + libcamera::Rectangle dst = display.size().boundedToAspectRatio(framebuffer.size()) + .centeredTo(display.center()); + + if (testModeSet(drmBuffer, src, dst)) { + std::cout << "KMS: full-screen scaled output, square pixels" + << std::endl; + src_ = src; + dst_ = dst; + return true; + } + + /* + * 2. Scale the frame buffer to full screen, without preserving aspect + * ratio. + */ + src = framebuffer; + dst = display; + + if (testModeSet(drmBuffer, src, dst)) { + std::cout << "KMS: full-screen scaled output, non-square pixels" + << std::endl; + src_ = src; + dst_ = dst; + return true; + } + + /* 3. Center the frame buffer on the display. */ + src = display.size().centeredTo(framebuffer.center()).boundedTo(framebuffer); + dst = framebuffer.size().centeredTo(display.center()).boundedTo(display); + + if (testModeSet(drmBuffer, src, dst)) { + std::cout << "KMS: centered output" << std::endl; + src_ = src; + dst_ = dst; + return true; + } + + /* 4. Align the frame buffer on the top-left of the display. */ + src = framebuffer.boundedTo(display); + dst = display.boundedTo(framebuffer); + + if (testModeSet(drmBuffer, src, dst)) { + std::cout << "KMS: top-left aligned output" << std::endl; + src_ = src; + dst_ = dst; + return true; + } + + return false; +} + bool KMSSink::processRequest(libcamera::Request *camRequest) { /* @@ -301,35 +462,46 @@ bool KMSSink::processRequest(libcamera::Request *camRequest) DRM::FrameBuffer *drmBuffer = iter->second.get(); unsigned int flags = DRM::AtomicRequest::FlagAsync; - DRM::AtomicRequest *drmRequest = new DRM::AtomicRequest(&dev_); + std::unique_ptr<DRM::AtomicRequest> drmRequest = + std::make_unique<DRM::AtomicRequest>(&dev_); drmRequest->addProperty(plane_, "FB_ID", drmBuffer->id()); if (!active_ && !queued_) { /* Enable the display pipeline on the first frame. */ + if (!setupComposition(drmBuffer)) { + std::cerr << "Failed to setup composition" << std::endl; + return true; + } + drmRequest->addProperty(connector_, "CRTC_ID", crtc_->id()); drmRequest->addProperty(crtc_, "ACTIVE", 1); drmRequest->addProperty(crtc_, "MODE_ID", mode_->toBlob(&dev_)); drmRequest->addProperty(plane_, "CRTC_ID", crtc_->id()); - drmRequest->addProperty(plane_, "SRC_X", 0 << 16); - drmRequest->addProperty(plane_, "SRC_Y", 0 << 16); - drmRequest->addProperty(plane_, "SRC_W", size_.width << 16); - drmRequest->addProperty(plane_, "SRC_H", size_.height << 16); - drmRequest->addProperty(plane_, "CRTC_X", 0); - drmRequest->addProperty(plane_, "CRTC_Y", 0); - drmRequest->addProperty(plane_, "CRTC_W", size_.width); - drmRequest->addProperty(plane_, "CRTC_H", size_.height); + drmRequest->addProperty(plane_, "SRC_X", src_.x << 16); + drmRequest->addProperty(plane_, "SRC_Y", src_.y << 16); + drmRequest->addProperty(plane_, "SRC_W", src_.width << 16); + drmRequest->addProperty(plane_, "SRC_H", src_.height << 16); + drmRequest->addProperty(plane_, "CRTC_X", dst_.x); + drmRequest->addProperty(plane_, "CRTC_Y", dst_.y); + drmRequest->addProperty(plane_, "CRTC_W", dst_.width); + drmRequest->addProperty(plane_, "CRTC_H", dst_.height); + + if (colorEncoding_) + drmRequest->addProperty(plane_, "COLOR_ENCODING", *colorEncoding_); + if (colorRange_) + drmRequest->addProperty(plane_, "COLOR_RANGE", *colorRange_); flags |= DRM::AtomicRequest::FlagAllowModeset; } - pending_ = std::make_unique<Request>(drmRequest, camRequest); + pending_ = std::make_unique<Request>(std::move(drmRequest), camRequest); std::lock_guard<std::mutex> lock(lock_); if (!queued_) { - int ret = drmRequest->commit(flags); + int ret = pending_->drmRequest_->commit(flags); if (ret < 0) { std::cerr << "Failed to commit atomic request: " @@ -343,7 +515,7 @@ bool KMSSink::processRequest(libcamera::Request *camRequest) return false; } -void KMSSink::requestComplete(DRM::AtomicRequest *request) +void KMSSink::requestComplete([[maybe_unused]] DRM::AtomicRequest *request) { std::lock_guard<std::mutex> lock(lock_); diff --git a/src/cam/kms_sink.h b/src/apps/cam/kms_sink.h index 4a0a872c..4b7b4c26 100644 --- a/src/cam/kms_sink.h +++ b/src/apps/cam/kms_sink.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas on Board Oy * - * kms_sink.h - KMS Sink + * KMS Sink */ #pragma once @@ -10,6 +10,7 @@ #include <list> #include <memory> #include <mutex> +#include <optional> #include <string> #include <utility> @@ -38,8 +39,9 @@ private: class Request { public: - Request(DRM::AtomicRequest *drmRequest, libcamera::Request *camRequest) - : drmRequest_(drmRequest), camRequest_(camRequest) + Request(std::unique_ptr<DRM::AtomicRequest> drmRequest, + libcamera::Request *camRequest) + : drmRequest_(std::move(drmRequest)), camRequest_(camRequest) { } @@ -49,6 +51,11 @@ private: int selectPipeline(const libcamera::PixelFormat &format); int configurePipeline(const libcamera::PixelFormat &format); + bool testModeSet(DRM::FrameBuffer *drmBuffer, + const libcamera::Rectangle &src, + const libcamera::Rectangle &dst); + bool setupComposition(DRM::FrameBuffer *drmBuffer); + void requestComplete(DRM::AtomicRequest *request); DRM::Device dev_; @@ -61,6 +68,11 @@ private: libcamera::PixelFormat format_; libcamera::Size size_; unsigned int stride_; + std::optional<unsigned int> colorEncoding_; + std::optional<unsigned int> colorRange_; + + libcamera::Rectangle src_; + libcamera::Rectangle dst_; std::map<libcamera::FrameBuffer *, std::unique_ptr<DRM::FrameBuffer>> buffers_; diff --git a/src/cam/main.cpp b/src/apps/cam/main.cpp index 79875ed7..4f87f200 100644 --- a/src/cam/main.cpp +++ b/src/apps/cam/main.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * main.cpp - cam - The libcamera swiss army knife + * cam - The libcamera swiss army knife */ #include <atomic> @@ -14,11 +14,12 @@ #include <libcamera/libcamera.h> #include <libcamera/property_ids.h> +#include "../common/event_loop.h" +#include "../common/options.h" +#include "../common/stream_options.h" + #include "camera_session.h" -#include "event_loop.h" #include "main.h" -#include "options.h" -#include "stream_options.h" using namespace libcamera; @@ -132,6 +133,11 @@ int CamApp::parseOptions(int argc, char *argv[]) "Capture until interrupted by user or until <count> frames captured", "capture", ArgumentOptional, "count", false, OptCamera); + + parser.addOption(OptOrientation, OptionString, + "Desired image orientation (rot0, rot180, mirror, flip)", + "orientation", ArgumentRequired, "orientation", false, + OptCamera); #ifdef HAVE_KMS parser.addOption(OptDisplay, OptionString, "Display viewfinder through DRM/KMS on specified connector", @@ -144,6 +150,12 @@ int CamApp::parseOptions(int argc, char *argv[]) "to write files, using the default file name. Otherwise it sets the\n" "full file path and name. The first '#' character in the file name\n" "is expanded to the camera index, stream name and frame sequence number.\n" +#ifdef HAVE_TIFF + "If the file name ends with '.dng', then the frame will be written to\n" + "the output file(s) in DNG format.\n" +#endif + "If the file name ends with '.ppm', then the frame will be written to\n" + "the output file(s) in PPM format.\n" "The default file name is 'frame-#.bin'.", "file", ArgumentOptional, "filename", false, OptCamera); @@ -300,8 +312,9 @@ std::string CamApp::cameraName(const Camera *camera) * Construct the name from the camera location, model and ID. The model * is only used if the location isn't present or is set to External. */ - if (props.contains(properties::Location)) { - switch (props.get(properties::Location)) { + const auto &location = props.get(properties::Location); + if (location) { + switch (*location) { case properties::CameraLocationFront: addModel = false; name = "Internal front camera "; @@ -316,12 +329,14 @@ std::string CamApp::cameraName(const Camera *camera) } } - if (addModel && props.contains(properties::Model)) { + if (addModel) { /* * If the camera location is not availble use the camera model * to build the camera name. */ - name = "'" + props.get(properties::Model) + "' "; + const auto &model = props.get(properties::Model); + if (model) + name = "'" + *model + "' "; } name += "(" + camera->id() + ")"; diff --git a/src/cam/main.h b/src/apps/cam/main.h index 526aecec..64e6a20e 100644 --- a/src/cam/main.h +++ b/src/apps/cam/main.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * main.h - Cam application + * Cam application */ #pragma once @@ -17,6 +17,7 @@ enum { OptList = 'l', OptListProperties = 'p', OptMonitor = 'm', + OptOrientation = 'o', OptSDL = 'S', OptStream = 's', OptListControls = 256, diff --git a/src/cam/meson.build b/src/apps/cam/meson.build index 5957ce14..c70ca3cd 100644 --- a/src/cam/meson.build +++ b/src/apps/cam/meson.build @@ -1,8 +1,6 @@ # SPDX-License-Identifier: CC0-1.0 -libevent = dependency('libevent_pthreads', required : get_option('cam')) - -if not libevent.found() +if opt_cam.disabled() or not libevent.found() cam_enabled = false subdir_done() endif @@ -12,20 +10,16 @@ cam_enabled = true cam_sources = files([ 'camera_session.cpp', 'capture_script.cpp', - 'event_loop.cpp', 'file_sink.cpp', 'frame_sink.cpp', - 'image.cpp', 'main.cpp', - 'options.cpp', - 'stream_options.cpp', ]) -cam_cpp_args = [] +cam_cpp_args = [apps_cpp_args] libdrm = dependency('libdrm', required : false) +libjpeg = dependency('libjpeg', required : false) libsdl2 = dependency('SDL2', required : false) -libsdl2_image = dependency('SDL2_image', required : false) if libdrm.found() cam_cpp_args += [ '-DHAVE_KMS' ] @@ -40,11 +34,11 @@ if libsdl2.found() cam_sources += files([ 'sdl_sink.cpp', 'sdl_texture.cpp', - 'sdl_texture_yuyv.cpp' + 'sdl_texture_yuv.cpp', ]) - if libsdl2_image.found() - cam_cpp_args += ['-DHAVE_SDL_IMAGE'] + if libjpeg.found() + cam_cpp_args += ['-DHAVE_LIBJPEG'] cam_sources += files([ 'sdl_texture_mjpg.cpp' ]) @@ -52,14 +46,17 @@ if libsdl2.found() endif cam = executable('cam', cam_sources, + link_with : apps_lib, dependencies : [ libatomic, libcamera_public, libdrm, libevent, + libjpeg, libsdl2, - libsdl2_image, + libtiff, libyaml, ], cpp_args : cam_cpp_args, - install : true) + install : true, + install_tag : 'bin') diff --git a/src/cam/sdl_sink.cpp b/src/apps/cam/sdl_sink.cpp index f8e3e95d..8355dd5e 100644 --- a/src/cam/sdl_sink.cpp +++ b/src/apps/cam/sdl_sink.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Ideas on Board Oy * - * sdl_sink.h - SDL Sink + * SDL Sink */ #include "sdl_sink.h" @@ -19,12 +19,13 @@ #include <libcamera/camera.h> #include <libcamera/formats.h> -#include "event_loop.h" -#include "image.h" -#ifdef HAVE_SDL_IMAGE +#include "../common/event_loop.h" +#include "../common/image.h" + +#ifdef HAVE_LIBJPEG #include "sdl_texture_mjpg.h" #endif -#include "sdl_texture_yuyv.h" +#include "sdl_texture_yuv.h" using namespace libcamera; @@ -62,13 +63,18 @@ int SDLSink::configure(const libcamera::CameraConfiguration &config) rect_.h = cfg.size.height; switch (cfg.pixelFormat) { -#ifdef HAVE_SDL_IMAGE +#ifdef HAVE_LIBJPEG case libcamera::formats::MJPEG: texture_ = std::make_unique<SDLTextureMJPG>(rect_); break; #endif +#if SDL_VERSION_ATLEAST(2, 0, 16) + case libcamera::formats::NV12: + texture_ = std::make_unique<SDLTextureNV12>(rect_, cfg.stride); + break; +#endif case libcamera::formats::YUYV: - texture_ = std::make_unique<SDLTextureYUYV>(rect_); + texture_ = std::make_unique<SDLTextureYUYV>(rect_, cfg.stride); break; default: std::cerr << "Unsupported pixel format " @@ -185,16 +191,23 @@ void SDLSink::renderBuffer(FrameBuffer *buffer) { Image *image = mappedBuffers_[buffer].get(); - /* \todo Implement support for multi-planar formats. */ - const FrameMetadata::Plane &meta = buffer->metadata().planes()[0]; + std::vector<Span<const uint8_t>> planes; + unsigned int i = 0; - Span<uint8_t> data = image->data(0); - if (meta.bytesused > data.size()) - std::cerr << "payload size " << meta.bytesused - << " larger than plane size " << data.size() - << std::endl; + planes.reserve(buffer->metadata().planes().size()); + + for (const FrameMetadata::Plane &meta : buffer->metadata().planes()) { + Span<uint8_t> data = image->data(i); + if (meta.bytesused > data.size()) + std::cerr << "payload size " << meta.bytesused + << " larger than plane size " << data.size() + << std::endl; + + planes.push_back(data); + i++; + } - texture_->update(data); + texture_->update(planes); SDL_RenderClear(renderer_); SDL_RenderCopy(renderer_, texture_->get(), nullptr, nullptr); diff --git a/src/cam/sdl_sink.h b/src/apps/cam/sdl_sink.h index 6c19c663..18ec7fbe 100644 --- a/src/cam/sdl_sink.h +++ b/src/apps/cam/sdl_sink.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Ideas on Board Oy * - * sdl_sink.h - SDL Sink + * SDL Sink */ #pragma once diff --git a/src/cam/sdl_texture.cpp b/src/apps/cam/sdl_texture.cpp index 2ca2add2..e52c4a3a 100644 --- a/src/cam/sdl_texture.cpp +++ b/src/apps/cam/sdl_texture.cpp @@ -2,16 +2,16 @@ /* * Copyright (C) 2022, Ideas on Board Oy * - * sdl_texture.cpp - SDL Texture + * SDL Texture */ #include "sdl_texture.h" #include <iostream> -SDLTexture::SDLTexture(const SDL_Rect &rect, SDL_PixelFormatEnum pixelFormat, - const int pitch) - : ptr_(nullptr), rect_(rect), pixelFormat_(pixelFormat), pitch_(pitch) +SDLTexture::SDLTexture(const SDL_Rect &rect, uint32_t pixelFormat, + const int stride) + : ptr_(nullptr), rect_(rect), pixelFormat_(pixelFormat), stride_(stride) { } diff --git a/src/cam/sdl_texture.h b/src/apps/cam/sdl_texture.h index 90974798..990f83b6 100644 --- a/src/cam/sdl_texture.h +++ b/src/apps/cam/sdl_texture.h @@ -2,28 +2,29 @@ /* * Copyright (C) 2022, Ideas on Board Oy * - * sdl_texture.h - SDL Texture + * SDL Texture */ #pragma once +#include <vector> + #include <SDL2/SDL.h> -#include "image.h" +#include "../common/image.h" class SDLTexture { public: - SDLTexture(const SDL_Rect &rect, SDL_PixelFormatEnum pixelFormat, - const int pitch); + SDLTexture(const SDL_Rect &rect, uint32_t pixelFormat, const int stride); virtual ~SDLTexture(); int create(SDL_Renderer *renderer); - virtual void update(const libcamera::Span<uint8_t> &data) = 0; + virtual void update(const std::vector<libcamera::Span<const uint8_t>> &data) = 0; SDL_Texture *get() const { return ptr_; } protected: SDL_Texture *ptr_; const SDL_Rect rect_; - const SDL_PixelFormatEnum pixelFormat_; - const int pitch_; + const uint32_t pixelFormat_; + const int stride_; }; diff --git a/src/apps/cam/sdl_texture_mjpg.cpp b/src/apps/cam/sdl_texture_mjpg.cpp new file mode 100644 index 00000000..cace18fc --- /dev/null +++ b/src/apps/cam/sdl_texture_mjpg.cpp @@ -0,0 +1,83 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2022, Ideas on Board Oy + * + * SDL Texture MJPG + */ + +#include "sdl_texture_mjpg.h" + +#include <iostream> +#include <setjmp.h> +#include <stdio.h> + +#include <jpeglib.h> + +using namespace libcamera; + +struct JpegErrorManager : public jpeg_error_mgr { + JpegErrorManager() + { + jpeg_std_error(this); + error_exit = errorExit; + output_message = outputMessage; + } + + static void errorExit(j_common_ptr cinfo) + { + JpegErrorManager *self = + static_cast<JpegErrorManager *>(cinfo->err); + longjmp(self->escape_, 1); + } + + static void outputMessage([[maybe_unused]] j_common_ptr cinfo) + { + } + + jmp_buf escape_; +}; + +SDLTextureMJPG::SDLTextureMJPG(const SDL_Rect &rect) + : SDLTexture(rect, SDL_PIXELFORMAT_RGB24, rect.w * 3), + rgb_(std::make_unique<unsigned char[]>(stride_ * rect.h)) +{ +} + +int SDLTextureMJPG::decompress(Span<const uint8_t> data) +{ + struct jpeg_decompress_struct cinfo; + + JpegErrorManager errorManager; + if (setjmp(errorManager.escape_)) { + /* libjpeg found an error */ + jpeg_destroy_decompress(&cinfo); + std::cerr << "JPEG decompression error" << std::endl; + return -EINVAL; + } + + cinfo.err = &errorManager; + jpeg_create_decompress(&cinfo); + + jpeg_mem_src(&cinfo, data.data(), data.size()); + + jpeg_read_header(&cinfo, TRUE); + + jpeg_start_decompress(&cinfo); + + for (int i = 0; cinfo.output_scanline < cinfo.output_height; ++i) { + JSAMPROW rowptr = rgb_.get() + i * stride_; + jpeg_read_scanlines(&cinfo, &rowptr, 1); + } + + jpeg_finish_decompress(&cinfo); + + jpeg_destroy_decompress(&cinfo); + + return 0; +} + +void SDLTextureMJPG::update(const std::vector<libcamera::Span<const uint8_t>> &data) +{ + decompress(data[0]); + SDL_UpdateTexture(ptr_, nullptr, rgb_.get(), stride_); +} diff --git a/src/cam/sdl_texture_mjpg.h b/src/apps/cam/sdl_texture_mjpg.h index b103f801..37bed5f0 100644 --- a/src/cam/sdl_texture_mjpg.h +++ b/src/apps/cam/sdl_texture_mjpg.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Ideas on Board Oy * - * sdl_texture_mjpg.h - SDL Texture MJPG + * SDL Texture MJPG */ #pragma once @@ -13,5 +13,11 @@ class SDLTextureMJPG : public SDLTexture { public: SDLTextureMJPG(const SDL_Rect &rect); - void update(const libcamera::Span<uint8_t> &data) override; + + void update(const std::vector<libcamera::Span<const uint8_t>> &data) override; + +private: + int decompress(libcamera::Span<const uint8_t> data); + + std::unique_ptr<unsigned char[]> rgb_; }; diff --git a/src/apps/cam/sdl_texture_yuv.cpp b/src/apps/cam/sdl_texture_yuv.cpp new file mode 100644 index 00000000..480d7a37 --- /dev/null +++ b/src/apps/cam/sdl_texture_yuv.cpp @@ -0,0 +1,33 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2022, Ideas on Board Oy + * + * SDL YUV Textures + */ + +#include "sdl_texture_yuv.h" + +using namespace libcamera; + +#if SDL_VERSION_ATLEAST(2, 0, 16) +SDLTextureNV12::SDLTextureNV12(const SDL_Rect &rect, unsigned int stride) + : SDLTexture(rect, SDL_PIXELFORMAT_NV12, stride) +{ +} + +void SDLTextureNV12::update(const std::vector<libcamera::Span<const uint8_t>> &data) +{ + SDL_UpdateNVTexture(ptr_, &rect_, data[0].data(), stride_, + data[1].data(), stride_); +} +#endif + +SDLTextureYUYV::SDLTextureYUYV(const SDL_Rect &rect, unsigned int stride) + : SDLTexture(rect, SDL_PIXELFORMAT_YUY2, stride) +{ +} + +void SDLTextureYUYV::update(const std::vector<libcamera::Span<const uint8_t>> &data) +{ + SDL_UpdateTexture(ptr_, &rect_, data[0].data(), stride_); +} diff --git a/src/apps/cam/sdl_texture_yuv.h b/src/apps/cam/sdl_texture_yuv.h new file mode 100644 index 00000000..29c756e7 --- /dev/null +++ b/src/apps/cam/sdl_texture_yuv.h @@ -0,0 +1,26 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2022, Ideas on Board Oy + * + * SDL YUV Textures + */ + +#pragma once + +#include "sdl_texture.h" + +#if SDL_VERSION_ATLEAST(2, 0, 16) +class SDLTextureNV12 : public SDLTexture +{ +public: + SDLTextureNV12(const SDL_Rect &rect, unsigned int stride); + void update(const std::vector<libcamera::Span<const uint8_t>> &data) override; +}; +#endif + +class SDLTextureYUYV : public SDLTexture +{ +public: + SDLTextureYUYV(const SDL_Rect &rect, unsigned int stride); + void update(const std::vector<libcamera::Span<const uint8_t>> &data) override; +}; diff --git a/src/qcam/dng_writer.cpp b/src/apps/common/dng_writer.cpp index 34c8df5a..59f1fa23 100644 --- a/src/qcam/dng_writer.cpp +++ b/src/apps/common/dng_writer.cpp @@ -1,8 +1,8 @@ /* SPDX-License-Identifier: LGPL-2.1-or-later */ /* - * Copyright (C) 2020, Raspberry Pi (Trading) Ltd. + * Copyright (C) 2020, Raspberry Pi Ltd * - * dng_writer.cpp - DNG writer + * DNG writer */ #include "dng_writer.h" @@ -126,6 +126,14 @@ struct Matrix3d { float m[9]; }; +void packScanlineSBGGR8(void *output, const void *input, unsigned int width) +{ + const uint8_t *in = static_cast<const uint8_t *>(input); + uint8_t *out = static_cast<uint8_t *>(output); + + std::copy(in, in + width, out); +} + void packScanlineSBGGR10P(void *output, const void *input, unsigned int width) { const uint8_t *in = static_cast<const uint8_t *>(input); @@ -240,6 +248,7 @@ void thumbScanlineIPU3([[maybe_unused]] const FormatInfo &info, void *output, uint16_t val1, val2, val3, val4; switch (pixelInBlock % 4) { + default: case 0: val1 = (in[1] & 0x03) << 14 | (in[0] & 0xff) << 6; val2 = (in[2] & 0x0f) << 12 | (in[1] & 0xfc) << 4; @@ -274,6 +283,30 @@ void thumbScanlineIPU3([[maybe_unused]] const FormatInfo &info, void *output, } static const std::map<PixelFormat, FormatInfo> formatInfo = { + { formats::SBGGR8, { + .bitsPerSample = 8, + .pattern = { CFAPatternBlue, CFAPatternGreen, CFAPatternGreen, CFAPatternRed }, + .packScanline = packScanlineSBGGR8, + .thumbScanline = thumbScanlineSBGGRxxP, + } }, + { formats::SGBRG8, { + .bitsPerSample = 8, + .pattern = { CFAPatternGreen, CFAPatternBlue, CFAPatternRed, CFAPatternGreen }, + .packScanline = packScanlineSBGGR8, + .thumbScanline = thumbScanlineSBGGRxxP, + } }, + { formats::SGRBG8, { + .bitsPerSample = 8, + .pattern = { CFAPatternGreen, CFAPatternRed, CFAPatternBlue, CFAPatternGreen }, + .packScanline = packScanlineSBGGR8, + .thumbScanline = thumbScanlineSBGGRxxP, + } }, + { formats::SRGGB8, { + .bitsPerSample = 8, + .pattern = { CFAPatternRed, CFAPatternGreen, CFAPatternGreen, CFAPatternBlue }, + .packScanline = packScanlineSBGGR8, + .thumbScanline = thumbScanlineSBGGRxxP, + } }, { formats::SBGGR10_CSI2P, { .bitsPerSample = 10, .pattern = { CFAPatternBlue, CFAPatternGreen, CFAPatternGreen, CFAPatternRed }, @@ -391,9 +424,9 @@ int DNGWriter::write(const char *filename, const Camera *camera, TIFFSetField(tif, TIFFTAG_FILLORDER, FILLORDER_MSB2LSB); TIFFSetField(tif, TIFFTAG_MAKE, "libcamera"); - if (cameraProperties.contains(properties::Model)) { - std::string model = cameraProperties.get(properties::Model); - TIFFSetField(tif, TIFFTAG_MODEL, model.c_str()); + const auto &model = cameraProperties.get(properties::Model); + if (model) { + TIFFSetField(tif, TIFFTAG_MODEL, model->c_str()); /* \todo set TIFFTAG_UNIQUECAMERAMODEL. */ } @@ -437,17 +470,18 @@ int DNGWriter::write(const char *filename, const Camera *camera, */ const double eps = 1e-2; - if (metadata.contains(controls::ColourGains)) { - Span<const float> const &colourGains = metadata.get(controls::ColourGains); - if (colourGains[0] > eps && colourGains[1] > eps) { - wbGain = Matrix3d::diag(colourGains[0], 1, colourGains[1]); - neutral[0] = 1.0 / colourGains[0]; /* red */ - neutral[2] = 1.0 / colourGains[1]; /* blue */ + const auto &colourGains = metadata.get(controls::ColourGains); + if (colourGains) { + if ((*colourGains)[0] > eps && (*colourGains)[1] > eps) { + wbGain = Matrix3d::diag((*colourGains)[0], 1, (*colourGains)[1]); + neutral[0] = 1.0 / (*colourGains)[0]; /* red */ + neutral[2] = 1.0 / (*colourGains)[1]; /* blue */ } } - if (metadata.contains(controls::ColourCorrectionMatrix)) { - Span<const float> const &coeffs = metadata.get(controls::ColourCorrectionMatrix); - Matrix3d ccmSupplied(coeffs); + + const auto &ccmControl = metadata.get(controls::ColourCorrectionMatrix); + if (ccmControl) { + Matrix3d ccmSupplied(*ccmControl); if (ccmSupplied.determinant() > eps) ccm = ccmSupplied; } @@ -506,7 +540,10 @@ int DNGWriter::write(const char *filename, const Camera *camera, TIFFSetField(tif, TIFFTAG_PLANARCONFIG, PLANARCONFIG_CONTIG); TIFFSetField(tif, TIFFTAG_SAMPLEFORMAT, SAMPLEFORMAT_UINT); TIFFSetField(tif, TIFFTAG_CFAREPEATPATTERNDIM, cfaRepeatPatternDim); - TIFFSetField(tif, TIFFTAG_CFAPATTERN, info->pattern); + if (TIFFLIB_VERSION < 20201219) + TIFFSetField(tif, TIFFTAG_CFAPATTERN, info->pattern); + else + TIFFSetField(tif, TIFFTAG_CFAPATTERN, 4, info->pattern); TIFFSetField(tif, TIFFTAG_CFAPLANECOLOR, 3, cfaPlaneColor); TIFFSetField(tif, TIFFTAG_CFALAYOUT, 1); @@ -514,8 +551,9 @@ int DNGWriter::write(const char *filename, const Camera *camera, float blackLevel[] = { 0.0f, 0.0f, 0.0f, 0.0f }; uint32_t whiteLevel = (1 << info->bitsPerSample) - 1; - if (metadata.contains(controls::SensorBlackLevels)) { - Span<const int32_t> levels = metadata.get(controls::SensorBlackLevels); + const auto &blackLevels = metadata.get(controls::SensorBlackLevels); + if (blackLevels) { + Span<const int32_t, 4> levels = *blackLevels; /* * The black levels control is specified in R, Gr, Gb, B order. @@ -592,16 +630,15 @@ int DNGWriter::write(const char *filename, const Camera *camera, TIFFSetField(tif, EXIFTAG_DATETIMEORIGINAL, strTime); TIFFSetField(tif, EXIFTAG_DATETIMEDIGITIZED, strTime); - if (metadata.contains(controls::AnalogueGain)) { - float gain = metadata.get(controls::AnalogueGain); - uint16_t iso = std::min(std::max(gain * 100, 0.0f), 65535.0f); + const auto &analogGain = metadata.get(controls::AnalogueGain); + if (analogGain) { + uint16_t iso = std::min(std::max(*analogGain * 100, 0.0f), 65535.0f); TIFFSetField(tif, EXIFTAG_ISOSPEEDRATINGS, 1, &iso); } - if (metadata.contains(controls::ExposureTime)) { - float exposureTime = metadata.get(controls::ExposureTime) / 1e6; - TIFFSetField(tif, EXIFTAG_EXPOSURETIME, exposureTime); - } + const auto &exposureTime = metadata.get(controls::ExposureTime); + if (exposureTime) + TIFFSetField(tif, EXIFTAG_EXPOSURETIME, *exposureTime / 1e6); TIFFWriteCustomDirectory(tif, &exifIFDOffset); diff --git a/src/qcam/dng_writer.h b/src/apps/common/dng_writer.h index c044bf8b..917713e6 100644 --- a/src/qcam/dng_writer.h +++ b/src/apps/common/dng_writer.h @@ -1,8 +1,8 @@ /* SPDX-License-Identifier: LGPL-2.1-or-later */ /* - * Copyright (C) 2020, Raspberry Pi (Trading) Ltd. + * Copyright (C) 2020, Raspberry Pi Ltd * - * dng_writer.h - DNG writer + * DNG writer */ #pragma once diff --git a/src/cam/event_loop.cpp b/src/apps/common/event_loop.cpp index cb83845c..f7f9afa0 100644 --- a/src/cam/event_loop.cpp +++ b/src/apps/common/event_loop.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * event_loop.cpp - cam - Event loop + * cam - Event loop */ #include "event_loop.h" diff --git a/src/cam/event_loop.h b/src/apps/common/event_loop.h index ef79e8e5..ef129b9a 100644 --- a/src/cam/event_loop.h +++ b/src/apps/common/event_loop.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * event_loop.h - cam - Event loop + * cam - Event loop */ #pragma once diff --git a/src/cam/image.cpp b/src/apps/common/image.cpp index fe2cc6da..a2a0f58f 100644 --- a/src/cam/image.cpp +++ b/src/apps/common/image.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas on Board Oy * - * image.cpp - Multi-planar image with access to pixel data + * Multi-planar image with access to pixel data */ #include "image.h" diff --git a/src/cam/image.h b/src/apps/common/image.h index 7953b177..e47e446b 100644 --- a/src/cam/image.h +++ b/src/apps/common/image.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas on Board Oy * - * image.h - Multi-planar image with access to pixel data + * Multi-planar image with access to pixel data */ #pragma once diff --git a/src/apps/common/meson.build b/src/apps/common/meson.build new file mode 100644 index 00000000..5b683390 --- /dev/null +++ b/src/apps/common/meson.build @@ -0,0 +1,27 @@ +# SPDX-License-Identifier: CC0-1.0 + +apps_sources = files([ + 'image.cpp', + 'options.cpp', + 'ppm_writer.cpp', + 'stream_options.cpp', +]) + +apps_cpp_args = [] + +if libevent.found() + apps_sources += files([ + 'event_loop.cpp', + ]) +endif + +if libtiff.found() + apps_cpp_args += ['-DHAVE_TIFF'] + apps_sources += files([ + 'dng_writer.cpp', + ]) +endif + +apps_lib = static_library('apps', apps_sources, + cpp_args : apps_cpp_args, + dependencies : [libcamera_public]) diff --git a/src/cam/options.cpp b/src/apps/common/options.cpp index 4f7e8691..ab19aa3d 100644 --- a/src/cam/options.cpp +++ b/src/apps/common/options.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * options.cpp - cam - Options parsing + * cam - Options parsing */ #include <assert.h> diff --git a/src/cam/options.h b/src/apps/common/options.h index 4ddd4987..9771aa7a 100644 --- a/src/cam/options.h +++ b/src/apps/common/options.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * options.h - cam - Options parsing + * cam - Options parsing */ #pragma once diff --git a/src/apps/common/ppm_writer.cpp b/src/apps/common/ppm_writer.cpp new file mode 100644 index 00000000..d6c8641d --- /dev/null +++ b/src/apps/common/ppm_writer.cpp @@ -0,0 +1,53 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Red Hat, Inc. + * + * PPM writer + */ + +#include "ppm_writer.h" + +#include <fstream> +#include <iostream> + +#include <libcamera/formats.h> +#include <libcamera/pixel_format.h> + +using namespace libcamera; + +int PPMWriter::write(const char *filename, + const StreamConfiguration &config, + const Span<uint8_t> &data) +{ + if (config.pixelFormat != formats::BGR888) { + std::cerr << "Only BGR888 output pixel format is supported (" + << config.pixelFormat << " requested)" << std::endl; + return -EINVAL; + } + + std::ofstream output(filename, std::ios::binary); + if (!output) { + std::cerr << "Failed to open ppm file: " << filename << std::endl; + return -EINVAL; + } + + output << "P6" << std::endl + << config.size.width << " " << config.size.height << std::endl + << "255" << std::endl; + if (!output) { + std::cerr << "Failed to write the file header" << std::endl; + return -EINVAL; + } + + const unsigned int rowLength = config.size.width * 3; + const char *row = reinterpret_cast<const char *>(data.data()); + for (unsigned int y = 0; y < config.size.height; y++, row += config.stride) { + output.write(row, rowLength); + if (!output) { + std::cerr << "Failed to write image data at row " << y << std::endl; + return -EINVAL; + } + } + + return 0; +} diff --git a/src/apps/common/ppm_writer.h b/src/apps/common/ppm_writer.h new file mode 100644 index 00000000..8c8d2e15 --- /dev/null +++ b/src/apps/common/ppm_writer.h @@ -0,0 +1,20 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat, Inc. + * + * PPM writer + */ + +#pragma once + +#include <libcamera/base/span.h> + +#include <libcamera/stream.h> + +class PPMWriter +{ +public: + static int write(const char *filename, + const libcamera::StreamConfiguration &config, + const libcamera::Span<uint8_t> &data); +}; diff --git a/src/cam/stream_options.cpp b/src/apps/common/stream_options.cpp index 150bd27c..99239e07 100644 --- a/src/cam/stream_options.cpp +++ b/src/apps/common/stream_options.cpp @@ -1,13 +1,15 @@ /* SPDX-License-Identifier: GPL-2.0-or-later */ /* - * Copyright (C) 2020, Raspberry Pi (Trading) Ltd. + * Copyright (C) 2020, Raspberry Pi Ltd * - * stream_options.cpp - Helper to parse options for streams + * Helper to parse options for streams */ #include "stream_options.h" #include <iostream> +#include <libcamera/color_space.h> + using namespace libcamera; StreamKeyValueParser::StreamKeyValueParser() @@ -21,15 +23,15 @@ StreamKeyValueParser::StreamKeyValueParser() ArgumentRequired); addOption("pixelformat", OptionString, "Pixel format name", ArgumentRequired); + addOption("colorspace", OptionString, "Color space", + ArgumentRequired); } KeyValueParser::Options StreamKeyValueParser::parse(const char *arguments) { KeyValueParser::Options options = KeyValueParser::parse(arguments); - StreamRole role; - if (options.valid() && options.isSet("role") && - !parseRole(&role, options)) { + if (options.valid() && options.isSet("role") && !parseRole(options)) { std::cerr << "Unknown stream role " << options["role"].toString() << std::endl; options.invalidate(); @@ -38,7 +40,7 @@ KeyValueParser::Options StreamKeyValueParser::parse(const char *arguments) return options; } -StreamRoles StreamKeyValueParser::roles(const OptionValue &values) +std::vector<StreamRole> StreamKeyValueParser::roles(const OptionValue &values) { /* If no configuration values to examine default to viewfinder. */ if (values.empty()) @@ -46,15 +48,10 @@ StreamRoles StreamKeyValueParser::roles(const OptionValue &values) const std::vector<OptionValue> &streamParameters = values.toArray(); - StreamRoles roles; + std::vector<StreamRole> roles; for (auto const &value : streamParameters) { - StreamRole role; - - /* If role is invalid or not set default to viewfinder. */ - if (!parseRole(&role, value.toKeyValues())) - role = StreamRole::Viewfinder; - - roles.push_back(role); + /* If a role is invalid default it to viewfinder. */ + roles.push_back(parseRole(value.toKeyValues()).value_or(StreamRole::Viewfinder)); } return roles; @@ -96,32 +93,29 @@ int StreamKeyValueParser::updateConfiguration(CameraConfiguration *config, if (opts.isSet("pixelformat")) cfg.pixelFormat = PixelFormat::fromString(opts["pixelformat"].toString()); + + if (opts.isSet("colorspace")) + cfg.colorSpace = ColorSpace::fromString(opts["colorspace"].toString()); } return 0; } -bool StreamKeyValueParser::parseRole(StreamRole *role, - const KeyValueParser::Options &options) +std::optional<libcamera::StreamRole> StreamKeyValueParser::parseRole(const KeyValueParser::Options &options) { if (!options.isSet("role")) - return false; + return {}; std::string name = options["role"].toString(); - if (name == "viewfinder") { - *role = StreamRole::Viewfinder; - return true; - } else if (name == "video") { - *role = StreamRole::VideoRecording; - return true; - } else if (name == "still") { - *role = StreamRole::StillCapture; - return true; - } else if (name == "raw") { - *role = StreamRole::Raw; - return true; - } + if (name == "viewfinder") + return StreamRole::Viewfinder; + else if (name == "video") + return StreamRole::VideoRecording; + else if (name == "still") + return StreamRole::StillCapture; + else if (name == "raw") + return StreamRole::Raw; - return false; + return {}; } diff --git a/src/cam/stream_options.h b/src/apps/common/stream_options.h index d235b77f..a93f104c 100644 --- a/src/cam/stream_options.h +++ b/src/apps/common/stream_options.h @@ -1,12 +1,14 @@ /* SPDX-License-Identifier: GPL-2.0-or-later */ /* - * Copyright (C) 2020, Raspberry Pi (Trading) Ltd. + * Copyright (C) 2020, Raspberry Pi Ltd * - * stream_options.h - Helper to parse options for streams + * Helper to parse options for streams */ #pragma once +#include <optional> + #include <libcamera/camera.h> #include "options.h" @@ -18,11 +20,10 @@ public: KeyValueParser::Options parse(const char *arguments) override; - static libcamera::StreamRoles roles(const OptionValue &values); + static std::vector<libcamera::StreamRole> roles(const OptionValue &values); static int updateConfiguration(libcamera::CameraConfiguration *config, const OptionValue &values); private: - static bool parseRole(libcamera::StreamRole *role, - const KeyValueParser::Options &options); + static std::optional<libcamera::StreamRole> parseRole(const KeyValueParser::Options &options); }; diff --git a/src/apps/ipa-verify/main.cpp b/src/apps/ipa-verify/main.cpp new file mode 100644 index 00000000..0903cd85 --- /dev/null +++ b/src/apps/ipa-verify/main.cpp @@ -0,0 +1,64 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2023, Ideas on Board Oy + * + * Verify signature on an IPA module + */ + +#include <iostream> +#include <libgen.h> + +#include <libcamera/base/file.h> +#include <libcamera/base/span.h> + +#include "libcamera/internal/ipa_manager.h" +#include "libcamera/internal/ipa_module.h" + +using namespace libcamera; + +namespace { + +bool isSignatureValid(IPAModule *ipa) +{ + File file{ ipa->path() }; + if (!file.open(File::OpenModeFlag::ReadOnly)) + return false; + + Span<uint8_t> data = file.map(); + if (data.empty()) + return false; + + return IPAManager::pubKey().verify(data, ipa->signature()); +} + +void usage(char *argv0) +{ + std::cout << "Usage: " << basename(argv0) << " ipa_name.so" << std::endl; + std::cout << std::endl; + std::cout << "Verify the signature of an IPA module. The signature file ipa_name.so.sign is" << std::endl; + std::cout << "expected to be in the same directory as the IPA module." << std::endl; +} + +} /* namespace */ + +int main(int argc, char **argv) +{ + if (argc != 2) { + usage(argv[0]); + return EXIT_FAILURE; + } + + IPAModule module{ argv[1] }; + if (!module.isValid()) { + std::cout << "Invalid IPA module " << argv[1] << std::endl; + return EXIT_FAILURE; + } + + if (!isSignatureValid(&module)) { + std::cout << "IPA module signature is invalid" << std::endl; + return EXIT_FAILURE; + } + + std::cout << "IPA module signature is valid" << std::endl; + return 0; +} diff --git a/src/apps/ipa-verify/meson.build b/src/apps/ipa-verify/meson.build new file mode 100644 index 00000000..7fdda3b9 --- /dev/null +++ b/src/apps/ipa-verify/meson.build @@ -0,0 +1,15 @@ +# SPDX-License-Identifier: CC0-1.0 + +if not ipa_sign_module + subdir_done() +endif + +ipa_verify_sources = files([ + 'main.cpp', +]) + +ipa_verify = executable('ipa_verify', ipa_verify_sources, + dependencies : [ + libcamera_private, + ], + install : false) diff --git a/src/lc-compliance/environment.cpp b/src/apps/lc-compliance/environment.cpp index 5eb3775f..987264f1 100644 --- a/src/lc-compliance/environment.cpp +++ b/src/apps/lc-compliance/environment.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Collabora Ltd. * - * environment.cpp - Common environment for tests + * Common environment for tests */ #include "environment.h" diff --git a/src/lc-compliance/environment.h b/src/apps/lc-compliance/environment.h index 0debbcce..543e5372 100644 --- a/src/lc-compliance/environment.h +++ b/src/apps/lc-compliance/environment.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Collabora Ltd. * - * environment.h - Common environment for tests + * Common environment for tests */ #pragma once diff --git a/src/lc-compliance/simple_capture.cpp b/src/apps/lc-compliance/helpers/capture.cpp index ab5cb35c..90c1530b 100644 --- a/src/lc-compliance/simple_capture.cpp +++ b/src/apps/lc-compliance/helpers/capture.cpp @@ -2,27 +2,27 @@ /* * Copyright (C) 2020-2021, Google Inc. * - * simple_capture.cpp - Simple capture helper + * Simple capture helper */ -#include <gtest/gtest.h> +#include "capture.h" -#include "simple_capture.h" +#include <gtest/gtest.h> using namespace libcamera; -SimpleCapture::SimpleCapture(std::shared_ptr<Camera> camera) +Capture::Capture(std::shared_ptr<Camera> camera) : loop_(nullptr), camera_(camera), allocator_(std::make_unique<FrameBufferAllocator>(camera)) { } -SimpleCapture::~SimpleCapture() +Capture::~Capture() { stop(); } -void SimpleCapture::configure(StreamRole role) +void Capture::configure(StreamRole role) { config_ = camera_->generateConfiguration({ role }); @@ -42,7 +42,7 @@ void SimpleCapture::configure(StreamRole role) } } -void SimpleCapture::start() +void Capture::start() { Stream *stream = config_->at(0).stream(); int count = allocator_->allocate(stream); @@ -50,12 +50,12 @@ void SimpleCapture::start() ASSERT_GE(count, 0) << "Failed to allocate buffers"; EXPECT_EQ(count, config_->at(0).bufferCount) << "Allocated less buffers than expected"; - camera_->requestCompleted.connect(this, &SimpleCapture::requestComplete); + camera_->requestCompleted.connect(this, &Capture::requestComplete); ASSERT_EQ(camera_->start(), 0) << "Failed to start camera"; } -void SimpleCapture::stop() +void Capture::stop() { if (!config_ || !allocator_->allocated()) return; @@ -65,17 +65,18 @@ void SimpleCapture::stop() camera_->requestCompleted.disconnect(this); Stream *stream = config_->at(0).stream(); + requests_.clear(); allocator_->free(stream); } -/* SimpleCaptureBalanced */ +/* CaptureBalanced */ -SimpleCaptureBalanced::SimpleCaptureBalanced(std::shared_ptr<Camera> camera) - : SimpleCapture(camera) +CaptureBalanced::CaptureBalanced(std::shared_ptr<Camera> camera) + : Capture(camera) { } -void SimpleCaptureBalanced::capture(unsigned int numRequests) +void CaptureBalanced::capture(unsigned int numRequests) { start(); @@ -94,8 +95,7 @@ void SimpleCaptureBalanced::capture(unsigned int numRequests) captureCount_ = 0; captureLimit_ = numRequests; - /* Queue the recommended number of reqeuests. */ - std::vector<std::unique_ptr<libcamera::Request>> requests; + /* 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"; @@ -104,7 +104,7 @@ void SimpleCaptureBalanced::capture(unsigned int numRequests) ASSERT_EQ(queueRequest(request.get()), 0) << "Failed to queue request"; - requests.push_back(std::move(request)); + requests_.push_back(std::move(request)); } /* Run capture session. */ @@ -116,7 +116,7 @@ void SimpleCaptureBalanced::capture(unsigned int numRequests) ASSERT_EQ(captureCount_, captureLimit_); } -int SimpleCaptureBalanced::queueRequest(Request *request) +int CaptureBalanced::queueRequest(Request *request) { queueCount_++; if (queueCount_ > captureLimit_) @@ -125,8 +125,11 @@ int SimpleCaptureBalanced::queueRequest(Request *request) return camera_->queueRequest(request); } -void SimpleCaptureBalanced::requestComplete(Request *request) +void CaptureBalanced::requestComplete(Request *request) { + EXPECT_EQ(request->status(), Request::Status::RequestComplete) + << "Request didn't complete successfully"; + captureCount_++; if (captureCount_ >= captureLimit_) { loop_->exit(0); @@ -138,14 +141,14 @@ void SimpleCaptureBalanced::requestComplete(Request *request) loop_->exit(-EINVAL); } -/* SimpleCaptureUnbalanced */ +/* CaptureUnbalanced */ -SimpleCaptureUnbalanced::SimpleCaptureUnbalanced(std::shared_ptr<Camera> camera) - : SimpleCapture(camera) +CaptureUnbalanced::CaptureUnbalanced(std::shared_ptr<Camera> camera) + : Capture(camera) { } -void SimpleCaptureUnbalanced::capture(unsigned int numRequests) +void CaptureUnbalanced::capture(unsigned int numRequests) { start(); @@ -155,8 +158,7 @@ void SimpleCaptureUnbalanced::capture(unsigned int numRequests) captureCount_ = 0; captureLimit_ = numRequests; - /* Queue the recommended number of reqeuests. */ - std::vector<std::unique_ptr<libcamera::Request>> requests; + /* 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"; @@ -165,7 +167,7 @@ void SimpleCaptureUnbalanced::capture(unsigned int numRequests) ASSERT_EQ(camera_->queueRequest(request.get()), 0) << "Failed to queue request"; - requests.push_back(std::move(request)); + requests_.push_back(std::move(request)); } /* Run capture session. */ @@ -177,7 +179,7 @@ void SimpleCaptureUnbalanced::capture(unsigned int numRequests) ASSERT_EQ(status, 0); } -void SimpleCaptureUnbalanced::requestComplete(Request *request) +void CaptureUnbalanced::requestComplete(Request *request) { captureCount_++; if (captureCount_ >= captureLimit_) { @@ -185,6 +187,9 @@ void SimpleCaptureUnbalanced::requestComplete(Request *request) return; } + EXPECT_EQ(request->status(), Request::Status::RequestComplete) + << "Request didn't complete successfully"; + request->reuse(Request::ReuseBuffers); if (camera_->queueRequest(request)) loop_->exit(-EINVAL); diff --git a/src/lc-compliance/simple_capture.h b/src/apps/lc-compliance/helpers/capture.h index 9d31f7cb..19b6927c 100644 --- a/src/lc-compliance/simple_capture.h +++ b/src/apps/lc-compliance/helpers/capture.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2020-2021, Google Inc. * - * simple_capture.h - Simple capture helper + * Simple capture helper */ #pragma once @@ -11,16 +11,16 @@ #include <libcamera/libcamera.h> -#include "../cam/event_loop.h" +#include "../common/event_loop.h" -class SimpleCapture +class Capture { public: void configure(libcamera::StreamRole role); protected: - SimpleCapture(std::shared_ptr<libcamera::Camera> camera); - virtual ~SimpleCapture(); + Capture(std::shared_ptr<libcamera::Camera> camera); + virtual ~Capture(); void start(); void stop(); @@ -32,12 +32,13 @@ protected: std::shared_ptr<libcamera::Camera> camera_; std::unique_ptr<libcamera::FrameBufferAllocator> allocator_; std::unique_ptr<libcamera::CameraConfiguration> config_; + std::vector<std::unique_ptr<libcamera::Request>> requests_; }; -class SimpleCaptureBalanced : public SimpleCapture +class CaptureBalanced : public Capture { public: - SimpleCaptureBalanced(std::shared_ptr<libcamera::Camera> camera); + CaptureBalanced(std::shared_ptr<libcamera::Camera> camera); void capture(unsigned int numRequests); @@ -50,10 +51,10 @@ private: unsigned int captureLimit_; }; -class SimpleCaptureUnbalanced : public SimpleCapture +class CaptureUnbalanced : public Capture { public: - SimpleCaptureUnbalanced(std::shared_ptr<libcamera::Camera> camera); + CaptureUnbalanced(std::shared_ptr<libcamera::Camera> camera); void capture(unsigned int numRequests); diff --git a/src/lc-compliance/main.cpp b/src/apps/lc-compliance/main.cpp index 7eb52ae4..3f1d2a61 100644 --- a/src/lc-compliance/main.cpp +++ b/src/apps/lc-compliance/main.cpp @@ -3,7 +3,7 @@ * Copyright (C) 2020, Google Inc. * Copyright (C) 2021, Collabora Ltd. * - * main.cpp - lc-compliance - The libcamera compliance tool + * lc-compliance - The libcamera compliance tool */ #include <iomanip> @@ -14,8 +14,9 @@ #include <libcamera/libcamera.h> +#include "../common/options.h" + #include "environment.h" -#include "../cam/options.h" using namespace libcamera; diff --git a/src/lc-compliance/meson.build b/src/apps/lc-compliance/meson.build index 8b57474b..b1f605f3 100644 --- a/src/lc-compliance/meson.build +++ b/src/apps/lc-compliance/meson.build @@ -1,10 +1,10 @@ # SPDX-License-Identifier: CC0-1.0 -libevent = dependency('libevent_pthreads', required : get_option('lc-compliance')) -libgtest = dependency('gtest', required : get_option('lc-compliance'), +libgtest = dependency('gtest', version : '>=1.10.0', + required : get_option('lc-compliance'), fallback : ['gtest', 'gtest_dep']) -if not (libevent.found() and libgtest.found()) +if opt_lc_compliance.disabled() or not libevent.found() or not libgtest.found() lc_compliance_enabled = false subdir_done() endif @@ -12,20 +12,26 @@ endif lc_compliance_enabled = true lc_compliance_sources = files([ - '../cam/event_loop.cpp', - '../cam/options.cpp', 'environment.cpp', + 'helpers/capture.cpp', 'main.cpp', - 'simple_capture.cpp', - 'capture_test.cpp', + 'tests/capture_test.cpp', +]) + +lc_compliance_includes = ([ + include_directories('.'), + include_directories('helpers/') ]) lc_compliance = executable('lc-compliance', lc_compliance_sources, cpp_args : [ '-fexceptions' ], + link_with : apps_lib, dependencies : [ libatomic, libcamera_public, libevent, libgtest, ], - install : true) + include_directories : lc_compliance_includes, + install : true, + install_tag : 'bin-devel') diff --git a/src/lc-compliance/capture_test.cpp b/src/apps/lc-compliance/tests/capture_test.cpp index 52578207..ad3a1da2 100644 --- a/src/lc-compliance/capture_test.cpp +++ b/src/apps/lc-compliance/tests/capture_test.cpp @@ -3,20 +3,26 @@ * Copyright (C) 2020, Google Inc. * Copyright (C) 2021, Collabora Ltd. * - * capture_test.cpp - Test camera capture + * Test camera capture */ +#include "capture.h" + #include <iostream> #include <gtest/gtest.h> #include "environment.h" -#include "simple_capture.h" using namespace libcamera; const std::vector<int> NUMREQUESTS = { 1, 2, 3, 5, 8, 13, 21, 34, 55, 89 }; -const std::vector<StreamRole> ROLES = { Raw, StillCapture, VideoRecording, Viewfinder }; +const std::vector<StreamRole> ROLES = { + StreamRole::Raw, + StreamRole::StillCapture, + StreamRole::VideoRecording, + StreamRole::Viewfinder +}; class SingleStream : public testing::TestWithParam<std::tuple<StreamRole, int>> { @@ -54,10 +60,12 @@ void SingleStream::TearDown() std::string SingleStream::nameParameters(const testing::TestParamInfo<SingleStream::ParamType> &info) { - std::map<StreamRole, std::string> rolesMap = { { Raw, "Raw" }, - { StillCapture, "StillCapture" }, - { VideoRecording, "VideoRecording" }, - { Viewfinder, "Viewfinder" } }; + std::map<StreamRole, std::string> rolesMap = { + { StreamRole::Raw, "Raw" }, + { StreamRole::StillCapture, "StillCapture" }, + { StreamRole::VideoRecording, "VideoRecording" }, + { StreamRole::Viewfinder, "Viewfinder" } + }; std::string roleName = rolesMap[std::get<0>(info.param)]; std::string numRequestsName = std::to_string(std::get<1>(info.param)); @@ -76,7 +84,7 @@ TEST_P(SingleStream, Capture) { auto [role, numRequests] = GetParam(); - SimpleCaptureBalanced capture(camera_); + CaptureBalanced capture(camera_); capture.configure(role); @@ -95,7 +103,7 @@ TEST_P(SingleStream, CaptureStartStop) auto [role, numRequests] = GetParam(); unsigned int numRepeats = 3; - SimpleCaptureBalanced capture(camera_); + CaptureBalanced capture(camera_); capture.configure(role); @@ -114,7 +122,7 @@ TEST_P(SingleStream, UnbalancedStop) { auto [role, numRequests] = GetParam(); - SimpleCaptureUnbalanced capture(camera_); + CaptureUnbalanced capture(camera_); capture.configure(role); diff --git a/src/apps/meson.build b/src/apps/meson.build new file mode 100644 index 00000000..af632b9a --- /dev/null +++ b/src/apps/meson.build @@ -0,0 +1,22 @@ +# SPDX-License-Identifier: CC0-1.0 + +opt_cam = get_option('cam') +opt_lc_compliance = get_option('lc-compliance') + +# libevent is needed by cam and lc-compliance. As they are both feature options, +# they can't be combined with simple boolean logic. +libevent = dependency('libevent_pthreads', required : opt_cam) +if not libevent.found() + libevent = dependency('libevent_pthreads', required : opt_lc_compliance) +endif + +libtiff = dependency('libtiff-4', required : false) + +subdir('common') + +subdir('lc-compliance') + +subdir('cam') +subdir('qcam') + +subdir('ipa-verify') diff --git a/src/qcam/assets/feathericons/activity.svg b/src/apps/qcam/assets/feathericons/activity.svg index 669a57a7..669a57a7 100644 --- a/src/qcam/assets/feathericons/activity.svg +++ b/src/apps/qcam/assets/feathericons/activity.svg diff --git a/src/qcam/assets/feathericons/airplay.svg b/src/apps/qcam/assets/feathericons/airplay.svg index 7ce73022..7ce73022 100644 --- a/src/qcam/assets/feathericons/airplay.svg +++ b/src/apps/qcam/assets/feathericons/airplay.svg diff --git a/src/qcam/assets/feathericons/alert-circle.svg b/src/apps/qcam/assets/feathericons/alert-circle.svg 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b/src/apps/qcam/assets/feathericons/youtube.svg index c4824385..c4824385 100644 --- a/src/qcam/assets/feathericons/youtube.svg +++ b/src/apps/qcam/assets/feathericons/youtube.svg diff --git a/src/qcam/assets/feathericons/zap-off.svg b/src/apps/qcam/assets/feathericons/zap-off.svg index c636f8bb..c636f8bb 100644 --- a/src/qcam/assets/feathericons/zap-off.svg +++ b/src/apps/qcam/assets/feathericons/zap-off.svg diff --git a/src/qcam/assets/feathericons/zap.svg b/src/apps/qcam/assets/feathericons/zap.svg index 8fdafa93..8fdafa93 100644 --- a/src/qcam/assets/feathericons/zap.svg +++ b/src/apps/qcam/assets/feathericons/zap.svg diff --git a/src/qcam/assets/feathericons/zoom-in.svg b/src/apps/qcam/assets/feathericons/zoom-in.svg index da4572d2..da4572d2 100644 --- a/src/qcam/assets/feathericons/zoom-in.svg +++ b/src/apps/qcam/assets/feathericons/zoom-in.svg diff --git a/src/qcam/assets/feathericons/zoom-out.svg b/src/apps/qcam/assets/feathericons/zoom-out.svg index fd678d72..fd678d72 100644 --- a/src/qcam/assets/feathericons/zoom-out.svg +++ b/src/apps/qcam/assets/feathericons/zoom-out.svg diff --git a/src/qcam/assets/shader/RGB.frag b/src/apps/qcam/assets/shader/RGB.frag index 4c374ac9..4c374ac9 100644 --- a/src/qcam/assets/shader/RGB.frag +++ b/src/apps/qcam/assets/shader/RGB.frag diff --git a/src/qcam/assets/shader/YUV_2_planes.frag b/src/apps/qcam/assets/shader/YUV_2_planes.frag index 254463c0..1d5d1206 100644 --- a/src/qcam/assets/shader/YUV_2_planes.frag +++ b/src/apps/qcam/assets/shader/YUV_2_planes.frag @@ -13,27 +13,30 @@ varying vec2 textureOut; uniform sampler2D tex_y; uniform sampler2D tex_u; +const mat3 yuv2rgb_matrix = mat3( + YUV2RGB_MATRIX +); + +const vec3 yuv2rgb_offset = vec3( + YUV2RGB_Y_OFFSET / 255.0, 128.0 / 255.0, 128.0 / 255.0 +); + void main(void) { vec3 yuv; - vec3 rgb; - mat3 yuv2rgb_bt601_mat = mat3( - vec3(1.164, 1.164, 1.164), - vec3(0.000, -0.392, 2.017), - vec3(1.596, -0.813, 0.000) - ); - - yuv.x = texture2D(tex_y, textureOut).r - 0.063; + + yuv.x = texture2D(tex_y, textureOut).r; #if defined(YUV_PATTERN_UV) - yuv.y = texture2D(tex_u, textureOut).r - 0.500; - yuv.z = texture2D(tex_u, textureOut).a - 0.500; + yuv.y = texture2D(tex_u, textureOut).r; + yuv.z = texture2D(tex_u, textureOut).a; #elif defined(YUV_PATTERN_VU) - yuv.y = texture2D(tex_u, textureOut).a - 0.500; - yuv.z = texture2D(tex_u, textureOut).r - 0.500; + yuv.y = texture2D(tex_u, textureOut).a; + yuv.z = texture2D(tex_u, textureOut).r; #else #error Invalid pattern #endif - rgb = yuv2rgb_bt601_mat * yuv; + vec3 rgb = yuv2rgb_matrix * (yuv - yuv2rgb_offset); + gl_FragColor = vec4(rgb, 1.0); } diff --git a/src/qcam/assets/shader/YUV_3_planes.frag b/src/apps/qcam/assets/shader/YUV_3_planes.frag index 2be74b5d..8f788e90 100644 --- a/src/qcam/assets/shader/YUV_3_planes.frag +++ b/src/apps/qcam/assets/shader/YUV_3_planes.frag @@ -14,20 +14,23 @@ uniform sampler2D tex_y; uniform sampler2D tex_u; uniform sampler2D tex_v; +const mat3 yuv2rgb_matrix = mat3( + YUV2RGB_MATRIX +); + +const vec3 yuv2rgb_offset = vec3( + YUV2RGB_Y_OFFSET / 255.0, 128.0 / 255.0, 128.0 / 255.0 +); + void main(void) { vec3 yuv; - vec3 rgb; - mat3 yuv2rgb_bt601_mat = mat3( - vec3(1.164, 1.164, 1.164), - vec3(0.000, -0.392, 2.017), - vec3(1.596, -0.813, 0.000) - ); - - yuv.x = texture2D(tex_y, textureOut).r - 0.063; - yuv.y = texture2D(tex_u, textureOut).r - 0.500; - yuv.z = texture2D(tex_v, textureOut).r - 0.500; - - rgb = yuv2rgb_bt601_mat * yuv; + + yuv.x = texture2D(tex_y, textureOut).r; + yuv.y = texture2D(tex_u, textureOut).r; + yuv.z = texture2D(tex_v, textureOut).r; + + vec3 rgb = yuv2rgb_matrix * (yuv - yuv2rgb_offset); + gl_FragColor = vec4(rgb, 1.0); } diff --git a/src/qcam/assets/shader/YUV_packed.frag b/src/apps/qcam/assets/shader/YUV_packed.frag index d6efd4ce..b9ef9d41 100644 --- a/src/qcam/assets/shader/YUV_packed.frag +++ b/src/apps/qcam/assets/shader/YUV_packed.frag @@ -14,15 +14,16 @@ varying vec2 textureOut; uniform sampler2D tex_y; uniform vec2 tex_step; +const mat3 yuv2rgb_matrix = mat3( + YUV2RGB_MATRIX +); + +const vec3 yuv2rgb_offset = vec3( + YUV2RGB_Y_OFFSET / 255.0, 128.0 / 255.0, 128.0 / 255.0 +); + void main(void) { - mat3 yuv2rgb_bt601_mat = mat3( - vec3(1.164, 1.164, 1.164), - vec3(0.000, -0.392, 2.017), - vec3(1.596, -0.813, 0.000) - ); - vec3 yuv2rgb_bt601_offset = vec3(0.063, 0.500, 0.500); - /* * The sampler won't interpolate the texture correctly along the X axis, * as each RGBA pixel effectively stores two pixels. We thus need to @@ -76,7 +77,7 @@ void main(void) float y = mix(y_left, y_right, step(0.5, f_x)); - vec3 rgb = yuv2rgb_bt601_mat * (vec3(y, uv) - yuv2rgb_bt601_offset); + vec3 rgb = yuv2rgb_matrix * (vec3(y, uv) - yuv2rgb_offset); gl_FragColor = vec4(rgb, 1.0); } diff --git a/src/qcam/assets/shader/bayer_1x_packed.frag b/src/apps/qcam/assets/shader/bayer_1x_packed.frag index f53f5575..f53f5575 100644 --- a/src/qcam/assets/shader/bayer_1x_packed.frag +++ b/src/apps/qcam/assets/shader/bayer_1x_packed.frag diff --git a/src/qcam/assets/shader/bayer_8.frag b/src/apps/qcam/assets/shader/bayer_8.frag index 4ece44ab..7e35ca88 100644 --- a/src/qcam/assets/shader/bayer_8.frag +++ b/src/apps/qcam/assets/shader/bayer_8.frag @@ -15,6 +15,9 @@ Copyright (C) 2021, Linaro */ //Pixel Shader +#ifdef GL_ES +precision mediump float; +#endif /** Monochrome RGBA or GL_LUMINANCE Bayer encoded texture.*/ uniform sampler2D tex_y; diff --git a/src/qcam/assets/shader/bayer_8.vert b/src/apps/qcam/assets/shader/bayer_8.vert index 3695a5e9..3695a5e9 100644 --- a/src/qcam/assets/shader/bayer_8.vert +++ b/src/apps/qcam/assets/shader/bayer_8.vert diff --git a/src/qcam/assets/shader/identity.vert b/src/apps/qcam/assets/shader/identity.vert index 12c41377..12c41377 100644 --- a/src/qcam/assets/shader/identity.vert +++ b/src/apps/qcam/assets/shader/identity.vert diff --git a/src/qcam/assets/shader/shaders.qrc b/src/apps/qcam/assets/shader/shaders.qrc index 96c709f9..96c709f9 100644 --- a/src/qcam/assets/shader/shaders.qrc +++ b/src/apps/qcam/assets/shader/shaders.qrc diff --git a/src/apps/qcam/cam_select_dialog.cpp b/src/apps/qcam/cam_select_dialog.cpp new file mode 100644 index 00000000..c51f5974 --- /dev/null +++ b/src/apps/qcam/cam_select_dialog.cpp @@ -0,0 +1,111 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2022, Utkarsh Tiwari <utkarsh02t@gmail.com> + * + * qcam - Camera Selection dialog + */ + +#include "cam_select_dialog.h" + +#include <memory> + +#include <libcamera/camera.h> +#include <libcamera/camera_manager.h> + +#include <QComboBox> +#include <QDialogButtonBox> +#include <QFormLayout> +#include <QLabel> +#include <QString> + +CameraSelectorDialog::CameraSelectorDialog(libcamera::CameraManager *cameraManager, + QWidget *parent) + : QDialog(parent), cm_(cameraManager) +{ + /* Use a QFormLayout for the dialog. */ + QFormLayout *layout = new QFormLayout(this); + + /* Setup the camera id combo-box. */ + cameraIdComboBox_ = new QComboBox; + for (const auto &cam : cm_->cameras()) + cameraIdComboBox_->addItem(QString::fromStdString(cam->id())); + + /* Set camera information labels. */ + cameraLocation_ = new QLabel; + cameraModel_ = new QLabel; + + updateCameraInfo(cameraIdComboBox_->currentText()); + connect(cameraIdComboBox_, &QComboBox::currentTextChanged, + this, &CameraSelectorDialog::updateCameraInfo); + + /* Setup the QDialogButton Box */ + QDialogButtonBox *buttonBox = + new QDialogButtonBox(QDialogButtonBox::Ok | + QDialogButtonBox::Cancel); + + connect(buttonBox, &QDialogButtonBox::accepted, + this, &QDialog::accept); + connect(buttonBox, &QDialogButtonBox::rejected, + this, &QDialog::reject); + + /* Set the layout. */ + layout->addRow("Camera:", cameraIdComboBox_); + layout->addRow("Location:", cameraLocation_); + layout->addRow("Model:", cameraModel_); + layout->addWidget(buttonBox); +} + +CameraSelectorDialog::~CameraSelectorDialog() = default; + +std::string CameraSelectorDialog::getCameraId() +{ + return cameraIdComboBox_->currentText().toStdString(); +} + +/* Hotplug / Unplug Support. */ +void CameraSelectorDialog::addCamera(QString cameraId) +{ + cameraIdComboBox_->addItem(cameraId); +} + +void CameraSelectorDialog::removeCamera(QString cameraId) +{ + int cameraIndex = cameraIdComboBox_->findText(cameraId); + cameraIdComboBox_->removeItem(cameraIndex); +} + +/* Camera Information */ +void CameraSelectorDialog::updateCameraInfo(QString cameraId) +{ + const std::shared_ptr<libcamera::Camera> &camera = + cm_->get(cameraId.toStdString()); + + if (!camera) + return; + + const libcamera::ControlList &properties = camera->properties(); + + const auto &location = properties.get(libcamera::properties::Location); + if (location) { + switch (*location) { + case libcamera::properties::CameraLocationFront: + cameraLocation_->setText("Internal front camera"); + break; + case libcamera::properties::CameraLocationBack: + cameraLocation_->setText("Internal back camera"); + break; + case libcamera::properties::CameraLocationExternal: + cameraLocation_->setText("External camera"); + break; + default: + cameraLocation_->setText("Unknown"); + } + } else { + cameraLocation_->setText("Unknown"); + } + + const auto &model = properties.get(libcamera::properties::Model) + .value_or("Unknown"); + + cameraModel_->setText(QString::fromStdString(model)); +} diff --git a/src/apps/qcam/cam_select_dialog.h b/src/apps/qcam/cam_select_dialog.h new file mode 100644 index 00000000..4bec9ea9 --- /dev/null +++ b/src/apps/qcam/cam_select_dialog.h @@ -0,0 +1,47 @@ +/* SPDX-License-Identifier: GPL-2.0-or-later */ +/* + * Copyright (C) 2022, Utkarsh Tiwari <utkarsh02t@gmail.com> + * + * qcam - Camera Selection dialog + */ + +#pragma once + +#include <string> + +#include <libcamera/camera.h> +#include <libcamera/camera_manager.h> +#include <libcamera/controls.h> +#include <libcamera/property_ids.h> + +#include <QDialog> +#include <QString> + +class QComboBox; +class QLabel; + +class CameraSelectorDialog : public QDialog +{ + Q_OBJECT +public: + CameraSelectorDialog(libcamera::CameraManager *cameraManager, + QWidget *parent); + ~CameraSelectorDialog(); + + std::string getCameraId(); + + /* Hotplug / Unplug Support. */ + void addCamera(QString cameraId); + void removeCamera(QString cameraId); + + /* Camera Information */ + void updateCameraInfo(QString cameraId); + +private: + libcamera::CameraManager *cm_; + + /* UI elements. */ + QComboBox *cameraIdComboBox_; + QLabel *cameraLocation_; + QLabel *cameraModel_; +}; diff --git a/src/qcam/format_converter.cpp b/src/apps/qcam/format_converter.cpp index d4d3223b..32123493 100644 --- a/src/qcam/format_converter.cpp +++ b/src/apps/qcam/format_converter.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * format_convert.cpp - qcam - Convert buffer to RGB + * Convert buffer to RGB */ #include "format_converter.h" @@ -14,7 +14,7 @@ #include <libcamera/formats.h> -#include "../cam/image.h" +#include "../common/image.h" #define RGBSHIFT 8 #ifndef MAX @@ -93,6 +93,7 @@ int FormatConverter::configure(const libcamera::PixelFormat &format, bpp_ = 3; break; case libcamera::formats::ARGB8888: + case libcamera::formats::XRGB8888: formatFamily_ = RGB; r_pos_ = 2; g_pos_ = 1; @@ -100,6 +101,7 @@ int FormatConverter::configure(const libcamera::PixelFormat &format, bpp_ = 4; break; case libcamera::formats::RGBA8888: + case libcamera::formats::RGBX8888: formatFamily_ = RGB; r_pos_ = 3; g_pos_ = 2; @@ -107,6 +109,7 @@ int FormatConverter::configure(const libcamera::PixelFormat &format, bpp_ = 4; break; case libcamera::formats::ABGR8888: + case libcamera::formats::XBGR8888: formatFamily_ = RGB; r_pos_ = 0; g_pos_ = 1; @@ -114,6 +117,7 @@ int FormatConverter::configure(const libcamera::PixelFormat &format, bpp_ = 4; break; case libcamera::formats::BGRA8888: + case libcamera::formats::BGRX8888: formatFamily_ = RGB; r_pos_ = 1; g_pos_ = 2; diff --git a/src/qcam/format_converter.h b/src/apps/qcam/format_converter.h index 37dbfae2..819a87a5 100644 --- a/src/qcam/format_converter.h +++ b/src/apps/qcam/format_converter.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * format_convert.h - qcam - Convert buffer to RGB + * Convert buffer to RGB */ #pragma once diff --git a/src/qcam/main.cpp b/src/apps/qcam/main.cpp index d3f01a85..9846fba5 100644 --- a/src/qcam/main.cpp +++ b/src/apps/qcam/main.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * main.cpp - qcam - The libcamera GUI test application + * qcam - The libcamera GUI test application */ #include <signal.h> @@ -13,8 +13,9 @@ #include <libcamera/camera_manager.h> -#include "../cam/options.h" -#include "../cam/stream_options.h" +#include "../common/options.h" +#include "../common/stream_options.h" + #include "main_window.h" #include "message_handler.h" diff --git a/src/qcam/main_window.cpp b/src/apps/qcam/main_window.cpp index dd0e51f5..d515beed 100644 --- a/src/qcam/main_window.cpp +++ b/src/apps/qcam/main_window.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * main_window.cpp - qcam - Main application window + * qcam - Main application window */ #include "main_window.h" @@ -14,12 +14,10 @@ #include <libcamera/camera_manager.h> #include <libcamera/version.h> -#include <QComboBox> #include <QCoreApplication> #include <QFileDialog> #include <QImage> #include <QImageWriter> -#include <QInputDialog> #include <QMutexLocker> #include <QStandardPaths> #include <QStringList> @@ -28,8 +26,10 @@ #include <QToolButton> #include <QtDebug> -#include "../cam/image.h" -#include "dng_writer.h" +#include "../common/dng_writer.h" +#include "../common/image.h" + +#include "cam_select_dialog.h" #ifndef QT_NO_OPENGL #include "viewfinder_gl.h" #endif @@ -119,14 +119,14 @@ MainWindow::MainWindow(CameraManager *cm, const OptionsParser::Options &options) if (renderType == "qt") { ViewFinderQt *viewfinder = new ViewFinderQt(this); connect(viewfinder, &ViewFinderQt::renderComplete, - this, &MainWindow::queueRequest); + this, &MainWindow::renderComplete); viewfinder_ = viewfinder; setCentralWidget(viewfinder); #ifndef QT_NO_OPENGL } else if (renderType == "gles") { ViewFinderGL *viewfinder = new ViewFinderGL(this); connect(viewfinder, &ViewFinderGL::renderComplete, - this, &MainWindow::queueRequest); + this, &MainWindow::renderComplete); viewfinder_ = viewfinder; setCentralWidget(viewfinder); #endif @@ -143,6 +143,8 @@ MainWindow::MainWindow(CameraManager *cm, const OptionsParser::Options &options) cm_->cameraAdded.connect(this, &MainWindow::addCamera); cm_->cameraRemoved.connect(this, &MainWindow::removeCamera); + cameraSelectorDialog_ = new CameraSelectorDialog(cm_, this); + /* Open the camera and start capture. */ ret = openCamera(); if (ret < 0) { @@ -188,18 +190,15 @@ int MainWindow::createToolbars() action = toolbar_->addAction(QIcon::fromTheme("application-exit", QIcon(":x-circle.svg")), "Quit"); - action->setShortcut(Qt::CTRL | Qt::Key_Q); + action->setShortcut(QKeySequence::Quit); connect(action, &QAction::triggered, this, &MainWindow::quit); /* Camera selector. */ - cameraCombo_ = new QComboBox(); - connect(cameraCombo_, QOverload<int>::of(&QComboBox::activated), + cameraSelectButton_ = new QPushButton; + connect(cameraSelectButton_, &QPushButton::clicked, this, &MainWindow::switchCamera); - for (const std::shared_ptr<Camera> &cam : cm_->cameras()) - cameraCombo_->addItem(QString::fromStdString(cam->id())); - - toolbar_->addWidget(cameraCombo_); + toolbar_->addWidget(cameraSelectButton_); toolbar_->addSeparator(); @@ -259,14 +258,18 @@ void MainWindow::updateTitle() * Camera Selection */ -void MainWindow::switchCamera(int index) +void MainWindow::switchCamera() { /* Get and acquire the new camera. */ - const auto &cameras = cm_->cameras(); - if (static_cast<unsigned int>(index) >= cameras.size()) + std::string newCameraId = chooseCamera(); + + if (newCameraId.empty()) + return; + + if (camera_ && newCameraId == camera_->id()) return; - const std::shared_ptr<Camera> &cam = cameras[index]; + const std::shared_ptr<Camera> &cam = cm_->get(newCameraId); if (cam->acquire()) { qInfo() << "Failed to acquire camera" << cam->id().c_str(); @@ -281,32 +284,23 @@ void MainWindow::switchCamera(int index) */ startStopAction_->setChecked(false); - camera_->release(); + if (camera_) + camera_->release(); + camera_ = cam; startStopAction_->setChecked(true); + + /* Display the current cameraId in the toolbar .*/ + cameraSelectButton_->setText(QString::fromStdString(newCameraId)); } std::string MainWindow::chooseCamera() { - QStringList cameras; - bool result; - - /* If only one camera is available, use it automatically. */ - if (cm_->cameras().size() == 1) - return cm_->cameras()[0]->id(); - - /* Present a dialog box to pick a camera. */ - for (const std::shared_ptr<Camera> &cam : cm_->cameras()) - cameras.append(QString::fromStdString(cam->id())); - - QString id = QInputDialog::getItem(this, "Select Camera", - "Camera:", cameras, 0, - false, &result); - if (!result) + if (cameraSelectorDialog_->exec() != QDialog::Accepted) return std::string(); - return id.toStdString(); + return cameraSelectorDialog_->getCameraId(); } int MainWindow::openCamera() @@ -338,8 +332,8 @@ int MainWindow::openCamera() return -EBUSY; } - /* Set the combo-box entry with the currently selected Camera. */ - cameraCombo_->setCurrentText(QString::fromStdString(cameraName)); + /* Set the camera switch button with the currently selected Camera id. */ + cameraSelectButton_->setText(QString::fromStdString(cameraName)); return 0; } @@ -368,7 +362,7 @@ void MainWindow::toggleCapture(bool start) */ int MainWindow::startCapture() { - StreamRoles roles = StreamKeyValueParser::roles(options_[OptStream]); + std::vector<StreamRole> roles = StreamKeyValueParser::roles(options_[OptStream]); int ret; /* Verify roles are supported. */ @@ -387,11 +381,8 @@ int MainWindow::startCapture() } break; default: - if (roles.size() != 1) { - qWarning() << "Unsupported stream configuration"; - return -EINVAL; - } - break; + qWarning() << "Unsupported stream configuration"; + return -EINVAL; } /* Configure the camera. */ @@ -446,9 +437,13 @@ int MainWindow::startCapture() else rawStream_ = nullptr; - /* Configure the viewfinder. */ + /* + * Configure the viewfinder. If no color space is reported, default to + * sYCC. + */ ret = viewfinder_->setFormat(vfConfig.pixelFormat, QSize(vfConfig.size.width, vfConfig.size.height), + vfConfig.colorSpace.value_or(ColorSpace::Sycc), vfConfig.stride); if (ret < 0) { qInfo() << "Failed to set viewfinder format"; @@ -521,7 +516,7 @@ int MainWindow::startCapture() /* Queue all requests. */ for (std::unique_ptr<Request> &request : requests_) { - ret = camera_->queueRequest(request.get()); + ret = queueRequest(request.get()); if (ret < 0) { qWarning() << "Can't queue request"; goto error_disconnect; @@ -601,21 +596,20 @@ void MainWindow::stopCapture() void MainWindow::processHotplug(HotplugEvent *e) { Camera *camera = e->camera(); + QString cameraId = QString::fromStdString(camera->id()); HotplugEvent::PlugEvent event = e->hotplugEvent(); if (event == HotplugEvent::HotPlug) { - cameraCombo_->addItem(QString::fromStdString(camera->id())); + cameraSelectorDialog_->addCamera(cameraId); } else if (event == HotplugEvent::HotUnplug) { /* Check if the currently-streaming camera is removed. */ if (camera == camera_.get()) { toggleCapture(false); camera_->release(); camera_.reset(); - cameraCombo_->setCurrentIndex(0); } - int camIndex = cameraCombo_->findText(QString::fromStdString(camera->id())); - cameraCombo_->removeItem(camIndex); + cameraSelectorDialog_->removeCamera(cameraId); } } @@ -755,7 +749,7 @@ void MainWindow::processViewfinder(FrameBuffer *buffer) viewfinder_->render(buffer, mappedBuffers_[buffer].get()); } -void MainWindow::queueRequest(FrameBuffer *buffer) +void MainWindow::renderComplete(FrameBuffer *buffer) { Request *request; { @@ -784,6 +778,10 @@ void MainWindow::queueRequest(FrameBuffer *buffer) qWarning() << "No free buffer available for RAW capture"; } } + queueRequest(request); +} - camera_->queueRequest(request); +int MainWindow::queueRequest(Request *request) +{ + return camera_->queueRequest(request); } diff --git a/src/qcam/main_window.h b/src/apps/qcam/main_window.h index 3fbe872c..4cead734 100644 --- a/src/qcam/main_window.h +++ b/src/apps/qcam/main_window.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * main_window.h - qcam - Main application window + * qcam - Main application window */ #pragma once @@ -10,28 +10,30 @@ #include <memory> #include <vector> +#include <libcamera/camera.h> +#include <libcamera/camera_manager.h> +#include <libcamera/controls.h> +#include <libcamera/framebuffer.h> +#include <libcamera/framebuffer_allocator.h> +#include <libcamera/request.h> +#include <libcamera/stream.h> + #include <QElapsedTimer> #include <QIcon> #include <QMainWindow> #include <QMutex> #include <QObject> +#include <QPushButton> #include <QQueue> #include <QTimer> -#include <libcamera/camera.h> -#include <libcamera/camera_manager.h> -#include <libcamera/controls.h> -#include <libcamera/framebuffer.h> -#include <libcamera/framebuffer_allocator.h> -#include <libcamera/request.h> -#include <libcamera/stream.h> +#include "../common/stream_options.h" -#include "../cam/stream_options.h" #include "viewfinder.h" class QAction; -class QComboBox; +class CameraSelectorDialog; class Image; class HotplugEvent; @@ -58,7 +60,7 @@ private Q_SLOTS: void quit(); void updateTitle(); - void switchCamera(int index); + void switchCamera(); void toggleCapture(bool start); void saveImageAs(); @@ -66,7 +68,7 @@ private Q_SLOTS: void processRaw(libcamera::FrameBuffer *buffer, const libcamera::ControlList &metadata); - void queueRequest(libcamera::FrameBuffer *buffer); + void renderComplete(libcamera::FrameBuffer *buffer); private: int createToolbars(); @@ -80,6 +82,7 @@ private: void addCamera(std::shared_ptr<libcamera::Camera> camera); void removeCamera(std::shared_ptr<libcamera::Camera> camera); + int queueRequest(libcamera::Request *request); void requestComplete(libcamera::Request *request); void processCapture(); void processHotplug(HotplugEvent *e); @@ -88,7 +91,7 @@ private: /* UI elements */ QToolBar *toolbar_; QAction *startStopAction_; - QComboBox *cameraCombo_; + QPushButton *cameraSelectButton_; QAction *saveRaw_; ViewFinder *viewfinder_; @@ -98,6 +101,8 @@ private: QString title_; QTimer titleTimer_; + CameraSelectorDialog *cameraSelectorDialog_; + /* Options */ const OptionsParser::Options &options_; diff --git a/src/qcam/meson.build b/src/apps/qcam/meson.build index c46f4631..6cf4c171 100644 --- a/src/qcam/meson.build +++ b/src/apps/qcam/meson.build @@ -15,9 +15,7 @@ endif qcam_enabled = true qcam_sources = files([ - '../cam/image.cpp', - '../cam/options.cpp', - '../cam/stream_options.cpp', + 'cam_select_dialog.cpp', 'format_converter.cpp', 'main.cpp', 'main_window.cpp', @@ -26,6 +24,7 @@ qcam_sources = files([ ]) qcam_moc_headers = files([ + 'cam_select_dialog.h', 'main_window.h', 'viewfinder_qt.h', ]) @@ -34,22 +33,7 @@ qcam_resources = files([ 'assets/feathericons/feathericons.qrc', ]) -qcam_deps = [ - libatomic, - libcamera_public, - qt5_dep, -] - -qt5_cpp_args = ['-DQT_NO_KEYWORDS'] - -tiff_dep = dependency('libtiff-4', required : false) -if tiff_dep.found() - qt5_cpp_args += ['-DHAVE_TIFF'] - qcam_deps += [tiff_dep] - qcam_sources += files([ - 'dng_writer.cpp', - ]) -endif +qt5_cpp_args = [apps_cpp_args, '-DQT_NO_KEYWORDS'] if cxx.has_header_symbol('QOpenGLWidget', 'QOpenGLWidget', dependencies : qt5_dep, args : '-fPIC') @@ -73,11 +57,18 @@ if ((cc.get_id() == 'gcc' and cc.version().version_compare('>=9.0') and qt5_cpp_args += ['-Wno-deprecated-copy'] endif -resources = qt5.preprocess(moc_headers: qcam_moc_headers, +resources = qt5.preprocess(moc_headers : qcam_moc_headers, qresources : qcam_resources, - dependencies: qt5_dep) + dependencies : qt5_dep) qcam = executable('qcam', qcam_sources, resources, install : true, - dependencies : qcam_deps, + install_tag : 'bin', + link_with : apps_lib, + dependencies : [ + libatomic, + libcamera_public, + libtiff, + qt5_dep, + ], cpp_args : qt5_cpp_args) diff --git a/src/qcam/message_handler.cpp b/src/apps/qcam/message_handler.cpp index 261623e1..c89714a9 100644 --- a/src/qcam/message_handler.cpp +++ b/src/apps/qcam/message_handler.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Laurent Pinchart <laurent.pinchart@ideasonboard.com> * - * message_handler.cpp - qcam - Log message handling + * qcam - Log message handling */ #include "message_handler.h" diff --git a/src/qcam/message_handler.h b/src/apps/qcam/message_handler.h index 56294d37..92ef74d1 100644 --- a/src/qcam/message_handler.h +++ b/src/apps/qcam/message_handler.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Laurent Pinchart <laurent.pinchart@ideasonboard.com> * - * message_handler.cpp - qcam - Log message handling + * Log message handling */ #pragma once diff --git a/src/qcam/viewfinder.h b/src/apps/qcam/viewfinder.h index 260074ae..914f88ec 100644 --- a/src/qcam/viewfinder.h +++ b/src/apps/qcam/viewfinder.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * viewfinder.h - qcam - Viewfinder base class + * qcam - Viewfinder base class */ #pragma once @@ -11,6 +11,7 @@ #include <QList> #include <QSize> +#include <libcamera/color_space.h> #include <libcamera/formats.h> #include <libcamera/framebuffer.h> @@ -24,6 +25,7 @@ public: virtual const QList<libcamera::PixelFormat> &nativeFormats() const = 0; virtual int setFormat(const libcamera::PixelFormat &format, const QSize &size, + const libcamera::ColorSpace &colorSpace, unsigned int stride) = 0; virtual void render(libcamera::FrameBuffer *buffer, Image *image) = 0; virtual void stop() = 0; diff --git a/src/qcam/viewfinder_gl.cpp b/src/apps/qcam/viewfinder_gl.cpp index 3ae8b03a..9d2a6960 100644 --- a/src/qcam/viewfinder_gl.cpp +++ b/src/apps/qcam/viewfinder_gl.cpp @@ -2,18 +2,21 @@ /* * Copyright (C) 2020, Linaro * - * viewfinderGL.cpp - OpenGL Viewfinder for rendering by OpenGL shader + * OpenGL Viewfinder for rendering by OpenGL shader */ #include "viewfinder_gl.h" +#include <array> + #include <QByteArray> #include <QFile> #include <QImage> +#include <QStringList> #include <libcamera/formats.h> -#include "../cam/image.h" +#include "../common/image.h" static const QList<libcamera::PixelFormat> supportedFormats{ /* YUV - packed (single plane) */ @@ -56,7 +59,8 @@ static const QList<libcamera::PixelFormat> supportedFormats{ }; ViewFinderGL::ViewFinderGL(QWidget *parent) - : QOpenGLWidget(parent), buffer_(nullptr), image_(nullptr), + : QOpenGLWidget(parent), buffer_(nullptr), + colorSpace_(libcamera::ColorSpace::Raw), image_(nullptr), vertexBuffer_(QOpenGLBuffer::VertexBuffer) { } @@ -71,10 +75,11 @@ const QList<libcamera::PixelFormat> &ViewFinderGL::nativeFormats() const return supportedFormats; } -int ViewFinderGL::setFormat(const libcamera::PixelFormat &format, - const QSize &size, unsigned int stride) +int ViewFinderGL::setFormat(const libcamera::PixelFormat &format, const QSize &size, + const libcamera::ColorSpace &colorSpace, + unsigned int stride) { - if (format != format_) { + if (format != format_ || colorSpace != colorSpace_) { /* * If the fragment already exists, remove it and create a new * one for the new format. @@ -88,7 +93,10 @@ int ViewFinderGL::setFormat(const libcamera::PixelFormat &format, if (!selectFormat(format)) return -1; + selectColorSpace(colorSpace); + format_ = format; + colorSpace_ = colorSpace; } size_ = size; @@ -317,6 +325,74 @@ bool ViewFinderGL::selectFormat(const libcamera::PixelFormat &format) return ret; } +void ViewFinderGL::selectColorSpace(const libcamera::ColorSpace &colorSpace) +{ + std::array<double, 9> yuv2rgb; + + /* OpenGL stores arrays in column-major order. */ + switch (colorSpace.ycbcrEncoding) { + case libcamera::ColorSpace::YcbcrEncoding::None: + default: + yuv2rgb = { + 1.0000, 0.0000, 0.0000, + 0.0000, 1.0000, 0.0000, + 0.0000, 0.0000, 1.0000, + }; + break; + + case libcamera::ColorSpace::YcbcrEncoding::Rec601: + yuv2rgb = { + 1.0000, 1.0000, 1.0000, + 0.0000, -0.3441, 1.7720, + 1.4020, -0.7141, 0.0000, + }; + break; + + case libcamera::ColorSpace::YcbcrEncoding::Rec709: + yuv2rgb = { + 1.0000, 1.0000, 1.0000, + 0.0000, -0.1873, 1.8856, + 1.5748, -0.4681, 0.0000, + }; + break; + + case libcamera::ColorSpace::YcbcrEncoding::Rec2020: + yuv2rgb = { + 1.0000, 1.0000, 1.0000, + 0.0000, -0.1646, 1.8814, + 1.4746, -0.5714, 0.0000, + }; + break; + } + + double offset; + + switch (colorSpace.range) { + case libcamera::ColorSpace::Range::Full: + default: + offset = 0.0; + break; + + case libcamera::ColorSpace::Range::Limited: + offset = 16.0; + + for (unsigned int i = 0; i < 3; ++i) + yuv2rgb[i] *= 255.0 / 219.0; + for (unsigned int i = 4; i < 9; ++i) + yuv2rgb[i] *= 255.0 / 224.0; + break; + } + + QStringList matrix; + + for (double coeff : yuv2rgb) + matrix.append(QString::number(coeff, 'f')); + + fragmentShaderDefines_.append("#define YUV2RGB_MATRIX " + matrix.join(", ")); + fragmentShaderDefines_.append(QString("#define YUV2RGB_Y_OFFSET %1") + .arg(offset, 0, 'f', 1)); +} + bool ViewFinderGL::createVertexShader() { /* Create Vertex Shader */ diff --git a/src/qcam/viewfinder_gl.h b/src/apps/qcam/viewfinder_gl.h index 0a9275ba..23744b41 100644 --- a/src/qcam/viewfinder_gl.h +++ b/src/apps/qcam/viewfinder_gl.h @@ -2,8 +2,7 @@ /* * Copyright (C) 2020, Linaro * - * viewfinder_GL.h - OpenGL Viewfinder for rendering by OpenGL shader - * + * OpenGL Viewfinder for rendering by OpenGL shader */ #pragma once @@ -39,6 +38,7 @@ public: const QList<libcamera::PixelFormat> &nativeFormats() const override; int setFormat(const libcamera::PixelFormat &format, const QSize &size, + const libcamera::ColorSpace &colorSpace, unsigned int stride) override; void render(libcamera::FrameBuffer *buffer, Image *image) override; void stop() override; @@ -56,6 +56,7 @@ protected: private: bool selectFormat(const libcamera::PixelFormat &format); + void selectColorSpace(const libcamera::ColorSpace &colorSpace); void configureTexture(QOpenGLTexture &texture); bool createFragmentShader(); @@ -66,6 +67,7 @@ private: /* Captured image size, format and buffer */ libcamera::FrameBuffer *buffer_; libcamera::PixelFormat format_; + libcamera::ColorSpace colorSpace_; QSize size_; unsigned int stride_; Image *image_; diff --git a/src/qcam/viewfinder_qt.cpp b/src/apps/qcam/viewfinder_qt.cpp index 6844f998..4821c27d 100644 --- a/src/qcam/viewfinder_qt.cpp +++ b/src/apps/qcam/viewfinder_qt.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * viewfinder_qt.cpp - qcam - QPainter-based ViewFinder + * qcam - QPainter-based ViewFinder */ #include "viewfinder_qt.h" @@ -11,6 +11,8 @@ #include <stdint.h> #include <utility> +#include <libcamera/formats.h> + #include <QImage> #include <QImageWriter> #include <QMap> @@ -18,21 +20,23 @@ #include <QPainter> #include <QtDebug> -#include <libcamera/formats.h> +#include "../common/image.h" -#include "../cam/image.h" #include "format_converter.h" static const QMap<libcamera::PixelFormat, QImage::Format> nativeFormats { #if QT_VERSION >= QT_VERSION_CHECK(5, 2, 0) - { libcamera::formats::ABGR8888, QImage::Format_RGBA8888 }, + { libcamera::formats::ABGR8888, QImage::Format_RGBX8888 }, + { libcamera::formats::XBGR8888, QImage::Format_RGBX8888 }, #endif { libcamera::formats::ARGB8888, QImage::Format_RGB32 }, + { libcamera::formats::XRGB8888, QImage::Format_RGB32 }, #if QT_VERSION >= QT_VERSION_CHECK(5, 14, 0) { libcamera::formats::RGB888, QImage::Format_BGR888 }, #endif { libcamera::formats::BGR888, QImage::Format_RGB888 }, + { libcamera::formats::RGB565, QImage::Format_RGB16 }, }; ViewFinderQt::ViewFinderQt(QWidget *parent) @@ -51,8 +55,9 @@ const QList<libcamera::PixelFormat> &ViewFinderQt::nativeFormats() const return formats; } -int ViewFinderQt::setFormat(const libcamera::PixelFormat &format, - const QSize &size, unsigned int stride) +int ViewFinderQt::setFormat(const libcamera::PixelFormat &format, const QSize &size, + [[maybe_unused]] const libcamera::ColorSpace &colorSpace, + unsigned int stride) { image_ = QImage(); @@ -67,7 +72,8 @@ int ViewFinderQt::setFormat(const libcamera::PixelFormat &format, image_ = QImage(size, QImage::Format_RGB32); - qInfo() << "Using software format conversion from" << format; + qInfo() << "Using software format conversion from" + << format.toString().c_str(); } else { qInfo() << "Zero-copy enabled"; } diff --git a/src/qcam/viewfinder_qt.h b/src/apps/qcam/viewfinder_qt.h index 8c621452..4f4b9f11 100644 --- a/src/qcam/viewfinder_qt.h +++ b/src/apps/qcam/viewfinder_qt.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * viewfinder_qt.h - qcam - QPainter-based ViewFinder + * qcam - QPainter-based ViewFinder */ #pragma once @@ -32,6 +32,7 @@ public: const QList<libcamera::PixelFormat> &nativeFormats() const override; int setFormat(const libcamera::PixelFormat &format, const QSize &size, + const libcamera::ColorSpace &colorSpace, unsigned int stride) override; void render(libcamera::FrameBuffer *buffer, Image *image) override; void stop() override; diff --git a/src/cam/capture_script.cpp b/src/cam/capture_script.cpp deleted file mode 100644 index 9f22d5f7..00000000 --- a/src/cam/capture_script.cpp +++ /dev/null @@ -1,336 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-or-later */ -/* - * Copyright (C) 2022, Ideas on Board Oy - * - * capture_script.cpp - Capture session configuration script - */ - -#include "capture_script.h" - -#include <iostream> -#include <stdio.h> -#include <stdlib.h> - -using namespace libcamera; - -CaptureScript::CaptureScript(std::shared_ptr<Camera> camera, - const std::string &fileName) - : camera_(camera), valid_(false) -{ - FILE *fh = fopen(fileName.c_str(), "r"); - if (!fh) { - int ret = -errno; - std::cerr << "Failed to open capture script " << fileName - << ": " << strerror(-ret) << std::endl; - return; - } - - /* - * Map the camera's controls to their name so that they can be - * easily identified when parsing the script file. - */ - for (const auto &[control, info] : camera_->controls()) - controls_[control->name()] = control; - - int ret = parseScript(fh); - fclose(fh); - if (ret) - return; - - valid_ = true; -} - -/* Retrieve the control list associated with a frame number. */ -const ControlList &CaptureScript::frameControls(unsigned int frame) -{ - static ControlList controls{}; - - auto it = frameControls_.find(frame); - if (it == frameControls_.end()) - return controls; - - return it->second; -} - -CaptureScript::EventPtr CaptureScript::nextEvent(yaml_event_type_t expectedType) -{ - EventPtr event(new yaml_event_t); - - if (!yaml_parser_parse(&parser_, event.get())) - return nullptr; - - if (expectedType != YAML_NO_EVENT && !checkEvent(event, expectedType)) - return nullptr; - - return event; -} - -bool CaptureScript::checkEvent(const EventPtr &event, yaml_event_type_t expectedType) const -{ - if (event->type != expectedType) { - std::cerr << "Capture script error on line " << event->start_mark.line - << " column " << event->start_mark.column << ": " - << "Expected " << eventTypeName(expectedType) - << " event, got " << eventTypeName(event->type) - << std::endl; - return false; - } - - return true; -} - -std::string CaptureScript::eventScalarValue(const EventPtr &event) -{ - return std::string(reinterpret_cast<char *>(event->data.scalar.value), - event->data.scalar.length); -} - -std::string CaptureScript::eventTypeName(yaml_event_type_t type) -{ - static const std::map<yaml_event_type_t, std::string> typeNames = { - { YAML_STREAM_START_EVENT, "stream-start" }, - { YAML_STREAM_END_EVENT, "stream-end" }, - { YAML_DOCUMENT_START_EVENT, "document-start" }, - { YAML_DOCUMENT_END_EVENT, "document-end" }, - { YAML_ALIAS_EVENT, "alias" }, - { YAML_SCALAR_EVENT, "scalar" }, - { YAML_SEQUENCE_START_EVENT, "sequence-start" }, - { YAML_SEQUENCE_END_EVENT, "sequence-end" }, - { YAML_MAPPING_START_EVENT, "mapping-start" }, - { YAML_MAPPING_END_EVENT, "mapping-end" }, - }; - - auto it = typeNames.find(type); - if (it == typeNames.end()) - return "[type " + std::to_string(type) + "]"; - - return it->second; -} - -int CaptureScript::parseScript(FILE *script) -{ - int ret = yaml_parser_initialize(&parser_); - if (!ret) { - std::cerr << "Failed to initialize yaml parser" << std::endl; - return ret; - } - - /* Delete the parser upon function exit. */ - struct ParserDeleter { - ParserDeleter(yaml_parser_t *parser) : parser_(parser) { } - ~ParserDeleter() { yaml_parser_delete(parser_); } - yaml_parser_t *parser_; - } deleter(&parser_); - - yaml_parser_set_input_file(&parser_, script); - - EventPtr event = nextEvent(YAML_STREAM_START_EVENT); - if (!event) - return -EINVAL; - - event = nextEvent(YAML_DOCUMENT_START_EVENT); - if (!event) - return -EINVAL; - - event = nextEvent(YAML_MAPPING_START_EVENT); - if (!event) - return -EINVAL; - - while (1) { - event = nextEvent(); - if (!event) - return -EINVAL; - - if (event->type == YAML_MAPPING_END_EVENT) - return 0; - - if (!checkEvent(event, YAML_SCALAR_EVENT)) - return -EINVAL; - - std::string section = eventScalarValue(event); - - if (section == "frames") { - parseFrames(); - } else { - std::cerr << "Unsupported section '" << section << "'" - << std::endl; - return -EINVAL; - } - } -} - -int CaptureScript::parseFrames() -{ - EventPtr event = nextEvent(YAML_SEQUENCE_START_EVENT); - if (!event) - return -EINVAL; - - while (1) { - event = nextEvent(); - if (!event) - return -EINVAL; - - if (event->type == YAML_SEQUENCE_END_EVENT) - return 0; - - int ret = parseFrame(std::move(event)); - if (ret) - return ret; - } -} - -int CaptureScript::parseFrame(EventPtr event) -{ - if (!checkEvent(event, YAML_MAPPING_START_EVENT)) - return -EINVAL; - - std::string key = parseScalar(); - if (key.empty()) - return -EINVAL; - - unsigned int frameId = atoi(key.c_str()); - - event = nextEvent(YAML_MAPPING_START_EVENT); - if (!event) - return -EINVAL; - - ControlList controls{}; - - while (1) { - event = nextEvent(); - if (!event) - return -EINVAL; - - if (event->type == YAML_MAPPING_END_EVENT) - break; - - int ret = parseControl(std::move(event), controls); - if (ret) - return ret; - } - - frameControls_[frameId] = std::move(controls); - - event = nextEvent(YAML_MAPPING_END_EVENT); - if (!event) - return -EINVAL; - - return 0; -} - -int CaptureScript::parseControl(EventPtr event, ControlList &controls) -{ - /* We expect a value after a key. */ - std::string name = eventScalarValue(event); - if (name.empty()) - return -EINVAL; - - /* If the camera does not support the control just ignore it. */ - auto it = controls_.find(name); - if (it == controls_.end()) { - std::cerr << "Unsupported control '" << name << "'" << std::endl; - return -EINVAL; - } - - std::string value = parseScalar(); - if (value.empty()) - return -EINVAL; - - const ControlId *controlId = it->second; - ControlValue val = unpackControl(controlId, value); - controls.set(controlId->id(), val); - - return 0; -} - -std::string CaptureScript::parseScalar() -{ - EventPtr event = nextEvent(YAML_SCALAR_EVENT); - if (!event) - return ""; - - return eventScalarValue(event); -} - -void CaptureScript::unpackFailure(const ControlId *id, const std::string &repr) -{ - static const std::map<unsigned int, const char *> typeNames = { - { ControlTypeNone, "none" }, - { ControlTypeBool, "bool" }, - { ControlTypeByte, "byte" }, - { ControlTypeInteger32, "int32" }, - { ControlTypeInteger64, "int64" }, - { ControlTypeFloat, "float" }, - { ControlTypeString, "string" }, - { ControlTypeRectangle, "Rectangle" }, - { ControlTypeSize, "Size" }, - }; - - const char *typeName; - auto it = typeNames.find(id->type()); - if (it != typeNames.end()) - typeName = it->second; - else - typeName = "unknown"; - - std::cerr << "Unsupported control '" << repr << "' for " - << typeName << " control " << id->name() << std::endl; -} - -ControlValue CaptureScript::unpackControl(const ControlId *id, - const std::string &repr) -{ - ControlValue value{}; - - switch (id->type()) { - case ControlTypeNone: - break; - case ControlTypeBool: { - bool val; - - if (repr == "true") { - val = true; - } else if (repr == "false") { - val = false; - } else { - unpackFailure(id, repr); - return value; - } - - value.set<bool>(val); - break; - } - case ControlTypeByte: { - uint8_t val = strtol(repr.c_str(), NULL, 10); - value.set<uint8_t>(val); - break; - } - case ControlTypeInteger32: { - int32_t val = strtol(repr.c_str(), NULL, 10); - value.set<int32_t>(val); - break; - } - case ControlTypeInteger64: { - int64_t val = strtoll(repr.c_str(), NULL, 10); - value.set<int64_t>(val); - break; - } - case ControlTypeFloat: { - float val = strtof(repr.c_str(), NULL); - value.set<float>(val); - break; - } - case ControlTypeString: { - value.set<std::string>(repr); - break; - } - case ControlTypeRectangle: - /* \todo Parse rectangles. */ - break; - case ControlTypeSize: - /* \todo Parse Sizes. */ - break; - } - - return value; -} diff --git a/src/cam/sdl_texture_mjpg.cpp b/src/cam/sdl_texture_mjpg.cpp deleted file mode 100644 index 69e99ad3..00000000 --- a/src/cam/sdl_texture_mjpg.cpp +++ /dev/null @@ -1,25 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-or-later */ -/* - * Copyright (C) 2022, Ideas on Board Oy - * - * sdl_texture_mjpg.cpp - SDL Texture MJPG - */ - -#include "sdl_texture_mjpg.h" - -#include <SDL2/SDL_image.h> - -using namespace libcamera; - -SDLTextureMJPG::SDLTextureMJPG(const SDL_Rect &rect) - : SDLTexture(rect, SDL_PIXELFORMAT_RGB24, 0) -{ -} - -void SDLTextureMJPG::update(const Span<uint8_t> &data) -{ - SDL_RWops *bufferStream = SDL_RWFromMem(data.data(), data.size()); - SDL_Surface *frame = IMG_Load_RW(bufferStream, 0); - SDL_UpdateTexture(ptr_, nullptr, frame->pixels, frame->pitch); - SDL_FreeSurface(frame); -} diff --git a/src/cam/sdl_texture_yuyv.cpp b/src/cam/sdl_texture_yuyv.cpp deleted file mode 100644 index cc161b2c..00000000 --- a/src/cam/sdl_texture_yuyv.cpp +++ /dev/null @@ -1,20 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-or-later */ -/* - * Copyright (C) 2022, Ideas on Board Oy - * - * sdl_texture_yuyv.cpp - SDL Texture YUYV - */ - -#include "sdl_texture_yuyv.h" - -using namespace libcamera; - -SDLTextureYUYV::SDLTextureYUYV(const SDL_Rect &rect) - : SDLTexture(rect, SDL_PIXELFORMAT_YUY2, 4 * ((rect.w + 1) / 2)) -{ -} - -void SDLTextureYUYV::update(const Span<uint8_t> &data) -{ - SDL_UpdateTexture(ptr_, &rect_, data.data(), pitch_); -} diff --git a/src/cam/sdl_texture_yuyv.h b/src/cam/sdl_texture_yuyv.h deleted file mode 100644 index 9f7c72f0..00000000 --- a/src/cam/sdl_texture_yuyv.h +++ /dev/null @@ -1,17 +0,0 @@ -/* SPDX-License-Identifier: GPL-2.0-or-later */ -/* - * Copyright (C) 2022, Ideas on Board Oy - * - * sdl_texture_yuyv.h - SDL Texture YUYV - */ - -#pragma once - -#include "sdl_texture.h" - -class SDLTextureYUYV : public SDLTexture -{ -public: - SDLTextureYUYV(const SDL_Rect &rect); - void update(const libcamera::Span<uint8_t> &data) override; -}; diff --git a/src/gstreamer/gstlibcamera-utils.cpp b/src/gstreamer/gstlibcamera-utils.cpp index 3f242286..ec4da435 100644 --- a/src/gstreamer/gstlibcamera-utils.cpp +++ b/src/gstreamer/gstlibcamera-utils.cpp @@ -3,11 +3,12 @@ * Copyright (C) 2020, Collabora Ltd. * Author: Nicolas Dufresne <nicolas.dufresne@collabora.com> * - * gstlibcamera-utils.c - GStreamer libcamera Utility Function + * GStreamer libcamera Utility Function */ #include "gstlibcamera-utils.h" +#include <libcamera/control_ids.h> #include <libcamera/formats.h> using namespace libcamera; @@ -19,9 +20,47 @@ static struct { /* Compressed */ { GST_VIDEO_FORMAT_ENCODED, formats::MJPEG }, - /* RGB */ + /* Bayer formats, gstreamer only supports 8-bit */ + { GST_VIDEO_FORMAT_ENCODED, formats::SBGGR8 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SGBRG8 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SGRBG8 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SRGGB8 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SBGGR10 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SGBRG10 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SGRBG10 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SRGGB10 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SBGGR12 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SGBRG12 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SGRBG12 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SRGGB12 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SBGGR14 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SGBRG14 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SGRBG14 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SRGGB14 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SBGGR16 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SGBRG16 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SGRBG16 }, + { GST_VIDEO_FORMAT_ENCODED, formats::SRGGB16 }, + + /* Monochrome */ + { GST_VIDEO_FORMAT_GRAY8, formats::R8 }, + { GST_VIDEO_FORMAT_GRAY16_LE, formats::R16 }, + + /* RGB16 */ + { GST_VIDEO_FORMAT_RGB16, formats::RGB565 }, + + /* RGB24 */ { GST_VIDEO_FORMAT_RGB, formats::BGR888 }, { GST_VIDEO_FORMAT_BGR, formats::RGB888 }, + + /* RGB32 */ + { GST_VIDEO_FORMAT_BGRx, formats::XRGB8888 }, + { GST_VIDEO_FORMAT_RGBx, formats::XBGR8888 }, + { GST_VIDEO_FORMAT_xBGR, formats::RGBX8888 }, + { GST_VIDEO_FORMAT_xRGB, formats::BGRX8888 }, + { GST_VIDEO_FORMAT_BGRA, formats::ARGB8888 }, + { GST_VIDEO_FORMAT_RGBA, formats::ABGR8888 }, + { GST_VIDEO_FORMAT_ABGR, formats::RGBA8888 }, { GST_VIDEO_FORMAT_ARGB, formats::BGRA8888 }, /* YUV Semiplanar */ @@ -45,6 +84,154 @@ static struct { /* \todo NV42 is used in libcamera but is not mapped in GStreamer yet. */ }; +static GstVideoColorimetry +colorimetry_from_colorspace(const ColorSpace &colorSpace) +{ + GstVideoColorimetry colorimetry; + + switch (colorSpace.primaries) { + case ColorSpace::Primaries::Raw: + colorimetry.primaries = GST_VIDEO_COLOR_PRIMARIES_UNKNOWN; + break; + case ColorSpace::Primaries::Smpte170m: + colorimetry.primaries = GST_VIDEO_COLOR_PRIMARIES_SMPTE170M; + break; + case ColorSpace::Primaries::Rec709: + colorimetry.primaries = GST_VIDEO_COLOR_PRIMARIES_BT709; + break; + case ColorSpace::Primaries::Rec2020: + colorimetry.primaries = GST_VIDEO_COLOR_PRIMARIES_BT2020; + break; + } + + switch (colorSpace.transferFunction) { + case ColorSpace::TransferFunction::Linear: + colorimetry.transfer = GST_VIDEO_TRANSFER_GAMMA10; + break; + case ColorSpace::TransferFunction::Srgb: + colorimetry.transfer = GST_VIDEO_TRANSFER_SRGB; + break; + case ColorSpace::TransferFunction::Rec709: + colorimetry.transfer = GST_VIDEO_TRANSFER_BT709; + break; + } + + switch (colorSpace.ycbcrEncoding) { + case ColorSpace::YcbcrEncoding::None: + colorimetry.matrix = GST_VIDEO_COLOR_MATRIX_RGB; + break; + case ColorSpace::YcbcrEncoding::Rec601: + colorimetry.matrix = GST_VIDEO_COLOR_MATRIX_BT601; + break; + case ColorSpace::YcbcrEncoding::Rec709: + colorimetry.matrix = GST_VIDEO_COLOR_MATRIX_BT709; + break; + case ColorSpace::YcbcrEncoding::Rec2020: + colorimetry.matrix = GST_VIDEO_COLOR_MATRIX_BT2020; + break; + } + + switch (colorSpace.range) { + case ColorSpace::Range::Full: + colorimetry.range = GST_VIDEO_COLOR_RANGE_0_255; + break; + case ColorSpace::Range::Limited: + colorimetry.range = GST_VIDEO_COLOR_RANGE_16_235; + break; + } + + return colorimetry; +} + +static std::optional<ColorSpace> +colorspace_from_colorimetry(const GstVideoColorimetry &colorimetry) +{ + std::optional<ColorSpace> colorspace = ColorSpace::Raw; + + switch (colorimetry.primaries) { + case GST_VIDEO_COLOR_PRIMARIES_UNKNOWN: + /* Unknown primaries map to raw colorspace in gstreamer */ + return ColorSpace::Raw; + case GST_VIDEO_COLOR_PRIMARIES_SMPTE170M: + colorspace->primaries = ColorSpace::Primaries::Smpte170m; + break; + case GST_VIDEO_COLOR_PRIMARIES_BT709: + colorspace->primaries = ColorSpace::Primaries::Rec709; + break; + case GST_VIDEO_COLOR_PRIMARIES_BT2020: + colorspace->primaries = ColorSpace::Primaries::Rec2020; + break; + default: + GST_WARNING("Colorimetry primaries %d not mapped in gstlibcamera", + colorimetry.primaries); + return std::nullopt; + } + + switch (colorimetry.transfer) { + /* Transfer function mappings inspired from v4l2src plugin */ + case GST_VIDEO_TRANSFER_GAMMA18: + case GST_VIDEO_TRANSFER_GAMMA20: + case GST_VIDEO_TRANSFER_GAMMA22: + case GST_VIDEO_TRANSFER_GAMMA28: + GST_WARNING("GAMMA 18, 20, 22, 28 transfer functions not supported"); + [[fallthrough]]; + case GST_VIDEO_TRANSFER_GAMMA10: + colorspace->transferFunction = ColorSpace::TransferFunction::Linear; + break; + case GST_VIDEO_TRANSFER_SRGB: + colorspace->transferFunction = ColorSpace::TransferFunction::Srgb; + break; +#if GST_CHECK_VERSION(1, 18, 0) + case GST_VIDEO_TRANSFER_BT601: + case GST_VIDEO_TRANSFER_BT2020_10: +#endif + case GST_VIDEO_TRANSFER_BT2020_12: + case GST_VIDEO_TRANSFER_BT709: + colorspace->transferFunction = ColorSpace::TransferFunction::Rec709; + break; + default: + GST_WARNING("Colorimetry transfer function %d not mapped in gstlibcamera", + colorimetry.transfer); + return std::nullopt; + } + + switch (colorimetry.matrix) { + case GST_VIDEO_COLOR_MATRIX_RGB: + colorspace->ycbcrEncoding = ColorSpace::YcbcrEncoding::None; + break; + /* FCC is about the same as BT601 with less digit */ + case GST_VIDEO_COLOR_MATRIX_FCC: + case GST_VIDEO_COLOR_MATRIX_BT601: + colorspace->ycbcrEncoding = ColorSpace::YcbcrEncoding::Rec601; + break; + case GST_VIDEO_COLOR_MATRIX_BT709: + colorspace->ycbcrEncoding = ColorSpace::YcbcrEncoding::Rec709; + break; + case GST_VIDEO_COLOR_MATRIX_BT2020: + colorspace->ycbcrEncoding = ColorSpace::YcbcrEncoding::Rec2020; + break; + default: + GST_WARNING("Colorimetry matrix %d not mapped in gstlibcamera", + colorimetry.matrix); + return std::nullopt; + } + + switch (colorimetry.range) { + case GST_VIDEO_COLOR_RANGE_0_255: + colorspace->range = ColorSpace::Range::Full; + break; + case GST_VIDEO_COLOR_RANGE_16_235: + colorspace->range = ColorSpace::Range::Limited; + break; + default: + GST_WARNING("Colorimetry range %d not mapped in gstlibcamera", + colorimetry.range); + return std::nullopt; + } + + return colorspace; +} + static GstVideoFormat pixel_format_to_gst_format(const PixelFormat &format) { @@ -67,6 +254,54 @@ gst_format_to_pixel_format(GstVideoFormat gst_format) return PixelFormat{}; } +static const gchar * +bayer_format_to_string(int format) +{ + switch (format) { + case formats::SBGGR8: + return "bggr"; + case formats::SGBRG8: + return "gbrg"; + case formats::SGRBG8: + return "grbg"; + case formats::SRGGB8: + return "rggb"; + case formats::SBGGR10: + return "bggr10le"; + case formats::SGBRG10: + return "gbrg10le"; + case formats::SGRBG10: + return "grbg10le"; + case formats::SRGGB10: + return "rggb10le"; + case formats::SBGGR12: + return "bggr12le"; + case formats::SGBRG12: + return "gbrg12le"; + case formats::SGRBG12: + return "grbg12le"; + case formats::SRGGB12: + return "rggb12le"; + case formats::SBGGR14: + return "bggr14le"; + case formats::SGBRG14: + return "gbrg14le"; + case formats::SGRBG14: + return "grbg14le"; + case formats::SRGGB14: + return "rggb14le"; + case formats::SBGGR16: + return "bggr16le"; + case formats::SGBRG16: + return "gbrg16le"; + case formats::SGRBG16: + return "grbg16le"; + case formats::SRGGB16: + return "rggb16le"; + } + return NULL; +} + static GstStructure * bare_structure_from_format(const PixelFormat &format) { @@ -82,6 +317,14 @@ bare_structure_from_format(const PixelFormat &format) switch (format) { case formats::MJPEG: return gst_structure_new_empty("image/jpeg"); + + case formats::SBGGR8: + case formats::SGBRG8: + case formats::SGRBG8: + case formats::SRGGB8: + return gst_structure_new("video/x-bayer", "format", G_TYPE_STRING, + bayer_format_to_string(format), nullptr); + default: return nullptr; } @@ -139,6 +382,18 @@ gst_libcamera_stream_configuration_to_caps(const StreamConfiguration &stream_cfg "width", G_TYPE_INT, stream_cfg.size.width, "height", G_TYPE_INT, stream_cfg.size.height, nullptr); + + if (stream_cfg.colorSpace) { + GstVideoColorimetry colorimetry = colorimetry_from_colorspace(stream_cfg.colorSpace.value()); + g_autofree gchar *colorimetry_str = gst_video_colorimetry_to_string(&colorimetry); + + if (colorimetry_str) + gst_structure_set(s, "colorimetry", G_TYPE_STRING, colorimetry_str, nullptr); + else + g_error("Got invalid colorimetry from ColorSpace: %s", + ColorSpace::toString(stream_cfg.colorSpace).c_str()); + } + gst_caps_append_structure(caps, s); return caps; @@ -222,18 +477,110 @@ gst_libcamera_configure_stream_from_caps(StreamConfiguration &stream_cfg, gst_structure_get_int(s, "height", &height); stream_cfg.size.width = width; stream_cfg.size.height = height; + + /* Configure colorimetry */ + if (gst_structure_has_field(s, "colorimetry")) { + const gchar *colorimetry_str = gst_structure_get_string(s, "colorimetry"); + GstVideoColorimetry colorimetry; + + if (!gst_video_colorimetry_from_string(&colorimetry, colorimetry_str)) + g_critical("Invalid colorimetry %s", colorimetry_str); + + stream_cfg.colorSpace = colorspace_from_colorimetry(colorimetry); + } } -void -gst_libcamera_resume_task(GstTask *task) +void gst_libcamera_get_framerate_from_caps(GstCaps *caps, + GstStructure *element_caps) +{ + GstStructure *s = gst_caps_get_structure(caps, 0); + /* + * Default to 30 fps. If the "framerate" fraction is invalid below, + * libcamerasrc will set 30fps as the framerate. + */ + gint fps_n = 30, fps_d = 1; + + if (gst_structure_has_field_typed(s, "framerate", GST_TYPE_FRACTION)) { + if (!gst_structure_get_fraction(s, "framerate", &fps_n, &fps_d)) + GST_WARNING("Invalid framerate in the caps"); + } + + gst_structure_set(element_caps, "framerate", GST_TYPE_FRACTION, + fps_n, fps_d, nullptr); +} + +void gst_libcamera_clamp_and_set_frameduration(ControlList &initCtrls, + const ControlInfoMap &cam_ctrls, + GstStructure *element_caps) +{ + gint fps_caps_n, fps_caps_d; + + if (!gst_structure_has_field_typed(element_caps, "framerate", GST_TYPE_FRACTION)) + return; + + auto iterFrameDuration = cam_ctrls.find(&controls::FrameDurationLimits); + if (iterFrameDuration == cam_ctrls.end()) { + GST_WARNING("FrameDurationLimits not found in camera controls."); + return; + } + + const GValue *framerate = gst_structure_get_value(element_caps, "framerate"); + + fps_caps_n = gst_value_get_fraction_numerator(framerate); + fps_caps_d = gst_value_get_fraction_denominator(framerate); + + int64_t target_duration = (fps_caps_d * 1000000.0) / fps_caps_n; + int64_t min_frame_duration = iterFrameDuration->second.min().get<int64_t>(); + int64_t max_frame_duration = iterFrameDuration->second.max().get<int64_t>(); + + int64_t frame_duration = std::clamp(target_duration, + min_frame_duration, + max_frame_duration); + + if (frame_duration != target_duration) { + gint framerate_clamped = 1000000 / frame_duration; + + /* + * Update the clamped framerate which then will be exposed in + * downstream caps. + */ + gst_structure_set(element_caps, "framerate", GST_TYPE_FRACTION, + framerate_clamped, 1, nullptr); + } + + initCtrls.set(controls::FrameDurationLimits, + { frame_duration, frame_duration }); +} + +void gst_libcamera_framerate_to_caps(GstCaps *caps, const GstStructure *element_caps) +{ + const GValue *framerate = gst_structure_get_value(element_caps, "framerate"); + if (!GST_VALUE_HOLDS_FRACTION(framerate)) + return; + + GstStructure *s = gst_caps_get_structure(caps, 0); + gint fps_caps_n, fps_caps_d; + + fps_caps_n = gst_value_get_fraction_numerator(framerate); + fps_caps_d = gst_value_get_fraction_denominator(framerate); + + gst_structure_set(s, "framerate", GST_TYPE_FRACTION, fps_caps_n, fps_caps_d, nullptr); +} + +#if !GST_CHECK_VERSION(1, 17, 1) +gboolean +gst_task_resume(GstTask *task) { /* We only want to resume the task if it's paused. */ GLibLocker lock(GST_OBJECT(task)); - if (GST_TASK_STATE(task) == GST_TASK_PAUSED) { - GST_TASK_STATE(task) = GST_TASK_STARTED; - GST_TASK_SIGNAL(task); - } + if (GST_TASK_STATE(task) != GST_TASK_PAUSED) + return FALSE; + + GST_TASK_STATE(task) = GST_TASK_STARTED; + GST_TASK_SIGNAL(task); + return TRUE; } +#endif G_LOCK_DEFINE_STATIC(cm_singleton_lock); static std::weak_ptr<CameraManager> cm_singleton_ptr; diff --git a/src/gstreamer/gstlibcamera-utils.h b/src/gstreamer/gstlibcamera-utils.h index d54f1588..cab1c814 100644 --- a/src/gstreamer/gstlibcamera-utils.h +++ b/src/gstreamer/gstlibcamera-utils.h @@ -3,12 +3,13 @@ * Copyright (C) 2020, Collabora Ltd. * Author: Nicolas Dufresne <nicolas.dufresne@collabora.com> * - * gstlibcamera-utils.h - GStreamer libcamera Utility Functions + * GStreamer libcamera Utility Functions */ #pragma once #include <libcamera/camera_manager.h> +#include <libcamera/controls.h> #include <libcamera/stream.h> #include <gst/gst.h> @@ -18,7 +19,22 @@ GstCaps *gst_libcamera_stream_formats_to_caps(const libcamera::StreamFormats &fo GstCaps *gst_libcamera_stream_configuration_to_caps(const libcamera::StreamConfiguration &stream_cfg); void gst_libcamera_configure_stream_from_caps(libcamera::StreamConfiguration &stream_cfg, GstCaps *caps); -void gst_libcamera_resume_task(GstTask *task); +void gst_libcamera_get_framerate_from_caps(GstCaps *caps, GstStructure *element_caps); +void gst_libcamera_clamp_and_set_frameduration(libcamera::ControlList &controls, + const libcamera::ControlInfoMap &camera_controls, + GstStructure *element_caps); +void gst_libcamera_framerate_to_caps(GstCaps *caps, const GstStructure *element_caps); + +#if !GST_CHECK_VERSION(1, 16, 0) +static inline void gst_clear_event(GstEvent **event_ptr) +{ + g_clear_pointer(event_ptr, gst_mini_object_unref); +} +#endif + +#if !GST_CHECK_VERSION(1, 17, 1) +gboolean gst_task_resume(GstTask *task); +#endif std::shared_ptr<libcamera::CameraManager> gst_libcamera_get_camera_manager(int &ret); /** diff --git a/src/gstreamer/gstlibcamera.cpp b/src/gstreamer/gstlibcamera.cpp index 52388b5e..bff98979 100644 --- a/src/gstreamer/gstlibcamera.cpp +++ b/src/gstreamer/gstlibcamera.cpp @@ -3,7 +3,7 @@ * Copyright (C) 2019, Collabora Ltd. * Author: Nicolas Dufresne <nicolas.dufresne@collabora.com> * - * gstlibcamera.c - GStreamer plugin + * GStreamer plugin */ #include "gstlibcameraprovider.h" diff --git a/src/gstreamer/gstlibcameraallocator.cpp b/src/gstreamer/gstlibcameraallocator.cpp index c740b8fc..741ed592 100644 --- a/src/gstreamer/gstlibcameraallocator.cpp +++ b/src/gstreamer/gstlibcameraallocator.cpp @@ -3,7 +3,7 @@ * Copyright (C) 2020, Collabora Ltd. * Author: Nicolas Dufresne <nicolas.dufresne@collabora.com> * - * gstlibcameraallocator.cpp - GStreamer Custom Allocator + * GStreamer Custom Allocator */ #include "gstlibcameraallocator.h" diff --git a/src/gstreamer/gstlibcameraallocator.h b/src/gstreamer/gstlibcameraallocator.h index 0a08c3bb..1a6ba346 100644 --- a/src/gstreamer/gstlibcameraallocator.h +++ b/src/gstreamer/gstlibcameraallocator.h @@ -3,7 +3,7 @@ * Copyright (C) 2020, Collabora Ltd. * Author: Nicolas Dufresne <nicolas.dufresne@collabora.com> * - * gstlibcameraallocator.h - GStreamer Custom Allocator + * GStreamer Custom Allocator */ #pragma once diff --git a/src/gstreamer/gstlibcamerapad.cpp b/src/gstreamer/gstlibcamerapad.cpp index c00e81c8..7b22aebe 100644 --- a/src/gstreamer/gstlibcamerapad.cpp +++ b/src/gstreamer/gstlibcamerapad.cpp @@ -3,7 +3,7 @@ * Copyright (C) 2019, Collabora Ltd. * Author: Nicolas Dufresne <nicolas.dufresne@collabora.com> * - * gstlibcamerapad.cpp - GStreamer Capture Pad + * GStreamer Capture Pad */ #include "gstlibcamerapad.h" @@ -18,7 +18,6 @@ struct _GstLibcameraPad { GstPad parent; StreamRole role; GstLibcameraPool *pool; - GQueue pending_buffers; GstClockTime latency; }; @@ -55,7 +54,7 @@ gst_libcamera_pad_get_property(GObject *object, guint prop_id, GValue *value, switch (prop_id) { case PROP_STREAM_ROLE: - g_value_set_enum(value, self->role); + g_value_set_enum(value, static_cast<gint>(self->role)); break; default: G_OBJECT_WARN_INVALID_PROPERTY_ID(object, prop_id, pspec); @@ -88,9 +87,19 @@ gst_libcamera_stream_role_get_type() { static GType type = 0; static const GEnumValue values[] = { - { StillCapture, "libcamera::StillCapture", "still-capture" }, - { VideoRecording, "libcamera::VideoRecording", "video-recording" }, - { Viewfinder, "libcamera::Viewfinder", "view-finder" }, + { + static_cast<gint>(StreamRole::StillCapture), + "libcamera::StillCapture", + "still-capture", + }, { + static_cast<gint>(StreamRole::VideoRecording), + "libcamera::VideoRecording", + "video-recording", + }, { + static_cast<gint>(StreamRole::Viewfinder), + "libcamera::Viewfinder", + "view-finder", + }, { 0, NULL, NULL } }; @@ -111,7 +120,7 @@ gst_libcamera_pad_class_init(GstLibcameraPadClass *klass) auto *spec = g_param_spec_enum("stream-role", "Stream Role", "The selected stream role", gst_libcamera_stream_role_get_type(), - VideoRecording, + static_cast<gint>(StreamRole::VideoRecording), (GParamFlags)(GST_PARAM_MUTABLE_READY | G_PARAM_CONSTRUCT | G_PARAM_READWRITE @@ -156,40 +165,6 @@ gst_libcamera_pad_get_stream(GstPad *pad) } void -gst_libcamera_pad_queue_buffer(GstPad *pad, GstBuffer *buffer) -{ - auto *self = GST_LIBCAMERA_PAD(pad); - GLibLocker lock(GST_OBJECT(self)); - - g_queue_push_head(&self->pending_buffers, buffer); -} - -GstFlowReturn -gst_libcamera_pad_push_pending(GstPad *pad) -{ - auto *self = GST_LIBCAMERA_PAD(pad); - GstBuffer *buffer; - - { - GLibLocker lock(GST_OBJECT(self)); - buffer = GST_BUFFER(g_queue_pop_tail(&self->pending_buffers)); - } - - if (!buffer) - return GST_FLOW_OK; - - return gst_pad_push(pad, buffer); -} - -bool -gst_libcamera_pad_has_pending(GstPad *pad) -{ - auto *self = GST_LIBCAMERA_PAD(pad); - GLibLocker lock(GST_OBJECT(self)); - return self->pending_buffers.length > 0; -} - -void gst_libcamera_pad_set_latency(GstPad *pad, GstClockTime latency) { auto *self = GST_LIBCAMERA_PAD(pad); diff --git a/src/gstreamer/gstlibcamerapad.h b/src/gstreamer/gstlibcamerapad.h index 20769517..630c168a 100644 --- a/src/gstreamer/gstlibcamerapad.h +++ b/src/gstreamer/gstlibcamerapad.h @@ -3,7 +3,7 @@ * Copyright (C) 2019, Collabora Ltd. * Author: Nicolas Dufresne <nicolas.dufresne@collabora.com> * - * gstlibcamerapad.h - GStreamer Capture Element + * GStreamer Capture Element */ #pragma once @@ -25,10 +25,4 @@ void gst_libcamera_pad_set_pool(GstPad *pad, GstLibcameraPool *pool); libcamera::Stream *gst_libcamera_pad_get_stream(GstPad *pad); -void gst_libcamera_pad_queue_buffer(GstPad *pad, GstBuffer *buffer); - -GstFlowReturn gst_libcamera_pad_push_pending(GstPad *pad); - -bool gst_libcamera_pad_has_pending(GstPad *pad); - void gst_libcamera_pad_set_latency(GstPad *pad, GstClockTime latency); diff --git a/src/gstreamer/gstlibcamerapool.cpp b/src/gstreamer/gstlibcamerapool.cpp index 1fde4213..9661c67a 100644 --- a/src/gstreamer/gstlibcamerapool.cpp +++ b/src/gstreamer/gstlibcamerapool.cpp @@ -3,7 +3,7 @@ * Copyright (C) 2020, Collabora Ltd. * Author: Nicolas Dufresne <nicolas.dufresne@collabora.com> * - * gstlibcamerapool.cpp - GStreamer Buffer Pool + * GStreamer Buffer Pool */ #include "gstlibcamerapool.h" @@ -134,13 +134,6 @@ gst_libcamera_pool_get_stream(GstLibcameraPool *self) return self->stream; } -Stream * -gst_libcamera_buffer_get_stream(GstBuffer *buffer) -{ - auto *self = (GstLibcameraPool *)buffer->pool; - return self->stream; -} - FrameBuffer * gst_libcamera_buffer_get_frame_buffer(GstBuffer *buffer) { diff --git a/src/gstreamer/gstlibcamerapool.h b/src/gstreamer/gstlibcamerapool.h index 05795d21..2a7a9c77 100644 --- a/src/gstreamer/gstlibcamerapool.h +++ b/src/gstreamer/gstlibcamerapool.h @@ -3,7 +3,7 @@ * Copyright (C) 2020, Collabora Ltd. * Author: Nicolas Dufresne <nicolas.dufresne@collabora.com> * - * gstlibcamerapool.h - GStreamer Buffer Pool + * GStreamer Buffer Pool * * This is a partial implementation of GstBufferPool intended for internal use * only. This pool cannot be configured or activated. @@ -25,6 +25,4 @@ GstLibcameraPool *gst_libcamera_pool_new(GstLibcameraAllocator *allocator, libcamera::Stream *gst_libcamera_pool_get_stream(GstLibcameraPool *self); -libcamera::Stream *gst_libcamera_buffer_get_stream(GstBuffer *buffer); - libcamera::FrameBuffer *gst_libcamera_buffer_get_frame_buffer(GstBuffer *buffer); diff --git a/src/gstreamer/gstlibcameraprovider.cpp b/src/gstreamer/gstlibcameraprovider.cpp index 6eb0a0eb..4fb1b007 100644 --- a/src/gstreamer/gstlibcameraprovider.cpp +++ b/src/gstreamer/gstlibcameraprovider.cpp @@ -3,9 +3,11 @@ * Copyright (C) 2020, Collabora Ltd. * Author: Nicolas Dufresne <nicolas.dufresne@collabora.com> * - * gstlibcameraprovider.c - GStreamer Device Provider + * GStreamer Device Provider */ +#include <array> + #include "gstlibcameraprovider.h" #include <libcamera/camera.h> @@ -31,6 +33,7 @@ GST_DEBUG_CATEGORY_STATIC(provider_debug); enum { PROP_DEVICE_NAME = 1, + PROP_AUTO_FOCUS_MODE = 2, }; #define GST_TYPE_LIBCAMERA_DEVICE gst_libcamera_device_get_type() @@ -40,6 +43,7 @@ G_DECLARE_FINAL_TYPE(GstLibcameraDevice, gst_libcamera_device, struct _GstLibcameraDevice { GstDevice parent; gchar *name; + controls::AfModeEnum auto_focus_mode = controls::AfModeManual; }; G_DEFINE_TYPE(GstLibcameraDevice, gst_libcamera_device, GST_TYPE_DEVICE) @@ -56,6 +60,7 @@ gst_libcamera_device_create_element(GstDevice *device, const gchar *name) g_assert(source); g_object_set(source, "camera-name", GST_LIBCAMERA_DEVICE(device)->name, nullptr); + g_object_set(source, "auto-focus-mode", GST_LIBCAMERA_DEVICE(device)->auto_focus_mode, nullptr); return source; } @@ -82,6 +87,9 @@ gst_libcamera_device_set_property(GObject *object, guint prop_id, case PROP_DEVICE_NAME: device->name = g_value_dup_string(value); break; + case PROP_AUTO_FOCUS_MODE: + device->auto_focus_mode = static_cast<controls::AfModeEnum>(g_value_get_enum(value)); + break; default: G_OBJECT_WARN_INVALID_PROPERTY_ID(object, prop_id, pspec); break; @@ -121,16 +129,24 @@ gst_libcamera_device_class_init(GstLibcameraDeviceClass *klass) (GParamFlags)(G_PARAM_STATIC_STRINGS | G_PARAM_WRITABLE | G_PARAM_CONSTRUCT_ONLY)); g_object_class_install_property(object_class, PROP_DEVICE_NAME, pspec); + + pspec = g_param_spec_enum("auto-focus-mode", + "Set auto-focus mode", + "Available options: AfModeManual, " + "AfModeAuto or AfModeContinuous.", + gst_libcamera_auto_focus_get_type(), + static_cast<gint>(controls::AfModeManual), + G_PARAM_WRITABLE); + g_object_class_install_property(object_class, PROP_AUTO_FOCUS_MODE, pspec); } static GstDevice * gst_libcamera_device_new(const std::shared_ptr<Camera> &camera) { + static const std::array roles{ StreamRole::VideoRecording }; g_autoptr(GstCaps) caps = gst_caps_new_empty(); const gchar *name = camera->id().c_str(); - StreamRoles roles; - roles.push_back(StreamRole::VideoRecording); std::unique_ptr<CameraConfiguration> config = camera->generateConfiguration(roles); if (!config || config->size() != roles.size()) { GST_ERROR("Failed to generate a default configuration for %s", name); diff --git a/src/gstreamer/gstlibcameraprovider.h b/src/gstreamer/gstlibcameraprovider.h index aaceabf5..19708b9d 100644 --- a/src/gstreamer/gstlibcameraprovider.h +++ b/src/gstreamer/gstlibcameraprovider.h @@ -3,7 +3,7 @@ * Copyright (C) 2020, Collabora Ltd. * Author: Nicolas Dufresne <nicolas.dufresne@collabora.com> * - * gstlibcameraprovider.h - GStreamer Device Provider + * GStreamer Device Provider */ #pragma once diff --git a/src/gstreamer/gstlibcamerasrc.cpp b/src/gstreamer/gstlibcamerasrc.cpp index 46fd02d2..6a95b6af 100644 --- a/src/gstreamer/gstlibcamerasrc.cpp +++ b/src/gstreamer/gstlibcamerasrc.cpp @@ -3,16 +3,14 @@ * Copyright (C) 2019, Collabora Ltd. * Author: Nicolas Dufresne <nicolas.dufresne@collabora.com> * - * gstlibcamerasrc.cpp - GStreamer Capture Element + * GStreamer Capture Element */ /** * \todo The following is a list of items that needs implementation in the GStreamer plugin * - Implement GstElement::send_event - * + Allowing application to send EOS * + Allowing application to use FLUSH/FLUSH_STOP * + Prevent the main thread from accessing streaming thread - * - Implement renegotiation (even if slow) * - Implement GstElement::request-new-pad (multi stream) * + Evaluate if a single streaming thread is fine * - Add application driven request (snapshot) @@ -29,11 +27,13 @@ #include "gstlibcamerasrc.h" +#include <atomic> #include <queue> #include <vector> #include <libcamera/camera.h> #include <libcamera/camera_manager.h> +#include <libcamera/control_ids.h> #include <gst/base/base.h> @@ -51,15 +51,18 @@ struct RequestWrap { RequestWrap(std::unique_ptr<Request> request); ~RequestWrap(); - void attachBuffer(GstBuffer *buffer); + void attachBuffer(Stream *stream, GstBuffer *buffer); GstBuffer *detachBuffer(Stream *stream); std::unique_ptr<Request> request_; std::map<Stream *, GstBuffer *> buffers_; + + GstClockTime latency_; + GstClockTime pts_; }; RequestWrap::RequestWrap(std::unique_ptr<Request> request) - : request_(std::move(request)) + : request_(std::move(request)), latency_(0), pts_(GST_CLOCK_TIME_NONE) { } @@ -71,10 +74,9 @@ RequestWrap::~RequestWrap() } } -void RequestWrap::attachBuffer(GstBuffer *buffer) +void RequestWrap::attachBuffer(Stream *stream, GstBuffer *buffer) { FrameBuffer *fb = gst_libcamera_buffer_get_frame_buffer(buffer); - Stream *stream = gst_libcamera_buffer_get_stream(buffer); request_->addBuffer(stream, fb); @@ -107,11 +109,30 @@ struct GstLibcameraSrcState { std::shared_ptr<CameraManager> cm_; std::shared_ptr<Camera> cam_; std::unique_ptr<CameraConfiguration> config_; - std::vector<GstPad *> srcpads_; - std::queue<std::unique_ptr<RequestWrap>> requests_; + + std::vector<GstPad *> srcpads_; /* Protected by stream_lock */ + + /* + * Contention on this lock_ must be minimized, as it has to be taken in + * the realtime-sensitive requestCompleted() handler to protect + * queuedRequests_ and completedRequests_. + * + * stream_lock must be taken before lock_ in contexts where both locks + * need to be taken. In particular, this means that the lock_ must not + * be held while calling into other graph elements (e.g. when calling + * gst_pad_query()). + */ + GMutex lock_; + std::queue<std::unique_ptr<RequestWrap>> queuedRequests_; + std::queue<std::unique_ptr<RequestWrap>> completedRequests_; + + ControlList initControls_; guint group_id_; + int queueRequest(); void requestCompleted(Request *request); + int processRequest(); + void clearRequests(); }; struct _GstLibcameraSrc { @@ -121,6 +142,9 @@ struct _GstLibcameraSrc { GstTask *task; gchar *camera_name; + controls::AfModeEnum auto_focus_mode = controls::AfModeManual; + + std::atomic<GstEvent *> pending_eos; GstLibcameraSrcState *state; GstLibcameraAllocator *allocator; @@ -129,14 +153,15 @@ struct _GstLibcameraSrc { enum { PROP_0, - PROP_CAMERA_NAME + PROP_CAMERA_NAME, + PROP_AUTO_FOCUS_MODE, }; G_DEFINE_TYPE_WITH_CODE(GstLibcameraSrc, gst_libcamera_src, GST_TYPE_ELEMENT, GST_DEBUG_CATEGORY_INIT(source_debug, "libcamerasrc", 0, "libcamera Source")) -#define TEMPLATE_CAPS GST_STATIC_CAPS("video/x-raw; image/jpeg") +#define TEMPLATE_CAPS GST_STATIC_CAPS("video/x-raw; image/jpeg; video/x-bayer") /* For the simple case, we have a src pad that is always present. */ GstStaticPadTemplate src_template = { @@ -148,15 +173,59 @@ GstStaticPadTemplate request_src_template = { "src_%u", GST_PAD_SRC, GST_PAD_REQUEST, TEMPLATE_CAPS }; +/* Must be called with stream_lock held. */ +int GstLibcameraSrcState::queueRequest() +{ + std::unique_ptr<Request> request = cam_->createRequest(); + if (!request) + return -ENOMEM; + + std::unique_ptr<RequestWrap> wrap = + std::make_unique<RequestWrap>(std::move(request)); + + for (GstPad *srcpad : srcpads_) { + Stream *stream = gst_libcamera_pad_get_stream(srcpad); + GstLibcameraPool *pool = gst_libcamera_pad_get_pool(srcpad); + GstBuffer *buffer; + GstFlowReturn ret; + + ret = gst_buffer_pool_acquire_buffer(GST_BUFFER_POOL(pool), + &buffer, nullptr); + if (ret != GST_FLOW_OK) { + /* + * RequestWrap has ownership of the request, and we + * won't be queueing this one due to lack of buffers. + */ + return -ENOBUFS; + } + + wrap->attachBuffer(stream, buffer); + } + + GST_TRACE_OBJECT(src_, "Requesting buffers"); + cam_->queueRequest(wrap->request_.get()); + + { + GLibLocker locker(&lock_); + queuedRequests_.push(std::move(wrap)); + } + + /* The RequestWrap will be deleted in the completion handler. */ + return 0; +} + void GstLibcameraSrcState::requestCompleted(Request *request) { - GLibLocker lock(GST_OBJECT(src_)); - GST_DEBUG_OBJECT(src_, "buffers are ready"); - std::unique_ptr<RequestWrap> wrap = std::move(requests_.front()); - requests_.pop(); + std::unique_ptr<RequestWrap> wrap; + + { + GLibLocker locker(&lock_); + wrap = std::move(queuedRequests_.front()); + queuedRequests_.pop(); + } g_return_if_fail(wrap->request_.get() == request); @@ -165,23 +234,61 @@ GstLibcameraSrcState::requestCompleted(Request *request) return; } - GstBuffer *buffer; + if (GST_ELEMENT_CLOCK(src_)) { + int64_t timestamp = request->metadata().get(controls::SensorTimestamp).value_or(0); + + GstClockTime gst_base_time = GST_ELEMENT(src_)->base_time; + GstClockTime gst_now = gst_clock_get_time(GST_ELEMENT_CLOCK(src_)); + /* \todo Need to expose which reference clock the timestamp relates to. */ + GstClockTime sys_now = g_get_monotonic_time() * 1000; + + /* Deduced from: sys_now - sys_base_time == gst_now - gst_base_time */ + GstClockTime sys_base_time = sys_now - (gst_now - gst_base_time); + wrap->pts_ = timestamp - sys_base_time; + wrap->latency_ = sys_now - timestamp; + } + + { + GLibLocker locker(&lock_); + completedRequests_.push(std::move(wrap)); + } + + gst_task_resume(src_->task); +} + +/* Must be called with stream_lock held. */ +int GstLibcameraSrcState::processRequest() +{ + std::unique_ptr<RequestWrap> wrap; + int err = 0; + + { + GLibLocker locker(&lock_); + + if (!completedRequests_.empty()) { + wrap = std::move(completedRequests_.front()); + completedRequests_.pop(); + } + + if (completedRequests_.empty()) + err = -ENOBUFS; + } + + if (!wrap) + return -ENOBUFS; + + GstFlowReturn ret = GST_FLOW_OK; + gst_flow_combiner_reset(src_->flow_combiner); + for (GstPad *srcpad : srcpads_) { Stream *stream = gst_libcamera_pad_get_stream(srcpad); - buffer = wrap->detachBuffer(stream); + GstBuffer *buffer = wrap->detachBuffer(stream); FrameBuffer *fb = gst_libcamera_buffer_get_frame_buffer(buffer); - if (GST_ELEMENT_CLOCK(src_)) { - GstClockTime gst_base_time = GST_ELEMENT(src_)->base_time; - GstClockTime gst_now = gst_clock_get_time(GST_ELEMENT_CLOCK(src_)); - /* \todo Need to expose which reference clock the timestamp relates to. */ - GstClockTime sys_now = g_get_monotonic_time() * 1000; - - /* Deduced from: sys_now - sys_base_time == gst_now - gst_base_time */ - GstClockTime sys_base_time = sys_now - (gst_now - gst_base_time); - GST_BUFFER_PTS(buffer) = fb->metadata().timestamp - sys_base_time; - gst_libcamera_pad_set_latency(srcpad, sys_now - fb->metadata().timestamp); + if (GST_CLOCK_TIME_IS_VALID(wrap->pts_)) { + GST_BUFFER_PTS(buffer) = wrap->pts_; + gst_libcamera_pad_set_latency(srcpad, wrap->latency_); } else { GST_BUFFER_PTS(buffer) = 0; } @@ -189,10 +296,60 @@ GstLibcameraSrcState::requestCompleted(Request *request) GST_BUFFER_OFFSET(buffer) = fb->metadata().sequence; GST_BUFFER_OFFSET_END(buffer) = fb->metadata().sequence; - gst_libcamera_pad_queue_buffer(srcpad, buffer); + ret = gst_pad_push(srcpad, buffer); + ret = gst_flow_combiner_update_pad_flow(src_->flow_combiner, + srcpad, ret); } - gst_libcamera_resume_task(this->src_->task); + switch (ret) { + case GST_FLOW_OK: + break; + + case GST_FLOW_NOT_NEGOTIATED: { + bool reconfigure = false; + for (GstPad *srcpad : srcpads_) { + if (gst_pad_needs_reconfigure(srcpad)) { + reconfigure = true; + break; + } + } + + /* If no pads need a reconfiguration something went wrong. */ + if (!reconfigure) + err = -EPIPE; + + break; + } + + case GST_FLOW_EOS: { + g_autoptr(GstEvent) eos = gst_event_new_eos(); + guint32 seqnum = gst_util_seqnum_next(); + gst_event_set_seqnum(eos, seqnum); + for (GstPad *srcpad : srcpads_) + gst_pad_push_event(srcpad, gst_event_ref(eos)); + + err = -EPIPE; + break; + } + + case GST_FLOW_FLUSHING: + err = -EPIPE; + break; + + default: + GST_ELEMENT_FLOW_ERROR(src_, ret); + + err = -EPIPE; + break; + } + + return err; +} + +void GstLibcameraSrcState::clearRequests() +{ + GLibLocker locker(&lock_); + completedRequests_ = {}; } static bool @@ -220,10 +377,10 @@ gst_libcamera_src_open(GstLibcameraSrc *self) } if (camera_name) { - cam = cm->get(self->camera_name); + cam = cm->get(camera_name); if (!cam) { GST_ELEMENT_ERROR(self, RESOURCE, NOT_FOUND, - ("Could not find a camera named '%s'.", self->camera_name), + ("Could not find a camera named '%s'.", camera_name), ("libcamera::CameraMananger::get() returned nullptr")); return false; } @@ -256,93 +413,195 @@ gst_libcamera_src_open(GstLibcameraSrc *self) return true; } -static void -gst_libcamera_src_task_run(gpointer user_data) +/* Must be called with stream_lock held. */ +static bool +gst_libcamera_src_negotiate(GstLibcameraSrc *self) { - GstLibcameraSrc *self = GST_LIBCAMERA_SRC(user_data); GstLibcameraSrcState *state = self->state; - std::unique_ptr<Request> request = state->cam_->createRequest(); - if (!request) { + g_autoptr(GstStructure) element_caps = gst_structure_new_empty("caps"); + + for (gsize i = 0; i < state->srcpads_.size(); i++) { + GstPad *srcpad = state->srcpads_[i]; + StreamConfiguration &stream_cfg = state->config_->at(i); + + /* Retrieve the supported caps. */ + g_autoptr(GstCaps) filter = gst_libcamera_stream_formats_to_caps(stream_cfg.formats()); + g_autoptr(GstCaps) caps = gst_pad_peer_query_caps(srcpad, filter); + if (gst_caps_is_empty(caps)) + return false; + + /* Fixate caps and configure the stream. */ + caps = gst_caps_make_writable(caps); + gst_libcamera_configure_stream_from_caps(stream_cfg, caps); + gst_libcamera_get_framerate_from_caps(caps, element_caps); + } + + /* Validate the configuration. */ + if (state->config_->validate() == CameraConfiguration::Invalid) + return false; + + int ret = state->cam_->configure(state->config_.get()); + if (ret) { + GST_ELEMENT_ERROR(self, RESOURCE, SETTINGS, + ("Failed to configure camera: %s", g_strerror(-ret)), + ("Camera::configure() failed with error code %i", ret)); + return false; + } + + /* Check frame duration bounds within controls::FrameDurationLimits */ + gst_libcamera_clamp_and_set_frameduration(state->initControls_, + state->cam_->controls(), element_caps); + + /* + * Regardless if it has been modified, create clean caps and push the + * caps event. Downstream will decide if the caps are acceptable. + */ + for (gsize i = 0; i < state->srcpads_.size(); i++) { + GstPad *srcpad = state->srcpads_[i]; + const StreamConfiguration &stream_cfg = state->config_->at(i); + + g_autoptr(GstCaps) caps = gst_libcamera_stream_configuration_to_caps(stream_cfg); + gst_libcamera_framerate_to_caps(caps, element_caps); + + if (!gst_pad_push_event(srcpad, gst_event_new_caps(caps))) + return false; + } + + if (self->allocator) + g_clear_object(&self->allocator); + + self->allocator = gst_libcamera_allocator_new(state->cam_, state->config_.get()); + if (!self->allocator) { GST_ELEMENT_ERROR(self, RESOURCE, NO_SPACE_LEFT, - ("Failed to allocate request for camera '%s'.", - state->cam_->id().c_str()), - ("libcamera::Camera::createRequest() failed")); - gst_task_stop(self->task); - return; + ("Failed to allocate memory"), + ("gst_libcamera_allocator_new() failed.")); + return false; } - std::unique_ptr<RequestWrap> wrap = - std::make_unique<RequestWrap>(std::move(request)); + for (gsize i = 0; i < state->srcpads_.size(); i++) { + GstPad *srcpad = state->srcpads_[i]; + const StreamConfiguration &stream_cfg = state->config_->at(i); - for (GstPad *srcpad : state->srcpads_) { - GstLibcameraPool *pool = gst_libcamera_pad_get_pool(srcpad); - GstBuffer *buffer; - GstFlowReturn ret; + GstLibcameraPool *pool = gst_libcamera_pool_new(self->allocator, + stream_cfg.stream()); + g_signal_connect_swapped(pool, "buffer-notify", + G_CALLBACK(gst_task_resume), self->task); - ret = gst_buffer_pool_acquire_buffer(GST_BUFFER_POOL(pool), - &buffer, nullptr); - if (ret != GST_FLOW_OK) { - /* - * RequestWrap has ownership of the request, and we - * won't be queueing this one due to lack of buffers. - */ - wrap.release(); - break; - } + gst_libcamera_pad_set_pool(srcpad, pool); - wrap->attachBuffer(buffer); + /* Clear all reconfigure flags. */ + gst_pad_check_reconfigure(srcpad); } - if (wrap) { - GLibLocker lock(GST_OBJECT(self)); - GST_TRACE_OBJECT(self, "Requesting buffers"); - state->cam_->queueRequest(wrap->request_.get()); - state->requests_.push(std::move(wrap)); + return true; +} + +static void +gst_libcamera_src_task_run(gpointer user_data) +{ + GstLibcameraSrc *self = GST_LIBCAMERA_SRC(user_data); + GstLibcameraSrcState *state = self->state; + + /* + * Start by pausing the task. The task may also get resumed by the + * buffer-notify signal when new buffers are queued back to the pool, + * or by the request completion handler when a new request has + * completed. Both will resume the task after adding the buffers or + * request to their respective lists, which are checked below to decide + * if the task needs to be resumed for another iteration. This is thus + * guaranteed to be race-free, the lock taken by gst_task_pause() and + * gst_task_resume() serves as a memory barrier. + */ + gst_task_pause(self->task); + + bool doResume = false; - /* The RequestWrap will be deleted in the completion handler. */ + g_autoptr(GstEvent) event = self->pending_eos.exchange(nullptr); + if (event) { + for (GstPad *srcpad : state->srcpads_) + gst_pad_push_event(srcpad, gst_event_ref(event)); + + return; } - GstFlowReturn ret = GST_FLOW_OK; - gst_flow_combiner_reset(self->flow_combiner); + /* Check if a srcpad requested a renegotiation. */ + bool reconfigure = false; for (GstPad *srcpad : state->srcpads_) { - ret = gst_libcamera_pad_push_pending(srcpad); - ret = gst_flow_combiner_update_pad_flow(self->flow_combiner, - srcpad, ret); + if (gst_pad_check_reconfigure(srcpad)) { + /* Check if the caps even need changing. */ + g_autoptr(GstCaps) caps = gst_pad_get_current_caps(srcpad); + if (!gst_pad_peer_query_accept_caps(srcpad, caps)) { + reconfigure = true; + break; + } + } } - { - if (ret != GST_FLOW_OK) { - if (ret == GST_FLOW_EOS) { - g_autoptr(GstEvent) eos = gst_event_new_eos(); - guint32 seqnum = gst_util_seqnum_next(); - gst_event_set_seqnum(eos, seqnum); - for (GstPad *srcpad : state->srcpads_) - gst_pad_push_event(srcpad, gst_event_ref(eos)); - } else if (ret != GST_FLOW_FLUSHING) { - GST_ELEMENT_FLOW_ERROR(self, ret); - } + if (reconfigure) { + state->cam_->stop(); + state->clearRequests(); + + if (!gst_libcamera_src_negotiate(self)) { + GST_ELEMENT_FLOW_ERROR(self, GST_FLOW_NOT_NEGOTIATED); gst_task_stop(self->task); - return; } + state->cam_->start(&state->initControls_); + } + + /* + * Create and queue one request. If no buffers are available the + * function returns -ENOBUFS, which we ignore here as that's not a + * fatal error. + */ + int ret = state->queueRequest(); + switch (ret) { + case 0: /* - * Here we need to decide if we want to pause. This needs to - * happen in lock step with the callback thread which may want - * to resume the task and might push pending buffers. + * The request was successfully queued, there may be enough + * buffers to create a new one. Don't pause the task to give it + * another try. */ - GLibLocker lock(GST_OBJECT(self)); - bool do_pause = true; - for (GstPad *srcpad : state->srcpads_) { - if (gst_libcamera_pad_has_pending(srcpad)) { - do_pause = false; - break; - } - } + doResume = true; + break; - if (do_pause) - gst_task_pause(self->task); + case -ENOMEM: + GST_ELEMENT_ERROR(self, RESOURCE, NO_SPACE_LEFT, + ("Failed to allocate request for camera '%s'.", + state->cam_->id().c_str()), + ("libcamera::Camera::createRequest() failed")); + gst_task_stop(self->task); + return; + + case -ENOBUFS: + default: + break; } + + /* + * Process one completed request, if available, and record if further + * requests are ready for processing. + */ + ret = state->processRequest(); + switch (ret) { + case 0: + /* Another completed request is available, resume the task. */ + doResume = true; + break; + + case -EPIPE: + gst_task_stop(self->task); + return; + + case -ENOBUFS: + default: + break; + } + + /* Resume the task for another iteration if needed. */ + if (doResume) + gst_task_resume(self->task); } static void @@ -352,13 +611,12 @@ gst_libcamera_src_task_enter(GstTask *task, [[maybe_unused]] GThread *thread, GstLibcameraSrc *self = GST_LIBCAMERA_SRC(user_data); GLibRecLocker lock(&self->stream_lock); GstLibcameraSrcState *state = self->state; - GstFlowReturn flow_ret = GST_FLOW_OK; gint ret; GST_DEBUG_OBJECT(self, "Streaming thread has started"); gint stream_id_num = 0; - StreamRoles roles; + std::vector<StreamRole> roles; for (GstPad *srcpad : state->srcpads_) { /* Create stream-id and push stream-start. */ g_autofree gchar *stream_id_intermediate = g_strdup_printf("%i%i", state->group_id_, stream_id_num++); @@ -382,45 +640,16 @@ gst_libcamera_src_task_enter(GstTask *task, [[maybe_unused]] GThread *thread, } g_assert(state->config_->size() == state->srcpads_.size()); - for (gsize i = 0; i < state->srcpads_.size(); i++) { - GstPad *srcpad = state->srcpads_[i]; - StreamConfiguration &stream_cfg = state->config_->at(i); - - /* Retrieve the supported caps. */ - g_autoptr(GstCaps) filter = gst_libcamera_stream_formats_to_caps(stream_cfg.formats()); - g_autoptr(GstCaps) caps = gst_pad_peer_query_caps(srcpad, filter); - if (gst_caps_is_empty(caps)) { - flow_ret = GST_FLOW_NOT_NEGOTIATED; - break; - } - - /* Fixate caps and configure the stream. */ - caps = gst_caps_make_writable(caps); - gst_libcamera_configure_stream_from_caps(stream_cfg, caps); - } - - if (flow_ret != GST_FLOW_OK) - goto done; - - /* Validate the configuration. */ - if (state->config_->validate() == CameraConfiguration::Invalid) { - flow_ret = GST_FLOW_NOT_NEGOTIATED; - goto done; + if (!gst_libcamera_src_negotiate(self)) { + state->initControls_.clear(); + GST_ELEMENT_FLOW_ERROR(self, GST_FLOW_NOT_NEGOTIATED); + gst_task_stop(task); + return; } - /* - * Regardless if it has been modified, create clean caps and push the - * caps event. Downstream will decide if the caps are acceptable. - */ - for (gsize i = 0; i < state->srcpads_.size(); i++) { - GstPad *srcpad = state->srcpads_[i]; - const StreamConfiguration &stream_cfg = state->config_->at(i); - - g_autoptr(GstCaps) caps = gst_libcamera_stream_configuration_to_caps(stream_cfg); - if (!gst_pad_push_event(srcpad, gst_event_new_caps(caps))) { - flow_ret = GST_FLOW_NOT_NEGOTIATED; - break; - } + self->flow_combiner = gst_flow_combiner_new(); + for (GstPad *srcpad : state->srcpads_) { + gst_flow_combiner_add_pad(self->flow_combiner, srcpad); /* Send an open segment event with time format. */ GstSegment segment; @@ -428,38 +657,19 @@ gst_libcamera_src_task_enter(GstTask *task, [[maybe_unused]] GThread *thread, gst_pad_push_event(srcpad, gst_event_new_segment(&segment)); } - ret = state->cam_->configure(state->config_.get()); - if (ret) { - GST_ELEMENT_ERROR(self, RESOURCE, SETTINGS, - ("Failed to configure camera: %s", g_strerror(-ret)), - ("Camera::configure() failed with error code %i", ret)); - gst_task_stop(task); - return; - } - - self->allocator = gst_libcamera_allocator_new(state->cam_, state->config_.get()); - if (!self->allocator) { - GST_ELEMENT_ERROR(self, RESOURCE, NO_SPACE_LEFT, - ("Failed to allocate memory"), - ("gst_libcamera_allocator_new() failed.")); - gst_task_stop(task); - return; - } - - self->flow_combiner = gst_flow_combiner_new(); - for (gsize i = 0; i < state->srcpads_.size(); i++) { - GstPad *srcpad = state->srcpads_[i]; - const StreamConfiguration &stream_cfg = state->config_->at(i); - GstLibcameraPool *pool = gst_libcamera_pool_new(self->allocator, - stream_cfg.stream()); - g_signal_connect_swapped(pool, "buffer-notify", - G_CALLBACK(gst_libcamera_resume_task), task); - - gst_libcamera_pad_set_pool(srcpad, pool); - gst_flow_combiner_add_pad(self->flow_combiner, srcpad); + if (self->auto_focus_mode != controls::AfModeManual) { + const ControlInfoMap &infoMap = state->cam_->controls(); + if (infoMap.find(&controls::AfMode) != infoMap.end()) { + state->initControls_.set(controls::AfMode, self->auto_focus_mode); + } else { + GST_ELEMENT_ERROR(self, RESOURCE, SETTINGS, + ("Failed to enable auto focus"), + ("AfMode not supported by this camera, " + "please retry with 'auto-focus-mode=AfModeManual'")); + } } - ret = state->cam_->start(); + ret = state->cam_->start(&state->initControls_); if (ret) { GST_ELEMENT_ERROR(self, RESOURCE, SETTINGS, ("Failed to start the camera: %s", g_strerror(-ret)), @@ -467,16 +677,6 @@ gst_libcamera_src_task_enter(GstTask *task, [[maybe_unused]] GThread *thread, gst_task_stop(task); return; } - -done: - switch (flow_ret) { - case GST_FLOW_NOT_NEGOTIATED: - GST_ELEMENT_FLOW_ERROR(self, flow_ret); - gst_task_stop(task); - break; - default: - break; - } } static void @@ -490,9 +690,13 @@ gst_libcamera_src_task_leave([[maybe_unused]] GstTask *task, GST_DEBUG_OBJECT(self, "Streaming thread is about to stop"); state->cam_->stop(); + state->clearRequests(); - for (GstPad *srcpad : state->srcpads_) - gst_libcamera_pad_set_pool(srcpad, nullptr); + { + GLibRecLocker locker(&self->stream_lock); + for (GstPad *srcpad : state->srcpads_) + gst_libcamera_pad_set_pool(srcpad, nullptr); + } g_clear_object(&self->allocator); g_clear_pointer(&self->flow_combiner, @@ -532,6 +736,9 @@ gst_libcamera_src_set_property(GObject *object, guint prop_id, g_free(self->camera_name); self->camera_name = g_value_dup_string(value); break; + case PROP_AUTO_FOCUS_MODE: + self->auto_focus_mode = static_cast<controls::AfModeEnum>(g_value_get_enum(value)); + break; default: G_OBJECT_WARN_INVALID_PROPERTY_ID(object, prop_id, pspec); break; @@ -549,6 +756,9 @@ gst_libcamera_src_get_property(GObject *object, guint prop_id, GValue *value, case PROP_CAMERA_NAME: g_value_set_string(value, self->camera_name); break; + case PROP_AUTO_FOCUS_MODE: + g_value_set_enum(value, static_cast<gint>(self->auto_focus_mode)); + break; default: G_OBJECT_WARN_INVALID_PROPERTY_ID(object, prop_id, pspec); break; @@ -604,6 +814,27 @@ gst_libcamera_src_change_state(GstElement *element, GstStateChange transition) return ret; } +static gboolean +gst_libcamera_src_send_event(GstElement *element, GstEvent *event) +{ + GstLibcameraSrc *self = GST_LIBCAMERA_SRC(element); + gboolean ret = FALSE; + + switch (GST_EVENT_TYPE(event)) { + case GST_EVENT_EOS: { + GstEvent *oldEvent = self->pending_eos.exchange(event); + gst_clear_event(&oldEvent); + ret = TRUE; + break; + } + default: + gst_event_unref(event); + break; + } + + return ret; +} + static void gst_libcamera_src_finalize(GObject *object) { @@ -612,6 +843,7 @@ gst_libcamera_src_finalize(GObject *object) g_rec_mutex_clear(&self->stream_lock); g_clear_object(&self->task); + g_mutex_clear(&self->state->lock_); g_free(self->camera_name); delete self->state; @@ -630,8 +862,12 @@ gst_libcamera_src_init(GstLibcameraSrc *self) gst_task_set_leave_callback(self->task, gst_libcamera_src_task_leave, self, nullptr); gst_task_set_lock(self->task, &self->stream_lock); + g_mutex_init(&state->lock_); + state->srcpads_.push_back(gst_pad_new_from_template(templ, "src")); - gst_element_add_pad(GST_ELEMENT(self), state->srcpads_[0]); + gst_element_add_pad(GST_ELEMENT(self), state->srcpads_.back()); + + GST_OBJECT_FLAG_SET(self, GST_ELEMENT_FLAG_SOURCE); /* C-style friend. */ state->src_ = self; @@ -651,7 +887,7 @@ gst_libcamera_src_request_new_pad(GstElement *element, GstPadTemplate *templ, g_object_ref_sink(pad); if (gst_element_add_pad(element, pad)) { - GLibLocker lock(GST_OBJECT(self)); + GLibRecLocker lock(&self->stream_lock); self->state->srcpads_.push_back(reinterpret_cast<GstPad *>(g_object_ref(pad))); } else { GST_ELEMENT_ERROR(element, STREAM, FAILED, @@ -671,7 +907,7 @@ gst_libcamera_src_release_pad(GstElement *element, GstPad *pad) GST_DEBUG_OBJECT(self, "Pad %" GST_PTR_FORMAT " being released", pad); { - GLibLocker lock(GST_OBJECT(self)); + GLibRecLocker lock(&self->stream_lock); std::vector<GstPad *> &pads = self->state->srcpads_; auto begin_iterator = pads.begin(); auto end_iterator = pads.end(); @@ -698,6 +934,7 @@ gst_libcamera_src_class_init(GstLibcameraSrcClass *klass) element_class->request_new_pad = gst_libcamera_src_request_new_pad; element_class->release_pad = gst_libcamera_src_release_pad; element_class->change_state = gst_libcamera_src_change_state; + element_class->send_event = gst_libcamera_src_send_event; gst_element_class_set_metadata(element_class, "libcamera Source", "Source/Video", @@ -717,4 +954,13 @@ gst_libcamera_src_class_init(GstLibcameraSrcClass *klass) | G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)); g_object_class_install_property(object_class, PROP_CAMERA_NAME, spec); + + spec = g_param_spec_enum("auto-focus-mode", + "Set auto-focus mode", + "Available options: AfModeManual, " + "AfModeAuto or AfModeContinuous.", + gst_libcamera_auto_focus_get_type(), + static_cast<gint>(controls::AfModeManual), + G_PARAM_WRITABLE); + g_object_class_install_property(object_class, PROP_AUTO_FOCUS_MODE, spec); } diff --git a/src/gstreamer/gstlibcamerasrc.h b/src/gstreamer/gstlibcamerasrc.h index fdea2f10..fd1f8193 100644 --- a/src/gstreamer/gstlibcamerasrc.h +++ b/src/gstreamer/gstlibcamerasrc.h @@ -3,11 +3,13 @@ * Copyright (C) 2019, Collabora Ltd. * Author: Nicolas Dufresne <nicolas.dufresne@collabora.com> * - * gstlibcamerasrc.h - GStreamer Capture Element + * GStreamer Capture Element */ #pragma once +#include <libcamera/control_ids.h> + #include <gst/gst.h> G_BEGIN_DECLS @@ -17,3 +19,32 @@ G_DECLARE_FINAL_TYPE(GstLibcameraSrc, gst_libcamera_src, GST_LIBCAMERA, SRC, GstElement) G_END_DECLS + +inline GType +gst_libcamera_auto_focus_get_type() +{ + static GType type = 0; + static const GEnumValue values[] = { + { + static_cast<gint>(libcamera::controls::AfModeManual), + "AfModeManual", + "manual-focus", + }, + { + static_cast<gint>(libcamera::controls::AfModeAuto), + "AfModeAuto", + "automatic-auto-focus", + }, + { + static_cast<gint>(libcamera::controls::AfModeContinuous), + "AfModeContinuous", + "continuous-auto-focus", + }, + { 0, NULL, NULL } + }; + + if (!type) + type = g_enum_register_static("GstLibcameraAutoFocus", values); + + return type; +} diff --git a/src/gstreamer/meson.build b/src/gstreamer/meson.build index 77c79140..c2a01e7b 100644 --- a/src/gstreamer/meson.build +++ b/src/gstreamer/meson.build @@ -43,6 +43,18 @@ libcamera_gst = shared_library('gstlibcamera', libcamera_gst_sources, cpp_args : libcamera_gst_cpp_args, dependencies : [libcamera_public, gstvideo_dep, gstallocator_dep], - install: true, + install : true, install_dir : '@0@/gstreamer-1.0'.format(get_option('libdir')), ) + +# Make the plugin visible to GStreamer inside meson devenv. +fs = import('fs') +gst_plugin_path = fs.parent(libcamera_gst.full_path()) + +gst_env = environment() +gst_env.prepend('GST_PLUGIN_PATH', gst_plugin_path) + +# Avoid polluting the system registry. +gst_env.set('GST_REGISTRY', gst_plugin_path / 'registry.data') + +meson.add_devenv(gst_env) diff --git a/src/ipa/ipa-sign-install.sh b/src/ipa/ipa-sign-install.sh index bcedb8b5..71696d5a 100755 --- a/src/ipa/ipa-sign-install.sh +++ b/src/ipa/ipa-sign-install.sh @@ -4,7 +4,7 @@ # # Author: Laurent Pinchart <laurent.pinchart@ideasonboard.com> # -# ipa-sign-install.sh - Regenerate IPA module signatures when installing +# Regenerate IPA module signatures when installing key=$1 shift diff --git a/src/ipa/ipa-sign.sh b/src/ipa/ipa-sign.sh index 8673dad1..69024213 100755 --- a/src/ipa/ipa-sign.sh +++ b/src/ipa/ipa-sign.sh @@ -4,7 +4,7 @@ # # Author: Laurent Pinchart <laurent.pinchart@ideasonboard.com> # -# ipa-sign.sh - Generate a signature for an IPA module +# Generate a signature for an IPA module key="$1" input="$2" diff --git a/src/ipa/ipu3/algorithms/af.cpp b/src/ipa/ipu3/algorithms/af.cpp index d07521a0..29eb7355 100644 --- a/src/ipa/ipu3/algorithms/af.cpp +++ b/src/ipa/ipu3/algorithms/af.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Red Hat * - * af.cpp - IPU3 auto focus algorithm + * IPU3 auto focus algorithm */ #include "af.h" @@ -114,19 +114,6 @@ Af::Af() } /** - * \copydoc libcamera::ipa::Algorithm::prepare - */ -void Af::prepare(IPAContext &context, ipu3_uapi_params *params) -{ - const struct ipu3_uapi_grid_config &grid = context.configuration.af.afGrid; - params->acc_param.af.grid_cfg = grid; - params->acc_param.af.filter_config = afFilterConfigDefault; - - /* Enable AF processing block */ - params->use.acc_af = 1; -} - -/** * \brief Configure the Af given a configInfo * \param[in] context The shared IPA context * \param[in] configInfo The IPA configuration data @@ -195,11 +182,27 @@ int Af::configure(IPAContext &context, const IPAConfigInfo &configInfo) } /** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void Af::prepare(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + ipu3_uapi_params *params) +{ + const struct ipu3_uapi_grid_config &grid = context.configuration.af.afGrid; + params->acc_param.af.grid_cfg = grid; + params->acc_param.af.filter_config = afFilterConfigDefault; + + /* Enable AF processing block */ + params->use.acc_af = 1; +} + +/** * \brief AF coarse scan - * - * Find a near focused image using a coarse step. The step is determined by coarseSearchStep. - * * \param[in] context The shared IPA context + * + * Find a near focused image using a coarse step. The step is determined by + * kCoarseSearchStep. */ void Af::afCoarseScan(IPAContext &context) { @@ -223,10 +226,9 @@ void Af::afCoarseScan(IPAContext &context) /** * \brief AF fine scan + * \param[in] context The shared IPA context * * Find an optimum lens position with moving 1 step for each search. - * - * \param[in] context The shared IPA context */ void Af::afFineScan(IPAContext &context) { @@ -244,10 +246,9 @@ void Af::afFineScan(IPAContext &context) /** * \brief AF reset + * \param[in] context The shared IPA context * * Reset all the parameters to start over the AF process. - * - * \param[in] context The shared IPA context */ void Af::afReset(IPAContext &context) { @@ -266,9 +267,9 @@ void Af::afReset(IPAContext &context) } /** - * \brief AF variance comparison. + * \brief AF variance comparison * \param[in] context The IPA context - * \param min_step The VCM movement step. + * \param[in] min_step The VCM movement step * * We always pick the largest variance to replace the previous one. The image * with a larger variance also indicates it is a clearer image than previous @@ -321,7 +322,7 @@ bool Af::afScan(IPAContext &context, int min_step) } /** - * \brief Determine the frame to be ignored. + * \brief Determine the frame to be ignored * \return Return True if the frame should be ignored, false otherwise */ bool Af::afNeedIgnoreFrame() @@ -334,7 +335,7 @@ bool Af::afNeedIgnoreFrame() } /** - * \brief Reset frame ignore counter. + * \brief Reset frame ignore counter */ void Af::afIgnoreFrameReset() { @@ -343,9 +344,8 @@ void Af::afIgnoreFrameReset() /** * \brief Estimate variance - * \param y_item The AF filter data set from the IPU3 statistics buffer - * \param len The quantity of table item entries which are valid to process - * \param isY1 Selects between filter Y1 or Y2 to calculate the variance + * \param[in] y_items The AF filter data set from the IPU3 statistics buffer + * \param[in] isY1 Selects between filter Y1 or Y2 to calculate the variance * * Calculate the mean of the data set provided by \a y_item, and then calculate * the variance of that data set from the mean. @@ -377,16 +377,16 @@ double Af::afEstimateVariance(Span<const y_table_item_t> y_items, bool isY1) } /** - * \brief Determine out-of-focus situation. - * \param context The IPA context. + * \brief Determine out-of-focus situation + * \param[in] context The IPA context * * Out-of-focus means that the variance change rate for a focused and a new * variance is greater than a threshold. * * \return True if the variance threshold is crossed indicating lost focus, - * false otherwise. + * false otherwise */ -bool Af::afIsOutOfFocus(IPAContext context) +bool Af::afIsOutOfFocus(IPAContext &context) { const uint32_t diff_var = std::abs(currentVariance_ - context.activeState.af.maxVariance); @@ -404,10 +404,12 @@ bool Af::afIsOutOfFocus(IPAContext context) } /** - * \brief Determine the max contrast image and lens position. - * \param[in] context The IPA context. + * \brief Determine the max contrast image and lens position + * \param[in] context The IPA context + * \param[in] frame The frame context sequence number * \param[in] frameContext The current frame context - * \param[in] stats The statistics buffer of IPU3. + * \param[in] stats The statistics buffer of IPU3 + * \param[out] metadata Metadata for the frame, to be filled by the algorithm * * Ideally, a clear image also has a relatively higher contrast. So, every * image for each focus step should be tested to find an optimal focus step. @@ -420,8 +422,10 @@ bool Af::afIsOutOfFocus(IPAContext context) * * [1] Hill Climbing Algorithm, https://en.wikipedia.org/wiki/Hill_climbing */ -void Af::process(IPAContext &context, [[maybe_unused]] IPAFrameContext *frameContext, - const ipu3_uapi_stats_3a *stats) +void Af::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + const ipu3_uapi_stats_3a *stats, + [[maybe_unused]] ControlList &metadata) { /* Evaluate the AF buffer length */ uint32_t afRawBufferLen = context.configuration.af.afGrid.width * @@ -450,6 +454,8 @@ void Af::process(IPAContext &context, [[maybe_unused]] IPAFrameContext *frameCon } } +REGISTER_IPA_ALGORITHM(Af, "Af") + } /* namespace ipa::ipu3::algorithms */ } /* namespace libcamera */ diff --git a/src/ipa/ipu3/algorithms/af.h b/src/ipa/ipu3/algorithms/af.h index ccf015f3..68126d46 100644 --- a/src/ipa/ipu3/algorithms/af.h +++ b/src/ipa/ipu3/algorithms/af.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Red Hat * - * af.h - IPU3 Af algorithm + * IPU3 Af algorithm */ #pragma once @@ -30,10 +30,14 @@ public: Af(); ~Af() = default; - void prepare(IPAContext &context, ipu3_uapi_params *params) override; int configure(IPAContext &context, const IPAConfigInfo &configInfo) override; - void process(IPAContext &context, IPAFrameContext *frameContext, - const ipu3_uapi_stats_3a *stats) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + ipu3_uapi_params *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ipu3_uapi_stats_3a *stats, + ControlList &metadata) override; private: void afCoarseScan(IPAContext &context); @@ -44,7 +48,7 @@ private: void afIgnoreFrameReset(); double afEstimateVariance(Span<const y_table_item_t> y_items, bool isY1); - bool afIsOutOfFocus(IPAContext context); + bool afIsOutOfFocus(IPAContext &context); /* VCM step configuration. It is the current setting of the VCM step. */ uint32_t focus_; diff --git a/src/ipa/ipu3/algorithms/agc.cpp b/src/ipa/ipu3/algorithms/agc.cpp index f16be534..0e0114f6 100644 --- a/src/ipa/ipu3/algorithms/agc.cpp +++ b/src/ipa/ipu3/algorithms/agc.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas On Board * - * ipu3_agc.cpp - AGC/AEC mean-based control algorithm + * AGC/AEC mean-based control algorithm */ #include "agc.h" @@ -14,6 +14,7 @@ #include <libcamera/base/log.h> #include <libcamera/base/utils.h> +#include <libcamera/control_ids.h> #include <libcamera/ipa/core_ipa_interface.h> #include "libipa/histogram.h" @@ -46,9 +47,8 @@ namespace ipa::ipu3::algorithms { LOG_DEFINE_CATEGORY(IPU3Agc) -/* Limits for analogue gain values */ +/* Minimum limit for analogue gain value */ static constexpr double kMinAnalogueGain = 1.0; -static constexpr double kMaxAnalogueGain = 8.0; /* \todo Honour the FrameDurationLimits control instead of hardcoding a limit */ static constexpr utils::Duration kMaxShutterSpeed = 60ms; @@ -56,24 +56,32 @@ static constexpr utils::Duration kMaxShutterSpeed = 60ms; /* Histogram constants */ static constexpr uint32_t knumHistogramBins = 256; -/* Target value to reach for the top 2% of the histogram */ -static constexpr double kEvGainTarget = 0.5; - -/* Number of frames to wait before calculating stats on minimum exposure */ -static constexpr uint32_t kNumStartupFrames = 10; +Agc::Agc() + : minShutterSpeed_(0s), maxShutterSpeed_(0s) +{ +} -/* - * Relative luminance target. +/** + * \brief Initialise the AGC algorithm from tuning files + * \param[in] context The shared IPA context + * \param[in] tuningData The YamlObject containing Agc tuning data + * + * This function calls the base class' tuningData parsers to discover which + * control values are supported. * - * It's a number that's chosen so that, when the camera points at a grey - * target, the resulting image brightness is considered right. + * \return 0 on success or errors from the base class */ -static constexpr double kRelativeLuminanceTarget = 0.16; - -Agc::Agc() - : frameCount_(0), minShutterSpeed_(0s), - maxShutterSpeed_(0s), filteredExposure_(0s) +int Agc::init(IPAContext &context, const YamlObject &tuningData) { + int ret; + + ret = parseTuningData(tuningData); + if (ret) + return ret; + + context.ctrlMap.merge(controls()); + + return 0; } /** @@ -90,180 +98,66 @@ int Agc::configure(IPAContext &context, IPAActiveState &activeState = context.activeState; stride_ = configuration.grid.stride; + bdsGrid_ = configuration.grid.bdsGrid; minShutterSpeed_ = configuration.agc.minShutterSpeed; maxShutterSpeed_ = std::min(configuration.agc.maxShutterSpeed, kMaxShutterSpeed); minAnalogueGain_ = std::max(configuration.agc.minAnalogueGain, kMinAnalogueGain); - maxAnalogueGain_ = std::min(configuration.agc.maxAnalogueGain, kMaxAnalogueGain); + maxAnalogueGain_ = configuration.agc.maxAnalogueGain; /* Configure the default exposure and gain. */ - activeState.agc.gain = std::max(minAnalogueGain_, kMinAnalogueGain); + activeState.agc.gain = minAnalogueGain_; activeState.agc.exposure = 10ms / configuration.sensor.lineDuration; - frameCount_ = 0; + context.activeState.agc.constraintMode = constraintModes().begin()->first; + context.activeState.agc.exposureMode = exposureModeHelpers().begin()->first; + + /* \todo Run this again when FrameDurationLimits is passed in */ + setLimits(minShutterSpeed_, maxShutterSpeed_, minAnalogueGain_, + maxAnalogueGain_); + resetFrameCount(); + return 0; } -/** - * \brief Estimate the mean value of the top 2% of the histogram - * \param[in] stats The statistics computed by the ImgU - * \param[in] grid The grid used to store the statistics in the IPU3 - * \return The mean value of the top 2% of the histogram - */ -double Agc::measureBrightness(const ipu3_uapi_stats_3a *stats, - const ipu3_uapi_grid_config &grid) const +Histogram Agc::parseStatistics(const ipu3_uapi_stats_3a *stats, + const ipu3_uapi_grid_config &grid) { - /* Initialise the histogram array */ uint32_t hist[knumHistogramBins] = { 0 }; + rgbTriples_.clear(); + for (unsigned int cellY = 0; cellY < grid.height; cellY++) { for (unsigned int cellX = 0; cellX < grid.width; cellX++) { uint32_t cellPosition = cellY * stride_ + cellX; const ipu3_uapi_awb_set_item *cell = reinterpret_cast<const ipu3_uapi_awb_set_item *>( - &stats->awb_raw_buffer.meta_data[cellPosition] - ); + &stats->awb_raw_buffer.meta_data[cellPosition]); + + rgbTriples_.push_back({ + cell->R_avg, + (cell->Gr_avg + cell->Gb_avg) / 2, + cell->B_avg + }); - uint8_t gr = cell->Gr_avg; - uint8_t gb = cell->Gb_avg; /* * Store the average green value to estimate the * brightness. Even the overexposed pixels are * taken into account. */ - hist[(gr + gb) / 2]++; + hist[(cell->Gr_avg + cell->Gb_avg) / 2]++; } } - /* Estimate the quantile mean of the top 2% of the histogram. */ - return Histogram(Span<uint32_t>(hist)).interQuantileMean(0.98, 1.0); -} - -/** - * \brief Apply a filter on the exposure value to limit the speed of changes - * \param[in] exposureValue The target exposure from the AGC algorithm - * - * The speed of the filter is adaptive, and will produce the target quicker - * during startup, or when the target exposure is within 20% of the most recent - * filter output. - * - * \return The filtered exposure - */ -utils::Duration Agc::filterExposure(utils::Duration exposureValue) -{ - double speed = 0.2; - - /* Adapt instantly if we are in startup phase. */ - if (frameCount_ < kNumStartupFrames) - speed = 1.0; - - /* - * If we are close to the desired result, go faster to avoid making - * multiple micro-adjustments. - * \todo Make this customisable? - */ - if (filteredExposure_ < 1.2 * exposureValue && - filteredExposure_ > 0.8 * exposureValue) - speed = sqrt(speed); - - filteredExposure_ = speed * exposureValue + - filteredExposure_ * (1.0 - speed); - - LOG(IPU3Agc, Debug) << "After filtering, exposure " << filteredExposure_; - - return filteredExposure_; -} - -/** - * \brief Estimate the new exposure and gain values - * \param[inout] frameContext The shared IPA frame Context - * \param[in] yGain The gain calculated based on the relative luminance target - * \param[in] iqMeanGain The gain calculated based on the relative luminance target - */ -void Agc::computeExposure(IPAContext &context, IPAFrameContext *frameContext, - double yGain, double iqMeanGain) -{ - const IPASessionConfiguration &configuration = context.configuration; - /* Get the effective exposure and gain applied on the sensor. */ - uint32_t exposure = frameContext->sensor.exposure; - double analogueGain = frameContext->sensor.gain; - - /* Use the highest of the two gain estimates. */ - double evGain = std::max(yGain, iqMeanGain); - - /* Consider within 1% of the target as correctly exposed */ - if (utils::abs_diff(evGain, 1.0) < 0.01) - LOG(IPU3Agc, Debug) << "We are well exposed (evGain = " - << evGain << ")"; - - /* extracted from Rpi::Agc::computeTargetExposure */ - - /* Calculate the shutter time in seconds */ - utils::Duration currentShutter = exposure * configuration.sensor.lineDuration; - - /* - * Update the exposure value for the next computation using the values - * of exposure and gain really used by the sensor. - */ - utils::Duration effectiveExposureValue = currentShutter * analogueGain; - - LOG(IPU3Agc, Debug) << "Actual total exposure " << currentShutter * analogueGain - << " Shutter speed " << currentShutter - << " Gain " << analogueGain - << " Needed ev gain " << evGain; - - /* - * Calculate the current exposure value for the scene as the latest - * exposure value applied multiplied by the new estimated gain. - */ - utils::Duration exposureValue = effectiveExposureValue * evGain; - - /* Clamp the exposure value to the min and max authorized */ - utils::Duration maxTotalExposure = maxShutterSpeed_ * maxAnalogueGain_; - exposureValue = std::min(exposureValue, maxTotalExposure); - LOG(IPU3Agc, Debug) << "Target total exposure " << exposureValue - << ", maximum is " << maxTotalExposure; - - /* - * Filter the exposure. - * \todo: estimate if we need to desaturate - */ - exposureValue = filterExposure(exposureValue); - - /* - * Divide the exposure value as new exposure and gain values. - * - * Push the shutter time up to the maximum first, and only then - * increase the gain. - */ - utils::Duration shutterTime = - std::clamp<utils::Duration>(exposureValue / minAnalogueGain_, - minShutterSpeed_, maxShutterSpeed_); - double stepGain = std::clamp(exposureValue / shutterTime, - minAnalogueGain_, maxAnalogueGain_); - LOG(IPU3Agc, Debug) << "Divided up shutter and gain are " - << shutterTime << " and " - << stepGain; - - IPAActiveState &activeState = context.activeState; - /* Update the estimated exposure and gain. */ - activeState.agc.exposure = shutterTime / configuration.sensor.lineDuration; - activeState.agc.gain = stepGain; + return Histogram(Span<uint32_t>(hist)); } /** * \brief Estimate the relative luminance of the frame with a given gain - * \param[in] frameContext The shared IPA frame context - * \param[in] grid The grid used to store the statistics in the IPU3 - * \param[in] stats The IPU3 statistics and ISP results - * \param[in] gain The gain to apply to the frame - * \return The relative luminance - * - * This function estimates the average relative luminance of the frame that - * would be output by the sensor if an additional \a gain was applied. + * \param[in] gain The gain to apply in estimating luminance * * The estimation is based on the AWB statistics for the current frame. Red, * green and blue averages for all cells are first multiplied by the gain, and @@ -278,91 +172,86 @@ void Agc::computeExposure(IPAContext &context, IPAFrameContext *frameContext, * * More detailed information can be found in: * https://en.wikipedia.org/wiki/Relative_luminance + * + * \return The relative luminance of the frame */ -double Agc::estimateLuminance(IPAActiveState &activeState, - const ipu3_uapi_grid_config &grid, - const ipu3_uapi_stats_3a *stats, - double gain) +double Agc::estimateLuminance(double gain) const { double redSum = 0, greenSum = 0, blueSum = 0; - /* Sum the per-channel averages, saturated to 255. */ - for (unsigned int cellY = 0; cellY < grid.height; cellY++) { - for (unsigned int cellX = 0; cellX < grid.width; cellX++) { - uint32_t cellPosition = cellY * stride_ + cellX; - - const ipu3_uapi_awb_set_item *cell = - reinterpret_cast<const ipu3_uapi_awb_set_item *>( - &stats->awb_raw_buffer.meta_data[cellPosition] - ); - const uint8_t G_avg = (cell->Gr_avg + cell->Gb_avg) / 2; - - redSum += std::min(cell->R_avg * gain, 255.0); - greenSum += std::min(G_avg * gain, 255.0); - blueSum += std::min(cell->B_avg * gain, 255.0); - } + for (unsigned int i = 0; i < rgbTriples_.size(); i++) { + redSum += std::min(std::get<0>(rgbTriples_[i]) * gain, 255.0); + greenSum += std::min(std::get<1>(rgbTriples_[i]) * gain, 255.0); + blueSum += std::min(std::get<2>(rgbTriples_[i]) * gain, 255.0); } - /* - * Apply the AWB gains to approximate colours correctly, use the Rec. - * 601 formula to calculate the relative luminance, and normalize it. - */ - double ySum = redSum * activeState.awb.gains.red * 0.299 - + greenSum * activeState.awb.gains.green * 0.587 - + blueSum * activeState.awb.gains.blue * 0.114; + double ySum = redSum * rGain_ * 0.299 + + greenSum * gGain_ * 0.587 + + blueSum * bGain_ * 0.114; - return ySum / (grid.height * grid.width) / 255; + return ySum / (bdsGrid_.height * bdsGrid_.width) / 255; } /** * \brief Process IPU3 statistics, and run AGC operations * \param[in] context The shared IPA context + * \param[in] frame The current frame sequence number * \param[in] frameContext The current frame context * \param[in] stats The IPU3 statistics and ISP results + * \param[out] metadata Metadata for the frame, to be filled by the algorithm * * Identify the current image brightness, and use that to estimate the optimal * new exposure and gain for the scene. */ -void Agc::process(IPAContext &context, [[maybe_unused]] IPAFrameContext *frameContext, - const ipu3_uapi_stats_3a *stats) +void Agc::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + const ipu3_uapi_stats_3a *stats, + ControlList &metadata) { - /* - * Estimate the gain needed to have the proportion of pixels in a given - * desired range. iqMean is the mean value of the top 2% of the - * cumulative histogram, and we want it to be as close as possible to a - * configured target. - */ - double iqMean = measureBrightness(stats, context.configuration.grid.bdsGrid); - double iqMeanGain = kEvGainTarget * knumHistogramBins / iqMean; + Histogram hist = parseStatistics(stats, context.configuration.grid.bdsGrid); + rGain_ = context.activeState.awb.gains.red; + gGain_ = context.activeState.awb.gains.blue; + bGain_ = context.activeState.awb.gains.green; /* - * Estimate the gain needed to achieve a relative luminance target. To - * account for non-linearity caused by saturation, the value needs to be - * estimated in an iterative process, as multiplying by a gain will not - * increase the relative luminance by the same factor if some image - * regions are saturated. + * The Agc algorithm needs to know the effective exposure value that was + * applied to the sensor when the statistics were collected. */ - double yGain = 1.0; - double yTarget = kRelativeLuminanceTarget; - - for (unsigned int i = 0; i < 8; i++) { - double yValue = estimateLuminance(context.activeState, - context.configuration.grid.bdsGrid, - stats, yGain); - double extraGain = std::min(10.0, yTarget / (yValue + .001)); - - yGain *= extraGain; - LOG(IPU3Agc, Debug) << "Y value: " << yValue - << ", Y target: " << yTarget - << ", gives gain " << yGain; - if (extraGain < 1.01) - break; - } + utils::Duration exposureTime = context.configuration.sensor.lineDuration + * frameContext.sensor.exposure; + double analogueGain = frameContext.sensor.gain; + utils::Duration effectiveExposureValue = exposureTime * analogueGain; + + utils::Duration shutterTime; + double aGain, dGain; + std::tie(shutterTime, aGain, dGain) = + calculateNewEv(context.activeState.agc.constraintMode, + context.activeState.agc.exposureMode, hist, + effectiveExposureValue); + + LOG(IPU3Agc, Debug) + << "Divided up shutter, analogue gain and digital gain are " + << shutterTime << ", " << aGain << " and " << dGain; + + IPAActiveState &activeState = context.activeState; + /* Update the estimated exposure and gain. */ + activeState.agc.exposure = shutterTime / context.configuration.sensor.lineDuration; + activeState.agc.gain = aGain; + + metadata.set(controls::AnalogueGain, frameContext.sensor.gain); + metadata.set(controls::ExposureTime, exposureTime.get<std::micro>()); + + /* \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>()); - computeExposure(context, frameContext, yGain, iqMeanGain); - frameCount_++; } +REGISTER_IPA_ALGORITHM(Agc, "Agc") + } /* namespace ipa::ipu3::algorithms */ } /* namespace libcamera */ diff --git a/src/ipa/ipu3/algorithms/agc.h b/src/ipa/ipu3/algorithms/agc.h index 105ae0f2..411f4da0 100644 --- a/src/ipa/ipu3/algorithms/agc.h +++ b/src/ipa/ipu3/algorithms/agc.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas On Board * - * agc.h - IPU3 AGC/AEC mean-based control algorithm + * IPU3 AGC/AEC mean-based control algorithm */ #pragma once @@ -13,6 +13,9 @@ #include <libcamera/geometry.h> +#include "libipa/agc_mean_luminance.h" +#include "libipa/histogram.h" + #include "algorithm.h" namespace libcamera { @@ -21,28 +24,23 @@ struct IPACameraSensorInfo; namespace ipa::ipu3::algorithms { -class Agc : public Algorithm +class Agc : public Algorithm, public AgcMeanLuminance { public: Agc(); ~Agc() = default; + int init(IPAContext &context, const YamlObject &tuningData) override; int configure(IPAContext &context, const IPAConfigInfo &configInfo) override; - void process(IPAContext &context, IPAFrameContext *frameContext, - const ipu3_uapi_stats_3a *stats) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ipu3_uapi_stats_3a *stats, + ControlList &metadata) override; private: - double measureBrightness(const ipu3_uapi_stats_3a *stats, - const ipu3_uapi_grid_config &grid) const; - utils::Duration filterExposure(utils::Duration currentExposure); - void computeExposure(IPAContext &context, IPAFrameContext *frameContext, - double yGain, double iqMeanGain); - double estimateLuminance(IPAActiveState &activeState, - const ipu3_uapi_grid_config &grid, - const ipu3_uapi_stats_3a *stats, - double gain); - - uint64_t frameCount_; + double estimateLuminance(double gain) const override; + Histogram parseStatistics(const ipu3_uapi_stats_3a *stats, + const ipu3_uapi_grid_config &grid); utils::Duration minShutterSpeed_; utils::Duration maxShutterSpeed_; @@ -50,9 +48,12 @@ private: double minAnalogueGain_; double maxAnalogueGain_; - utils::Duration filteredExposure_; - uint32_t stride_; + double rGain_; + double gGain_; + double bGain_; + ipu3_uapi_grid_config bdsGrid_; + std::vector<std::tuple<uint8_t, uint8_t, uint8_t>> rgbTriples_; }; } /* namespace ipa::ipu3::algorithms */ diff --git a/src/ipa/ipu3/algorithms/algorithm.h b/src/ipa/ipu3/algorithms/algorithm.h index ae134a94..c7801f93 100644 --- a/src/ipa/ipu3/algorithms/algorithm.h +++ b/src/ipa/ipu3/algorithms/algorithm.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas On Board * - * algorithm.h - IPU3 control algorithm interface + * IPU3 control algorithm interface */ #pragma once diff --git a/src/ipa/ipu3/algorithms/awb.cpp b/src/ipa/ipu3/algorithms/awb.cpp index 70426722..4d6e3994 100644 --- a/src/ipa/ipu3/algorithms/awb.cpp +++ b/src/ipa/ipu3/algorithms/awb.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas On Board * - * awb.cpp - AWB control algorithm + * AWB control algorithm */ #include "awb.h" @@ -11,6 +11,8 @@ #include <libcamera/base/log.h> +#include <libcamera/control_ids.h> + /** * \file awb.h */ @@ -216,6 +218,89 @@ int Awb::configure(IPAContext &context, return 0; } +constexpr uint16_t Awb::threshold(float value) +{ + /* AWB thresholds are in the range [0, 8191] */ + return value * 8191; +} + +constexpr uint16_t Awb::gainValue(double gain) +{ + /* + * The colour gains applied by the BNR for the four channels (Gr, R, B + * and Gb) are expressed in the parameters structure as 16-bit integers + * that store a fixed-point U3.13 value in the range [0, 8[. + * + * The real gain value is equal to the gain parameter plus one, i.e. + * + * Pout = Pin * (1 + gain / 8192) + * + * where 'Pin' is the input pixel value, 'Pout' the output pixel value, + * and 'gain' the gain in the parameters structure as a 16-bit integer. + */ + return std::clamp((gain - 1.0) * 8192, 0.0, 65535.0); +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void Awb::prepare(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + ipu3_uapi_params *params) +{ + /* + * Green saturation thresholds are reduced because we are using the + * green channel only in the exposure computation. + */ + params->acc_param.awb.config.rgbs_thr_r = threshold(1.0); + params->acc_param.awb.config.rgbs_thr_gr = threshold(0.9); + params->acc_param.awb.config.rgbs_thr_gb = threshold(0.9); + params->acc_param.awb.config.rgbs_thr_b = threshold(1.0); + + /* + * Enable saturation inclusion on thr_b for ImgU to update the + * ipu3_uapi_awb_set_item->sat_ratio field. + */ + params->acc_param.awb.config.rgbs_thr_b |= IPU3_UAPI_AWB_RGBS_THR_B_INCL_SAT | + IPU3_UAPI_AWB_RGBS_THR_B_EN; + + const ipu3_uapi_grid_config &grid = context.configuration.grid.bdsGrid; + + params->acc_param.awb.config.grid = context.configuration.grid.bdsGrid; + + /* + * Optical center is column start (respectively row start) of the + * cell of interest minus its X center (respectively Y center). + * + * For the moment use BDS as a first approximation, but it should + * be calculated based on Shading (SHD) parameters. + */ + params->acc_param.bnr = imguCssBnrDefaults; + Size &bdsOutputSize = context.configuration.grid.bdsOutputSize; + params->acc_param.bnr.column_size = bdsOutputSize.width; + params->acc_param.bnr.opt_center.x_reset = grid.x_start - (bdsOutputSize.width / 2); + params->acc_param.bnr.opt_center.y_reset = grid.y_start - (bdsOutputSize.height / 2); + params->acc_param.bnr.opt_center_sqr.x_sqr_reset = params->acc_param.bnr.opt_center.x_reset + * params->acc_param.bnr.opt_center.x_reset; + params->acc_param.bnr.opt_center_sqr.y_sqr_reset = params->acc_param.bnr.opt_center.y_reset + * params->acc_param.bnr.opt_center.y_reset; + + params->acc_param.bnr.wb_gains.gr = gainValue(context.activeState.awb.gains.green); + params->acc_param.bnr.wb_gains.r = gainValue(context.activeState.awb.gains.red); + params->acc_param.bnr.wb_gains.b = gainValue(context.activeState.awb.gains.blue); + params->acc_param.bnr.wb_gains.gb = gainValue(context.activeState.awb.gains.green); + + LOG(IPU3Awb, Debug) << "Color temperature estimated: " << asyncResults_.temperatureK; + + /* The CCM matrix may change when color temperature will be used */ + params->acc_param.ccm = imguCssCcmDefault; + + params->use.acc_awb = 1; + params->use.acc_bnr = 1; + params->use.acc_ccm = 1; +} + /** * The function estimates the correlated color temperature using * from RGB color space input. @@ -387,8 +472,10 @@ void Awb::calculateWBGains(const ipu3_uapi_stats_3a *stats) /** * \copydoc libcamera::ipa::Algorithm::process */ -void Awb::process(IPAContext &context, [[maybe_unused]] IPAFrameContext *frameContext, - const ipu3_uapi_stats_3a *stats) +void Awb::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + const ipu3_uapi_stats_3a *stats, + [[maybe_unused]] ControlList &metadata) { calculateWBGains(stats); @@ -401,87 +488,17 @@ void Awb::process(IPAContext &context, [[maybe_unused]] IPAFrameContext *frameCo context.activeState.awb.gains.green = asyncResults_.greenGain; context.activeState.awb.gains.red = asyncResults_.redGain; context.activeState.awb.temperatureK = asyncResults_.temperatureK; -} -constexpr uint16_t Awb::threshold(float value) -{ - /* AWB thresholds are in the range [0, 8191] */ - return value * 8191; + metadata.set(controls::AwbEnable, true); + metadata.set(controls::ColourGains, { + static_cast<float>(context.activeState.awb.gains.red), + static_cast<float>(context.activeState.awb.gains.blue) + }); + metadata.set(controls::ColourTemperature, + context.activeState.awb.temperatureK); } -constexpr uint16_t Awb::gainValue(double gain) -{ - /* - * The colour gains applied by the BNR for the four channels (Gr, R, B - * and Gb) are expressed in the parameters structure as 16-bit integers - * that store a fixed-point U3.13 value in the range [0, 8[. - * - * The real gain value is equal to the gain parameter plus one, i.e. - * - * Pout = Pin * (1 + gain / 8192) - * - * where 'Pin' is the input pixel value, 'Pout' the output pixel value, - * and 'gain' the gain in the parameters structure as a 16-bit integer. - */ - return std::clamp((gain - 1.0) * 8192, 0.0, 65535.0); -} - -/** - * \copydoc libcamera::ipa::Algorithm::prepare - */ -void Awb::prepare(IPAContext &context, ipu3_uapi_params *params) -{ - /* - * Green saturation thresholds are reduced because we are using the - * green channel only in the exposure computation. - */ - params->acc_param.awb.config.rgbs_thr_r = threshold(1.0); - params->acc_param.awb.config.rgbs_thr_gr = threshold(0.9); - params->acc_param.awb.config.rgbs_thr_gb = threshold(0.9); - params->acc_param.awb.config.rgbs_thr_b = threshold(1.0); - - /* - * Enable saturation inclusion on thr_b for ImgU to update the - * ipu3_uapi_awb_set_item->sat_ratio field. - */ - params->acc_param.awb.config.rgbs_thr_b |= IPU3_UAPI_AWB_RGBS_THR_B_INCL_SAT | - IPU3_UAPI_AWB_RGBS_THR_B_EN; - - const ipu3_uapi_grid_config &grid = context.configuration.grid.bdsGrid; - - params->acc_param.awb.config.grid = context.configuration.grid.bdsGrid; - - /* - * Optical center is column start (respectively row start) of the - * cell of interest minus its X center (respectively Y center). - * - * For the moment use BDS as a first approximation, but it should - * be calculated based on Shading (SHD) parameters. - */ - params->acc_param.bnr = imguCssBnrDefaults; - Size &bdsOutputSize = context.configuration.grid.bdsOutputSize; - params->acc_param.bnr.column_size = bdsOutputSize.width; - params->acc_param.bnr.opt_center.x_reset = grid.x_start - (bdsOutputSize.width / 2); - params->acc_param.bnr.opt_center.y_reset = grid.y_start - (bdsOutputSize.height / 2); - params->acc_param.bnr.opt_center_sqr.x_sqr_reset = params->acc_param.bnr.opt_center.x_reset - * params->acc_param.bnr.opt_center.x_reset; - params->acc_param.bnr.opt_center_sqr.y_sqr_reset = params->acc_param.bnr.opt_center.y_reset - * params->acc_param.bnr.opt_center.y_reset; - - params->acc_param.bnr.wb_gains.gr = gainValue(context.activeState.awb.gains.green); - params->acc_param.bnr.wb_gains.r = gainValue(context.activeState.awb.gains.red); - params->acc_param.bnr.wb_gains.b = gainValue(context.activeState.awb.gains.blue); - params->acc_param.bnr.wb_gains.gb = gainValue(context.activeState.awb.gains.green); - - LOG(IPU3Awb, Debug) << "Color temperature estimated: " << asyncResults_.temperatureK; - - /* The CCM matrix may change when color temperature will be used */ - params->acc_param.ccm = imguCssCcmDefault; - - params->use.acc_awb = 1; - params->use.acc_bnr = 1; - params->use.acc_ccm = 1; -} +REGISTER_IPA_ALGORITHM(Awb, "Awb") } /* namespace ipa::ipu3::algorithms */ diff --git a/src/ipa/ipu3/algorithms/awb.h b/src/ipa/ipu3/algorithms/awb.h index 0acd2148..c0202823 100644 --- a/src/ipa/ipu3/algorithms/awb.h +++ b/src/ipa/ipu3/algorithms/awb.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas On Board * - * awb.h - IPU3 AWB control algorithm + * IPU3 AWB control algorithm */ #pragma once @@ -39,9 +39,13 @@ public: ~Awb(); int configure(IPAContext &context, const IPAConfigInfo &configInfo) override; - void prepare(IPAContext &context, ipu3_uapi_params *params) override; - void process(IPAContext &context, IPAFrameContext *frameContext, - const ipu3_uapi_stats_3a *stats) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + ipu3_uapi_params *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ipu3_uapi_stats_3a *stats, + ControlList &metadata) override; private: /* \todo Make these structs available to all the ISPs ? */ diff --git a/src/ipa/ipu3/algorithms/blc.cpp b/src/ipa/ipu3/algorithms/blc.cpp index 78ab7bff..257f40e2 100644 --- a/src/ipa/ipu3/algorithms/blc.cpp +++ b/src/ipa/ipu3/algorithms/blc.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google inc. * - * blc.cpp - IPU3 Black Level Correction control + * IPU3 Black Level Correction control */ #include "blc.h" @@ -38,14 +38,18 @@ BlackLevelCorrection::BlackLevelCorrection() /** * \brief Fill in the parameter structure, and enable black level correction - * \param context The shared IPA context - * \param params The IPU3 parameters + * \param[in] context The shared IPA context + * \param[in] frame The frame context sequence number + * \param[in] frameContext The FrameContext for this frame + * \param[out] params The IPU3 parameters * * Populate the IPU3 parameter structure with the correction values for each * channel and enable the corresponding ImgU block processing. */ void BlackLevelCorrection::prepare([[maybe_unused]] IPAContext &context, - ipu3_uapi_params *params) + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + ipu3_uapi_params *params) { /* * The Optical Black Level correction values @@ -62,6 +66,8 @@ void BlackLevelCorrection::prepare([[maybe_unused]] IPAContext &context, params->use.obgrid_param = 1; } +REGISTER_IPA_ALGORITHM(BlackLevelCorrection, "BlackLevelCorrection") + } /* namespace ipa::ipu3::algorithms */ } /* namespace libcamera */ diff --git a/src/ipa/ipu3/algorithms/blc.h b/src/ipa/ipu3/algorithms/blc.h index d8da1748..62748045 100644 --- a/src/ipa/ipu3/algorithms/blc.h +++ b/src/ipa/ipu3/algorithms/blc.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google inc. * - * black_correction.h - IPU3 Black Level Correction control + * IPU3 Black Level Correction control */ #pragma once @@ -18,7 +18,9 @@ class BlackLevelCorrection : public Algorithm public: BlackLevelCorrection(); - void prepare(IPAContext &context, ipu3_uapi_params *params) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + ipu3_uapi_params *params) override; }; } /* namespace ipa::ipu3::algorithms */ diff --git a/src/ipa/ipu3/algorithms/tone_mapping.cpp b/src/ipa/ipu3/algorithms/tone_mapping.cpp index f86e79b2..160338c1 100644 --- a/src/ipa/ipu3/algorithms/tone_mapping.cpp +++ b/src/ipa/ipu3/algorithms/tone_mapping.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google inc. * - * tone_mapping.cpp - IPU3 ToneMapping and Gamma control + * IPU3 ToneMapping and Gamma control */ #include "tone_mapping.h" @@ -49,13 +49,17 @@ int ToneMapping::configure(IPAContext &context, /** * \brief Fill in the parameter structure, and enable gamma control - * \param context The shared IPA context - * \param params The IPU3 parameters + * \param[in] context The shared IPA context + * \param[in] frame The frame context sequence number + * \param[in] frameContext The FrameContext for this frame + * \param[out] params The IPU3 parameters * * Populate the IPU3 parameter structure with our tone mapping look up table and * enable the gamma control module in the processing blocks. */ void ToneMapping::prepare([[maybe_unused]] IPAContext &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, ipu3_uapi_params *params) { /* Copy the calculated LUT into the parameters buffer. */ @@ -71,15 +75,19 @@ void ToneMapping::prepare([[maybe_unused]] IPAContext &context, /** * \brief Calculate the tone mapping look up table - * \param context The shared IPA context - * \param frameContext The current frame context - * \param stats The IPU3 statistics and ISP results + * \param[in] context The shared IPA context + * \param[in] frame The current frame sequence number + * \param[in] frameContext The current frame context + * \param[in] stats The IPU3 statistics and ISP results + * \param[out] metadata Metadata for the frame, to be filled by the algorithm * * The tone mapping look up table is generated as an inverse power curve from * our gamma setting. */ -void ToneMapping::process(IPAContext &context, [[maybe_unused]] IPAFrameContext *frameContext, - [[maybe_unused]] const ipu3_uapi_stats_3a *stats) +void ToneMapping::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + [[maybe_unused]] const ipu3_uapi_stats_3a *stats, + [[maybe_unused]] ControlList &metadata) { /* * Hardcode gamma to 1.1 as a default for now. @@ -105,6 +113,8 @@ void ToneMapping::process(IPAContext &context, [[maybe_unused]] IPAFrameContext context.activeState.toneMapping.gamma = gamma_; } +REGISTER_IPA_ALGORITHM(ToneMapping, "ToneMapping") + } /* namespace ipa::ipu3::algorithms */ } /* namespace libcamera */ diff --git a/src/ipa/ipu3/algorithms/tone_mapping.h b/src/ipa/ipu3/algorithms/tone_mapping.h index d7d48006..b2b38010 100644 --- a/src/ipa/ipu3/algorithms/tone_mapping.h +++ b/src/ipa/ipu3/algorithms/tone_mapping.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google inc. * - * tone_mapping.h - IPU3 ToneMapping and Gamma control + * IPU3 ToneMapping and Gamma control */ #pragma once @@ -19,9 +19,12 @@ public: ToneMapping(); int configure(IPAContext &context, const IPAConfigInfo &configInfo) override; - void prepare(IPAContext &context, ipu3_uapi_params *params) override; - void process(IPAContext &context, IPAFrameContext *frameContext, - const ipu3_uapi_stats_3a *stats) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, ipu3_uapi_params *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ipu3_uapi_stats_3a *stats, + ControlList &metadata) override; private: double gamma_; diff --git a/src/ipa/ipu3/data/meson.build b/src/ipa/ipu3/data/meson.build new file mode 100644 index 00000000..0f7cd5c6 --- /dev/null +++ b/src/ipa/ipu3/data/meson.build @@ -0,0 +1,9 @@ +# SPDX-License-Identifier: CC0-1.0 + +conf_files = files([ + 'uncalibrated.yaml', +]) + +install_data(conf_files, + install_dir : ipa_data_dir / 'ipu3', + install_tag : 'runtime') diff --git a/src/ipa/ipu3/data/uncalibrated.yaml b/src/ipa/ipu3/data/uncalibrated.yaml new file mode 100644 index 00000000..794ab3ed --- /dev/null +++ b/src/ipa/ipu3/data/uncalibrated.yaml @@ -0,0 +1,11 @@ +# SPDX-License-Identifier: CC0-1.0 +%YAML 1.1 +--- +version: 1 +algorithms: + - Af: + - Agc: + - Awb: + - BlackLevelCorrection: + - ToneMapping: +... diff --git a/src/ipa/ipu3/ipa_context.cpp b/src/ipa/ipu3/ipa_context.cpp index 13cdb835..917d0654 100644 --- a/src/ipa/ipu3/ipa_context.cpp +++ b/src/ipa/ipu3/ipa_context.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * ipa_context.cpp - IPU3 IPA Context + * IPU3 IPA Context */ #include "ipa_context.h" @@ -36,22 +36,6 @@ namespace libcamera::ipa::ipu3 { */ /** - * \struct IPAFrameContext - * \brief Context for a frame - * - * The frame context stores data specific to a single frame processed by the - * IPA. Each frame processed by the IPA has a context associated with it, - * accessible through the IPAContext structure. - * - * Fields in the frame context should reflect values and controls - * associated with the specific frame as requested by the application, and - * as configured by the hardware. Fields can be read by algorithms to - * determine if they should update any specific action for this frame, and - * finally to update the metadata control lists when the frame is fully - * completed. - */ - -/** * \struct IPAContext * \brief Global IPA context data shared between all algorithms * @@ -63,6 +47,9 @@ namespace libcamera::ipa::ipu3 { * * \var IPAContext::activeState * \brief The current state of IPA algorithms + * + * \var IPAContext::ctrlMap + * \brief A ControlInfoMap::Map of controls populated by the algorithms */ /** @@ -84,22 +71,21 @@ namespace libcamera::ipa::ipu3 { * \brief AF grid configuration of the IPA * * \var IPASessionConfiguration::af.afGrid - * \brief AF scene grid configuration. + * \brief AF scene grid configuration */ /** * \var IPAActiveState::af * \brief Context for the Automatic Focus algorithm * - * \struct IPAActiveState::af * \var IPAActiveState::af.focus * \brief Current position of the lens * * \var IPAActiveState::af.maxVariance - * \brief The maximum variance of the current image. + * \brief The maximum variance of the current image * * \var IPAActiveState::af.stable - * \brief It is set to true, if the best focus is found. + * \brief It is set to true, if the best focus is found */ /** @@ -128,6 +114,9 @@ namespace libcamera::ipa::ipu3 { * * \var IPASessionConfiguration::sensor.defVBlank * \brief The default vblank value of the sensor + * + * \var IPASessionConfiguration::sensor.size + * \brief Sensor output resolution */ /** @@ -150,7 +139,7 @@ namespace libcamera::ipa::ipu3 { * \var IPAActiveState::awb * \brief Context for the Automatic White Balance algorithm * - * \struct IPAActiveState::awb.gains + * \var IPAActiveState::awb.gains * \brief White balance gains * * \var IPAActiveState::awb.gains.red @@ -181,25 +170,8 @@ namespace libcamera::ipa::ipu3 { */ /** - * \brief Default constructor for IPAFrameContext - */ -IPAFrameContext::IPAFrameContext() = default; - -/** - * \brief Construct a IPAFrameContext instance - */ -IPAFrameContext::IPAFrameContext(uint32_t id, const ControlList &reqControls) - : frame(id), frameControls(reqControls) -{ - sensor = {}; -} - -/** - * \var IPAFrameContext::frame - * \brief The frame number - * - * \var IPAFrameContext::frameControls - * \brief Controls sent in by the application while queuing the request + * \struct IPAFrameContext + * \brief IPU3-specific FrameContext * * \var IPAFrameContext::sensor * \brief Effective sensor values that were applied for the frame diff --git a/src/ipa/ipu3/ipa_context.h b/src/ipa/ipu3/ipa_context.h index 42e11141..c85d1e34 100644 --- a/src/ipa/ipu3/ipa_context.h +++ b/src/ipa/ipu3/ipa_context.h @@ -2,14 +2,12 @@ /* * Copyright (C) 2021, Google Inc. * - * ipa_context.h - IPU3 IPA Context + * IPU3 IPA Context * */ #pragma once -#include <array> - #include <linux/intel-ipu3.h> #include <libcamera/base/utils.h> @@ -17,13 +15,12 @@ #include <libcamera/controls.h> #include <libcamera/geometry.h> +#include <libipa/fc_queue.h> + namespace libcamera { namespace ipa::ipu3 { -/* Maximum number of frame contexts to be held */ -static constexpr uint32_t kMaxFrameContexts = 16; - struct IPASessionConfiguration { struct { ipu3_uapi_grid_config bdsGrid; @@ -45,6 +42,7 @@ struct IPASessionConfiguration { struct { int32_t defVBlank; utils::Duration lineDuration; + Size size; } sensor; }; @@ -58,6 +56,8 @@ struct IPAActiveState { struct { uint32_t exposure; double gain; + uint32_t constraintMode; + uint32_t exposureMode; } agc; struct { @@ -76,24 +76,20 @@ struct IPAActiveState { } toneMapping; }; -struct IPAFrameContext { - IPAFrameContext(); - IPAFrameContext(uint32_t id, const ControlList &reqControls); - +struct IPAFrameContext : public FrameContext { struct { uint32_t exposure; double gain; } sensor; - - uint32_t frame; - ControlList frameControls; }; struct IPAContext { IPASessionConfiguration configuration; IPAActiveState activeState; - std::array<IPAFrameContext, kMaxFrameContexts> frameContexts; + FCQueue<IPAFrameContext> frameContexts; + + ControlInfoMap::Map ctrlMap; }; } /* namespace ipa::ipu3 */ diff --git a/src/ipa/ipu3/ipu3-ipa-design-guide.rst b/src/ipa/ipu3/ipu3-ipa-design-guide.rst index e724fdda..72506397 100644 --- a/src/ipa/ipu3/ipu3-ipa-design-guide.rst +++ b/src/ipa/ipu3/ipu3-ipa-design-guide.rst @@ -1,3 +1,5 @@ +.. SPDX-License-Identifier: CC-BY-SA-4.0 + IPU3 IPA Architecture Design and Overview ========================================= diff --git a/src/ipa/ipu3/ipu3.cpp b/src/ipa/ipu3/ipu3.cpp index 2f6bb672..cdcdf1fb 100644 --- a/src/ipa/ipu3/ipu3.cpp +++ b/src/ipa/ipu3/ipu3.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * ipu3.cpp - IPU3 Image Processing Algorithms + * IPU3 Image Processing Algorithms */ #include <algorithm> @@ -18,6 +18,7 @@ #include <linux/intel-ipu3.h> #include <linux/v4l2-controls.h> +#include <libcamera/base/file.h> #include <libcamera/base/log.h> #include <libcamera/base/utils.h> @@ -29,6 +30,7 @@ #include <libcamera/request.h> #include "libcamera/internal/mapped_framebuffer.h" +#include "libcamera/internal/yaml_parser.h" #include "algorithms/af.h" #include "algorithms/agc.h" @@ -38,6 +40,8 @@ #include "algorithms/tone_mapping.h" #include "libipa/camera_sensor_helper.h" +#include "ipa_context.h" + /* Minimum grid width, expressed as a number of cells */ static constexpr uint32_t kMinGridWidth = 16; /* Maximum grid width, expressed as a number of cells */ @@ -51,6 +55,9 @@ static constexpr uint32_t kMinCellSizeLog2 = 3; /* log2 of the maximum grid cell width and height, in pixels */ static constexpr uint32_t kMaxCellSizeLog2 = 6; +/* Maximum number of frame contexts to be held */ +static constexpr uint32_t kMaxFrameContexts = 16; + namespace libcamera { LOG_DEFINE_CATEGORY(IPAIPU3) @@ -71,7 +78,7 @@ namespace ipa::ipu3 { * * At initialisation time, a CameraSensorHelper is instantiated to support * camera-specific calculations, while the default controls are computed, and - * the algorithms are constructed and placed in an ordered list. + * the algorithms are instantiated from the tuning data file. * * The IPU3 ImgU operates with a grid layout to divide the overall frame into * rectangular cells of pixels. When the IPA is configured, we determine the @@ -92,12 +99,14 @@ namespace ipa::ipu3 { * fillParamsBuffer() call. * * The individual algorithms are split into modular components that are called - * iteratively to allow them to process statistics from the ImgU in a defined - * order. + * iteratively to allow them to process statistics from the ImgU in the order + * defined in the tuning data file. * - * The current implementation supports three core algorithms: - * - Automatic white balance (AWB) + * The current implementation supports five core algorithms: + * + * - Auto focus (AF) * - Automatic gain and exposure control (AGC) + * - Automatic white balance (AWB) * - Black level correction (BLC) * - Tone mapping (Gamma) * @@ -128,9 +137,11 @@ namespace ipa::ipu3 { * sensor-specific tuning to adapt for Black Level compensation (BLC), Lens * shading correction (SHD) and Color correction (CCM). */ -class IPAIPU3 : public IPAIPU3Interface +class IPAIPU3 : public IPAIPU3Interface, public Module { public: + IPAIPU3(); + int init(const IPASettings &settings, const IPACameraSensorInfo &sensorInfo, const ControlInfoMap &sensorControls, @@ -150,14 +161,16 @@ public: void processStatsBuffer(const uint32_t frame, const int64_t frameTimestamp, const uint32_t bufferId, const ControlList &sensorControls) override; + +protected: + std::string logPrefix() const override; + private: void updateControls(const IPACameraSensorInfo &sensorInfo, const ControlInfoMap &sensorControls, ControlInfoMap *ipaControls); void updateSessionConfiguration(const ControlInfoMap &sensorControls); - bool validateSensorControls(); - void setControls(unsigned int frame); void calculateBdsGrid(const Size &bdsOutputSize); @@ -171,13 +184,20 @@ private: /* Interface to the Camera Helper */ std::unique_ptr<CameraSensorHelper> camHelper_; - /* Maintain the algorithms used by the IPA */ - std::list<std::unique_ptr<ipa::ipu3::Algorithm>> algorithms_; - /* Local parameter storage */ struct IPAContext context_; }; +IPAIPU3::IPAIPU3() + : context_({ {}, {}, { kMaxFrameContexts }, {} }) +{ +} + +std::string IPAIPU3::logPrefix() const +{ + return "ipu3"; +} + /** * \brief Compute IPASessionConfiguration using the sensor information and the * sensor V4L2 controls @@ -267,32 +287,11 @@ void IPAIPU3::updateControls(const IPACameraSensorInfo &sensorInfo, frameDurations[1], frameDurations[2]); + controls.merge(context_.ctrlMap); *ipaControls = ControlInfoMap(std::move(controls), controls::controls); } /** - * \brief Validate that the sensor controls mandatory for the IPA exists - */ -bool IPAIPU3::validateSensorControls() -{ - static const uint32_t ctrls[] = { - V4L2_CID_ANALOGUE_GAIN, - V4L2_CID_EXPOSURE, - V4L2_CID_VBLANK, - }; - - for (auto c : ctrls) { - if (sensorCtrls_.find(c) == sensorCtrls_.end()) { - LOG(IPAIPU3, Error) << "Unable to find sensor control " - << utils::hex(c); - return false; - } - } - - return true; -} - -/** * \brief Initialize the IPA module and its controls * * This function receives the camera sensor information from the pipeline @@ -304,7 +303,7 @@ int IPAIPU3::init(const IPASettings &settings, const ControlInfoMap &sensorControls, ControlInfoMap *ipaControls) { - camHelper_ = CameraSensorHelperFactory::create(settings.sensorModel); + camHelper_ = CameraSensorHelperFactoryBase::create(settings.sensorModel); if (camHelper_ == nullptr) { LOG(IPAIPU3, Error) << "Failed to create camera sensor helper for " @@ -314,14 +313,39 @@ int IPAIPU3::init(const IPASettings &settings, /* Clean context */ context_.configuration = {}; - context_.configuration.sensor.lineDuration = sensorInfo.lineLength * 1.0s / sensorInfo.pixelRate; + context_.configuration.sensor.lineDuration = sensorInfo.minLineLength + * 1.0s / sensorInfo.pixelRate; + + /* Load the tuning data file. */ + File file(settings.configurationFile); + if (!file.open(File::OpenModeFlag::ReadOnly)) { + int ret = file.error(); + LOG(IPAIPU3, Error) + << "Failed to open configuration file " + << settings.configurationFile << ": " << strerror(-ret); + return ret; + } - /* Construct our Algorithms */ - algorithms_.push_back(std::make_unique<algorithms::Af>()); - algorithms_.push_back(std::make_unique<algorithms::Agc>()); - algorithms_.push_back(std::make_unique<algorithms::Awb>()); - algorithms_.push_back(std::make_unique<algorithms::BlackLevelCorrection>()); - algorithms_.push_back(std::make_unique<algorithms::ToneMapping>()); + std::unique_ptr<libcamera::YamlObject> data = YamlParser::parse(file); + if (!data) + return -EINVAL; + + unsigned int version = (*data)["version"].get<uint32_t>(0); + if (version != 1) { + LOG(IPAIPU3, Error) + << "Invalid tuning file version " << version; + return -EINVAL; + } + + if (!data->contains("algorithms")) { + LOG(IPAIPU3, Error) + << "Tuning file doesn't contain any algorithm"; + return -EINVAL; + } + + int ret = createAlgorithms(context_, (*data)["algorithms"]); + if (ret) + return ret; /* Initialize controls. */ updateControls(sensorInfo, sensorControls, ipaControls); @@ -348,6 +372,7 @@ int IPAIPU3::start() */ void IPAIPU3::stop() { + context_.frameContexts.clear(); } /** @@ -446,6 +471,16 @@ int IPAIPU3::configure(const IPAConfigInfo &configInfo, lensCtrls_ = configInfo.lensControls; + /* Clear the IPA context for the new streaming session. */ + context_.activeState = {}; + context_.configuration = {}; + context_.frameContexts.clear(); + + /* Initialise the sensor configuration. */ + context_.configuration.sensor.lineDuration = sensorInfo_.minLineLength + * 1.0s / sensorInfo_.pixelRate; + context_.configuration.sensor.size = sensorInfo_.outputSize; + /* * Compute the sensor V4L2 controls to be used by the algorithms and * to be set on the sensor. @@ -454,23 +489,13 @@ int IPAIPU3::configure(const IPAConfigInfo &configInfo, calculateBdsGrid(configInfo.bdsOutputSize); - /* Clean IPAActiveState at each reconfiguration. */ - context_.activeState = {}; - IPAFrameContext initFrameContext; - context_.frameContexts.fill(initFrameContext); - - if (!validateSensorControls()) { - LOG(IPAIPU3, Error) << "Sensor control validation failed."; - return -EINVAL; - } - /* Update the camera controls using the new sensor settings. */ updateControls(sensorInfo_, sensorCtrls_, ipaControls); /* Update the IPASessionConfiguration using the sensor settings. */ updateSessionConfiguration(sensorCtrls_); - for (auto const &algo : algorithms_) { + for (auto const &algo : algorithms()) { int ret = algo->configure(context_, configInfo); if (ret) return ret; @@ -538,8 +563,10 @@ void IPAIPU3::fillParamsBuffer(const uint32_t frame, const uint32_t bufferId) */ params->use = {}; - for (auto const &algo : algorithms_) - algo->prepare(context_, params); + IPAFrameContext &frameContext = context_.frameContexts.get(frame); + + for (auto const &algo : algorithms()) + algo->prepare(context_, frame, frameContext, params); paramsBufferReady.emit(frame); } @@ -569,33 +596,18 @@ void IPAIPU3::processStatsBuffer(const uint32_t frame, const ipu3_uapi_stats_3a *stats = reinterpret_cast<ipu3_uapi_stats_3a *>(mem.data()); - IPAFrameContext &frameContext = context_.frameContexts[frame % kMaxFrameContexts]; - - if (frameContext.frame != frame) - LOG(IPAIPU3, Warning) << "Frame " << frame << " does not match its frame context"; + IPAFrameContext &frameContext = context_.frameContexts.get(frame); frameContext.sensor.exposure = sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>(); frameContext.sensor.gain = camHelper_->gain(sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>()); - double lineDuration = context_.configuration.sensor.lineDuration.get<std::micro>(); - int32_t vBlank = context_.configuration.sensor.defVBlank; - ControlList ctrls(controls::controls); + ControlList metadata(controls::controls); - for (auto const &algo : algorithms_) - algo->process(context_, &frameContext, stats); + for (auto const &algo : algorithms()) + algo->process(context_, frame, frameContext, stats, metadata); setControls(frame); - /* \todo Use VBlank value calculated from each frame exposure. */ - int64_t frameDuration = (vBlank + sensorInfo_.outputSize.height) * lineDuration; - ctrls.set(controls::FrameDuration, frameDuration); - - ctrls.set(controls::AnalogueGain, frameContext.sensor.gain); - - ctrls.set(controls::ColourTemperature, context_.activeState.awb.temperatureK); - - ctrls.set(controls::ExposureTime, frameContext.sensor.exposure * lineDuration); - /* * \todo The Metadata provides a path to getting extended data * out to the application. Further data such as a simplifed Histogram @@ -604,7 +616,7 @@ void IPAIPU3::processStatsBuffer(const uint32_t frame, * likely want to avoid putting platform specific metadata in. */ - metadataReady.emit(frame, ctrls); + metadataReady.emit(frame, metadata); } /** @@ -617,8 +629,10 @@ void IPAIPU3::processStatsBuffer(const uint32_t frame, */ void IPAIPU3::queueRequest(const uint32_t frame, const ControlList &controls) { - /* \todo Start processing for 'frame' based on 'controls'. */ - context_.frameContexts[frame % kMaxFrameContexts] = { frame, controls }; + IPAFrameContext &frameContext = context_.frameContexts.alloc(frame); + + for (auto const &algo : algorithms()) + algo->queueRequest(context_, frame, frameContext, controls); } /** @@ -659,7 +673,7 @@ extern "C" { const struct IPAModuleInfo ipaModuleInfo = { IPA_MODULE_API_VERSION, 1, - "PipelineHandlerIPU3", + "ipu3", "ipu3", }; diff --git a/src/ipa/ipu3/meson.build b/src/ipa/ipu3/meson.build index 3194111a..66c39843 100644 --- a/src/ipa/ipu3/meson.build +++ b/src/ipa/ipu3/meson.build @@ -1,6 +1,7 @@ # SPDX-License-Identifier: CC0-1.0 subdir('algorithms') +subdir('data') ipa_name = 'ipa_ipu3' @@ -28,3 +29,5 @@ if ipa_sign_module install : false, build_by_default : true) endif + +ipa_names += ipa_name diff --git a/src/ipa/ipu3/module.h b/src/ipa/ipu3/module.h index d94fc459..60f65cc4 100644 --- a/src/ipa/ipu3/module.h +++ b/src/ipa/ipu3/module.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Ideas On Board * - * module.h - IPU3 IPA Module + * IPU3 IPA Module */ #pragma once diff --git a/src/ipa/libipa/agc_mean_luminance.cpp b/src/ipa/libipa/agc_mean_luminance.cpp new file mode 100644 index 00000000..271b5ae4 --- /dev/null +++ b/src/ipa/libipa/agc_mean_luminance.cpp @@ -0,0 +1,577 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Ideas on Board Oy + * + * Base class for mean luminance AGC algorithms + */ + +#include "agc_mean_luminance.h" + +#include <cmath> + +#include <libcamera/base/log.h> +#include <libcamera/control_ids.h> + +#include "exposure_mode_helper.h" + +using namespace libcamera::controls; + +/** + * \file agc_mean_luminance.h + * \brief Base class implementing mean luminance AEGC + */ + +namespace libcamera { + +using namespace std::literals::chrono_literals; + +LOG_DEFINE_CATEGORY(AgcMeanLuminance) + +namespace ipa { + +/* + * Number of frames for which to run the algorithm at full speed, before slowing + * down to prevent large and jarring changes in exposure from frame to frame. + */ +static constexpr uint32_t kNumStartupFrames = 10; + +/* + * Default relative luminance target + * + * This value should be chosen so that when the camera points at a grey target, + * the resulting image brightness looks "right". Custom values can be passed + * as the relativeLuminanceTarget value in sensor tuning files. + */ +static constexpr double kDefaultRelativeLuminanceTarget = 0.16; + +/** + * \struct AgcMeanLuminance::AgcConstraint + * \brief The boundaries and target for an AeConstraintMode constraint + * + * This structure describes an AeConstraintMode constraint for the purposes of + * this algorithm. These constraints are expressed as a pair of quantile + * boundaries for a histogram, along with a luminance target and a bounds-type. + * The algorithm uses the constraints by ensuring that the defined portion of a + * luminance histogram (I.E. lying between the two quantiles) is above or below + * the given luminance value. + */ + +/** + * \enum AgcMeanLuminance::AgcConstraint::Bound + * \brief Specify whether the constraint defines a lower or upper bound + * \var AgcMeanLuminance::AgcConstraint::lower + * \brief The constraint defines a lower bound + * \var AgcMeanLuminance::AgcConstraint::upper + * \brief The constraint defines an upper bound + */ + +/** + * \var AgcMeanLuminance::AgcConstraint::bound + * \brief The type of constraint bound + */ + +/** + * \var AgcMeanLuminance::AgcConstraint::qLo + * \brief The lower quantile to use for the constraint + */ + +/** + * \var AgcMeanLuminance::AgcConstraint::qHi + * \brief The upper quantile to use for the constraint + */ + +/** + * \var AgcMeanLuminance::AgcConstraint::yTarget + * \brief The luminance target for the constraint + */ + +/** + * \class AgcMeanLuminance + * \brief A mean-based auto-exposure algorithm + * + * This algorithm calculates a shutter time, analogue and digital gain such that + * the normalised mean luminance value of an image is driven towards a target, + * which itself is discovered from tuning data. The algorithm is a two-stage + * process. + * + * In the first stage, an initial gain value is derived by iteratively comparing + * the gain-adjusted mean luminance across the entire image against a target, + * and selecting a value which pushes it as closely as possible towards the + * target. + * + * In the second stage we calculate the gain required to drive the average of a + * section of a histogram to a target value, where the target and the boundaries + * of the section of the histogram used in the calculation are taken from the + * values defined for the currently configured AeConstraintMode within the + * tuning data. This class provides a helper function to parse those tuning data + * to discover the constraints, and so requires a specific format for those + * data which is described in \ref parseTuningData(). The gain from the first + * stage is then clamped to the gain from this stage. + * + * The final gain is used to adjust the effective exposure value of the image, + * and that new exposure value is divided into shutter time, analogue gain and + * digital gain according to the selected AeExposureMode. This class uses the + * \ref ExposureModeHelper class to assist in that division, and expects the + * data needed to initialise that class to be present in tuning data in a + * format described in \ref parseTuningData(). + * + * In order to be able to use this algorithm an IPA module needs to be able to + * do the following: + * + * 1. Provide a luminance estimation across an entire image. + * 2. Provide a luminance Histogram for the image to use in calculating + * constraint compliance. The precision of the Histogram that is available + * will determine the supportable precision of the constraints. + * + * IPA modules that want to use this class to implement their AEGC algorithm + * should derive it and provide an overriding estimateLuminance() function for + * this class to use. They must call parseTuningData() in init(), and must also + * call setLimits() and resetFrameCounter() in configure(). They may then use + * calculateNewEv() in process(). If the limits passed to setLimits() change for + * any reason (for example, in response to a FrameDurationLimit control being + * passed in queueRequest()) then setLimits() must be called again with the new + * values. + */ + +AgcMeanLuminance::AgcMeanLuminance() + : frameCount_(0), filteredExposure_(0s), relativeLuminanceTarget_(0) +{ +} + +AgcMeanLuminance::~AgcMeanLuminance() = default; + +void AgcMeanLuminance::parseRelativeLuminanceTarget(const YamlObject &tuningData) +{ + relativeLuminanceTarget_ = + tuningData["relativeLuminanceTarget"].get<double>(kDefaultRelativeLuminanceTarget); +} + +void AgcMeanLuminance::parseConstraint(const YamlObject &modeDict, int32_t id) +{ + for (const auto &[boundName, content] : modeDict.asDict()) { + if (boundName != "upper" && boundName != "lower") { + LOG(AgcMeanLuminance, Warning) + << "Ignoring unknown constraint bound '" << boundName << "'"; + continue; + } + + unsigned int idx = static_cast<unsigned int>(boundName == "upper"); + AgcConstraint::Bound bound = static_cast<AgcConstraint::Bound>(idx); + double qLo = content["qLo"].get<double>().value_or(0.98); + double qHi = content["qHi"].get<double>().value_or(1.0); + double yTarget = + content["yTarget"].getList<double>().value_or(std::vector<double>{ 0.5 }).at(0); + + AgcConstraint constraint = { bound, qLo, qHi, yTarget }; + + if (!constraintModes_.count(id)) + constraintModes_[id] = {}; + + if (idx) + constraintModes_[id].push_back(constraint); + else + constraintModes_[id].insert(constraintModes_[id].begin(), constraint); + } +} + +int AgcMeanLuminance::parseConstraintModes(const YamlObject &tuningData) +{ + std::vector<ControlValue> availableConstraintModes; + + const YamlObject &yamlConstraintModes = tuningData[controls::AeConstraintMode.name()]; + if (yamlConstraintModes.isDictionary()) { + for (const auto &[modeName, modeDict] : yamlConstraintModes.asDict()) { + if (AeConstraintModeNameValueMap.find(modeName) == + AeConstraintModeNameValueMap.end()) { + LOG(AgcMeanLuminance, Warning) + << "Skipping unknown constraint mode '" << modeName << "'"; + continue; + } + + if (!modeDict.isDictionary()) { + LOG(AgcMeanLuminance, Error) + << "Invalid constraint mode '" << modeName << "'"; + return -EINVAL; + } + + parseConstraint(modeDict, + AeConstraintModeNameValueMap.at(modeName)); + availableConstraintModes.push_back( + AeConstraintModeNameValueMap.at(modeName)); + } + } + + /* + * If the tuning data file contains no constraints then we use the + * default constraint that the IPU3/RkISP1 Agc algorithms were adhering + * to anyway before centralisation; this constraint forces the top 2% of + * the histogram to be at least 0.5. + */ + if (constraintModes_.empty()) { + AgcConstraint constraint = { + AgcConstraint::Bound::lower, + 0.98, + 1.0, + 0.5 + }; + + constraintModes_[controls::ConstraintNormal].insert( + constraintModes_[controls::ConstraintNormal].begin(), + constraint); + availableConstraintModes.push_back( + AeConstraintModeNameValueMap.at("ConstraintNormal")); + } + + controls_[&controls::AeConstraintMode] = ControlInfo(availableConstraintModes); + + return 0; +} + +int AgcMeanLuminance::parseExposureModes(const YamlObject &tuningData) +{ + std::vector<ControlValue> availableExposureModes; + + const YamlObject &yamlExposureModes = tuningData[controls::AeExposureMode.name()]; + if (yamlExposureModes.isDictionary()) { + for (const auto &[modeName, modeValues] : yamlExposureModes.asDict()) { + if (AeExposureModeNameValueMap.find(modeName) == + AeExposureModeNameValueMap.end()) { + LOG(AgcMeanLuminance, Warning) + << "Skipping unknown exposure mode '" << modeName << "'"; + continue; + } + + if (!modeValues.isDictionary()) { + LOG(AgcMeanLuminance, Error) + << "Invalid exposure mode '" << modeName << "'"; + return -EINVAL; + } + + std::vector<uint32_t> shutters = + modeValues["shutter"].getList<uint32_t>().value_or(std::vector<uint32_t>{}); + std::vector<double> gains = + modeValues["gain"].getList<double>().value_or(std::vector<double>{}); + + if (shutters.size() != gains.size()) { + LOG(AgcMeanLuminance, Error) + << "Shutter and gain array sizes unequal"; + return -EINVAL; + } + + if (shutters.empty()) { + LOG(AgcMeanLuminance, Error) + << "Shutter and gain arrays are empty"; + return -EINVAL; + } + + std::vector<std::pair<utils::Duration, double>> stages; + for (unsigned int i = 0; i < shutters.size(); i++) { + stages.push_back({ + std::chrono::microseconds(shutters[i]), + gains[i] + }); + } + + std::shared_ptr<ExposureModeHelper> helper = + std::make_shared<ExposureModeHelper>(stages); + + exposureModeHelpers_[AeExposureModeNameValueMap.at(modeName)] = helper; + availableExposureModes.push_back(AeExposureModeNameValueMap.at(modeName)); + } + } + + /* + * If we don't have any exposure modes in the tuning data we create an + * ExposureModeHelper using an empty vector of stages. This will result + * in the ExposureModeHelper simply driving the shutter as high as + * possible before touching gain. + */ + if (availableExposureModes.empty()) { + int32_t exposureModeId = AeExposureModeNameValueMap.at("ExposureNormal"); + std::vector<std::pair<utils::Duration, double>> stages = { }; + + std::shared_ptr<ExposureModeHelper> helper = + std::make_shared<ExposureModeHelper>(stages); + + exposureModeHelpers_[exposureModeId] = helper; + availableExposureModes.push_back(exposureModeId); + } + + controls_[&controls::AeExposureMode] = ControlInfo(availableExposureModes); + + return 0; +} + +/** + * \brief Parse tuning data for AeConstraintMode and AeExposureMode controls + * \param[in] tuningData the YamlObject representing the tuning data + * + * This function parses tuning data to build the list of allowed values for the + * AeConstraintMode and AeExposureMode controls. Those tuning data must provide + * the data in a specific format; the Agc algorithm's tuning data should contain + * a dictionary called AeConstraintMode containing per-mode setting dictionaries + * with the key being a value from \ref controls::AeConstraintModeNameValueMap. + * Each mode dict may contain either a "lower" or "upper" key or both, for + * example: + * + * \code{.unparsed} + * algorithms: + * - Agc: + * AeConstraintMode: + * ConstraintNormal: + * lower: + * qLo: 0.98 + * qHi: 1.0 + * yTarget: 0.5 + * ConstraintHighlight: + * lower: + * qLo: 0.98 + * qHi: 1.0 + * yTarget: 0.5 + * upper: + * qLo: 0.98 + * qHi: 1.0 + * yTarget: 0.8 + * + * \endcode + * + * For the AeExposureMode control the data should contain a dictionary called + * AeExposureMode containing per-mode setting dictionaries with the key being a + * value from \ref controls::AeExposureModeNameValueMap. Each mode dict should + * contain an array of shutter times with the key "shutter" and an array of gain + * values with the key "gain", in this format: + * + * \code{.unparsed} + * algorithms: + * - Agc: + * AeExposureMode: + * ExposureNormal: + * shutter: [ 100, 10000, 30000, 60000, 120000 ] + * gain: [ 2.0, 4.0, 6.0, 8.0, 10.0 ] + * ExposureShort: + * shutter: [ 100, 10000, 30000, 60000, 120000 ] + * gain: [ 2.0, 4.0, 6.0, 8.0, 10.0 ] + * + * \endcode + * + * \return 0 on success or a negative error code + */ +int AgcMeanLuminance::parseTuningData(const YamlObject &tuningData) +{ + int ret; + + parseRelativeLuminanceTarget(tuningData); + + ret = parseConstraintModes(tuningData); + if (ret) + return ret; + + return parseExposureModes(tuningData); +} + +/** + * \brief Set the ExposureModeHelper limits for this class + * \param[in] minShutter Minimum shutter time to allow + * \param[in] maxShutter Maximum shutter time to allow + * \param[in] minGain Minimum gain to allow + * \param[in] maxGain Maximum gain to allow + * + * This function calls \ref ExposureModeHelper::setLimits() for each + * ExposureModeHelper that has been created for this class. + */ +void AgcMeanLuminance::setLimits(utils::Duration minShutter, + utils::Duration maxShutter, + double minGain, double maxGain) +{ + for (auto &[id, helper] : exposureModeHelpers_) + helper->setLimits(minShutter, maxShutter, minGain, maxGain); +} + +/** + * \fn AgcMeanLuminance::constraintModes() + * \brief Get the constraint modes that have been parsed from tuning data + */ + +/** + * \fn AgcMeanLuminance::exposureModeHelpers() + * \brief Get the ExposureModeHelpers that have been parsed from tuning data + */ + +/** + * \fn AgcMeanLuminance::controls() + * \brief Get the controls that have been generated after parsing tuning data + */ + +/** + * \fn AgcMeanLuminance::estimateLuminance(const double gain) + * \brief Estimate the luminance of an image, adjusted by a given gain + * \param[in] gain The gain with which to adjust the luminance estimate + * + * This function estimates the average relative luminance of the frame that + * would be output by the sensor if an additional \a gain was applied. It is a + * pure virtual function because estimation of luminance is a hardware-specific + * operation, which depends wholly on the format of the stats that are delivered + * to libcamera from the ISP. Derived classes must override this function with + * one that calculates the normalised mean luminance value across the entire + * image. + * + * \return The normalised relative luminance of the image + */ + +/** + * \brief Estimate the initial gain needed to achieve a relative luminance + * target + * \return The calculated initial gain + */ +double AgcMeanLuminance::estimateInitialGain() const +{ + double yTarget = relativeLuminanceTarget_; + double yGain = 1.0; + + /* + * To account for non-linearity caused by saturation, the value needs to + * be estimated in an iterative process, as multiplying by a gain will + * not increase the relative luminance by the same factor if some image + * regions are saturated. + */ + for (unsigned int i = 0; i < 8; i++) { + double yValue = estimateLuminance(yGain); + double extra_gain = std::min(10.0, yTarget / (yValue + .001)); + + yGain *= extra_gain; + LOG(AgcMeanLuminance, Debug) << "Y value: " << yValue + << ", Y target: " << yTarget + << ", gives gain " << yGain; + + if (utils::abs_diff(extra_gain, 1.0) < 0.01) + break; + } + + return yGain; +} + +/** + * \brief Clamp gain within the bounds of a defined constraint + * \param[in] constraintModeIndex The index of the constraint to adhere to + * \param[in] hist A histogram over which to calculate inter-quantile means + * \param[in] gain The gain to clamp + * + * \return The gain clamped within the constraint bounds + */ +double AgcMeanLuminance::constraintClampGain(uint32_t constraintModeIndex, + const Histogram &hist, + double gain) +{ + std::vector<AgcConstraint> &constraints = constraintModes_[constraintModeIndex]; + for (const AgcConstraint &constraint : constraints) { + double newGain = constraint.yTarget * hist.bins() / + hist.interQuantileMean(constraint.qLo, constraint.qHi); + + if (constraint.bound == AgcConstraint::Bound::lower && + newGain > gain) + gain = newGain; + + if (constraint.bound == AgcConstraint::Bound::upper && + newGain < gain) + gain = newGain; + } + + return gain; +} + +/** + * \brief Apply a filter on the exposure value to limit the speed of changes + * \param[in] exposureValue The target exposure from the AGC algorithm + * + * The speed of the filter is adaptive, and will produce the target quicker + * during startup, or when the target exposure is within 20% of the most recent + * filter output. + * + * \return The filtered exposure + */ +utils::Duration AgcMeanLuminance::filterExposure(utils::Duration exposureValue) +{ + double speed = 0.2; + + /* Adapt instantly if we are in startup phase. */ + if (frameCount_ < kNumStartupFrames) + speed = 1.0; + + /* + * If we are close to the desired result, go faster to avoid making + * multiple micro-adjustments. + * \todo Make this customisable? + */ + if (filteredExposure_ < 1.2 * exposureValue && + filteredExposure_ > 0.8 * exposureValue) + speed = sqrt(speed); + + filteredExposure_ = speed * exposureValue + + filteredExposure_ * (1.0 - speed); + + return filteredExposure_; +} + +/** + * \brief Calculate the new exposure value and splut it between shutter time and gain + * \param[in] constraintModeIndex The index of the current constraint mode + * \param[in] exposureModeIndex The index of the current exposure mode + * \param[in] yHist A Histogram from the ISP statistics to use in constraining + * the calculated gain + * \param[in] effectiveExposureValue The EV applied to the frame from which the + * statistics in use derive + * + * Calculate a new exposure value to try to obtain the target. The calculated + * exposure value is filtered to prevent rapid changes from frame to frame, and + * divided into shutter time, analogue and digital gain. + * + * \return Tuple of shutter time, analogue gain, and digital gain + */ +std::tuple<utils::Duration, double, double> +AgcMeanLuminance::calculateNewEv(uint32_t constraintModeIndex, + uint32_t exposureModeIndex, + const Histogram &yHist, + utils::Duration effectiveExposureValue) +{ + /* + * The pipeline handler should validate that we have received an allowed + * value for AeExposureMode. + */ + std::shared_ptr<ExposureModeHelper> exposureModeHelper = + exposureModeHelpers_.at(exposureModeIndex); + + double gain = estimateInitialGain(); + gain = constraintClampGain(constraintModeIndex, yHist, gain); + + /* + * We don't check whether we're already close to the target, because + * even if the effective exposure value is the same as the last frame's + * we could have switched to an exposure mode that would require a new + * pass through the splitExposure() function. + */ + + utils::Duration newExposureValue = effectiveExposureValue * gain; + + /* + * We filter the exposure value to make sure changes are not too jarring + * from frame to frame. + */ + newExposureValue = filterExposure(newExposureValue); + + frameCount_++; + return exposureModeHelper->splitExposure(newExposureValue); +} + +/** + * \fn AgcMeanLuminance::resetFrameCount() + * \brief Reset the frame counter + * + * This function resets the internal frame counter, which exists to help the + * algorithm decide whether it should respond instantly or not. The expectation + * is for derived classes to call this function before each camera start call in + * their configure() function. + */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/agc_mean_luminance.h b/src/ipa/libipa/agc_mean_luminance.h new file mode 100644 index 00000000..0a81c6d2 --- /dev/null +++ b/src/ipa/libipa/agc_mean_luminance.h @@ -0,0 +1,96 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024 Ideas on Board Oy + * + agc_mean_luminance.h - Base class for mean luminance AGC algorithms + */ + +#pragma once + +#include <map> +#include <memory> +#include <tuple> +#include <vector> + +#include <libcamera/controls.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "exposure_mode_helper.h" +#include "histogram.h" + +namespace libcamera { + +namespace ipa { + +class AgcMeanLuminance +{ +public: + AgcMeanLuminance(); + virtual ~AgcMeanLuminance(); + + struct AgcConstraint { + enum class Bound { + lower = 0, + upper = 1 + }; + Bound bound; + double qLo; + double qHi; + double yTarget; + }; + + int parseTuningData(const YamlObject &tuningData); + + void setLimits(utils::Duration minShutter, utils::Duration maxShutter, + double minGain, double maxGain); + + std::map<int32_t, std::vector<AgcConstraint>> constraintModes() + { + return constraintModes_; + } + + std::map<int32_t, std::shared_ptr<ExposureModeHelper>> exposureModeHelpers() + { + return exposureModeHelpers_; + } + + ControlInfoMap::Map controls() + { + return controls_; + } + + std::tuple<utils::Duration, double, double> + calculateNewEv(uint32_t constraintModeIndex, uint32_t exposureModeIndex, + const Histogram &yHist, utils::Duration effectiveExposureValue); + + void resetFrameCount() + { + frameCount_ = 0; + } + +private: + virtual double estimateLuminance(const double gain) const = 0; + + void parseRelativeLuminanceTarget(const YamlObject &tuningData); + void parseConstraint(const YamlObject &modeDict, int32_t id); + int parseConstraintModes(const YamlObject &tuningData); + int parseExposureModes(const YamlObject &tuningData); + double estimateInitialGain() const; + double constraintClampGain(uint32_t constraintModeIndex, + const Histogram &hist, + double gain); + utils::Duration filterExposure(utils::Duration exposureValue); + + uint64_t frameCount_; + utils::Duration filteredExposure_; + double relativeLuminanceTarget_; + + std::map<int32_t, std::vector<AgcConstraint>> constraintModes_; + std::map<int32_t, std::shared_ptr<ExposureModeHelper>> exposureModeHelpers_; + ControlInfoMap::Map controls_; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/algorithm.cpp b/src/ipa/libipa/algorithm.cpp index 8549fe3f..201efdfd 100644 --- a/src/ipa/libipa/algorithm.cpp +++ b/src/ipa/libipa/algorithm.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas On Board * - * algorithm.cpp - IPA control algorithm interface + * IPA control algorithm interface */ #include "algorithm.h" @@ -67,10 +67,29 @@ namespace ipa { */ /** + * \fn Algorithm::queueRequest() + * \brief Provide control values to the algorithm + * \param[in] context The shared IPA context + * \param[in] frame The frame number to apply the control values + * \param[in] frameContext The current frame's context + * \param[in] controls The list of user controls + * + * This function is called for each request queued to the camera. It provides + * the controls stored in the request to the algorithm. The \a frame number + * is the Request sequence number and identifies the desired corresponding + * frame to target for the controls to take effect. + * + * Algorithms shall read the applicable controls and store their value for later + * use during frame processing. + */ + +/** * \fn Algorithm::prepare() * \brief Fill the \a params buffer with ISP processing parameters for a frame * \param[in] context The shared IPA context - * \param[out] params The ISP specific parameters. + * \param[in] frame The frame context sequence number + * \param[in] frameContext The FrameContext for this frame + * \param[out] params The ISP specific parameters * * This function is called for every frame when the camera is running before it * is processed by the ISP to prepare the ISP processing parameters for that @@ -85,13 +104,15 @@ namespace ipa { * \fn Algorithm::process() * \brief Process ISP statistics, and run algorithm operations * \param[in] context The shared IPA context + * \param[in] frame The frame context sequence number * \param[in] frameContext The current frame's context * \param[in] stats The IPA statistics and ISP results + * \param[out] metadata Metadata for the frame, to be filled by the algorithm * * This function is called while camera is running for every frame processed by * the ISP, to process statistics generated from that frame by the ISP. - * Algorithms shall use this data to run calculations and update their state - * accordingly. + * Algorithms shall use this data to run calculations, update their state + * accordingly, and fill the frame metadata. * * Processing shall not take an undue amount of time, and any extended or * computationally expensive calculations or operations must be handled diff --git a/src/ipa/libipa/algorithm.h b/src/ipa/libipa/algorithm.h index 2a8871d8..9a19dbd6 100644 --- a/src/ipa/libipa/algorithm.h +++ b/src/ipa/libipa/algorithm.h @@ -2,13 +2,16 @@ /* * Copyright (C) 2021, Ideas On Board * - * algorithm.h - ISP control algorithm interface + * ISP control algorithm interface */ #pragma once #include <memory> +#include <stdint.h> #include <string> +#include <libcamera/controls.h> + namespace libcamera { class YamlObject; @@ -35,14 +38,25 @@ public: return 0; } + virtual void queueRequest([[maybe_unused]] typename Module::Context &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] typename Module::FrameContext &frameContext, + [[maybe_unused]] const ControlList &controls) + { + } + virtual void prepare([[maybe_unused]] typename Module::Context &context, + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] typename Module::FrameContext &frameContext, [[maybe_unused]] typename Module::Params *params) { } virtual void process([[maybe_unused]] typename Module::Context &context, - [[maybe_unused]] typename Module::FrameContext *frameContext, - [[maybe_unused]] const typename Module::Stats *stats) + [[maybe_unused]] const uint32_t frame, + [[maybe_unused]] typename Module::FrameContext &frameContext, + [[maybe_unused]] const typename Module::Stats *stats, + [[maybe_unused]] ControlList &metadata) { } }; diff --git a/src/ipa/libipa/camera_sensor_helper.cpp b/src/ipa/libipa/camera_sensor_helper.cpp index d4dba497..2cd61fcc 100644 --- a/src/ipa/libipa/camera_sensor_helper.cpp +++ b/src/ipa/libipa/camera_sensor_helper.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * camera_sensor_helper.cpp - Helper class that performs sensor-specific + * Helper class that performs sensor-specific * parameter computations */ #include "camera_sensor_helper.h" @@ -43,7 +43,8 @@ namespace ipa { * \brief Construct a CameraSensorHelper instance * * CameraSensorHelper derived class instances shall never be constructed - * manually but always through the CameraSensorHelperFactory::create() function. + * manually but always through the CameraSensorHelperFactoryBase::create() + * function. */ /** @@ -217,27 +218,25 @@ double CameraSensorHelper::gain(uint32_t gainCode) const */ /** - * \class CameraSensorHelperFactory - * \brief Registration of CameraSensorHelperFactory classes and creation of instances + * \class CameraSensorHelperFactoryBase + * \brief Base class for camera sensor helper factories * - * To facilitate discovery and instantiation of CameraSensorHelper classes, the - * CameraSensorHelperFactory class maintains a registry of camera sensor helper - * sub-classes. Each CameraSensorHelper subclass shall register itself using the - * REGISTER_CAMERA_SENSOR_HELPER() macro, which will create a corresponding - * instance of a CameraSensorHelperFactory subclass and register it with the - * static list of factories. + * The CameraSensorHelperFactoryBase class is the base of all specializations of + * the CameraSensorHelperFactory class template. It implements the factory + * registration, maintains a registry of factories, and provides access to the + * registered factories. */ /** - * \brief Construct a camera sensor helper factory + * \brief Construct a camera sensor helper factory base * \param[in] name Name of the camera sensor helper class * - * Creating an instance of the factory registers it with the global list of + * Creating an instance of the factory base registers it with the global list of * factories, accessible through the factories() function. * - * The factory \a name is used for debug purpose and shall be unique. + * The factory \a name is used to look up factories and shall be unique. */ -CameraSensorHelperFactory::CameraSensorHelperFactory(const std::string name) +CameraSensorHelperFactoryBase::CameraSensorHelperFactoryBase(const std::string name) : name_(name) { registerType(this); @@ -252,17 +251,16 @@ CameraSensorHelperFactory::CameraSensorHelperFactory(const std::string name) * corresponding to the named factory or a null pointer if no such factory * exists */ -std::unique_ptr<CameraSensorHelper> CameraSensorHelperFactory::create(const std::string &name) +std::unique_ptr<CameraSensorHelper> CameraSensorHelperFactoryBase::create(const std::string &name) { - std::vector<CameraSensorHelperFactory *> &factories = - CameraSensorHelperFactory::factories(); + const std::vector<CameraSensorHelperFactoryBase *> &factories = + CameraSensorHelperFactoryBase::factories(); - for (CameraSensorHelperFactory *factory : factories) { + for (const CameraSensorHelperFactoryBase *factory : factories) { if (name != factory->name_) continue; - CameraSensorHelper *helper = factory->createInstance(); - return std::unique_ptr<CameraSensorHelper>(helper); + return factory->createInstance(); } return nullptr; @@ -275,10 +273,10 @@ std::unique_ptr<CameraSensorHelper> CameraSensorHelperFactory::create(const std: * The caller is responsible to guarantee the uniqueness of the camera sensor * helper name. */ -void CameraSensorHelperFactory::registerType(CameraSensorHelperFactory *factory) +void CameraSensorHelperFactoryBase::registerType(CameraSensorHelperFactoryBase *factory) { - std::vector<CameraSensorHelperFactory *> &factories = - CameraSensorHelperFactory::factories(); + std::vector<CameraSensorHelperFactoryBase *> &factories = + CameraSensorHelperFactoryBase::factories(); factories.push_back(factory); } @@ -287,33 +285,49 @@ void CameraSensorHelperFactory::registerType(CameraSensorHelperFactory *factory) * \brief Retrieve the list of all camera sensor helper factories * \return The list of camera sensor helper factories */ -std::vector<CameraSensorHelperFactory *> &CameraSensorHelperFactory::factories() +std::vector<CameraSensorHelperFactoryBase *> &CameraSensorHelperFactoryBase::factories() { /* * The static factories map is defined inside the function to ensure * it gets initialized on first use, without any dependency on link * order. */ - static std::vector<CameraSensorHelperFactory *> factories; + static std::vector<CameraSensorHelperFactoryBase *> factories; return factories; } /** - * \fn CameraSensorHelperFactory::createInstance() - * \brief Create an instance of the CameraSensorHelper corresponding to the - * factory + * \class CameraSensorHelperFactory + * \brief Registration of CameraSensorHelperFactory classes and creation of instances + * \tparam _Helper The camera sensor helper class type for this factory * - * This virtual function is implemented by the REGISTER_CAMERA_SENSOR_HELPER() - * macro. It creates a camera sensor helper instance associated with the camera - * sensor model. + * To facilitate discovery and instantiation of CameraSensorHelper classes, the + * CameraSensorHelperFactory class implements auto-registration of camera sensor + * helpers. Each CameraSensorHelper subclass shall register itself using the + * REGISTER_CAMERA_SENSOR_HELPER() macro, which will create a corresponding + * instance of a CameraSensorHelperFactory subclass and register it with the + * static list of factories. + */ + +/** + * \fn CameraSensorHelperFactory::CameraSensorHelperFactory(const char *name) + * \brief Construct a camera sensor helper factory + * \param[in] name Name of the camera sensor helper class * - * \return A pointer to a newly constructed instance of the CameraSensorHelper - * subclass corresponding to the factory + * Creating an instance of the factory registers it with the global list of + * factories, accessible through the CameraSensorHelperFactoryBase::factories() + * function. + * + * The factory \a name is used to look up factories and shall be unique. */ /** - * \var CameraSensorHelperFactory::name_ - * \brief The name of the factory + * \fn CameraSensorHelperFactory::createInstance() const + * \brief Create an instance of the CameraSensorHelper corresponding to the + * factory + * + * \return A unique pointer to a newly constructed instance of the + * CameraSensorHelper subclass corresponding to the factory */ /** @@ -352,6 +366,35 @@ static constexpr double expGainDb(double step) return log2_10 * step / 20; } +class CameraSensorHelperAr0521 : public CameraSensorHelper +{ +public: + uint32_t gainCode(double gain) const override; + double gain(uint32_t gainCode) const override; + +private: + static constexpr double kStep_ = 16; +}; + +uint32_t CameraSensorHelperAr0521::gainCode(double gain) const +{ + gain = std::clamp(gain, 1.0, 15.5); + unsigned int coarse = std::log2(gain); + unsigned int fine = (gain / (1 << coarse) - 1) * kStep_; + + return (coarse << 4) | (fine & 0xf); +} + +double CameraSensorHelperAr0521::gain(uint32_t gainCode) const +{ + unsigned int coarse = gainCode >> 4; + unsigned int fine = gainCode & 0xf; + + return (1 << coarse) * (1 + fine / kStep_); +} + +REGISTER_CAMERA_SENSOR_HELPER("ar0521", CameraSensorHelperAr0521) + class CameraSensorHelperImx219 : public CameraSensorHelper { public: @@ -374,6 +417,17 @@ public: }; REGISTER_CAMERA_SENSOR_HELPER("imx258", CameraSensorHelperImx258) +class CameraSensorHelperImx283 : public CameraSensorHelper +{ +public: + CameraSensorHelperImx283() + { + gainType_ = AnalogueGainLinear; + gainConstants_.linear = { 0, 2048, -1, 2048 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("imx283", CameraSensorHelperImx283) + class CameraSensorHelperImx290 : public CameraSensorHelper { public: @@ -396,6 +450,33 @@ public: }; REGISTER_CAMERA_SENSOR_HELPER("imx296", CameraSensorHelperImx296) +class CameraSensorHelperImx327 : public CameraSensorHelperImx290 +{ +}; +REGISTER_CAMERA_SENSOR_HELPER("imx327", CameraSensorHelperImx327) + +class CameraSensorHelperImx335 : public CameraSensorHelper +{ +public: + CameraSensorHelperImx335() + { + gainType_ = AnalogueGainExponential; + gainConstants_.exp = { 1.0, expGainDb(0.3) }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("imx335", CameraSensorHelperImx335) + +class CameraSensorHelperImx415 : public CameraSensorHelper +{ +public: + CameraSensorHelperImx415() + { + gainType_ = AnalogueGainExponential; + gainConstants_.exp = { 1.0, expGainDb(0.3) }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("imx415", CameraSensorHelperImx415) + class CameraSensorHelperImx477 : public CameraSensorHelper { public: @@ -407,6 +488,21 @@ public: }; REGISTER_CAMERA_SENSOR_HELPER("imx477", CameraSensorHelperImx477) +class CameraSensorHelperOv2685 : public CameraSensorHelper +{ +public: + CameraSensorHelperOv2685() + { + /* + * The Sensor Manual doesn't appear to document the gain model. + * This has been validated with some empirical testing only. + */ + gainType_ = AnalogueGainLinear; + gainConstants_.linear = { 1, 0, 0, 128 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("ov2685", CameraSensorHelperOv2685) + class CameraSensorHelperOv2740 : public CameraSensorHelper { public: @@ -418,6 +514,17 @@ public: }; REGISTER_CAMERA_SENSOR_HELPER("ov2740", CameraSensorHelperOv2740) +class CameraSensorHelperOv4689 : public CameraSensorHelper +{ +public: + CameraSensorHelperOv4689() + { + gainType_ = AnalogueGainLinear; + gainConstants_.linear = { 1, 0, 0, 128 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("ov4689", CameraSensorHelperOv4689) + class CameraSensorHelperOv5640 : public CameraSensorHelper { public: @@ -429,6 +536,17 @@ public: }; REGISTER_CAMERA_SENSOR_HELPER("ov5640", CameraSensorHelperOv5640) +class CameraSensorHelperOv5647 : public CameraSensorHelper +{ +public: + CameraSensorHelperOv5647() + { + gainType_ = AnalogueGainLinear; + gainConstants_.linear = { 1, 0, 0, 16 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("ov5647", CameraSensorHelperOv5647) + class CameraSensorHelperOv5670 : public CameraSensorHelper { public: @@ -462,6 +580,35 @@ public: }; REGISTER_CAMERA_SENSOR_HELPER("ov5693", CameraSensorHelperOv5693) +class CameraSensorHelperOv64a40 : public CameraSensorHelper +{ +public: + CameraSensorHelperOv64a40() + { + gainType_ = AnalogueGainLinear; + gainConstants_.linear = { 1, 0, 0, 128 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("ov64a40", CameraSensorHelperOv64a40) + +class CameraSensorHelperOv8858 : public CameraSensorHelper +{ +public: + CameraSensorHelperOv8858() + { + gainType_ = AnalogueGainLinear; + + /* + * \todo Validate the selected 1/128 step value as it differs + * from what the sensor manual describes. + * + * See: https://patchwork.linuxtv.org/project/linux-media/patch/20221106171129.166892-2-nicholas@rothemail.net/#142267 + */ + gainConstants_.linear = { 1, 0, 0, 128 }; + } +}; +REGISTER_CAMERA_SENSOR_HELPER("ov8858", CameraSensorHelperOv8858) + class CameraSensorHelperOv8865 : public CameraSensorHelper { public: diff --git a/src/ipa/libipa/camera_sensor_helper.h b/src/ipa/libipa/camera_sensor_helper.h index 7351fc7c..0d99073b 100644 --- a/src/ipa/libipa/camera_sensor_helper.h +++ b/src/ipa/libipa/camera_sensor_helper.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * camera_sensor_helper.h - Helper class that performs sensor-specific parameter computations + * Helper class that performs sensor-specific parameter computations */ #pragma once @@ -58,39 +58,44 @@ private: LIBCAMERA_DISABLE_COPY_AND_MOVE(CameraSensorHelper) }; -class CameraSensorHelperFactory +class CameraSensorHelperFactoryBase { public: - CameraSensorHelperFactory(const std::string name); - virtual ~CameraSensorHelperFactory() = default; + CameraSensorHelperFactoryBase(const std::string name); + virtual ~CameraSensorHelperFactoryBase() = default; static std::unique_ptr<CameraSensorHelper> create(const std::string &name); - static void registerType(CameraSensorHelperFactory *factory); - static std::vector<CameraSensorHelperFactory *> &factories(); - -protected: - virtual CameraSensorHelper *createInstance() = 0; + static std::vector<CameraSensorHelperFactoryBase *> &factories(); private: - LIBCAMERA_DISABLE_COPY_AND_MOVE(CameraSensorHelperFactory) + LIBCAMERA_DISABLE_COPY_AND_MOVE(CameraSensorHelperFactoryBase) + + static void registerType(CameraSensorHelperFactoryBase *factory); + + virtual std::unique_ptr<CameraSensorHelper> createInstance() const = 0; std::string name_; }; -#define REGISTER_CAMERA_SENSOR_HELPER(name, helper) \ -class helper##Factory final : public CameraSensorHelperFactory \ -{ \ -public: \ - helper##Factory() : CameraSensorHelperFactory(name) {} \ - \ -private: \ - CameraSensorHelper *createInstance() \ - { \ - return new helper(); \ - } \ -}; \ -static helper##Factory global_##helper##Factory; +template<typename _Helper> +class CameraSensorHelperFactory final : public CameraSensorHelperFactoryBase +{ +public: + CameraSensorHelperFactory(const char *name) + : CameraSensorHelperFactoryBase(name) + { + } + +private: + std::unique_ptr<CameraSensorHelper> createInstance() const override + { + return std::make_unique<_Helper>(); + } +}; + +#define REGISTER_CAMERA_SENSOR_HELPER(name, helper) \ +static CameraSensorHelperFactory<helper> global_##helper##Factory(name); } /* namespace ipa */ diff --git a/src/ipa/libipa/exposure_mode_helper.cpp b/src/ipa/libipa/exposure_mode_helper.cpp new file mode 100644 index 00000000..683a564a --- /dev/null +++ b/src/ipa/libipa/exposure_mode_helper.cpp @@ -0,0 +1,246 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Helper class that performs computations relating to exposure + */ +#include "exposure_mode_helper.h" + +#include <algorithm> + +#include <libcamera/base/log.h> + +/** + * \file exposure_mode_helper.h + * \brief Helper class that performs computations relating to exposure + * + * AEGC algorithms have a need to split exposure between shutter time, analogue + * and digital gain. Multiple implementations do so based on paired stages of + * shutter time and gain limits; provide a helper to avoid duplicating the code. + */ + +namespace libcamera { + +using namespace std::literals::chrono_literals; + +LOG_DEFINE_CATEGORY(ExposureModeHelper) + +namespace ipa { + +/** + * \class ExposureModeHelper + * \brief Class for splitting exposure into shutter time and total gain + * + * The ExposureModeHelper class provides a standard interface through which an + * AEGC algorithm can divide exposure between shutter time and gain. It is + * configured with a set of shutter time and gain pairs and works by initially + * fixing gain at 1.0 and increasing shutter time up to the shutter time value + * from the first pair in the set in an attempt to meet the required exposure + * value. + * + * If the required exposure is not achievable by the first shutter time value + * alone it ramps gain up to the value from the first pair in the set. If the + * required exposure is still not met it then allows shutter time to ramp up to + * the shutter time value from the second pair in the set, and continues in this + * vein until either the required exposure time is met, or else the hardware's + * shutter time or gain limits are reached. + * + * This method allows users to strike a balance between a well-exposed image and + * an acceptable frame-rate, as opposed to simply maximising shutter time + * followed by gain. The same helpers can be used to perform the latter + * operation if needed by passing an empty set of pairs to the initialisation + * function. + * + * The gain values may exceed a camera sensor's analogue gain limits if either + * it or the IPA is also capable of digital gain. The configure() function must + * be called with the hardware's limits to inform the helper of those + * constraints. Any gain that is needed will be applied as analogue gain first + * until the hardware's limit is reached, following which digital gain will be + * used. + */ + +/** + * \brief Construct an ExposureModeHelper instance + * \param[in] stages The vector of paired shutter time and gain limits + * + * The input stages are shutter time and _total_ gain pairs; the gain + * encompasses both analogue and digital gain. + * + * The vector of stages may be empty. In that case, the helper will simply use + * the runtime limits set through setShutterGainLimits() instead. + */ +ExposureModeHelper::ExposureModeHelper(const Span<std::pair<utils::Duration, double>> stages) +{ + minShutter_ = 0us; + maxShutter_ = 0us; + minGain_ = 0; + maxGain_ = 0; + + for (const auto &[s, g] : stages) { + shutters_.push_back(s); + gains_.push_back(g); + } +} + +/** + * \brief Set the shutter time and gain limits + * \param[in] minShutter The minimum shutter time supported + * \param[in] maxShutter The maximum shutter time supported + * \param[in] minGain The minimum analogue gain supported + * \param[in] maxGain The maximum analogue gain supported + * + * This function configures the shutter time and analogue gain limits that need + * to be adhered to as the helper divides up exposure. Note that this function + * *must* be called whenever those limits change and before splitExposure() is + * used. + * + * If the algorithm using the helpers needs to indicate that either shutter time + * or analogue gain or both should be fixed it can do so by setting both the + * minima and maxima to the same value. + */ +void ExposureModeHelper::setLimits(utils::Duration minShutter, + utils::Duration maxShutter, + double minGain, double maxGain) +{ + minShutter_ = minShutter; + maxShutter_ = maxShutter; + minGain_ = minGain; + maxGain_ = maxGain; +} + +utils::Duration ExposureModeHelper::clampShutter(utils::Duration shutter) const +{ + return std::clamp(shutter, minShutter_, maxShutter_); +} + +double ExposureModeHelper::clampGain(double gain) const +{ + return std::clamp(gain, minGain_, maxGain_); +} + +/** + * \brief Split exposure time into shutter time and gain + * \param[in] exposure Exposure time + * + * This function divides a given exposure time into shutter time, analogue and + * digital gain by iterating through stages of shutter time and gain limits. At + * each stage the current stage's shutter time limit is multiplied by the + * previous stage's gain limit (or 1.0 initially) to see if the combination of + * the two can meet the required exposure time. If they cannot then the current + * stage's shutter time limit is multiplied by the same stage's gain limit to + * see if that combination can meet the required exposure time. If they cannot + * then the function moves to consider the next stage. + * + * When a combination of shutter time and gain _stage_ limits are found that are + * sufficient to meet the required exposure time, the function attempts to + * reduce shutter time as much as possible whilst fixing gain and still meeting + * the exposure time. If a _runtime_ limit prevents shutter time from being + * lowered enough to meet the exposure time with gain fixed at the stage limit, + * gain is also lowered to compensate. + * + * Once the shutter time and gain values are ascertained, gain is assigned as + * analogue gain as much as possible, with digital gain only in use if the + * maximum analogue gain runtime limit is unable to accommodate the exposure + * value. + * + * If no combination of shutter time and gain limits is found that meets the + * required exposure time, the helper falls-back to simply maximising the + * shutter time first, followed by analogue gain, followed by digital gain. + * + * \return Tuple of shutter time, analogue gain, and digital gain + */ +std::tuple<utils::Duration, double, double> +ExposureModeHelper::splitExposure(utils::Duration exposure) const +{ + ASSERT(maxShutter_); + ASSERT(maxGain_); + + bool gainFixed = minGain_ == maxGain_; + bool shutterFixed = minShutter_ == maxShutter_; + + /* + * There's no point entering the loop if we cannot change either gain + * nor shutter anyway. + */ + if (shutterFixed && gainFixed) + return { minShutter_, minGain_, exposure / (minShutter_ * minGain_) }; + + utils::Duration shutter; + double stageGain; + double gain; + + for (unsigned int stage = 0; stage < gains_.size(); stage++) { + double lastStageGain = stage == 0 ? 1.0 : clampGain(gains_[stage - 1]); + utils::Duration stageShutter = clampShutter(shutters_[stage]); + stageGain = clampGain(gains_[stage]); + + /* + * We perform the clamping on both shutter and gain in case the + * helper has had limits set that prevent those values being + * lowered beyond a certain minimum...this can happen at runtime + * for various reasons and so would not be known when the stage + * limits are initialised. + */ + + if (stageShutter * lastStageGain >= exposure) { + shutter = clampShutter(exposure / clampGain(lastStageGain)); + gain = clampGain(exposure / shutter); + + return { shutter, gain, exposure / (shutter * gain) }; + } + + if (stageShutter * stageGain >= exposure) { + shutter = clampShutter(exposure / clampGain(stageGain)); + gain = clampGain(exposure / shutter); + + return { shutter, gain, exposure / (shutter * gain) }; + } + } + + /* + * From here on all we can do is max out the shutter time, followed by + * the analogue gain. If we still haven't achieved the target we send + * the rest of the exposure time to digital gain. If we were given no + * stages to use then set stageGain to 1.0 so that shutter time is maxed + * before gain touched at all. + */ + if (gains_.empty()) + stageGain = 1.0; + + shutter = clampShutter(exposure / clampGain(stageGain)); + gain = clampGain(exposure / shutter); + + return { shutter, gain, exposure / (shutter * gain) }; +} + +/** + * \fn ExposureModeHelper::minShutter() + * \brief Retrieve the configured minimum shutter time limit set through + * setShutterGainLimits() + * \return The minShutter_ value + */ + +/** + * \fn ExposureModeHelper::maxShutter() + * \brief Retrieve the configured maximum shutter time set through + * setShutterGainLimits() + * \return The maxShutter_ value + */ + +/** + * \fn ExposureModeHelper::minGain() + * \brief Retrieve the configured minimum gain set through + * setShutterGainLimits() + * \return The minGain_ value + */ + +/** + * \fn ExposureModeHelper::maxGain() + * \brief Retrieve the configured maximum gain set through + * setShutterGainLimits() + * \return The maxGain_ value + */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/exposure_mode_helper.h b/src/ipa/libipa/exposure_mode_helper.h new file mode 100644 index 00000000..85c665d7 --- /dev/null +++ b/src/ipa/libipa/exposure_mode_helper.h @@ -0,0 +1,53 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Paul Elder <paul.elder@ideasonboard.com> + * + * Helper class that performs computations relating to exposure + */ + +#pragma once + +#include <tuple> +#include <utility> +#include <vector> + +#include <libcamera/base/span.h> +#include <libcamera/base/utils.h> + +namespace libcamera { + +namespace ipa { + +class ExposureModeHelper +{ +public: + ExposureModeHelper(const Span<std::pair<utils::Duration, double>> stages); + ~ExposureModeHelper() = default; + + void setLimits(utils::Duration minShutter, utils::Duration maxShutter, + double minGain, double maxGain); + + std::tuple<utils::Duration, double, double> + splitExposure(utils::Duration exposure) const; + + utils::Duration minShutter() const { return minShutter_; } + utils::Duration maxShutter() const { return maxShutter_; } + double minGain() const { return minGain_; } + double maxGain() const { return maxGain_; } + +private: + utils::Duration clampShutter(utils::Duration shutter) const; + double clampGain(double gain) const; + + std::vector<utils::Duration> shutters_; + std::vector<double> gains_; + + utils::Duration minShutter_; + utils::Duration maxShutter_; + double minGain_; + double maxGain_; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/fc_queue.cpp b/src/ipa/libipa/fc_queue.cpp new file mode 100644 index 00000000..0365e919 --- /dev/null +++ b/src/ipa/libipa/fc_queue.cpp @@ -0,0 +1,140 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Google Inc. + * + * IPA Frame context queue + */ + +#include "fc_queue.h" + +#include <libcamera/base/log.h> + +namespace libcamera { + +LOG_DEFINE_CATEGORY(FCQueue) + +namespace ipa { + +/** + * \file fc_queue.h + * \brief Queue of per-frame contexts + */ + +/** + * \struct FrameContext + * \brief Context for a frame + * + * The frame context stores data specific to a single frame processed by the + * IPA module. Each frame processed by the IPA module has a context associated + * with it, accessible through the Frame Context Queue. + * + * Fields in the frame context should reflect values and controls associated + * with the specific frame as requested by the application, and as configured by + * the hardware. Fields can be read by algorithms to determine if they should + * update any specific action for this frame, and finally to update the metadata + * control lists when the frame is fully completed. + * + * \var FrameContext::frame + * \brief The frame number + */ + +/** + * \class FCQueue + * \brief A support class for managing FrameContext instances in IPA modules + * \tparam FrameContext The IPA module-specific FrameContext derived class type + * + * Along with the Module and Algorithm classes, the frame context queue is a + * core component of the libipa infrastructure. It stores per-frame contexts + * used by the Algorithm operations. By centralizing the lifetime management of + * the contexts and implementing safeguards against underflows and overflows, it + * simplifies IPA modules and improves their reliability. + * + * The queue references frame contexts by a monotonically increasing sequence + * number. The FCQueue design assumes that this number matches both the sequence + * number of the corresponding frame, as generated by the camera sensor, and the + * sequence number of the request. This allows IPA modules to obtain the frame + * context from any location where a request or a frame is available. + * + * A frame context normally begins its lifetime when the corresponding request + * is queued, way before the frame is captured by the camera sensor. IPA modules + * allocate the context from the queue at that point, calling alloc() using the + * request number. The queue initializes the context, and the IPA module then + * populates it with data from the request. The context can be later retrieved + * with a call to get(), typically when the IPA module is requested to provide + * sensor or ISP parameters or receives statistics for a frame. The frame number + * is used at that point to identify the context. + * + * If an application fails to queue requests to the camera fast enough, frames + * may be produced by the camera sensor and processed by the IPA module without + * a corresponding request having been queued to the IPA module. This creates an + * underrun condition, where the IPA module will try to get a frame context that + * hasn't been allocated. In this case, the get() function will allocate and + * initialize a context for the frame, and log a message. Algorithms will not + * apply the controls associated with the late request, but should otherwise + * behave correctly. + * + * \todo Mark the frame context with a per-frame control error flag in case of + * underrun, and research how algorithms should handle this. + * + * At its core, the queue uses a circular buffer to avoid dynamic memory + * allocation at runtime. The buffer is pre-allocated with a maximum number of + * entries when the FCQueue instance is constructed. Entries are initialized on + * first use by alloc() or, in underrun conditions, get(). The queue is not + * allowed to overflow, which must be ensured by pipeline handlers never + * queuing more in-flight requests to the IPA module than the queue size. If an + * overflow condition is detected, the queue will log a fatal error. + * + * IPA module-specific frame context implementations shall inherit from the + * FrameContext base class to support the minimum required features for a + * FrameContext. + */ + +/** + * \fn FCQueue::FCQueue(unsigned int size) + * \brief Construct a frame contexts queue of a specified size + * \param[in] size The number of contexts in the queue + */ + +/** + * \fn FCQueue::clear() + * \brief Clear the contexts queue + * + * IPA modules must clear the frame context queue at the beginning of a new + * streaming session, in IPAModule::start(). + * + * \todo Fix any issue this may cause with requests queued before the camera is + * started. + */ + +/** + * \fn FCQueue::alloc(uint32_t frame) + * \brief Allocate and return a FrameContext for the \a frame + * \param[in] frame The frame context sequence number + * + * The first call to obtain a FrameContext from the FCQueue should be handled + * through this function. The FrameContext will be initialised, if not + * initialised already, and returned to the caller. + * + * If the FrameContext was already initialized for this \a frame, a warning will + * be reported and the previously initialized FrameContext is returned. + * + * Frame contexts are expected to be initialised when a Request is first passed + * to the IPA module in IPAModule::queueRequest(). + * + * \return A reference to the FrameContext for sequence \a frame + */ + +/** + * \fn FCQueue::get(uint32_t frame) + * \brief Obtain the FrameContext for the \a frame + * \param[in] frame The frame context sequence number + * + * If the FrameContext is not correctly initialised for the \a frame, it will be + * initialised. + * + * \return A reference to the FrameContext for sequence \a frame + */ + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/fc_queue.h b/src/ipa/libipa/fc_queue.h new file mode 100644 index 00000000..24d9e82b --- /dev/null +++ b/src/ipa/libipa/fc_queue.h @@ -0,0 +1,118 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Google Inc. + * + * IPA Frame context queue + */ + +#pragma once + +#include <stdint.h> +#include <vector> + +#include <libcamera/base/log.h> + +namespace libcamera { + +LOG_DECLARE_CATEGORY(FCQueue) + +namespace ipa { + +template<typename FrameContext> +class FCQueue; + +struct FrameContext { +private: + template<typename T> friend class FCQueue; + uint32_t frame; +}; + +template<typename FrameContext> +class FCQueue +{ +public: + FCQueue(unsigned int size) + : contexts_(size) + { + } + + void clear() + { + for (FrameContext &ctx : contexts_) + ctx.frame = 0; + } + + FrameContext &alloc(const uint32_t frame) + { + FrameContext &frameContext = contexts_[frame % contexts_.size()]; + + /* + * Do not re-initialise if a get() call has already fetched this + * frame context to preseve the context. + * + * \todo If the the sequence number of the context to initialise + * is smaller than the sequence number of the queue slot to use, + * it means that we had a serious request underrun and more + * frames than the queue size has been produced since the last + * time the application has queued a request. Does this deserve + * an error condition ? + */ + if (frame != 0 && frame <= frameContext.frame) + LOG(FCQueue, Warning) + << "Frame " << frame << " already initialised"; + else + init(frameContext, frame); + + return frameContext; + } + + FrameContext &get(uint32_t frame) + { + FrameContext &frameContext = contexts_[frame % contexts_.size()]; + + /* + * If the IPA algorithms try to access a frame context slot which + * has been already overwritten by a newer context, it means the + * frame context queue has overflowed and the desired context + * has been forever lost. The pipeline handler shall avoid + * queueing more requests to the IPA than the frame context + * queue size. + */ + if (frame < frameContext.frame) + LOG(FCQueue, Fatal) << "Frame context for " << frame + << " has been overwritten by " + << frameContext.frame; + + if (frame == frameContext.frame) + return frameContext; + + /* + * The frame context has been retrieved before it was + * initialised through the initialise() call. This indicates an + * algorithm attempted to access a Frame context before it was + * queued to the IPA. Controls applied for this request may be + * left unhandled. + * + * \todo Set an error flag for per-frame control errors. + */ + LOG(FCQueue, Warning) + << "Obtained an uninitialised FrameContext for " << frame; + + init(frameContext, frame); + + return frameContext; + } + +private: + void init(FrameContext &frameContext, const uint32_t frame) + { + frameContext = {}; + frameContext.frame = frame; + } + + std::vector<FrameContext> contexts_; +}; + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/histogram.cpp b/src/ipa/libipa/histogram.cpp index d8ad1c89..5fbfadf5 100644 --- a/src/ipa/libipa/histogram.cpp +++ b/src/ipa/libipa/histogram.cpp @@ -1,8 +1,8 @@ /* SPDX-License-Identifier: BSD-2-Clause */ /* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited + * Copyright (C) 2019, Raspberry Pi Ltd * - * histogram.cpp - histogram calculations + * histogram calculations */ #include "histogram.h" @@ -29,18 +29,34 @@ namespace ipa { */ /** + * \fn Histogram::Histogram() + * \brief Construct an empty Histogram + * + * This empty constructor exists largely to allow Histograms to be embedded in + * other classes which may be created before the contents of the Histogram are + * known. + */ + +/** * \brief Create a cumulative histogram - * \param[in] data A pre-sorted histogram to be passed + * \param[in] data A (non-cumulative) histogram */ Histogram::Histogram(Span<const uint32_t> data) { - cumulative_.reserve(data.size()); - cumulative_.push_back(0); - for (const uint32_t &value : data) - cumulative_.push_back(cumulative_.back() + value); + cumulative_.resize(data.size() + 1); + cumulative_[0] = 0; + for (const auto &[i, value] : utils::enumerate(data)) + cumulative_[i + 1] = cumulative_[i] + value; } /** + * \fn Histogram::Histogram(Span<const uint32_t> data, Transform transform) + * \brief Create a cumulative histogram + * \param[in] data A (non-cumulative) histogram + * \param[in] transform The transformation function to apply to every bin + */ + +/** * \fn Histogram::bins() * \brief Retrieve the number of bins currently used by the Histogram * \return Number of bins @@ -53,7 +69,7 @@ Histogram::Histogram(Span<const uint32_t> data) */ /** - * \brief Cumulative frequency up to a (fractional) point in a bin. + * \brief Cumulative frequency up to a (fractional) point in a bin * \param[in] bin The bin up to which to cumulate * * With F(p) the cumulative frequency of the histogram, the value is 0 at diff --git a/src/ipa/libipa/histogram.h b/src/ipa/libipa/histogram.h index 164d4603..032adca0 100644 --- a/src/ipa/libipa/histogram.h +++ b/src/ipa/libipa/histogram.h @@ -1,8 +1,8 @@ /* SPDX-License-Identifier: BSD-2-Clause */ /* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited + * Copyright (C) 2019, Raspberry Pi Ltd * - * histogram.h - histogram calculation interface + * histogram calculation interface */ #pragma once @@ -10,10 +10,11 @@ #include <assert.h> #include <limits.h> #include <stdint.h> - +#include <type_traits> #include <vector> #include <libcamera/base/span.h> +#include <libcamera/base/utils.h> namespace libcamera { @@ -22,7 +23,19 @@ namespace ipa { class Histogram { public: + Histogram() { cumulative_.push_back(0); } Histogram(Span<const uint32_t> data); + + template<typename Transform, + std::enable_if_t<std::is_invocable_v<Transform, uint32_t>> * = nullptr> + Histogram(Span<const uint32_t> data, Transform transform) + { + cumulative_.resize(data.size() + 1); + cumulative_[0] = 0; + for (const auto &[i, value] : utils::enumerate(data)) + cumulative_[i + 1] = cumulative_[i] + transform(value); + } + size_t bins() const { return cumulative_.size() - 1; } uint64_t total() const { return cumulative_[cumulative_.size() - 1]; } uint64_t cumulativeFrequency(double bin) const; diff --git a/src/ipa/libipa/meson.build b/src/ipa/libipa/meson.build index fb894bc6..7ce885da 100644 --- a/src/ipa/libipa/meson.build +++ b/src/ipa/libipa/meson.build @@ -1,15 +1,21 @@ # SPDX-License-Identifier: CC0-1.0 libipa_headers = files([ + 'agc_mean_luminance.h', 'algorithm.h', 'camera_sensor_helper.h', + 'exposure_mode_helper.h', + 'fc_queue.h', 'histogram.h', 'module.h', ]) libipa_sources = files([ + 'agc_mean_luminance.cpp', 'algorithm.cpp', 'camera_sensor_helper.cpp', + 'exposure_mode_helper.cpp', + 'fc_queue.cpp', 'histogram.cpp', 'module.cpp', ]) diff --git a/src/ipa/libipa/module.cpp b/src/ipa/libipa/module.cpp index 77352104..64ca9141 100644 --- a/src/ipa/libipa/module.cpp +++ b/src/ipa/libipa/module.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Ideas On Board * - * module.cpp - IPA Module + * IPA Module */ #include "module.h" @@ -17,7 +17,7 @@ namespace libcamera { LOG_DEFINE_CATEGORY(IPAModuleAlgo) /** - * \brief The IPA namespace + * \brief The IPA (Image Processing Algorithm) namespace * * The IPA namespace groups all types specific to IPA modules. It serves as the * top-level namespace for the IPA library libipa, and also contains diff --git a/src/ipa/libipa/module.h b/src/ipa/libipa/module.h index 4149a353..0fb51916 100644 --- a/src/ipa/libipa/module.h +++ b/src/ipa/libipa/module.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Ideas On Board * - * module.h - IPA module + * IPA module */ #pragma once diff --git a/src/ipa/meson.build b/src/ipa/meson.build index e15a8a06..0ad4631d 100644 --- a/src/ipa/meson.build +++ b/src/ipa/meson.build @@ -28,14 +28,45 @@ ipa_names = [] ipa_modules = get_option('ipas') -# The ipa-sign-install.sh script which uses the ipa_names variable will itself -# prepend MESON_INSTALL_DESTDIR_PREFIX to each ipa module name, therefore we -# must not include the prefix string here. +# Tests require the vimc IPA, similar to vimc pipline-handler for their +# execution. Include it automatically when tests are enabled. +if get_option('test') and 'vimc' not in ipa_modules + message('Enabling vimc IPA to support tests') + ipa_modules += ['vimc'] +endif + +enabled_ipa_modules = [] +enabled_ipa_names = [] +ipa_names = [] + +subdirs = [] foreach pipeline : pipelines - if ipa_modules.contains(pipeline) - subdir(pipeline) - ipa_names += ipa_install_dir / ipa_name + '.so' + # The current implementation expects the IPA module name to match the + # pipeline name. + # \todo Make the IPA naming scheme more flexible. + if not ipa_modules.contains(pipeline) + continue + endif + enabled_ipa_names += pipeline + + # Allow multi-level directory structuring for the IPAs if needed. + pipeline = pipeline.split('/')[0] + if pipeline in subdirs + continue endif + + subdirs += pipeline + subdir(pipeline) + + # Don't reuse the pipeline variable below, the subdirectory may have + # overwritten it. +endforeach + +# The ipa-sign-install.sh script which uses the enabled_ipa_modules variable +# will itself prepend MESON_INSTALL_DESTDIR_PREFIX to each ipa module name, +# therefore we must not include the prefix string here. +foreach ipa_name : ipa_names + enabled_ipa_modules += ipa_install_dir / ipa_name + '.so' endforeach if ipa_sign_module @@ -44,5 +75,6 @@ if ipa_sign_module # install time, which invalidates the signatures. meson.add_install_script('ipa-sign-install.sh', ipa_priv_key.full_path(), - ipa_names) + enabled_ipa_modules, + install_tag : 'runtime') endif diff --git a/src/ipa/raspberrypi/cam_helper.cpp b/src/ipa/raspberrypi/cam_helper.cpp deleted file mode 100644 index 3f81d418..00000000 --- a/src/ipa/raspberrypi/cam_helper.cpp +++ /dev/null @@ -1,219 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * cam_helper.cpp - helper information for different sensors - */ - -#include <linux/videodev2.h> - -#include <assert.h> -#include <map> -#include <string.h> - -#include "libcamera/internal/v4l2_videodevice.h" - -#include "cam_helper.hpp" -#include "md_parser.hpp" - -using namespace RPiController; -using namespace libcamera; -using libcamera::utils::Duration; - -namespace libcamera { -LOG_DECLARE_CATEGORY(IPARPI) -} - -static std::map<std::string, CamHelperCreateFunc> cam_helpers; - -CamHelper *CamHelper::Create(std::string const &cam_name) -{ - /* - * CamHelpers get registered by static RegisterCamHelper - * initialisers. - */ - for (auto &p : cam_helpers) { - if (cam_name.find(p.first) != std::string::npos) - return p.second(); - } - - return nullptr; -} - -CamHelper::CamHelper(std::unique_ptr<MdParser> parser, unsigned int frameIntegrationDiff) - : parser_(std::move(parser)), initialized_(false), - frameIntegrationDiff_(frameIntegrationDiff) -{ -} - -CamHelper::~CamHelper() -{ -} - -void CamHelper::Prepare(Span<const uint8_t> buffer, - Metadata &metadata) -{ - parseEmbeddedData(buffer, metadata); -} - -void CamHelper::Process([[maybe_unused]] StatisticsPtr &stats, - [[maybe_unused]] Metadata &metadata) -{ -} - -uint32_t CamHelper::ExposureLines(const Duration exposure) const -{ - assert(initialized_); - return exposure / mode_.line_length; -} - -Duration CamHelper::Exposure(uint32_t exposure_lines) const -{ - assert(initialized_); - return exposure_lines * mode_.line_length; -} - -uint32_t CamHelper::GetVBlanking(Duration &exposure, - Duration minFrameDuration, - Duration maxFrameDuration) const -{ - uint32_t frameLengthMin, frameLengthMax, vblank; - uint32_t exposureLines = ExposureLines(exposure); - - assert(initialized_); - - /* - * minFrameDuration and maxFrameDuration are clamped by the caller - * based on the limits for the active sensor mode. - */ - frameLengthMin = minFrameDuration / mode_.line_length; - frameLengthMax = maxFrameDuration / mode_.line_length; - - /* - * Limit the exposure to the maximum frame duration requested, and - * re-calculate if it has been clipped. - */ - exposureLines = std::min(frameLengthMax - frameIntegrationDiff_, exposureLines); - exposure = Exposure(exposureLines); - - /* Limit the vblank to the range allowed by the frame length limits. */ - vblank = std::clamp(exposureLines + frameIntegrationDiff_, - frameLengthMin, frameLengthMax) - mode_.height; - return vblank; -} - -void CamHelper::SetCameraMode(const CameraMode &mode) -{ - mode_ = mode; - if (parser_) { - parser_->SetBitsPerPixel(mode.bitdepth); - parser_->SetLineLengthBytes(0); /* We use SetBufferSize. */ - } - initialized_ = true; -} - -void CamHelper::GetDelays(int &exposure_delay, int &gain_delay, - int &vblank_delay) const -{ - /* - * These values are correct for many sensors. Other sensors will - * need to over-ride this function. - */ - exposure_delay = 2; - gain_delay = 1; - vblank_delay = 2; -} - -bool CamHelper::SensorEmbeddedDataPresent() const -{ - return false; -} - -double CamHelper::GetModeSensitivity([[maybe_unused]] const CameraMode &mode) const -{ - /* - * Most sensors have the same sensitivity in every mode, but this - * function can be overridden for those that do not. Note that it is - * called before mode_ is set, so it must return the sensitivity - * of the mode that is passed in. - */ - return 1.0; -} - -unsigned int CamHelper::HideFramesStartup() const -{ - /* - * The number of frames when a camera first starts that shouldn't be - * displayed as they are invalid in some way. - */ - return 0; -} - -unsigned int CamHelper::HideFramesModeSwitch() const -{ - /* After a mode switch, many sensors return valid frames immediately. */ - return 0; -} - -unsigned int CamHelper::MistrustFramesStartup() const -{ - /* Many sensors return a single bad frame on start-up. */ - return 1; -} - -unsigned int CamHelper::MistrustFramesModeSwitch() const -{ - /* Many sensors return valid metadata immediately. */ - return 0; -} - -void CamHelper::parseEmbeddedData(Span<const uint8_t> buffer, - Metadata &metadata) -{ - MdParser::RegisterMap registers; - Metadata parsedMetadata; - - if (buffer.empty()) - return; - - if (parser_->Parse(buffer, registers) != MdParser::Status::OK) { - LOG(IPARPI, Error) << "Embedded data buffer parsing failed"; - return; - } - - PopulateMetadata(registers, parsedMetadata); - metadata.Merge(parsedMetadata); - - /* - * Overwrite the exposure/gain, frame length and sensor temperature values - * in the existing DeviceStatus with values from the parsed embedded buffer. - * Fetch it first in case any other fields were set meaningfully. - */ - DeviceStatus deviceStatus, parsedDeviceStatus; - if (metadata.Get("device.status", deviceStatus) || - parsedMetadata.Get("device.status", parsedDeviceStatus)) { - LOG(IPARPI, Error) << "DeviceStatus not found"; - return; - } - - deviceStatus.shutter_speed = parsedDeviceStatus.shutter_speed; - deviceStatus.analogue_gain = parsedDeviceStatus.analogue_gain; - deviceStatus.frame_length = parsedDeviceStatus.frame_length; - if (parsedDeviceStatus.sensor_temperature) - deviceStatus.sensor_temperature = parsedDeviceStatus.sensor_temperature; - - LOG(IPARPI, Debug) << "Metadata updated - " << deviceStatus; - - metadata.Set("device.status", deviceStatus); -} - -void CamHelper::PopulateMetadata([[maybe_unused]] const MdParser::RegisterMap ®isters, - [[maybe_unused]] Metadata &metadata) const -{ -} - -RegisterCamHelper::RegisterCamHelper(char const *cam_name, - CamHelperCreateFunc create_func) -{ - cam_helpers[std::string(cam_name)] = create_func; -} diff --git a/src/ipa/raspberrypi/cam_helper.hpp b/src/ipa/raspberrypi/cam_helper.hpp deleted file mode 100644 index 300f8f8a..00000000 --- a/src/ipa/raspberrypi/cam_helper.hpp +++ /dev/null @@ -1,123 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * cam_helper.hpp - helper class providing camera information - */ -#pragma once - -#include <memory> -#include <string> - -#include <libcamera/base/span.h> -#include <libcamera/base/utils.h> - -#include "camera_mode.h" -#include "controller/controller.hpp" -#include "controller/metadata.hpp" -#include "md_parser.hpp" - -#include "libcamera/internal/v4l2_videodevice.h" - -namespace RPiController { - -// The CamHelper class provides a number of facilities that anyone trying -// to drive a camera will need to know, but which are not provided by the -// standard driver framework. Specifically, it provides: -// -// A "CameraMode" structure to describe extra information about the chosen -// mode of the driver. For example, how it is cropped from the full sensor -// area, how it is scaled, whether pixels are averaged compared to the full -// resolution. -// -// The ability to convert between number of lines of exposure and actual -// exposure time, and to convert between the sensor's gain codes and actual -// gains. -// -// A function to return the number of frames of delay between updating exposure, -// analogue gain and vblanking, and for the changes to take effect. For many -// sensors these take the values 2, 1 and 2 respectively, but sensors that are -// different will need to over-ride the default function provided. -// -// A function to query if the sensor outputs embedded data that can be parsed. -// -// A function to return the sensitivity of a given camera mode. -// -// A parser to parse the embedded data buffers provided by some sensors (for -// example, the imx219 does; the ov5647 doesn't). This allows us to know for -// sure the exposure and gain of the frame we're looking at. CamHelper -// provides functions for converting analogue gains to and from the sensor's -// native gain codes. -// -// Finally, a set of functions that determine how to handle the vagaries of -// different camera modules on start-up or when switching modes. Some -// modules may produce one or more frames that are not yet correctly exposed, -// or where the metadata may be suspect. We have the following functions: -// HideFramesStartup(): Tell the pipeline handler not to return this many -// frames at start-up. This can also be used to hide initial frames -// while the AGC and other algorithms are sorting themselves out. -// HideFramesModeSwitch(): Tell the pipeline handler not to return this -// many frames after a mode switch (other than start-up). Some sensors -// may produce innvalid frames after a mode switch; others may not. -// MistrustFramesStartup(): At start-up a sensor may return frames for -// which we should not run any control algorithms (for example, metadata -// may be invalid). -// MistrustFramesModeSwitch(): The number of frames, after a mode switch -// (other than start-up), for which control algorithms should not run -// (for example, metadata may be unreliable). - -class CamHelper -{ -public: - static CamHelper *Create(std::string const &cam_name); - CamHelper(std::unique_ptr<MdParser> parser, unsigned int frameIntegrationDiff); - virtual ~CamHelper(); - void SetCameraMode(const CameraMode &mode); - virtual void Prepare(libcamera::Span<const uint8_t> buffer, - Metadata &metadata); - virtual void Process(StatisticsPtr &stats, Metadata &metadata); - virtual uint32_t ExposureLines(libcamera::utils::Duration exposure) const; - virtual libcamera::utils::Duration Exposure(uint32_t exposure_lines) const; - virtual uint32_t GetVBlanking(libcamera::utils::Duration &exposure, - libcamera::utils::Duration minFrameDuration, - libcamera::utils::Duration maxFrameDuration) const; - virtual uint32_t GainCode(double gain) const = 0; - virtual double Gain(uint32_t gain_code) const = 0; - virtual void GetDelays(int &exposure_delay, int &gain_delay, - int &vblank_delay) const; - virtual bool SensorEmbeddedDataPresent() const; - virtual double GetModeSensitivity(const CameraMode &mode) const; - virtual unsigned int HideFramesStartup() const; - virtual unsigned int HideFramesModeSwitch() const; - virtual unsigned int MistrustFramesStartup() const; - virtual unsigned int MistrustFramesModeSwitch() const; - -protected: - void parseEmbeddedData(libcamera::Span<const uint8_t> buffer, - Metadata &metadata); - virtual void PopulateMetadata(const MdParser::RegisterMap ®isters, - Metadata &metadata) const; - - std::unique_ptr<MdParser> parser_; - CameraMode mode_; - -private: - bool initialized_; - /* - * Smallest difference between the frame length and integration time, - * in units of lines. - */ - unsigned int frameIntegrationDiff_; -}; - -// This is for registering camera helpers with the system, so that the -// CamHelper::Create function picks them up automatically. - -typedef CamHelper *(*CamHelperCreateFunc)(); -struct RegisterCamHelper -{ - RegisterCamHelper(char const *cam_name, - CamHelperCreateFunc create_func); -}; - -} // namespace RPi diff --git a/src/ipa/raspberrypi/cam_helper_imx290.cpp b/src/ipa/raspberrypi/cam_helper_imx290.cpp deleted file mode 100644 index 871c1f8e..00000000 --- a/src/ipa/raspberrypi/cam_helper_imx290.cpp +++ /dev/null @@ -1,67 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2021, Raspberry Pi (Trading) Limited - * - * cam_helper_imx290.cpp - camera helper for imx290 sensor - */ - -#include <math.h> - -#include "cam_helper.hpp" - -using namespace RPiController; - -class CamHelperImx290 : public CamHelper -{ -public: - CamHelperImx290(); - uint32_t GainCode(double gain) const override; - double Gain(uint32_t gain_code) const override; - void GetDelays(int &exposure_delay, int &gain_delay, - int &vblank_delay) const override; - unsigned int HideFramesModeSwitch() const override; - -private: - /* - * Smallest difference between the frame length and integration time, - * in units of lines. - */ - static constexpr int frameIntegrationDiff = 2; -}; - -CamHelperImx290::CamHelperImx290() - : CamHelper({}, frameIntegrationDiff) -{ -} - -uint32_t CamHelperImx290::GainCode(double gain) const -{ - int code = 66.6667 * log10(gain); - return std::max(0, std::min(code, 0xf0)); -} - -double CamHelperImx290::Gain(uint32_t gain_code) const -{ - return pow(10, 0.015 * gain_code); -} - -void CamHelperImx290::GetDelays(int &exposure_delay, int &gain_delay, - int &vblank_delay) const -{ - exposure_delay = 2; - gain_delay = 2; - vblank_delay = 2; -} - -unsigned int CamHelperImx290::HideFramesModeSwitch() const -{ - /* After a mode switch, we seem to get 1 bad frame. */ - return 1; -} - -static CamHelper *Create() -{ - return new CamHelperImx290(); -} - -static RegisterCamHelper reg("imx290", &Create); diff --git a/src/ipa/raspberrypi/cam_helper_imx296.cpp b/src/ipa/raspberrypi/cam_helper_imx296.cpp deleted file mode 100644 index a1a771cb..00000000 --- a/src/ipa/raspberrypi/cam_helper_imx296.cpp +++ /dev/null @@ -1,69 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2020, Raspberry Pi (Trading) Limited - * - * cam_helper_imx296.cpp - Camera helper for IMX296 sensor - */ - -#include <algorithm> -#include <cmath> -#include <stddef.h> - -#include "cam_helper.hpp" - -using namespace RPiController; -using libcamera::utils::Duration; -using namespace std::literals::chrono_literals; - -class CamHelperImx296 : public CamHelper -{ -public: - CamHelperImx296(); - uint32_t GainCode(double gain) const override; - double Gain(uint32_t gain_code) const override; - uint32_t ExposureLines(Duration exposure) const override; - Duration Exposure(uint32_t exposure_lines) const override; - -private: - static constexpr uint32_t maxGainCode = 239; - static constexpr Duration timePerLine = 550.0 / 37.125e6 * 1.0s; - - /* - * Smallest difference between the frame length and integration time, - * in units of lines. - */ - static constexpr int frameIntegrationDiff = 4; -}; - -CamHelperImx296::CamHelperImx296() - : CamHelper(nullptr, frameIntegrationDiff) -{ -} - -uint32_t CamHelperImx296::GainCode(double gain) const -{ - uint32_t code = 20 * std::log10(gain) * 10; - return std::min(code, maxGainCode); -} - -double CamHelperImx296::Gain(uint32_t gain_code) const -{ - return std::pow(10.0, gain_code / 200.0); -} - -uint32_t CamHelperImx296::ExposureLines(Duration exposure) const -{ - return (exposure - 14.26us) / timePerLine; -} - -Duration CamHelperImx296::Exposure(uint32_t exposure_lines) const -{ - return exposure_lines * timePerLine + 14.26us; -} - -static CamHelper *Create() -{ - return new CamHelperImx296(); -} - -static RegisterCamHelper reg("imx296", &Create); diff --git a/src/ipa/raspberrypi/cam_helper_ov9281.cpp b/src/ipa/raspberrypi/cam_helper_ov9281.cpp deleted file mode 100644 index 9de868c3..00000000 --- a/src/ipa/raspberrypi/cam_helper_ov9281.cpp +++ /dev/null @@ -1,65 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2021, Raspberry Pi (Trading) Limited - * - * cam_helper_ov9281.cpp - camera information for ov9281 sensor - */ - -#include <assert.h> - -#include "cam_helper.hpp" - -using namespace RPiController; - -class CamHelperOv9281 : public CamHelper -{ -public: - CamHelperOv9281(); - uint32_t GainCode(double gain) const override; - double Gain(uint32_t gain_code) const override; - void GetDelays(int &exposure_delay, int &gain_delay, - int &vblank_delay) const override; - -private: - /* - * Smallest difference between the frame length and integration time, - * in units of lines. - */ - static constexpr int frameIntegrationDiff = 4; -}; - -/* - * OV9281 doesn't output metadata, so we have to use the "unicam parser" which - * works by counting frames. - */ - -CamHelperOv9281::CamHelperOv9281() - : CamHelper({}, frameIntegrationDiff) -{ -} - -uint32_t CamHelperOv9281::GainCode(double gain) const -{ - return static_cast<uint32_t>(gain * 16.0); -} - -double CamHelperOv9281::Gain(uint32_t gain_code) const -{ - return static_cast<double>(gain_code) / 16.0; -} - -void CamHelperOv9281::GetDelays(int &exposure_delay, int &gain_delay, - int &vblank_delay) const -{ - /* The driver appears to behave as follows: */ - exposure_delay = 2; - gain_delay = 2; - vblank_delay = 2; -} - -static CamHelper *Create() -{ - return new CamHelperOv9281(); -} - -static RegisterCamHelper reg("ov9281", &Create); diff --git a/src/ipa/raspberrypi/controller/agc_algorithm.hpp b/src/ipa/raspberrypi/controller/agc_algorithm.hpp deleted file mode 100644 index 61595ea2..00000000 --- a/src/ipa/raspberrypi/controller/agc_algorithm.hpp +++ /dev/null @@ -1,32 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * agc_algorithm.hpp - AGC/AEC control algorithm interface - */ -#pragma once - -#include <libcamera/base/utils.h> - -#include "algorithm.hpp" - -namespace RPiController { - -class AgcAlgorithm : public Algorithm -{ -public: - AgcAlgorithm(Controller *controller) : Algorithm(controller) {} - // An AGC algorithm must provide the following: - virtual unsigned int GetConvergenceFrames() const = 0; - virtual void SetEv(double ev) = 0; - virtual void SetFlickerPeriod(libcamera::utils::Duration flicker_period) = 0; - virtual void SetFixedShutter(libcamera::utils::Duration fixed_shutter) = 0; - virtual void SetMaxShutter(libcamera::utils::Duration max_shutter) = 0; - virtual void SetFixedAnalogueGain(double fixed_analogue_gain) = 0; - virtual void SetMeteringMode(std::string const &metering_mode_name) = 0; - virtual void SetExposureMode(std::string const &exposure_mode_name) = 0; - virtual void - SetConstraintMode(std::string const &contraint_mode_name) = 0; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/agc_status.h b/src/ipa/raspberrypi/controller/agc_status.h deleted file mode 100644 index 20cb1b62..00000000 --- a/src/ipa/raspberrypi/controller/agc_status.h +++ /dev/null @@ -1,41 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * agc_status.h - AGC/AEC control algorithm status - */ -#pragma once - -#include <libcamera/base/utils.h> - -// The AGC algorithm should post the following structure into the image's -// "agc.status" metadata. - -#ifdef __cplusplus -extern "C" { -#endif - -// Note: total_exposure_value will be reported as zero until the algorithm has -// seen statistics and calculated meaningful values. The contents should be -// ignored until then. - -struct AgcStatus { - libcamera::utils::Duration total_exposure_value; // value for all exposure and gain for this image - libcamera::utils::Duration target_exposure_value; // (unfiltered) target total exposure AGC is aiming for - libcamera::utils::Duration shutter_time; - double analogue_gain; - char exposure_mode[32]; - char constraint_mode[32]; - char metering_mode[32]; - double ev; - libcamera::utils::Duration flicker_period; - int floating_region_enable; - libcamera::utils::Duration fixed_shutter; - double fixed_analogue_gain; - double digital_gain; - int locked; -}; - -#ifdef __cplusplus -} -#endif diff --git a/src/ipa/raspberrypi/controller/algorithm.cpp b/src/ipa/raspberrypi/controller/algorithm.cpp deleted file mode 100644 index 43ad0a2b..00000000 --- a/src/ipa/raspberrypi/controller/algorithm.cpp +++ /dev/null @@ -1,44 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * algorithm.cpp - ISP control algorithms - */ - -#include "algorithm.hpp" - -using namespace RPiController; - -void Algorithm::Read([[maybe_unused]] boost::property_tree::ptree const ¶ms) -{ -} - -void Algorithm::Initialise() {} - -void Algorithm::SwitchMode([[maybe_unused]] CameraMode const &camera_mode, - [[maybe_unused]] Metadata *metadata) -{ -} - -void Algorithm::Prepare([[maybe_unused]] Metadata *image_metadata) -{ -} - -void Algorithm::Process([[maybe_unused]] StatisticsPtr &stats, - [[maybe_unused]] Metadata *image_metadata) -{ -} - -// For registering algorithms with the system: - -static std::map<std::string, AlgoCreateFunc> algorithms; -std::map<std::string, AlgoCreateFunc> const &RPiController::GetAlgorithms() -{ - return algorithms; -} - -RegisterAlgorithm::RegisterAlgorithm(char const *name, - AlgoCreateFunc create_func) -{ - algorithms[std::string(name)] = create_func; -} diff --git a/src/ipa/raspberrypi/controller/algorithm.hpp b/src/ipa/raspberrypi/controller/algorithm.hpp deleted file mode 100644 index 5123c87b..00000000 --- a/src/ipa/raspberrypi/controller/algorithm.hpp +++ /dev/null @@ -1,60 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * algorithm.hpp - ISP control algorithm interface - */ -#pragma once - -// All algorithms should be derived from this class and made available to the -// Controller. - -#include <string> -#include <memory> -#include <map> - -#include "controller.hpp" - -#include <boost/property_tree/ptree.hpp> - -namespace RPiController { - -// This defines the basic interface for all control algorithms. - -class Algorithm -{ -public: - Algorithm(Controller *controller) - : controller_(controller), paused_(false) - { - } - virtual ~Algorithm() = default; - virtual char const *Name() const = 0; - virtual bool IsPaused() const { return paused_; } - virtual void Pause() { paused_ = true; } - virtual void Resume() { paused_ = false; } - virtual void Read(boost::property_tree::ptree const ¶ms); - virtual void Initialise(); - virtual void SwitchMode(CameraMode const &camera_mode, Metadata *metadata); - virtual void Prepare(Metadata *image_metadata); - virtual void Process(StatisticsPtr &stats, Metadata *image_metadata); - Metadata &GetGlobalMetadata() const - { - return controller_->GetGlobalMetadata(); - } - -private: - Controller *controller_; - bool paused_; -}; - -// This code is for automatic registration of Front End algorithms with the -// system. - -typedef Algorithm *(*AlgoCreateFunc)(Controller *controller); -struct RegisterAlgorithm { - RegisterAlgorithm(char const *name, AlgoCreateFunc create_func); -}; -std::map<std::string, AlgoCreateFunc> const &GetAlgorithms(); - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/alsc_status.h b/src/ipa/raspberrypi/controller/alsc_status.h deleted file mode 100644 index d3f57971..00000000 --- a/src/ipa/raspberrypi/controller/alsc_status.h +++ /dev/null @@ -1,27 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * alsc_status.h - ALSC (auto lens shading correction) control algorithm status - */ -#pragma once - -// The ALSC algorithm should post the following structure into the image's -// "alsc.status" metadata. - -#ifdef __cplusplus -extern "C" { -#endif - -#define ALSC_CELLS_X 16 -#define ALSC_CELLS_Y 12 - -struct AlscStatus { - double r[ALSC_CELLS_Y][ALSC_CELLS_X]; - double g[ALSC_CELLS_Y][ALSC_CELLS_X]; - double b[ALSC_CELLS_Y][ALSC_CELLS_X]; -}; - -#ifdef __cplusplus -} -#endif diff --git a/src/ipa/raspberrypi/controller/awb_algorithm.hpp b/src/ipa/raspberrypi/controller/awb_algorithm.hpp deleted file mode 100644 index 96f88afc..00000000 --- a/src/ipa/raspberrypi/controller/awb_algorithm.hpp +++ /dev/null @@ -1,23 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * awb_algorithm.hpp - AWB control algorithm interface - */ -#pragma once - -#include "algorithm.hpp" - -namespace RPiController { - -class AwbAlgorithm : public Algorithm -{ -public: - AwbAlgorithm(Controller *controller) : Algorithm(controller) {} - // An AWB algorithm must provide the following: - virtual unsigned int GetConvergenceFrames() const = 0; - virtual void SetMode(std::string const &mode_name) = 0; - virtual void SetManualGains(double manual_r, double manual_b) = 0; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/awb_status.h b/src/ipa/raspberrypi/controller/awb_status.h deleted file mode 100644 index 46d7c842..00000000 --- a/src/ipa/raspberrypi/controller/awb_status.h +++ /dev/null @@ -1,26 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * awb_status.h - AWB control algorithm status - */ -#pragma once - -// The AWB algorithm places its results into both the image and global metadata, -// under the tag "awb.status". - -#ifdef __cplusplus -extern "C" { -#endif - -struct AwbStatus { - char mode[32]; - double temperature_K; - double gain_r; - double gain_g; - double gain_b; -}; - -#ifdef __cplusplus -} -#endif diff --git a/src/ipa/raspberrypi/controller/black_level_status.h b/src/ipa/raspberrypi/controller/black_level_status.h deleted file mode 100644 index d085f64b..00000000 --- a/src/ipa/raspberrypi/controller/black_level_status.h +++ /dev/null @@ -1,23 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * black_level_status.h - black level control algorithm status - */ -#pragma once - -// The "black level" algorithm stores the black levels to use. - -#ifdef __cplusplus -extern "C" { -#endif - -struct BlackLevelStatus { - uint16_t black_level_r; // out of 16 bits - uint16_t black_level_g; - uint16_t black_level_b; -}; - -#ifdef __cplusplus -} -#endif diff --git a/src/ipa/raspberrypi/controller/camera_mode.h b/src/ipa/raspberrypi/controller/camera_mode.h deleted file mode 100644 index e2b82828..00000000 --- a/src/ipa/raspberrypi/controller/camera_mode.h +++ /dev/null @@ -1,50 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019-2020, Raspberry Pi (Trading) Limited - * - * camera_mode.h - description of a particular operating mode of a sensor - */ -#pragma once - -#include <libcamera/transform.h> - -#include <libcamera/base/utils.h> - -// Description of a "camera mode", holding enough information for control -// algorithms to adapt their behaviour to the different modes of the camera, -// including binning, scaling, cropping etc. - -#ifdef __cplusplus -extern "C" { -#endif - -#define CAMERA_MODE_NAME_LEN 32 - -struct CameraMode { - // bit depth of the raw camera output - uint32_t bitdepth; - // size in pixels of frames in this mode - uint16_t width, height; - // size of full resolution uncropped frame ("sensor frame") - uint16_t sensor_width, sensor_height; - // binning factor (1 = no binning, 2 = 2-pixel binning etc.) - uint8_t bin_x, bin_y; - // location of top left pixel in the sensor frame - uint16_t crop_x, crop_y; - // scaling factor (so if uncropped, width*scale_x is sensor_width) - double scale_x, scale_y; - // scaling of the noise compared to the native sensor mode - double noise_factor; - // line time - libcamera::utils::Duration line_length; - // any camera transform *not* reflected already in the camera tuning - libcamera::Transform transform; - // minimum and maximum fame lengths in units of lines - uint32_t min_frame_length, max_frame_length; - // sensitivity of this mode - double sensitivity; -}; - -#ifdef __cplusplus -} -#endif diff --git a/src/ipa/raspberrypi/controller/ccm_algorithm.hpp b/src/ipa/raspberrypi/controller/ccm_algorithm.hpp deleted file mode 100644 index 33d0e30d..00000000 --- a/src/ipa/raspberrypi/controller/ccm_algorithm.hpp +++ /dev/null @@ -1,21 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * ccm_algorithm.hpp - CCM (colour correction matrix) control algorithm interface - */ -#pragma once - -#include "algorithm.hpp" - -namespace RPiController { - -class CcmAlgorithm : public Algorithm -{ -public: - CcmAlgorithm(Controller *controller) : Algorithm(controller) {} - // A CCM algorithm must provide the following: - virtual void SetSaturation(double saturation) = 0; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/ccm_status.h b/src/ipa/raspberrypi/controller/ccm_status.h deleted file mode 100644 index 7e41dd1f..00000000 --- a/src/ipa/raspberrypi/controller/ccm_status.h +++ /dev/null @@ -1,22 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * ccm_status.h - CCM (colour correction matrix) control algorithm status - */ -#pragma once - -// The "ccm" algorithm generates an appropriate colour matrix. - -#ifdef __cplusplus -extern "C" { -#endif - -struct CcmStatus { - double matrix[9]; - double saturation; -}; - -#ifdef __cplusplus -} -#endif diff --git a/src/ipa/raspberrypi/controller/contrast_algorithm.hpp b/src/ipa/raspberrypi/controller/contrast_algorithm.hpp deleted file mode 100644 index 7f03bba5..00000000 --- a/src/ipa/raspberrypi/controller/contrast_algorithm.hpp +++ /dev/null @@ -1,22 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * contrast_algorithm.hpp - contrast (gamma) control algorithm interface - */ -#pragma once - -#include "algorithm.hpp" - -namespace RPiController { - -class ContrastAlgorithm : public Algorithm -{ -public: - ContrastAlgorithm(Controller *controller) : Algorithm(controller) {} - // A contrast algorithm must provide the following: - virtual void SetBrightness(double brightness) = 0; - virtual void SetContrast(double contrast) = 0; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/contrast_status.h b/src/ipa/raspberrypi/controller/contrast_status.h deleted file mode 100644 index d7edd4e9..00000000 --- a/src/ipa/raspberrypi/controller/contrast_status.h +++ /dev/null @@ -1,31 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * contrast_status.h - contrast (gamma) control algorithm status - */ -#pragma once - -// The "contrast" algorithm creates a gamma curve, optionally doing a little bit -// of contrast stretching based on the AGC histogram. - -#ifdef __cplusplus -extern "C" { -#endif - -#define CONTRAST_NUM_POINTS 33 - -struct ContrastPoint { - uint16_t x; - uint16_t y; -}; - -struct ContrastStatus { - struct ContrastPoint points[CONTRAST_NUM_POINTS]; - double brightness; - double contrast; -}; - -#ifdef __cplusplus -} -#endif diff --git a/src/ipa/raspberrypi/controller/controller.cpp b/src/ipa/raspberrypi/controller/controller.cpp deleted file mode 100644 index d3433ad2..00000000 --- a/src/ipa/raspberrypi/controller/controller.cpp +++ /dev/null @@ -1,104 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * controller.cpp - ISP controller - */ - -#include <libcamera/base/log.h> - -#include "algorithm.hpp" -#include "controller.hpp" - -#include <boost/property_tree/json_parser.hpp> -#include <boost/property_tree/ptree.hpp> - -using namespace RPiController; -using namespace libcamera; - -LOG_DEFINE_CATEGORY(RPiController) - -Controller::Controller() - : switch_mode_called_(false) {} - -Controller::Controller(char const *json_filename) - : switch_mode_called_(false) -{ - Read(json_filename); - Initialise(); -} - -Controller::~Controller() {} - -void Controller::Read(char const *filename) -{ - boost::property_tree::ptree root; - boost::property_tree::read_json(filename, root); - for (auto const &key_and_value : root) { - Algorithm *algo = CreateAlgorithm(key_and_value.first.c_str()); - if (algo) { - algo->Read(key_and_value.second); - algorithms_.push_back(AlgorithmPtr(algo)); - } else - LOG(RPiController, Warning) - << "No algorithm found for \"" << key_and_value.first << "\""; - } -} - -Algorithm *Controller::CreateAlgorithm(char const *name) -{ - auto it = GetAlgorithms().find(std::string(name)); - return it != GetAlgorithms().end() ? (*it->second)(this) : nullptr; -} - -void Controller::Initialise() -{ - for (auto &algo : algorithms_) - algo->Initialise(); -} - -void Controller::SwitchMode(CameraMode const &camera_mode, Metadata *metadata) -{ - for (auto &algo : algorithms_) - algo->SwitchMode(camera_mode, metadata); - switch_mode_called_ = true; -} - -void Controller::Prepare(Metadata *image_metadata) -{ - assert(switch_mode_called_); - for (auto &algo : algorithms_) - if (!algo->IsPaused()) - algo->Prepare(image_metadata); -} - -void Controller::Process(StatisticsPtr stats, Metadata *image_metadata) -{ - assert(switch_mode_called_); - for (auto &algo : algorithms_) - if (!algo->IsPaused()) - algo->Process(stats, image_metadata); -} - -Metadata &Controller::GetGlobalMetadata() -{ - return global_metadata_; -} - -Algorithm *Controller::GetAlgorithm(std::string const &name) const -{ - // The passed name must be the entire algorithm name, or must match the - // last part of it with a period (.) just before. - size_t name_len = name.length(); - for (auto &algo : algorithms_) { - char const *algo_name = algo->Name(); - size_t algo_name_len = strlen(algo_name); - if (algo_name_len >= name_len && - strcasecmp(name.c_str(), - algo_name + algo_name_len - name_len) == 0 && - (name_len == algo_name_len || - algo_name[algo_name_len - name_len - 1] == '.')) - return algo.get(); - } - return nullptr; -} diff --git a/src/ipa/raspberrypi/controller/controller.hpp b/src/ipa/raspberrypi/controller/controller.hpp deleted file mode 100644 index 3b50ae77..00000000 --- a/src/ipa/raspberrypi/controller/controller.hpp +++ /dev/null @@ -1,54 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * controller.hpp - ISP controller interface - */ -#pragma once - -// The Controller is simply a container for a collecting together a number of -// "control algorithms" (such as AWB etc.) and for running them all in a -// convenient manner. - -#include <vector> -#include <string> - -#include <linux/bcm2835-isp.h> - -#include "camera_mode.h" -#include "device_status.h" -#include "metadata.hpp" - -namespace RPiController { - -class Algorithm; -typedef std::unique_ptr<Algorithm> AlgorithmPtr; -typedef std::shared_ptr<bcm2835_isp_stats> StatisticsPtr; - -// The Controller holds a pointer to some global_metadata, which is how -// different controllers and control algorithms within them can exchange -// information. The Prepare function returns a pointer to metadata for this -// specific image, and which should be passed on to the Process function. - -class Controller -{ -public: - Controller(); - Controller(char const *json_filename); - ~Controller(); - Algorithm *CreateAlgorithm(char const *name); - void Read(char const *filename); - void Initialise(); - void SwitchMode(CameraMode const &camera_mode, Metadata *metadata); - void Prepare(Metadata *image_metadata); - void Process(StatisticsPtr stats, Metadata *image_metadata); - Metadata &GetGlobalMetadata(); - Algorithm *GetAlgorithm(std::string const &name) const; - -protected: - Metadata global_metadata_; - std::vector<AlgorithmPtr> algorithms_; - bool switch_mode_called_; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/denoise_algorithm.hpp b/src/ipa/raspberrypi/controller/denoise_algorithm.hpp deleted file mode 100644 index 39fcd7e9..00000000 --- a/src/ipa/raspberrypi/controller/denoise_algorithm.hpp +++ /dev/null @@ -1,23 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2021, Raspberry Pi (Trading) Limited - * - * denoise.hpp - Denoise control algorithm interface - */ -#pragma once - -#include "algorithm.hpp" - -namespace RPiController { - -enum class DenoiseMode { Off, ColourOff, ColourFast, ColourHighQuality }; - -class DenoiseAlgorithm : public Algorithm -{ -public: - DenoiseAlgorithm(Controller *controller) : Algorithm(controller) {} - // A Denoise algorithm must provide the following: - virtual void SetMode(DenoiseMode mode) = 0; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/denoise_status.h b/src/ipa/raspberrypi/controller/denoise_status.h deleted file mode 100644 index 67a3c361..00000000 --- a/src/ipa/raspberrypi/controller/denoise_status.h +++ /dev/null @@ -1,24 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019-2021, Raspberry Pi (Trading) Limited - * - * denoise_status.h - Denoise control algorithm status - */ -#pragma once - -// This stores the parameters required for Denoise. - -#ifdef __cplusplus -extern "C" { -#endif - -struct DenoiseStatus { - double noise_constant; - double noise_slope; - double strength; - unsigned int mode; -}; - -#ifdef __cplusplus -} -#endif diff --git a/src/ipa/raspberrypi/controller/device_status.cpp b/src/ipa/raspberrypi/controller/device_status.cpp deleted file mode 100644 index a389c40d..00000000 --- a/src/ipa/raspberrypi/controller/device_status.cpp +++ /dev/null @@ -1,30 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2021, Raspberry Pi (Trading) Limited - * - * device_status.cpp - device (image sensor) status - */ -#include "device_status.h" - -using namespace libcamera; /* for the Duration operator<< overload */ - -std::ostream &operator<<(std::ostream &out, const DeviceStatus &d) -{ - out << "Exposure: " << d.shutter_speed - << " Frame length: " << d.frame_length - << " Gain: " << d.analogue_gain; - - if (d.aperture) - out << " Aperture: " << *d.aperture; - - if (d.lens_position) - out << " Lens: " << *d.lens_position; - - if (d.flash_intensity) - out << " Flash: " << *d.flash_intensity; - - if (d.sensor_temperature) - out << " Temperature: " << *d.sensor_temperature; - - return out; -} diff --git a/src/ipa/raspberrypi/controller/dpc_status.h b/src/ipa/raspberrypi/controller/dpc_status.h deleted file mode 100644 index a3ec2762..00000000 --- a/src/ipa/raspberrypi/controller/dpc_status.h +++ /dev/null @@ -1,21 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * dpc_status.h - DPC (defective pixel correction) control algorithm status - */ -#pragma once - -// The "DPC" algorithm sets defective pixel correction strength. - -#ifdef __cplusplus -extern "C" { -#endif - -struct DpcStatus { - int strength; // 0 = "off", 1 = "normal", 2 = "strong" -}; - -#ifdef __cplusplus -} -#endif diff --git a/src/ipa/raspberrypi/controller/focus_status.h b/src/ipa/raspberrypi/controller/focus_status.h deleted file mode 100644 index ace2fe2c..00000000 --- a/src/ipa/raspberrypi/controller/focus_status.h +++ /dev/null @@ -1,26 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2020, Raspberry Pi (Trading) Limited - * - * focus_status.h - focus measurement status - */ -#pragma once - -#include <linux/bcm2835-isp.h> - -// The focus algorithm should post the following structure into the image's -// "focus.status" metadata. Recall that it's only reporting focus (contrast) -// measurements, it's not driving any kind of auto-focus algorithm! - -#ifdef __cplusplus -extern "C" { -#endif - -struct FocusStatus { - unsigned int num; - uint32_t focus_measures[FOCUS_REGIONS]; -}; - -#ifdef __cplusplus -} -#endif diff --git a/src/ipa/raspberrypi/controller/geq_status.h b/src/ipa/raspberrypi/controller/geq_status.h deleted file mode 100644 index 07fd5f03..00000000 --- a/src/ipa/raspberrypi/controller/geq_status.h +++ /dev/null @@ -1,22 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * geq_status.h - GEQ (green equalisation) control algorithm status - */ -#pragma once - -// The "GEQ" algorithm calculates the green equalisation thresholds - -#ifdef __cplusplus -extern "C" { -#endif - -struct GeqStatus { - uint16_t offset; - double slope; -}; - -#ifdef __cplusplus -} -#endif diff --git a/src/ipa/raspberrypi/controller/histogram.cpp b/src/ipa/raspberrypi/controller/histogram.cpp deleted file mode 100644 index 9916b3ed..00000000 --- a/src/ipa/raspberrypi/controller/histogram.cpp +++ /dev/null @@ -1,64 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * histogram.cpp - histogram calculations - */ -#include <math.h> -#include <stdio.h> - -#include "histogram.hpp" - -using namespace RPiController; - -uint64_t Histogram::CumulativeFreq(double bin) const -{ - if (bin <= 0) - return 0; - else if (bin >= Bins()) - return Total(); - int b = (int)bin; - return cumulative_[b] + - (bin - b) * (cumulative_[b + 1] - cumulative_[b]); -} - -double Histogram::Quantile(double q, int first, int last) const -{ - if (first == -1) - first = 0; - if (last == -1) - last = cumulative_.size() - 2; - assert(first <= last); - uint64_t items = q * Total(); - while (first < last) // binary search to find the right bin - { - int middle = (first + last) / 2; - if (cumulative_[middle + 1] > items) - last = middle; // between first and middle - else - first = middle + 1; // after middle - } - assert(items >= cumulative_[first] && items <= cumulative_[last + 1]); - double frac = cumulative_[first + 1] == cumulative_[first] ? 0 - : (double)(items - cumulative_[first]) / - (cumulative_[first + 1] - cumulative_[first]); - return first + frac; -} - -double Histogram::InterQuantileMean(double q_lo, double q_hi) const -{ - assert(q_hi > q_lo); - double p_lo = Quantile(q_lo); - double p_hi = Quantile(q_hi, (int)p_lo); - double sum_bin_freq = 0, cumul_freq = 0; - for (double p_next = floor(p_lo) + 1.0; p_next <= ceil(p_hi); - p_lo = p_next, p_next += 1.0) { - int bin = floor(p_lo); - double freq = (cumulative_[bin + 1] - cumulative_[bin]) * - (std::min(p_next, p_hi) - p_lo); - sum_bin_freq += bin * freq; - cumul_freq += freq; - } - // add 0.5 to give an average for bin mid-points - return sum_bin_freq / cumul_freq + 0.5; -} diff --git a/src/ipa/raspberrypi/controller/histogram.hpp b/src/ipa/raspberrypi/controller/histogram.hpp deleted file mode 100644 index 90f5ac78..00000000 --- a/src/ipa/raspberrypi/controller/histogram.hpp +++ /dev/null @@ -1,44 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * histogram.hpp - histogram calculation interface - */ -#pragma once - -#include <stdint.h> -#include <vector> -#include <cassert> - -// A simple histogram class, for use in particular to find "quantiles" and -// averages between "quantiles". - -namespace RPiController { - -class Histogram -{ -public: - template<typename T> Histogram(T *histogram, int num) - { - assert(num); - cumulative_.reserve(num + 1); - cumulative_.push_back(0); - for (int i = 0; i < num; i++) - cumulative_.push_back(cumulative_.back() + - histogram[i]); - } - uint32_t Bins() const { return cumulative_.size() - 1; } - uint64_t Total() const { return cumulative_[cumulative_.size() - 1]; } - // Cumulative frequency up to a (fractional) point in a bin. - uint64_t CumulativeFreq(double bin) const; - // Return the (fractional) bin of the point q (0 <= q <= 1) through the - // histogram. Optionally provide limits to help. - double Quantile(double q, int first = -1, int last = -1) const; - // Return the average histogram bin value between the two quantiles. - double InterQuantileMean(double q_lo, double q_hi) const; - -private: - std::vector<uint64_t> cumulative_; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/lux_status.h b/src/ipa/raspberrypi/controller/lux_status.h deleted file mode 100644 index 8ccfd933..00000000 --- a/src/ipa/raspberrypi/controller/lux_status.h +++ /dev/null @@ -1,29 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * lux_status.h - Lux control algorithm status - */ -#pragma once - -// The "lux" algorithm looks at the (AGC) histogram statistics of the frame and -// estimates the current lux level of the scene. It does this by a simple ratio -// calculation comparing to a reference image that was taken in known conditions -// with known statistics and a properly measured lux level. There is a slight -// problem with aperture, in that it may be variable without the system knowing -// or being aware of it. In this case an external application may set a -// "current_aperture" value if it wishes, which would be used in place of the -// (presumably meaningless) value in the image metadata. - -#ifdef __cplusplus -extern "C" { -#endif - -struct LuxStatus { - double lux; - double aperture; -}; - -#ifdef __cplusplus -} -#endif diff --git a/src/ipa/raspberrypi/controller/metadata.hpp b/src/ipa/raspberrypi/controller/metadata.hpp deleted file mode 100644 index 51e576cf..00000000 --- a/src/ipa/raspberrypi/controller/metadata.hpp +++ /dev/null @@ -1,110 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019-2021, Raspberry Pi (Trading) Limited - * - * metadata.hpp - general metadata class - */ -#pragma once - -// A simple class for carrying arbitrary metadata, for example about an image. - -#include <any> -#include <map> -#include <mutex> -#include <string> - -namespace RPiController { - -class Metadata -{ -public: - Metadata() = default; - - Metadata(Metadata const &other) - { - std::scoped_lock other_lock(other.mutex_); - data_ = other.data_; - } - - Metadata(Metadata &&other) - { - std::scoped_lock other_lock(other.mutex_); - data_ = std::move(other.data_); - other.data_.clear(); - } - - template<typename T> - void Set(std::string const &tag, T const &value) - { - std::scoped_lock lock(mutex_); - data_[tag] = value; - } - - template<typename T> - int Get(std::string const &tag, T &value) const - { - std::scoped_lock lock(mutex_); - auto it = data_.find(tag); - if (it == data_.end()) - return -1; - value = std::any_cast<T>(it->second); - return 0; - } - - void Clear() - { - std::scoped_lock lock(mutex_); - data_.clear(); - } - - Metadata &operator=(Metadata const &other) - { - std::scoped_lock lock(mutex_, other.mutex_); - data_ = other.data_; - return *this; - } - - Metadata &operator=(Metadata &&other) - { - std::scoped_lock lock(mutex_, other.mutex_); - data_ = std::move(other.data_); - other.data_.clear(); - return *this; - } - - void Merge(Metadata &other) - { - std::scoped_lock lock(mutex_, other.mutex_); - data_.merge(other.data_); - } - - template<typename T> - T *GetLocked(std::string const &tag) - { - // This allows in-place access to the Metadata contents, - // for which you should be holding the lock. - auto it = data_.find(tag); - if (it == data_.end()) - return nullptr; - return std::any_cast<T>(&it->second); - } - - template<typename T> - void SetLocked(std::string const &tag, T const &value) - { - // Use this only if you're holding the lock yourself. - data_[tag] = value; - } - - // Note: use of (lowercase) lock and unlock means you can create scoped - // locks with the standard lock classes. - // e.g. std::lock_guard<RPiController::Metadata> lock(metadata) - void lock() { mutex_.lock(); } - void unlock() { mutex_.unlock(); } - -private: - mutable std::mutex mutex_; - std::map<std::string, std::any> data_; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/noise_status.h b/src/ipa/raspberrypi/controller/noise_status.h deleted file mode 100644 index 8439a402..00000000 --- a/src/ipa/raspberrypi/controller/noise_status.h +++ /dev/null @@ -1,22 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * noise_status.h - Noise control algorithm status - */ -#pragma once - -// The "noise" algorithm stores an estimate of the noise profile for this image. - -#ifdef __cplusplus -extern "C" { -#endif - -struct NoiseStatus { - double noise_constant; - double noise_slope; -}; - -#ifdef __cplusplus -} -#endif diff --git a/src/ipa/raspberrypi/controller/pwl.cpp b/src/ipa/raspberrypi/controller/pwl.cpp deleted file mode 100644 index 130c820b..00000000 --- a/src/ipa/raspberrypi/controller/pwl.cpp +++ /dev/null @@ -1,246 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * pwl.cpp - piecewise linear functions - */ - -#include <cassert> -#include <stdexcept> - -#include "pwl.hpp" - -using namespace RPiController; - -void Pwl::Read(boost::property_tree::ptree const ¶ms) -{ - for (auto it = params.begin(); it != params.end(); it++) { - double x = it->second.get_value<double>(); - assert(it == params.begin() || x > points_.back().x); - it++; - double y = it->second.get_value<double>(); - points_.push_back(Point(x, y)); - } - assert(points_.size() >= 2); -} - -void Pwl::Append(double x, double y, const double eps) -{ - if (points_.empty() || points_.back().x + eps < x) - points_.push_back(Point(x, y)); -} - -void Pwl::Prepend(double x, double y, const double eps) -{ - if (points_.empty() || points_.front().x - eps > x) - points_.insert(points_.begin(), Point(x, y)); -} - -Pwl::Interval Pwl::Domain() const -{ - return Interval(points_[0].x, points_[points_.size() - 1].x); -} - -Pwl::Interval Pwl::Range() const -{ - double lo = points_[0].y, hi = lo; - for (auto &p : points_) - lo = std::min(lo, p.y), hi = std::max(hi, p.y); - return Interval(lo, hi); -} - -bool Pwl::Empty() const -{ - return points_.empty(); -} - -double Pwl::Eval(double x, int *span_ptr, bool update_span) const -{ - int span = findSpan(x, span_ptr && *span_ptr != -1 - ? *span_ptr - : points_.size() / 2 - 1); - if (span_ptr && update_span) - *span_ptr = span; - return points_[span].y + - (x - points_[span].x) * (points_[span + 1].y - points_[span].y) / - (points_[span + 1].x - points_[span].x); -} - -int Pwl::findSpan(double x, int span) const -{ - // Pwls are generally small, so linear search may well be faster than - // binary, though could review this if large PWls start turning up. - int last_span = points_.size() - 2; - // some algorithms may call us with span pointing directly at the last - // control point - span = std::max(0, std::min(last_span, span)); - while (span < last_span && x >= points_[span + 1].x) - span++; - while (span && x < points_[span].x) - span--; - return span; -} - -Pwl::PerpType Pwl::Invert(Point const &xy, Point &perp, int &span, - const double eps) const -{ - assert(span >= -1); - bool prev_off_end = false; - for (span = span + 1; span < (int)points_.size() - 1; span++) { - Point span_vec = points_[span + 1] - points_[span]; - double t = ((xy - points_[span]) % span_vec) / span_vec.Len2(); - if (t < -eps) // off the start of this span - { - if (span == 0) { - perp = points_[span]; - return PerpType::Start; - } else if (prev_off_end) { - perp = points_[span]; - return PerpType::Vertex; - } - } else if (t > 1 + eps) // off the end of this span - { - if (span == (int)points_.size() - 2) { - perp = points_[span + 1]; - return PerpType::End; - } - prev_off_end = true; - } else // a true perpendicular - { - perp = points_[span] + span_vec * t; - return PerpType::Perpendicular; - } - } - return PerpType::None; -} - -Pwl Pwl::Inverse(bool *true_inverse, const double eps) const -{ - bool appended = false, prepended = false, neither = false; - Pwl inverse; - - for (Point const &p : points_) { - if (inverse.Empty()) - inverse.Append(p.y, p.x, eps); - else if (std::abs(inverse.points_.back().x - p.y) <= eps || - std::abs(inverse.points_.front().x - p.y) <= eps) - /* do nothing */; - else if (p.y > inverse.points_.back().x) { - inverse.Append(p.y, p.x, eps); - appended = true; - } else if (p.y < inverse.points_.front().x) { - inverse.Prepend(p.y, p.x, eps); - prepended = true; - } else - neither = true; - } - - // This is not a proper inverse if we found ourselves putting points - // onto both ends of the inverse, or if there were points that couldn't - // go on either. - if (true_inverse) - *true_inverse = !(neither || (appended && prepended)); - - return inverse; -} - -Pwl Pwl::Compose(Pwl const &other, const double eps) const -{ - double this_x = points_[0].x, this_y = points_[0].y; - int this_span = 0, other_span = other.findSpan(this_y, 0); - Pwl result({ { this_x, other.Eval(this_y, &other_span, false) } }); - while (this_span != (int)points_.size() - 1) { - double dx = points_[this_span + 1].x - points_[this_span].x, - dy = points_[this_span + 1].y - points_[this_span].y; - if (abs(dy) > eps && - other_span + 1 < (int)other.points_.size() && - points_[this_span + 1].y >= - other.points_[other_span + 1].x + eps) { - // next control point in result will be where this - // function's y reaches the next span in other - this_x = points_[this_span].x + - (other.points_[other_span + 1].x - - points_[this_span].y) * dx / dy; - this_y = other.points_[++other_span].x; - } else if (abs(dy) > eps && other_span > 0 && - points_[this_span + 1].y <= - other.points_[other_span - 1].x - eps) { - // next control point in result will be where this - // function's y reaches the previous span in other - this_x = points_[this_span].x + - (other.points_[other_span + 1].x - - points_[this_span].y) * dx / dy; - this_y = other.points_[--other_span].x; - } else { - // we stay in the same span in other - this_span++; - this_x = points_[this_span].x, - this_y = points_[this_span].y; - } - result.Append(this_x, other.Eval(this_y, &other_span, false), - eps); - } - return result; -} - -void Pwl::Map(std::function<void(double x, double y)> f) const -{ - for (auto &pt : points_) - f(pt.x, pt.y); -} - -void Pwl::Map2(Pwl const &pwl0, Pwl const &pwl1, - std::function<void(double x, double y0, double y1)> f) -{ - int span0 = 0, span1 = 0; - double x = std::min(pwl0.points_[0].x, pwl1.points_[0].x); - f(x, pwl0.Eval(x, &span0, false), pwl1.Eval(x, &span1, false)); - while (span0 < (int)pwl0.points_.size() - 1 || - span1 < (int)pwl1.points_.size() - 1) { - if (span0 == (int)pwl0.points_.size() - 1) - x = pwl1.points_[++span1].x; - else if (span1 == (int)pwl1.points_.size() - 1) - x = pwl0.points_[++span0].x; - else if (pwl0.points_[span0 + 1].x > pwl1.points_[span1 + 1].x) - x = pwl1.points_[++span1].x; - else - x = pwl0.points_[++span0].x; - f(x, pwl0.Eval(x, &span0, false), pwl1.Eval(x, &span1, false)); - } -} - -Pwl Pwl::Combine(Pwl const &pwl0, Pwl const &pwl1, - std::function<double(double x, double y0, double y1)> f, - const double eps) -{ - Pwl result; - Map2(pwl0, pwl1, [&](double x, double y0, double y1) { - result.Append(x, f(x, y0, y1), eps); - }); - return result; -} - -void Pwl::MatchDomain(Interval const &domain, bool clip, const double eps) -{ - int span = 0; - Prepend(domain.start, Eval(clip ? points_[0].x : domain.start, &span), - eps); - span = points_.size() - 2; - Append(domain.end, Eval(clip ? points_.back().x : domain.end, &span), - eps); -} - -Pwl &Pwl::operator*=(double d) -{ - for (auto &pt : points_) - pt.y *= d; - return *this; -} - -void Pwl::Debug(FILE *fp) const -{ - fprintf(fp, "Pwl {\n"); - for (auto &p : points_) - fprintf(fp, "\t(%g, %g)\n", p.x, p.y); - fprintf(fp, "}\n"); -} diff --git a/src/ipa/raspberrypi/controller/pwl.hpp b/src/ipa/raspberrypi/controller/pwl.hpp deleted file mode 100644 index 484672f6..00000000 --- a/src/ipa/raspberrypi/controller/pwl.hpp +++ /dev/null @@ -1,112 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * pwl.hpp - piecewise linear functions interface - */ -#pragma once - -#include <math.h> -#include <vector> - -#include <boost/property_tree/ptree.hpp> - -namespace RPiController { - -class Pwl -{ -public: - struct Interval { - Interval(double _start, double _end) : start(_start), end(_end) - { - } - double start, end; - bool Contains(double value) - { - return value >= start && value <= end; - } - double Clip(double value) - { - return value < start ? start - : (value > end ? end : value); - } - double Len() const { return end - start; } - }; - struct Point { - Point() : x(0), y(0) {} - Point(double _x, double _y) : x(_x), y(_y) {} - double x, y; - Point operator-(Point const &p) const - { - return Point(x - p.x, y - p.y); - } - Point operator+(Point const &p) const - { - return Point(x + p.x, y + p.y); - } - double operator%(Point const &p) const - { - return x * p.x + y * p.y; - } - Point operator*(double f) const { return Point(x * f, y * f); } - Point operator/(double f) const { return Point(x / f, y / f); } - double Len2() const { return x * x + y * y; } - double Len() const { return sqrt(Len2()); } - }; - Pwl() {} - Pwl(std::vector<Point> const &points) : points_(points) {} - void Read(boost::property_tree::ptree const ¶ms); - void Append(double x, double y, const double eps = 1e-6); - void Prepend(double x, double y, const double eps = 1e-6); - Interval Domain() const; - Interval Range() const; - bool Empty() const; - // Evaluate Pwl, optionally supplying an initial guess for the - // "span". The "span" may be optionally be updated. If you want to know - // the "span" value but don't have an initial guess you can set it to - // -1. - double Eval(double x, int *span_ptr = nullptr, - bool update_span = true) const; - // Find perpendicular closest to xy, starting from span+1 so you can - // call it repeatedly to check for multiple closest points (set span to - // -1 on the first call). Also returns "pseudo" perpendiculars; see - // PerpType enum. - enum class PerpType { - None, // no perpendicular found - Start, // start of Pwl is closest point - End, // end of Pwl is closest point - Vertex, // vertex of Pwl is closest point - Perpendicular // true perpendicular found - }; - PerpType Invert(Point const &xy, Point &perp, int &span, - const double eps = 1e-6) const; - // Compute the inverse function. Indicate if it is a proper (true) - // inverse, or only a best effort (e.g. input was non-monotonic). - Pwl Inverse(bool *true_inverse = nullptr, const double eps = 1e-6) const; - // Compose two Pwls together, doing "this" first and "other" after. - Pwl Compose(Pwl const &other, const double eps = 1e-6) const; - // Apply function to (x,y) values at every control point. - void Map(std::function<void(double x, double y)> f) const; - // Apply function to (x, y0, y1) values wherever either Pwl has a - // control point. - static void Map2(Pwl const &pwl0, Pwl const &pwl1, - std::function<void(double x, double y0, double y1)> f); - // Combine two Pwls, meaning we create a new Pwl where the y values are - // given by running f wherever either has a knot. - static Pwl - Combine(Pwl const &pwl0, Pwl const &pwl1, - std::function<double(double x, double y0, double y1)> f, - const double eps = 1e-6); - // Make "this" match (at least) the given domain. Any extension my be - // clipped or linear. - void MatchDomain(Interval const &domain, bool clip = true, - const double eps = 1e-6); - Pwl &operator*=(double d); - void Debug(FILE *fp = stdout) const; - -private: - int findSpan(double x, int span) const; - std::vector<Point> points_; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/rpi/agc.cpp b/src/ipa/raspberrypi/controller/rpi/agc.cpp deleted file mode 100644 index f6a9cb0a..00000000 --- a/src/ipa/raspberrypi/controller/rpi/agc.cpp +++ /dev/null @@ -1,797 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * agc.cpp - AGC/AEC control algorithm - */ - -#include <map> - -#include <linux/bcm2835-isp.h> - -#include <libcamera/base/log.h> - -#include "../awb_status.h" -#include "../device_status.h" -#include "../histogram.hpp" -#include "../lux_status.h" -#include "../metadata.hpp" - -#include "agc.hpp" - -using namespace RPiController; -using namespace libcamera; -using libcamera::utils::Duration; -using namespace std::literals::chrono_literals; - -LOG_DEFINE_CATEGORY(RPiAgc) - -#define NAME "rpi.agc" - -#define PIPELINE_BITS 13 // seems to be a 13-bit pipeline - -void AgcMeteringMode::Read(boost::property_tree::ptree const ¶ms) -{ - int num = 0; - for (auto &p : params.get_child("weights")) { - if (num == AGC_STATS_SIZE) - throw std::runtime_error("AgcConfig: too many weights"); - weights[num++] = p.second.get_value<double>(); - } - if (num != AGC_STATS_SIZE) - throw std::runtime_error("AgcConfig: insufficient weights"); -} - -static std::string -read_metering_modes(std::map<std::string, AgcMeteringMode> &metering_modes, - boost::property_tree::ptree const ¶ms) -{ - std::string first; - for (auto &p : params) { - AgcMeteringMode metering_mode; - metering_mode.Read(p.second); - metering_modes[p.first] = std::move(metering_mode); - if (first.empty()) - first = p.first; - } - return first; -} - -static int read_list(std::vector<double> &list, - boost::property_tree::ptree const ¶ms) -{ - for (auto &p : params) - list.push_back(p.second.get_value<double>()); - return list.size(); -} - -static int read_list(std::vector<Duration> &list, - boost::property_tree::ptree const ¶ms) -{ - for (auto &p : params) - list.push_back(p.second.get_value<double>() * 1us); - return list.size(); -} - -void AgcExposureMode::Read(boost::property_tree::ptree const ¶ms) -{ - int num_shutters = read_list(shutter, params.get_child("shutter")); - int num_ags = read_list(gain, params.get_child("gain")); - if (num_shutters < 2 || num_ags < 2) - throw std::runtime_error( - "AgcConfig: must have at least two entries in exposure profile"); - if (num_shutters != num_ags) - throw std::runtime_error( - "AgcConfig: expect same number of exposure and gain entries in exposure profile"); -} - -static std::string -read_exposure_modes(std::map<std::string, AgcExposureMode> &exposure_modes, - boost::property_tree::ptree const ¶ms) -{ - std::string first; - for (auto &p : params) { - AgcExposureMode exposure_mode; - exposure_mode.Read(p.second); - exposure_modes[p.first] = std::move(exposure_mode); - if (first.empty()) - first = p.first; - } - return first; -} - -void AgcConstraint::Read(boost::property_tree::ptree const ¶ms) -{ - std::string bound_string = params.get<std::string>("bound", ""); - transform(bound_string.begin(), bound_string.end(), - bound_string.begin(), ::toupper); - if (bound_string != "UPPER" && bound_string != "LOWER") - throw std::runtime_error( - "AGC constraint type should be UPPER or LOWER"); - bound = bound_string == "UPPER" ? Bound::UPPER : Bound::LOWER; - q_lo = params.get<double>("q_lo"); - q_hi = params.get<double>("q_hi"); - Y_target.Read(params.get_child("y_target")); -} - -static AgcConstraintMode -read_constraint_mode(boost::property_tree::ptree const ¶ms) -{ - AgcConstraintMode mode; - for (auto &p : params) { - AgcConstraint constraint; - constraint.Read(p.second); - mode.push_back(std::move(constraint)); - } - return mode; -} - -static std::string read_constraint_modes( - std::map<std::string, AgcConstraintMode> &constraint_modes, - boost::property_tree::ptree const ¶ms) -{ - std::string first; - for (auto &p : params) { - constraint_modes[p.first] = read_constraint_mode(p.second); - if (first.empty()) - first = p.first; - } - return first; -} - -void AgcConfig::Read(boost::property_tree::ptree const ¶ms) -{ - LOG(RPiAgc, Debug) << "AgcConfig"; - default_metering_mode = read_metering_modes( - metering_modes, params.get_child("metering_modes")); - default_exposure_mode = read_exposure_modes( - exposure_modes, params.get_child("exposure_modes")); - default_constraint_mode = read_constraint_modes( - constraint_modes, params.get_child("constraint_modes")); - Y_target.Read(params.get_child("y_target")); - speed = params.get<double>("speed", 0.2); - startup_frames = params.get<uint16_t>("startup_frames", 10); - convergence_frames = params.get<unsigned int>("convergence_frames", 6); - fast_reduce_threshold = - params.get<double>("fast_reduce_threshold", 0.4); - base_ev = params.get<double>("base_ev", 1.0); - // Start with quite a low value as ramping up is easier than ramping down. - default_exposure_time = params.get<double>("default_exposure_time", 1000) * 1us; - default_analogue_gain = params.get<double>("default_analogue_gain", 1.0); -} - -Agc::ExposureValues::ExposureValues() - : shutter(0s), analogue_gain(0), - total_exposure(0s), total_exposure_no_dg(0s) -{ -} - -Agc::Agc(Controller *controller) - : AgcAlgorithm(controller), metering_mode_(nullptr), - exposure_mode_(nullptr), constraint_mode_(nullptr), - frame_count_(0), lock_count_(0), - last_target_exposure_(0s), last_sensitivity_(0.0), - ev_(1.0), flicker_period_(0s), - max_shutter_(0s), fixed_shutter_(0s), fixed_analogue_gain_(0.0) -{ - memset(&awb_, 0, sizeof(awb_)); - // Setting status_.total_exposure_value_ to zero initially tells us - // it's not been calculated yet (i.e. Process hasn't yet run). - memset(&status_, 0, sizeof(status_)); - status_.ev = ev_; -} - -char const *Agc::Name() const -{ - return NAME; -} - -void Agc::Read(boost::property_tree::ptree const ¶ms) -{ - LOG(RPiAgc, Debug) << "Agc"; - config_.Read(params); - // Set the config's defaults (which are the first ones it read) as our - // current modes, until someone changes them. (they're all known to - // exist at this point) - metering_mode_name_ = config_.default_metering_mode; - metering_mode_ = &config_.metering_modes[metering_mode_name_]; - exposure_mode_name_ = config_.default_exposure_mode; - exposure_mode_ = &config_.exposure_modes[exposure_mode_name_]; - constraint_mode_name_ = config_.default_constraint_mode; - constraint_mode_ = &config_.constraint_modes[constraint_mode_name_]; - // Set up the "last shutter/gain" values, in case AGC starts "disabled". - status_.shutter_time = config_.default_exposure_time; - status_.analogue_gain = config_.default_analogue_gain; -} - -bool Agc::IsPaused() const -{ - return false; -} - -void Agc::Pause() -{ - fixed_shutter_ = status_.shutter_time; - fixed_analogue_gain_ = status_.analogue_gain; -} - -void Agc::Resume() -{ - fixed_shutter_ = 0s; - fixed_analogue_gain_ = 0; -} - -unsigned int Agc::GetConvergenceFrames() const -{ - // If shutter and gain have been explicitly set, there is no - // convergence to happen, so no need to drop any frames - return zero. - if (fixed_shutter_ && fixed_analogue_gain_) - return 0; - else - return config_.convergence_frames; -} - -void Agc::SetEv(double ev) -{ - ev_ = ev; -} - -void Agc::SetFlickerPeriod(Duration flicker_period) -{ - flicker_period_ = flicker_period; -} - -void Agc::SetMaxShutter(Duration max_shutter) -{ - max_shutter_ = max_shutter; -} - -void Agc::SetFixedShutter(Duration fixed_shutter) -{ - fixed_shutter_ = fixed_shutter; - // Set this in case someone calls Pause() straight after. - status_.shutter_time = clipShutter(fixed_shutter_); -} - -void Agc::SetFixedAnalogueGain(double fixed_analogue_gain) -{ - fixed_analogue_gain_ = fixed_analogue_gain; - // Set this in case someone calls Pause() straight after. - status_.analogue_gain = fixed_analogue_gain; -} - -void Agc::SetMeteringMode(std::string const &metering_mode_name) -{ - metering_mode_name_ = metering_mode_name; -} - -void Agc::SetExposureMode(std::string const &exposure_mode_name) -{ - exposure_mode_name_ = exposure_mode_name; -} - -void Agc::SetConstraintMode(std::string const &constraint_mode_name) -{ - constraint_mode_name_ = constraint_mode_name; -} - -void Agc::SwitchMode(CameraMode const &camera_mode, - Metadata *metadata) -{ - /* AGC expects the mode sensitivity always to be non-zero. */ - ASSERT(camera_mode.sensitivity); - - housekeepConfig(); - - Duration fixed_shutter = clipShutter(fixed_shutter_); - if (fixed_shutter && fixed_analogue_gain_) { - // We're going to reset the algorithm here with these fixed values. - - fetchAwbStatus(metadata); - double min_colour_gain = std::min({ awb_.gain_r, awb_.gain_g, awb_.gain_b, 1.0 }); - ASSERT(min_colour_gain != 0.0); - - // This is the equivalent of computeTargetExposure and applyDigitalGain. - target_.total_exposure_no_dg = fixed_shutter * fixed_analogue_gain_; - target_.total_exposure = target_.total_exposure_no_dg / min_colour_gain; - - // Equivalent of filterExposure. This resets any "history". - filtered_ = target_; - - // Equivalent of divideUpExposure. - filtered_.shutter = fixed_shutter; - filtered_.analogue_gain = fixed_analogue_gain_; - } else if (status_.total_exposure_value) { - // On a mode switch, various things could happen: - // - the exposure profile might change - // - a fixed exposure or gain might be set - // - the new mode's sensitivity might be different - // We cope with the last of these by scaling the target values. After - // that we just need to re-divide the exposure/gain according to the - // current exposure profile, which takes care of everything else. - - double ratio = last_sensitivity_ / camera_mode.sensitivity; - target_.total_exposure_no_dg *= ratio; - target_.total_exposure *= ratio; - filtered_.total_exposure_no_dg *= ratio; - filtered_.total_exposure *= ratio; - - divideUpExposure(); - } else { - // We come through here on startup, when at least one of the shutter - // or gain has not been fixed. We must still write those values out so - // that they will be applied immediately. We supply some arbitrary defaults - // for any that weren't set. - - // Equivalent of divideUpExposure. - filtered_.shutter = fixed_shutter ? fixed_shutter : config_.default_exposure_time; - filtered_.analogue_gain = fixed_analogue_gain_ ? fixed_analogue_gain_ : config_.default_analogue_gain; - } - - writeAndFinish(metadata, false); - - // We must remember the sensitivity of this mode for the next SwitchMode. - last_sensitivity_ = camera_mode.sensitivity; -} - -void Agc::Prepare(Metadata *image_metadata) -{ - status_.digital_gain = 1.0; - fetchAwbStatus(image_metadata); // always fetch it so that Process knows it's been done - - if (status_.total_exposure_value) { - // Process has run, so we have meaningful values. - DeviceStatus device_status; - if (image_metadata->Get("device.status", device_status) == 0) { - Duration actual_exposure = device_status.shutter_speed * - device_status.analogue_gain; - if (actual_exposure) { - status_.digital_gain = - status_.total_exposure_value / - actual_exposure; - LOG(RPiAgc, Debug) << "Want total exposure " << status_.total_exposure_value; - // Never ask for a gain < 1.0, and also impose - // some upper limit. Make it customisable? - status_.digital_gain = std::max( - 1.0, - std::min(status_.digital_gain, 4.0)); - LOG(RPiAgc, Debug) << "Actual exposure " << actual_exposure; - LOG(RPiAgc, Debug) << "Use digital_gain " << status_.digital_gain; - LOG(RPiAgc, Debug) << "Effective exposure " - << actual_exposure * status_.digital_gain; - // Decide whether AEC/AGC has converged. - updateLockStatus(device_status); - } - } else - LOG(RPiAgc, Warning) << Name() << ": no device metadata"; - image_metadata->Set("agc.status", status_); - } -} - -void Agc::Process(StatisticsPtr &stats, Metadata *image_metadata) -{ - frame_count_++; - // First a little bit of housekeeping, fetching up-to-date settings and - // configuration, that kind of thing. - housekeepConfig(); - // Get the current exposure values for the frame that's just arrived. - fetchCurrentExposure(image_metadata); - // Compute the total gain we require relative to the current exposure. - double gain, target_Y; - computeGain(stats.get(), image_metadata, gain, target_Y); - // Now compute the target (final) exposure which we think we want. - computeTargetExposure(gain); - // Some of the exposure has to be applied as digital gain, so work out - // what that is. This function also tells us whether it's decided to - // "desaturate" the image more quickly. - bool desaturate = applyDigitalGain(gain, target_Y); - // The results have to be filtered so as not to change too rapidly. - filterExposure(desaturate); - // The last thing is to divide up the exposure value into a shutter time - // and analogue_gain, according to the current exposure mode. - divideUpExposure(); - // Finally advertise what we've done. - writeAndFinish(image_metadata, desaturate); -} - -void Agc::updateLockStatus(DeviceStatus const &device_status) -{ - const double ERROR_FACTOR = 0.10; // make these customisable? - const int MAX_LOCK_COUNT = 5; - // Reset "lock count" when we exceed this multiple of ERROR_FACTOR - const double RESET_MARGIN = 1.5; - - // Add 200us to the exposure time error to allow for line quantisation. - Duration exposure_error = last_device_status_.shutter_speed * ERROR_FACTOR + 200us; - double gain_error = last_device_status_.analogue_gain * ERROR_FACTOR; - Duration target_error = last_target_exposure_ * ERROR_FACTOR; - - // Note that we don't know the exposure/gain limits of the sensor, so - // the values we keep requesting may be unachievable. For this reason - // we only insist that we're close to values in the past few frames. - if (device_status.shutter_speed > last_device_status_.shutter_speed - exposure_error && - device_status.shutter_speed < last_device_status_.shutter_speed + exposure_error && - device_status.analogue_gain > last_device_status_.analogue_gain - gain_error && - device_status.analogue_gain < last_device_status_.analogue_gain + gain_error && - status_.target_exposure_value > last_target_exposure_ - target_error && - status_.target_exposure_value < last_target_exposure_ + target_error) - lock_count_ = std::min(lock_count_ + 1, MAX_LOCK_COUNT); - else if (device_status.shutter_speed < last_device_status_.shutter_speed - RESET_MARGIN * exposure_error || - device_status.shutter_speed > last_device_status_.shutter_speed + RESET_MARGIN * exposure_error || - device_status.analogue_gain < last_device_status_.analogue_gain - RESET_MARGIN * gain_error || - device_status.analogue_gain > last_device_status_.analogue_gain + RESET_MARGIN * gain_error || - status_.target_exposure_value < last_target_exposure_ - RESET_MARGIN * target_error || - status_.target_exposure_value > last_target_exposure_ + RESET_MARGIN * target_error) - lock_count_ = 0; - - last_device_status_ = device_status; - last_target_exposure_ = status_.target_exposure_value; - - LOG(RPiAgc, Debug) << "Lock count updated to " << lock_count_; - status_.locked = lock_count_ == MAX_LOCK_COUNT; -} - -static void copy_string(std::string const &s, char *d, size_t size) -{ - size_t length = s.copy(d, size - 1); - d[length] = '\0'; -} - -void Agc::housekeepConfig() -{ - // First fetch all the up-to-date settings, so no one else has to do it. - status_.ev = ev_; - status_.fixed_shutter = clipShutter(fixed_shutter_); - status_.fixed_analogue_gain = fixed_analogue_gain_; - status_.flicker_period = flicker_period_; - LOG(RPiAgc, Debug) << "ev " << status_.ev << " fixed_shutter " - << status_.fixed_shutter << " fixed_analogue_gain " - << status_.fixed_analogue_gain; - // Make sure the "mode" pointers point to the up-to-date things, if - // they've changed. - if (strcmp(metering_mode_name_.c_str(), status_.metering_mode)) { - auto it = config_.metering_modes.find(metering_mode_name_); - if (it == config_.metering_modes.end()) - throw std::runtime_error("Agc: no metering mode " + - metering_mode_name_); - metering_mode_ = &it->second; - copy_string(metering_mode_name_, status_.metering_mode, - sizeof(status_.metering_mode)); - } - if (strcmp(exposure_mode_name_.c_str(), status_.exposure_mode)) { - auto it = config_.exposure_modes.find(exposure_mode_name_); - if (it == config_.exposure_modes.end()) - throw std::runtime_error("Agc: no exposure profile " + - exposure_mode_name_); - exposure_mode_ = &it->second; - copy_string(exposure_mode_name_, status_.exposure_mode, - sizeof(status_.exposure_mode)); - } - if (strcmp(constraint_mode_name_.c_str(), status_.constraint_mode)) { - auto it = - config_.constraint_modes.find(constraint_mode_name_); - if (it == config_.constraint_modes.end()) - throw std::runtime_error("Agc: no constraint list " + - constraint_mode_name_); - constraint_mode_ = &it->second; - copy_string(constraint_mode_name_, status_.constraint_mode, - sizeof(status_.constraint_mode)); - } - LOG(RPiAgc, Debug) << "exposure_mode " - << exposure_mode_name_ << " constraint_mode " - << constraint_mode_name_ << " metering_mode " - << metering_mode_name_; -} - -void Agc::fetchCurrentExposure(Metadata *image_metadata) -{ - std::unique_lock<Metadata> lock(*image_metadata); - DeviceStatus *device_status = - image_metadata->GetLocked<DeviceStatus>("device.status"); - if (!device_status) - throw std::runtime_error("Agc: no device metadata"); - current_.shutter = device_status->shutter_speed; - current_.analogue_gain = device_status->analogue_gain; - AgcStatus *agc_status = - image_metadata->GetLocked<AgcStatus>("agc.status"); - current_.total_exposure = agc_status ? agc_status->total_exposure_value : 0s; - current_.total_exposure_no_dg = current_.shutter * current_.analogue_gain; -} - -void Agc::fetchAwbStatus(Metadata *image_metadata) -{ - awb_.gain_r = 1.0; // in case not found in metadata - awb_.gain_g = 1.0; - awb_.gain_b = 1.0; - if (image_metadata->Get("awb.status", awb_) != 0) - LOG(RPiAgc, Debug) << "Agc: no AWB status found"; -} - -static double compute_initial_Y(bcm2835_isp_stats *stats, AwbStatus const &awb, - double weights[], double gain) -{ - bcm2835_isp_stats_region *regions = stats->agc_stats; - // Note how the calculation below means that equal weights give you - // "average" metering (i.e. all pixels equally important). - double R_sum = 0, G_sum = 0, B_sum = 0, pixel_sum = 0; - for (int i = 0; i < AGC_STATS_SIZE; i++) { - double counted = regions[i].counted; - double r_sum = std::min(regions[i].r_sum * gain, ((1 << PIPELINE_BITS) - 1) * counted); - double g_sum = std::min(regions[i].g_sum * gain, ((1 << PIPELINE_BITS) - 1) * counted); - double b_sum = std::min(regions[i].b_sum * gain, ((1 << PIPELINE_BITS) - 1) * counted); - R_sum += r_sum * weights[i]; - G_sum += g_sum * weights[i]; - B_sum += b_sum * weights[i]; - pixel_sum += counted * weights[i]; - } - if (pixel_sum == 0.0) { - LOG(RPiAgc, Warning) << "compute_initial_Y: pixel_sum is zero"; - return 0; - } - double Y_sum = R_sum * awb.gain_r * .299 + - G_sum * awb.gain_g * .587 + - B_sum * awb.gain_b * .114; - return Y_sum / pixel_sum / (1 << PIPELINE_BITS); -} - -// We handle extra gain through EV by adjusting our Y targets. However, you -// simply can't monitor histograms once they get very close to (or beyond!) -// saturation, so we clamp the Y targets to this value. It does mean that EV -// increases don't necessarily do quite what you might expect in certain -// (contrived) cases. - -#define EV_GAIN_Y_TARGET_LIMIT 0.9 - -static double constraint_compute_gain(AgcConstraint &c, Histogram &h, - double lux, double ev_gain, - double &target_Y) -{ - target_Y = c.Y_target.Eval(c.Y_target.Domain().Clip(lux)); - target_Y = std::min(EV_GAIN_Y_TARGET_LIMIT, target_Y * ev_gain); - double iqm = h.InterQuantileMean(c.q_lo, c.q_hi); - return (target_Y * NUM_HISTOGRAM_BINS) / iqm; -} - -void Agc::computeGain(bcm2835_isp_stats *statistics, Metadata *image_metadata, - double &gain, double &target_Y) -{ - struct LuxStatus lux = {}; - lux.lux = 400; // default lux level to 400 in case no metadata found - if (image_metadata->Get("lux.status", lux) != 0) - LOG(RPiAgc, Warning) << "Agc: no lux level found"; - Histogram h(statistics->hist[0].g_hist, NUM_HISTOGRAM_BINS); - double ev_gain = status_.ev * config_.base_ev; - // The initial gain and target_Y come from some of the regions. After - // that we consider the histogram constraints. - target_Y = - config_.Y_target.Eval(config_.Y_target.Domain().Clip(lux.lux)); - target_Y = std::min(EV_GAIN_Y_TARGET_LIMIT, target_Y * ev_gain); - - // Do this calculation a few times as brightness increase can be - // non-linear when there are saturated regions. - gain = 1.0; - for (int i = 0; i < 8; i++) { - double initial_Y = compute_initial_Y(statistics, awb_, - metering_mode_->weights, gain); - double extra_gain = std::min(10.0, target_Y / (initial_Y + .001)); - gain *= extra_gain; - LOG(RPiAgc, Debug) << "Initial Y " << initial_Y << " target " << target_Y - << " gives gain " << gain; - if (extra_gain < 1.01) // close enough - break; - } - - for (auto &c : *constraint_mode_) { - double new_target_Y; - double new_gain = - constraint_compute_gain(c, h, lux.lux, ev_gain, - new_target_Y); - LOG(RPiAgc, Debug) << "Constraint has target_Y " - << new_target_Y << " giving gain " << new_gain; - if (c.bound == AgcConstraint::Bound::LOWER && - new_gain > gain) { - LOG(RPiAgc, Debug) << "Lower bound constraint adopted"; - gain = new_gain, target_Y = new_target_Y; - } else if (c.bound == AgcConstraint::Bound::UPPER && - new_gain < gain) { - LOG(RPiAgc, Debug) << "Upper bound constraint adopted"; - gain = new_gain, target_Y = new_target_Y; - } - } - LOG(RPiAgc, Debug) << "Final gain " << gain << " (target_Y " << target_Y << " ev " - << status_.ev << " base_ev " << config_.base_ev - << ")"; -} - -void Agc::computeTargetExposure(double gain) -{ - if (status_.fixed_shutter && status_.fixed_analogue_gain) { - // When ag and shutter are both fixed, we need to drive the - // total exposure so that we end up with a digital gain of at least - // 1/min_colour_gain. Otherwise we'd desaturate channels causing - // white to go cyan or magenta. - double min_colour_gain = std::min({ awb_.gain_r, awb_.gain_g, awb_.gain_b, 1.0 }); - ASSERT(min_colour_gain != 0.0); - target_.total_exposure = - status_.fixed_shutter * status_.fixed_analogue_gain / min_colour_gain; - } else { - // The statistics reflect the image without digital gain, so the final - // total exposure we're aiming for is: - target_.total_exposure = current_.total_exposure_no_dg * gain; - // The final target exposure is also limited to what the exposure - // mode allows. - Duration max_shutter = status_.fixed_shutter - ? status_.fixed_shutter - : exposure_mode_->shutter.back(); - max_shutter = clipShutter(max_shutter); - Duration max_total_exposure = - max_shutter * - (status_.fixed_analogue_gain != 0.0 - ? status_.fixed_analogue_gain - : exposure_mode_->gain.back()); - target_.total_exposure = std::min(target_.total_exposure, - max_total_exposure); - } - LOG(RPiAgc, Debug) << "Target total_exposure " << target_.total_exposure; -} - -bool Agc::applyDigitalGain(double gain, double target_Y) -{ - double min_colour_gain = std::min({ awb_.gain_r, awb_.gain_g, awb_.gain_b, 1.0 }); - ASSERT(min_colour_gain != 0.0); - double dg = 1.0 / min_colour_gain; - // I think this pipeline subtracts black level and rescales before we - // get the stats, so no need to worry about it. - LOG(RPiAgc, Debug) << "after AWB, target dg " << dg << " gain " << gain - << " target_Y " << target_Y; - // Finally, if we're trying to reduce exposure but the target_Y is - // "close" to 1.0, then the gain computed for that constraint will be - // only slightly less than one, because the measured Y can never be - // larger than 1.0. When this happens, demand a large digital gain so - // that the exposure can be reduced, de-saturating the image much more - // quickly (and we then approach the correct value more quickly from - // below). - bool desaturate = target_Y > config_.fast_reduce_threshold && - gain < sqrt(target_Y); - if (desaturate) - dg /= config_.fast_reduce_threshold; - LOG(RPiAgc, Debug) << "Digital gain " << dg << " desaturate? " << desaturate; - target_.total_exposure_no_dg = target_.total_exposure / dg; - LOG(RPiAgc, Debug) << "Target total_exposure_no_dg " << target_.total_exposure_no_dg; - return desaturate; -} - -void Agc::filterExposure(bool desaturate) -{ - double speed = config_.speed; - // AGC adapts instantly if both shutter and gain are directly specified - // or we're in the startup phase. - if ((status_.fixed_shutter && status_.fixed_analogue_gain) || - frame_count_ <= config_.startup_frames) - speed = 1.0; - if (!filtered_.total_exposure) { - filtered_.total_exposure = target_.total_exposure; - filtered_.total_exposure_no_dg = target_.total_exposure_no_dg; - } else { - // If close to the result go faster, to save making so many - // micro-adjustments on the way. (Make this customisable?) - if (filtered_.total_exposure < 1.2 * target_.total_exposure && - filtered_.total_exposure > 0.8 * target_.total_exposure) - speed = sqrt(speed); - filtered_.total_exposure = speed * target_.total_exposure + - filtered_.total_exposure * (1.0 - speed); - // When desaturing, take a big jump down in exposure_no_dg, - // which we'll hide with digital gain. - if (desaturate) - filtered_.total_exposure_no_dg = - target_.total_exposure_no_dg; - else - filtered_.total_exposure_no_dg = - speed * target_.total_exposure_no_dg + - filtered_.total_exposure_no_dg * (1.0 - speed); - } - // We can't let the no_dg exposure deviate too far below the - // total exposure, as there might not be enough digital gain available - // in the ISP to hide it (which will cause nasty oscillation). - if (filtered_.total_exposure_no_dg < - filtered_.total_exposure * config_.fast_reduce_threshold) - filtered_.total_exposure_no_dg = filtered_.total_exposure * - config_.fast_reduce_threshold; - LOG(RPiAgc, Debug) << "After filtering, total_exposure " << filtered_.total_exposure - << " no dg " << filtered_.total_exposure_no_dg; -} - -void Agc::divideUpExposure() -{ - // Sending the fixed shutter/gain cases through the same code may seem - // unnecessary, but it will make more sense when extend this to cover - // variable aperture. - Duration exposure_value = filtered_.total_exposure_no_dg; - Duration shutter_time; - double analogue_gain; - shutter_time = status_.fixed_shutter - ? status_.fixed_shutter - : exposure_mode_->shutter[0]; - shutter_time = clipShutter(shutter_time); - analogue_gain = status_.fixed_analogue_gain != 0.0 - ? status_.fixed_analogue_gain - : exposure_mode_->gain[0]; - if (shutter_time * analogue_gain < exposure_value) { - for (unsigned int stage = 1; - stage < exposure_mode_->gain.size(); stage++) { - if (!status_.fixed_shutter) { - Duration stage_shutter = - clipShutter(exposure_mode_->shutter[stage]); - if (stage_shutter * analogue_gain >= - exposure_value) { - shutter_time = - exposure_value / analogue_gain; - break; - } - shutter_time = stage_shutter; - } - if (status_.fixed_analogue_gain == 0.0) { - if (exposure_mode_->gain[stage] * - shutter_time >= - exposure_value) { - analogue_gain = - exposure_value / shutter_time; - break; - } - analogue_gain = exposure_mode_->gain[stage]; - } - } - } - LOG(RPiAgc, Debug) << "Divided up shutter and gain are " << shutter_time << " and " - << analogue_gain; - // Finally adjust shutter time for flicker avoidance (require both - // shutter and gain not to be fixed). - if (!status_.fixed_shutter && !status_.fixed_analogue_gain && - status_.flicker_period) { - int flicker_periods = shutter_time / status_.flicker_period; - if (flicker_periods) { - Duration new_shutter_time = flicker_periods * status_.flicker_period; - analogue_gain *= shutter_time / new_shutter_time; - // We should still not allow the ag to go over the - // largest value in the exposure mode. Note that this - // may force more of the total exposure into the digital - // gain as a side-effect. - analogue_gain = std::min(analogue_gain, - exposure_mode_->gain.back()); - shutter_time = new_shutter_time; - } - LOG(RPiAgc, Debug) << "After flicker avoidance, shutter " - << shutter_time << " gain " << analogue_gain; - } - filtered_.shutter = shutter_time; - filtered_.analogue_gain = analogue_gain; -} - -void Agc::writeAndFinish(Metadata *image_metadata, bool desaturate) -{ - status_.total_exposure_value = filtered_.total_exposure; - status_.target_exposure_value = desaturate ? 0s : target_.total_exposure_no_dg; - status_.shutter_time = filtered_.shutter; - status_.analogue_gain = filtered_.analogue_gain; - // Write to metadata as well, in case anyone wants to update the camera - // immediately. - image_metadata->Set("agc.status", status_); - LOG(RPiAgc, Debug) << "Output written, total exposure requested is " - << filtered_.total_exposure; - LOG(RPiAgc, Debug) << "Camera exposure update: shutter time " << filtered_.shutter - << " analogue gain " << filtered_.analogue_gain; -} - -Duration Agc::clipShutter(Duration shutter) -{ - if (max_shutter_) - shutter = std::min(shutter, max_shutter_); - return shutter; -} - -// Register algorithm with the system. -static Algorithm *Create(Controller *controller) -{ - return (Algorithm *)new Agc(controller); -} -static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/raspberrypi/controller/rpi/agc.hpp b/src/ipa/raspberrypi/controller/rpi/agc.hpp deleted file mode 100644 index c100d312..00000000 --- a/src/ipa/raspberrypi/controller/rpi/agc.hpp +++ /dev/null @@ -1,139 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * agc.hpp - AGC/AEC control algorithm - */ -#pragma once - -#include <vector> -#include <mutex> - -#include <libcamera/base/utils.h> - -#include "../agc_algorithm.hpp" -#include "../agc_status.h" -#include "../pwl.hpp" - -// This is our implementation of AGC. - -// This is the number actually set up by the firmware, not the maximum possible -// number (which is 16). - -#define AGC_STATS_SIZE 15 - -namespace RPiController { - -struct AgcMeteringMode { - double weights[AGC_STATS_SIZE]; - void Read(boost::property_tree::ptree const ¶ms); -}; - -struct AgcExposureMode { - std::vector<libcamera::utils::Duration> shutter; - std::vector<double> gain; - void Read(boost::property_tree::ptree const ¶ms); -}; - -struct AgcConstraint { - enum class Bound { LOWER = 0, UPPER = 1 }; - Bound bound; - double q_lo; - double q_hi; - Pwl Y_target; - void Read(boost::property_tree::ptree const ¶ms); -}; - -typedef std::vector<AgcConstraint> AgcConstraintMode; - -struct AgcConfig { - void Read(boost::property_tree::ptree const ¶ms); - std::map<std::string, AgcMeteringMode> metering_modes; - std::map<std::string, AgcExposureMode> exposure_modes; - std::map<std::string, AgcConstraintMode> constraint_modes; - Pwl Y_target; - double speed; - uint16_t startup_frames; - unsigned int convergence_frames; - double max_change; - double min_change; - double fast_reduce_threshold; - double speed_up_threshold; - std::string default_metering_mode; - std::string default_exposure_mode; - std::string default_constraint_mode; - double base_ev; - libcamera::utils::Duration default_exposure_time; - double default_analogue_gain; -}; - -class Agc : public AgcAlgorithm -{ -public: - Agc(Controller *controller); - char const *Name() const override; - void Read(boost::property_tree::ptree const ¶ms) override; - // AGC handles "pausing" for itself. - bool IsPaused() const override; - void Pause() override; - void Resume() override; - unsigned int GetConvergenceFrames() const override; - void SetEv(double ev) override; - void SetFlickerPeriod(libcamera::utils::Duration flicker_period) override; - void SetMaxShutter(libcamera::utils::Duration max_shutter) override; - void SetFixedShutter(libcamera::utils::Duration fixed_shutter) override; - void SetFixedAnalogueGain(double fixed_analogue_gain) override; - void SetMeteringMode(std::string const &metering_mode_name) override; - void SetExposureMode(std::string const &exposure_mode_name) override; - void SetConstraintMode(std::string const &contraint_mode_name) override; - void SwitchMode(CameraMode const &camera_mode, Metadata *metadata) override; - void Prepare(Metadata *image_metadata) override; - void Process(StatisticsPtr &stats, Metadata *image_metadata) override; - -private: - void updateLockStatus(DeviceStatus const &device_status); - AgcConfig config_; - void housekeepConfig(); - void fetchCurrentExposure(Metadata *image_metadata); - void fetchAwbStatus(Metadata *image_metadata); - void computeGain(bcm2835_isp_stats *statistics, Metadata *image_metadata, - double &gain, double &target_Y); - void computeTargetExposure(double gain); - bool applyDigitalGain(double gain, double target_Y); - void filterExposure(bool desaturate); - void divideUpExposure(); - void writeAndFinish(Metadata *image_metadata, bool desaturate); - libcamera::utils::Duration clipShutter(libcamera::utils::Duration shutter); - AgcMeteringMode *metering_mode_; - AgcExposureMode *exposure_mode_; - AgcConstraintMode *constraint_mode_; - uint64_t frame_count_; - AwbStatus awb_; - struct ExposureValues { - ExposureValues(); - - libcamera::utils::Duration shutter; - double analogue_gain; - libcamera::utils::Duration total_exposure; - libcamera::utils::Duration total_exposure_no_dg; // without digital gain - }; - ExposureValues current_; // values for the current frame - ExposureValues target_; // calculate the values we want here - ExposureValues filtered_; // these values are filtered towards target - AgcStatus status_; - int lock_count_; - DeviceStatus last_device_status_; - libcamera::utils::Duration last_target_exposure_; - double last_sensitivity_; // sensitivity of the previous camera mode - // Below here the "settings" that applications can change. - std::string metering_mode_name_; - std::string exposure_mode_name_; - std::string constraint_mode_name_; - double ev_; - libcamera::utils::Duration flicker_period_; - libcamera::utils::Duration max_shutter_; - libcamera::utils::Duration fixed_shutter_; - double fixed_analogue_gain_; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/rpi/alsc.cpp b/src/ipa/raspberrypi/controller/rpi/alsc.cpp deleted file mode 100644 index e575c14a..00000000 --- a/src/ipa/raspberrypi/controller/rpi/alsc.cpp +++ /dev/null @@ -1,787 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * alsc.cpp - ALSC (auto lens shading correction) control algorithm - */ - -#include <math.h> -#include <numeric> - -#include <libcamera/base/log.h> -#include <libcamera/base/span.h> - -#include "../awb_status.h" -#include "alsc.hpp" - -// Raspberry Pi ALSC (Auto Lens Shading Correction) algorithm. - -using namespace RPiController; -using namespace libcamera; - -LOG_DEFINE_CATEGORY(RPiAlsc) - -#define NAME "rpi.alsc" - -static const int X = ALSC_CELLS_X; -static const int Y = ALSC_CELLS_Y; -static const int XY = X * Y; -static const double INSUFFICIENT_DATA = -1.0; - -Alsc::Alsc(Controller *controller) - : Algorithm(controller) -{ - async_abort_ = async_start_ = async_started_ = async_finished_ = false; - async_thread_ = std::thread(std::bind(&Alsc::asyncFunc, this)); -} - -Alsc::~Alsc() -{ - { - std::lock_guard<std::mutex> lock(mutex_); - async_abort_ = true; - } - async_signal_.notify_one(); - async_thread_.join(); -} - -char const *Alsc::Name() const -{ - return NAME; -} - -static void generate_lut(double *lut, boost::property_tree::ptree const ¶ms) -{ - double cstrength = params.get<double>("corner_strength", 2.0); - if (cstrength <= 1.0) - throw std::runtime_error("Alsc: corner_strength must be > 1.0"); - double asymmetry = params.get<double>("asymmetry", 1.0); - if (asymmetry < 0) - throw std::runtime_error("Alsc: asymmetry must be >= 0"); - double f1 = cstrength - 1, f2 = 1 + sqrt(cstrength); - double R2 = X * Y / 4 * (1 + asymmetry * asymmetry); - int num = 0; - for (int y = 0; y < Y; y++) { - for (int x = 0; x < X; x++) { - double dy = y - Y / 2 + 0.5, - dx = (x - X / 2 + 0.5) * asymmetry; - double r2 = (dx * dx + dy * dy) / R2; - lut[num++] = - (f1 * r2 + f2) * (f1 * r2 + f2) / - (f2 * f2); // this reproduces the cos^4 rule - } - } -} - -static void read_lut(double *lut, boost::property_tree::ptree const ¶ms) -{ - int num = 0; - const int max_num = XY; - for (auto &p : params) { - if (num == max_num) - throw std::runtime_error( - "Alsc: too many entries in LSC table"); - lut[num++] = p.second.get_value<double>(); - } - if (num < max_num) - throw std::runtime_error("Alsc: too few entries in LSC table"); -} - -static void read_calibrations(std::vector<AlscCalibration> &calibrations, - boost::property_tree::ptree const ¶ms, - std::string const &name) -{ - if (params.get_child_optional(name)) { - double last_ct = 0; - for (auto &p : params.get_child(name)) { - double ct = p.second.get<double>("ct"); - if (ct <= last_ct) - throw std::runtime_error( - "Alsc: entries in " + name + - " must be in increasing ct order"); - AlscCalibration calibration; - calibration.ct = last_ct = ct; - boost::property_tree::ptree const &table = - p.second.get_child("table"); - int num = 0; - for (auto it = table.begin(); it != table.end(); it++) { - if (num == XY) - throw std::runtime_error( - "Alsc: too many values for ct " + - std::to_string(ct) + " in " + - name); - calibration.table[num++] = - it->second.get_value<double>(); - } - if (num != XY) - throw std::runtime_error( - "Alsc: too few values for ct " + - std::to_string(ct) + " in " + name); - calibrations.push_back(calibration); - LOG(RPiAlsc, Debug) - << "Read " << name << " calibration for ct " << ct; - } - } -} - -void Alsc::Read(boost::property_tree::ptree const ¶ms) -{ - config_.frame_period = params.get<uint16_t>("frame_period", 12); - config_.startup_frames = params.get<uint16_t>("startup_frames", 10); - config_.speed = params.get<double>("speed", 0.05); - double sigma = params.get<double>("sigma", 0.01); - config_.sigma_Cr = params.get<double>("sigma_Cr", sigma); - config_.sigma_Cb = params.get<double>("sigma_Cb", sigma); - config_.min_count = params.get<double>("min_count", 10.0); - config_.min_G = params.get<uint16_t>("min_G", 50); - config_.omega = params.get<double>("omega", 1.3); - config_.n_iter = params.get<uint32_t>("n_iter", X + Y); - config_.luminance_strength = - params.get<double>("luminance_strength", 1.0); - for (int i = 0; i < XY; i++) - config_.luminance_lut[i] = 1.0; - if (params.get_child_optional("corner_strength")) - generate_lut(config_.luminance_lut, params); - else if (params.get_child_optional("luminance_lut")) - read_lut(config_.luminance_lut, - params.get_child("luminance_lut")); - else - LOG(RPiAlsc, Warning) - << "no luminance table - assume unity everywhere"; - read_calibrations(config_.calibrations_Cr, params, "calibrations_Cr"); - read_calibrations(config_.calibrations_Cb, params, "calibrations_Cb"); - config_.default_ct = params.get<double>("default_ct", 4500.0); - config_.threshold = params.get<double>("threshold", 1e-3); - config_.lambda_bound = params.get<double>("lambda_bound", 0.05); -} - -static double get_ct(Metadata *metadata, double default_ct); -static void get_cal_table(double ct, - std::vector<AlscCalibration> const &calibrations, - double cal_table[XY]); -static void resample_cal_table(double const cal_table_in[XY], - CameraMode const &camera_mode, - double cal_table_out[XY]); -static void compensate_lambdas_for_cal(double const cal_table[XY], - double const old_lambdas[XY], - double new_lambdas[XY]); -static void add_luminance_to_tables(double results[3][Y][X], - double const lambda_r[XY], double lambda_g, - double const lambda_b[XY], - double const luminance_lut[XY], - double luminance_strength); - -void Alsc::Initialise() -{ - frame_count2_ = frame_count_ = frame_phase_ = 0; - first_time_ = true; - ct_ = config_.default_ct; - // The lambdas are initialised in the SwitchMode. -} - -void Alsc::waitForAysncThread() -{ - if (async_started_) { - async_started_ = false; - std::unique_lock<std::mutex> lock(mutex_); - sync_signal_.wait(lock, [&] { - return async_finished_; - }); - async_finished_ = false; - } -} - -static bool compare_modes(CameraMode const &cm0, CameraMode const &cm1) -{ - // Return true if the modes crop from the sensor significantly differently, - // or if the user transform has changed. - if (cm0.transform != cm1.transform) - return true; - int left_diff = abs(cm0.crop_x - cm1.crop_x); - int top_diff = abs(cm0.crop_y - cm1.crop_y); - int right_diff = fabs(cm0.crop_x + cm0.scale_x * cm0.width - - cm1.crop_x - cm1.scale_x * cm1.width); - int bottom_diff = fabs(cm0.crop_y + cm0.scale_y * cm0.height - - cm1.crop_y - cm1.scale_y * cm1.height); - // These thresholds are a rather arbitrary amount chosen to trigger - // when carrying on with the previously calculated tables might be - // worse than regenerating them (but without the adaptive algorithm). - int threshold_x = cm0.sensor_width >> 4; - int threshold_y = cm0.sensor_height >> 4; - return left_diff > threshold_x || right_diff > threshold_x || - top_diff > threshold_y || bottom_diff > threshold_y; -} - -void Alsc::SwitchMode(CameraMode const &camera_mode, - [[maybe_unused]] Metadata *metadata) -{ - // We're going to start over with the tables if there's any "significant" - // change. - bool reset_tables = first_time_ || compare_modes(camera_mode_, camera_mode); - - // Believe the colour temperature from the AWB, if there is one. - ct_ = get_ct(metadata, ct_); - - // Ensure the other thread isn't running while we do this. - waitForAysncThread(); - - camera_mode_ = camera_mode; - - // We must resample the luminance table like we do the others, but it's - // fixed so we can simply do it up front here. - resample_cal_table(config_.luminance_lut, camera_mode_, luminance_table_); - - if (reset_tables) { - // Upon every "table reset", arrange for something sensible to be - // generated. Construct the tables for the previous recorded colour - // temperature. In order to start over from scratch we initialise - // the lambdas, but the rest of this code then echoes the code in - // doAlsc, without the adaptive algorithm. - for (int i = 0; i < XY; i++) - lambda_r_[i] = lambda_b_[i] = 1.0; - double cal_table_r[XY], cal_table_b[XY], cal_table_tmp[XY]; - get_cal_table(ct_, config_.calibrations_Cr, cal_table_tmp); - resample_cal_table(cal_table_tmp, camera_mode_, cal_table_r); - get_cal_table(ct_, config_.calibrations_Cb, cal_table_tmp); - resample_cal_table(cal_table_tmp, camera_mode_, cal_table_b); - compensate_lambdas_for_cal(cal_table_r, lambda_r_, - async_lambda_r_); - compensate_lambdas_for_cal(cal_table_b, lambda_b_, - async_lambda_b_); - add_luminance_to_tables(sync_results_, async_lambda_r_, 1.0, - async_lambda_b_, luminance_table_, - config_.luminance_strength); - memcpy(prev_sync_results_, sync_results_, - sizeof(prev_sync_results_)); - frame_phase_ = config_.frame_period; // run the algo again asap - first_time_ = false; - } -} - -void Alsc::fetchAsyncResults() -{ - LOG(RPiAlsc, Debug) << "Fetch ALSC results"; - async_finished_ = false; - async_started_ = false; - memcpy(sync_results_, async_results_, sizeof(sync_results_)); -} - -double get_ct(Metadata *metadata, double default_ct) -{ - AwbStatus awb_status; - awb_status.temperature_K = default_ct; // in case nothing found - if (metadata->Get("awb.status", awb_status) != 0) - LOG(RPiAlsc, Debug) << "no AWB results found, using " - << awb_status.temperature_K; - else - LOG(RPiAlsc, Debug) << "AWB results found, using " - << awb_status.temperature_K; - return awb_status.temperature_K; -} - -static void copy_stats(bcm2835_isp_stats_region regions[XY], StatisticsPtr &stats, - AlscStatus const &status) -{ - bcm2835_isp_stats_region *input_regions = stats->awb_stats; - double *r_table = (double *)status.r; - double *g_table = (double *)status.g; - double *b_table = (double *)status.b; - for (int i = 0; i < XY; i++) { - regions[i].r_sum = input_regions[i].r_sum / r_table[i]; - regions[i].g_sum = input_regions[i].g_sum / g_table[i]; - regions[i].b_sum = input_regions[i].b_sum / b_table[i]; - regions[i].counted = input_regions[i].counted; - // (don't care about the uncounted value) - } -} - -void Alsc::restartAsync(StatisticsPtr &stats, Metadata *image_metadata) -{ - LOG(RPiAlsc, Debug) << "Starting ALSC calculation"; - // Get the current colour temperature. It's all we need from the - // metadata. Default to the last CT value (which could be the default). - ct_ = get_ct(image_metadata, ct_); - // We have to copy the statistics here, dividing out our best guess of - // the LSC table that the pipeline applied to them. - AlscStatus alsc_status; - if (image_metadata->Get("alsc.status", alsc_status) != 0) { - LOG(RPiAlsc, Warning) - << "No ALSC status found for applied gains!"; - for (int y = 0; y < Y; y++) - for (int x = 0; x < X; x++) { - alsc_status.r[y][x] = 1.0; - alsc_status.g[y][x] = 1.0; - alsc_status.b[y][x] = 1.0; - } - } - copy_stats(statistics_, stats, alsc_status); - frame_phase_ = 0; - async_started_ = true; - { - std::lock_guard<std::mutex> lock(mutex_); - async_start_ = true; - } - async_signal_.notify_one(); -} - -void Alsc::Prepare(Metadata *image_metadata) -{ - // Count frames since we started, and since we last poked the async - // thread. - if (frame_count_ < (int)config_.startup_frames) - frame_count_++; - double speed = frame_count_ < (int)config_.startup_frames - ? 1.0 - : config_.speed; - LOG(RPiAlsc, Debug) - << "frame_count " << frame_count_ << " speed " << speed; - { - std::unique_lock<std::mutex> lock(mutex_); - if (async_started_ && async_finished_) - fetchAsyncResults(); - } - // Apply IIR filter to results and program into the pipeline. - double *ptr = (double *)sync_results_, - *pptr = (double *)prev_sync_results_; - for (unsigned int i = 0; - i < sizeof(sync_results_) / sizeof(double); i++) - pptr[i] = speed * ptr[i] + (1.0 - speed) * pptr[i]; - // Put output values into status metadata. - AlscStatus status; - memcpy(status.r, prev_sync_results_[0], sizeof(status.r)); - memcpy(status.g, prev_sync_results_[1], sizeof(status.g)); - memcpy(status.b, prev_sync_results_[2], sizeof(status.b)); - image_metadata->Set("alsc.status", status); -} - -void Alsc::Process(StatisticsPtr &stats, Metadata *image_metadata) -{ - // Count frames since we started, and since we last poked the async - // thread. - if (frame_phase_ < (int)config_.frame_period) - frame_phase_++; - if (frame_count2_ < (int)config_.startup_frames) - frame_count2_++; - LOG(RPiAlsc, Debug) << "frame_phase " << frame_phase_; - if (frame_phase_ >= (int)config_.frame_period || - frame_count2_ < (int)config_.startup_frames) { - if (async_started_ == false) - restartAsync(stats, image_metadata); - } -} - -void Alsc::asyncFunc() -{ - while (true) { - { - std::unique_lock<std::mutex> lock(mutex_); - async_signal_.wait(lock, [&] { - return async_start_ || async_abort_; - }); - async_start_ = false; - if (async_abort_) - break; - } - doAlsc(); - { - std::lock_guard<std::mutex> lock(mutex_); - async_finished_ = true; - } - sync_signal_.notify_one(); - } -} - -void get_cal_table(double ct, std::vector<AlscCalibration> const &calibrations, - double cal_table[XY]) -{ - if (calibrations.empty()) { - for (int i = 0; i < XY; i++) - cal_table[i] = 1.0; - LOG(RPiAlsc, Debug) << "no calibrations found"; - } else if (ct <= calibrations.front().ct) { - memcpy(cal_table, calibrations.front().table, - XY * sizeof(double)); - LOG(RPiAlsc, Debug) << "using calibration for " - << calibrations.front().ct; - } else if (ct >= calibrations.back().ct) { - memcpy(cal_table, calibrations.back().table, - XY * sizeof(double)); - LOG(RPiAlsc, Debug) << "using calibration for " - << calibrations.back().ct; - } else { - int idx = 0; - while (ct > calibrations[idx + 1].ct) - idx++; - double ct0 = calibrations[idx].ct, - ct1 = calibrations[idx + 1].ct; - LOG(RPiAlsc, Debug) - << "ct is " << ct << ", interpolating between " - << ct0 << " and " << ct1; - for (int i = 0; i < XY; i++) - cal_table[i] = - (calibrations[idx].table[i] * (ct1 - ct) + - calibrations[idx + 1].table[i] * (ct - ct0)) / - (ct1 - ct0); - } -} - -void resample_cal_table(double const cal_table_in[XY], - CameraMode const &camera_mode, double cal_table_out[XY]) -{ - // Precalculate and cache the x sampling locations and phases to save - // recomputing them on every row. - int x_lo[X], x_hi[X]; - double xf[X]; - double scale_x = camera_mode.sensor_width / - (camera_mode.width * camera_mode.scale_x); - double x_off = camera_mode.crop_x / (double)camera_mode.sensor_width; - double x = .5 / scale_x + x_off * X - .5; - double x_inc = 1 / scale_x; - for (int i = 0; i < X; i++, x += x_inc) { - x_lo[i] = floor(x); - xf[i] = x - x_lo[i]; - x_hi[i] = std::min(x_lo[i] + 1, X - 1); - x_lo[i] = std::max(x_lo[i], 0); - if (!!(camera_mode.transform & libcamera::Transform::HFlip)) { - x_lo[i] = X - 1 - x_lo[i]; - x_hi[i] = X - 1 - x_hi[i]; - } - } - // Now march over the output table generating the new values. - double scale_y = camera_mode.sensor_height / - (camera_mode.height * camera_mode.scale_y); - double y_off = camera_mode.crop_y / (double)camera_mode.sensor_height; - double y = .5 / scale_y + y_off * Y - .5; - double y_inc = 1 / scale_y; - for (int j = 0; j < Y; j++, y += y_inc) { - int y_lo = floor(y); - double yf = y - y_lo; - int y_hi = std::min(y_lo + 1, Y - 1); - y_lo = std::max(y_lo, 0); - if (!!(camera_mode.transform & libcamera::Transform::VFlip)) { - y_lo = Y - 1 - y_lo; - y_hi = Y - 1 - y_hi; - } - double const *row_above = cal_table_in + X * y_lo; - double const *row_below = cal_table_in + X * y_hi; - for (int i = 0; i < X; i++) { - double above = row_above[x_lo[i]] * (1 - xf[i]) + - row_above[x_hi[i]] * xf[i]; - double below = row_below[x_lo[i]] * (1 - xf[i]) + - row_below[x_hi[i]] * xf[i]; - *(cal_table_out++) = above * (1 - yf) + below * yf; - } - } -} - -// Calculate chrominance statistics (R/G and B/G) for each region. -static_assert(XY == AWB_REGIONS, "ALSC/AWB statistics region mismatch"); -static void calculate_Cr_Cb(bcm2835_isp_stats_region *awb_region, double Cr[XY], - double Cb[XY], uint32_t min_count, uint16_t min_G) -{ - for (int i = 0; i < XY; i++) { - bcm2835_isp_stats_region &zone = awb_region[i]; - if (zone.counted <= min_count || - zone.g_sum / zone.counted <= min_G) { - Cr[i] = Cb[i] = INSUFFICIENT_DATA; - continue; - } - Cr[i] = zone.r_sum / (double)zone.g_sum; - Cb[i] = zone.b_sum / (double)zone.g_sum; - } -} - -static void apply_cal_table(double const cal_table[XY], double C[XY]) -{ - for (int i = 0; i < XY; i++) - if (C[i] != INSUFFICIENT_DATA) - C[i] *= cal_table[i]; -} - -void compensate_lambdas_for_cal(double const cal_table[XY], - double const old_lambdas[XY], - double new_lambdas[XY]) -{ - double min_new_lambda = std::numeric_limits<double>::max(); - for (int i = 0; i < XY; i++) { - new_lambdas[i] = old_lambdas[i] * cal_table[i]; - min_new_lambda = std::min(min_new_lambda, new_lambdas[i]); - } - for (int i = 0; i < XY; i++) - new_lambdas[i] /= min_new_lambda; -} - -[[maybe_unused]] static void print_cal_table(double const C[XY]) -{ - printf("table: [\n"); - for (int j = 0; j < Y; j++) { - for (int i = 0; i < X; i++) { - printf("%5.3f", 1.0 / C[j * X + i]); - if (i != X - 1 || j != Y - 1) - printf(","); - } - printf("\n"); - } - printf("]\n"); -} - -// Compute weight out of 1.0 which reflects how similar we wish to make the -// colours of these two regions. -static double compute_weight(double C_i, double C_j, double sigma) -{ - if (C_i == INSUFFICIENT_DATA || C_j == INSUFFICIENT_DATA) - return 0; - double diff = (C_i - C_j) / sigma; - return exp(-diff * diff / 2); -} - -// Compute all weights. -static void compute_W(double const C[XY], double sigma, double W[XY][4]) -{ - for (int i = 0; i < XY; i++) { - // Start with neighbour above and go clockwise. - W[i][0] = i >= X ? compute_weight(C[i], C[i - X], sigma) : 0; - W[i][1] = i % X < X - 1 ? compute_weight(C[i], C[i + 1], sigma) - : 0; - W[i][2] = - i < XY - X ? compute_weight(C[i], C[i + X], sigma) : 0; - W[i][3] = i % X ? compute_weight(C[i], C[i - 1], sigma) : 0; - } -} - -// Compute M, the large but sparse matrix such that M * lambdas = 0. -static void construct_M(double const C[XY], double const W[XY][4], - double M[XY][4]) -{ - double epsilon = 0.001; - for (int i = 0; i < XY; i++) { - // Note how, if C[i] == INSUFFICIENT_DATA, the weights will all - // be zero so the equation is still set up correctly. - int m = !!(i >= X) + !!(i % X < X - 1) + !!(i < XY - X) + - !!(i % X); // total number of neighbours - // we'll divide the diagonal out straight away - double diagonal = - (epsilon + W[i][0] + W[i][1] + W[i][2] + W[i][3]) * - C[i]; - M[i][0] = i >= X ? (W[i][0] * C[i - X] + epsilon / m * C[i]) / - diagonal - : 0; - M[i][1] = i % X < X - 1 - ? (W[i][1] * C[i + 1] + epsilon / m * C[i]) / - diagonal - : 0; - M[i][2] = i < XY - X - ? (W[i][2] * C[i + X] + epsilon / m * C[i]) / - diagonal - : 0; - M[i][3] = i % X ? (W[i][3] * C[i - 1] + epsilon / m * C[i]) / - diagonal - : 0; - } -} - -// In the compute_lambda_ functions, note that the matrix coefficients for the -// left/right neighbours are zero down the left/right edges, so we don't need -// need to test the i value to exclude them. -static double compute_lambda_bottom(int i, double const M[XY][4], - double lambda[XY]) -{ - return M[i][1] * lambda[i + 1] + M[i][2] * lambda[i + X] + - M[i][3] * lambda[i - 1]; -} -static double compute_lambda_bottom_start(int i, double const M[XY][4], - double lambda[XY]) -{ - return M[i][1] * lambda[i + 1] + M[i][2] * lambda[i + X]; -} -static double compute_lambda_interior(int i, double const M[XY][4], - double lambda[XY]) -{ - return M[i][0] * lambda[i - X] + M[i][1] * lambda[i + 1] + - M[i][2] * lambda[i + X] + M[i][3] * lambda[i - 1]; -} -static double compute_lambda_top(int i, double const M[XY][4], - double lambda[XY]) -{ - return M[i][0] * lambda[i - X] + M[i][1] * lambda[i + 1] + - M[i][3] * lambda[i - 1]; -} -static double compute_lambda_top_end(int i, double const M[XY][4], - double lambda[XY]) -{ - return M[i][0] * lambda[i - X] + M[i][3] * lambda[i - 1]; -} - -// Gauss-Seidel iteration with over-relaxation. -static double gauss_seidel2_SOR(double const M[XY][4], double omega, - double lambda[XY], double lambda_bound) -{ - const double min = 1 - lambda_bound, max = 1 + lambda_bound; - double old_lambda[XY]; - int i; - for (i = 0; i < XY; i++) - old_lambda[i] = lambda[i]; - lambda[0] = compute_lambda_bottom_start(0, M, lambda); - lambda[0] = std::clamp(lambda[0], min, max); - for (i = 1; i < X; i++) { - lambda[i] = compute_lambda_bottom(i, M, lambda); - lambda[i] = std::clamp(lambda[i], min, max); - } - for (; i < XY - X; i++) { - lambda[i] = compute_lambda_interior(i, M, lambda); - lambda[i] = std::clamp(lambda[i], min, max); - } - for (; i < XY - 1; i++) { - lambda[i] = compute_lambda_top(i, M, lambda); - lambda[i] = std::clamp(lambda[i], min, max); - } - lambda[i] = compute_lambda_top_end(i, M, lambda); - lambda[i] = std::clamp(lambda[i], min, max); - // Also solve the system from bottom to top, to help spread the updates - // better. - lambda[i] = compute_lambda_top_end(i, M, lambda); - lambda[i] = std::clamp(lambda[i], min, max); - for (i = XY - 2; i >= XY - X; i--) { - lambda[i] = compute_lambda_top(i, M, lambda); - lambda[i] = std::clamp(lambda[i], min, max); - } - for (; i >= X; i--) { - lambda[i] = compute_lambda_interior(i, M, lambda); - lambda[i] = std::clamp(lambda[i], min, max); - } - for (; i >= 1; i--) { - lambda[i] = compute_lambda_bottom(i, M, lambda); - lambda[i] = std::clamp(lambda[i], min, max); - } - lambda[0] = compute_lambda_bottom_start(0, M, lambda); - lambda[0] = std::clamp(lambda[0], min, max); - double max_diff = 0; - for (i = 0; i < XY; i++) { - lambda[i] = old_lambda[i] + (lambda[i] - old_lambda[i]) * omega; - if (fabs(lambda[i] - old_lambda[i]) > fabs(max_diff)) - max_diff = lambda[i] - old_lambda[i]; - } - return max_diff; -} - -// Normalise the values so that the smallest value is 1. -static void normalise(double *ptr, size_t n) -{ - double minval = ptr[0]; - for (size_t i = 1; i < n; i++) - minval = std::min(minval, ptr[i]); - for (size_t i = 0; i < n; i++) - ptr[i] /= minval; -} - -// Rescale the values so that the average value is 1. -static void reaverage(Span<double> data) -{ - double sum = std::accumulate(data.begin(), data.end(), 0.0); - double ratio = 1 / (sum / data.size()); - for (double &d : data) - d *= ratio; -} - -static void run_matrix_iterations(double const C[XY], double lambda[XY], - double const W[XY][4], double omega, - int n_iter, double threshold, double lambda_bound) -{ - double M[XY][4]; - construct_M(C, W, M); - double last_max_diff = std::numeric_limits<double>::max(); - for (int i = 0; i < n_iter; i++) { - double max_diff = fabs(gauss_seidel2_SOR(M, omega, lambda, lambda_bound)); - if (max_diff < threshold) { - LOG(RPiAlsc, Debug) - << "Stop after " << i + 1 << " iterations"; - break; - } - // this happens very occasionally (so make a note), though - // doesn't seem to matter - if (max_diff > last_max_diff) - LOG(RPiAlsc, Debug) - << "Iteration " << i << ": max_diff gone up " - << last_max_diff << " to " << max_diff; - last_max_diff = max_diff; - } - // We're going to normalise the lambdas so the total average is 1. - reaverage({ lambda, XY }); -} - -static void add_luminance_rb(double result[XY], double const lambda[XY], - double const luminance_lut[XY], - double luminance_strength) -{ - for (int i = 0; i < XY; i++) - result[i] = lambda[i] * - ((luminance_lut[i] - 1) * luminance_strength + 1); -} - -static void add_luminance_g(double result[XY], double lambda, - double const luminance_lut[XY], - double luminance_strength) -{ - for (int i = 0; i < XY; i++) - result[i] = lambda * - ((luminance_lut[i] - 1) * luminance_strength + 1); -} - -void add_luminance_to_tables(double results[3][Y][X], double const lambda_r[XY], - double lambda_g, double const lambda_b[XY], - double const luminance_lut[XY], - double luminance_strength) -{ - add_luminance_rb((double *)results[0], lambda_r, luminance_lut, - luminance_strength); - add_luminance_g((double *)results[1], lambda_g, luminance_lut, - luminance_strength); - add_luminance_rb((double *)results[2], lambda_b, luminance_lut, - luminance_strength); - normalise((double *)results, 3 * XY); -} - -void Alsc::doAlsc() -{ - double Cr[XY], Cb[XY], Wr[XY][4], Wb[XY][4], cal_table_r[XY], - cal_table_b[XY], cal_table_tmp[XY]; - // Calculate our R/B ("Cr"/"Cb") colour statistics, and assess which are - // usable. - calculate_Cr_Cb(statistics_, Cr, Cb, config_.min_count, config_.min_G); - // Fetch the new calibrations (if any) for this CT. Resample them in - // case the camera mode is not full-frame. - get_cal_table(ct_, config_.calibrations_Cr, cal_table_tmp); - resample_cal_table(cal_table_tmp, camera_mode_, cal_table_r); - get_cal_table(ct_, config_.calibrations_Cb, cal_table_tmp); - resample_cal_table(cal_table_tmp, camera_mode_, cal_table_b); - // You could print out the cal tables for this image here, if you're - // tuning the algorithm... - // Apply any calibration to the statistics, so the adaptive algorithm - // makes only the extra adjustments. - apply_cal_table(cal_table_r, Cr); - apply_cal_table(cal_table_b, Cb); - // Compute weights between zones. - compute_W(Cr, config_.sigma_Cr, Wr); - compute_W(Cb, config_.sigma_Cb, Wb); - // Run Gauss-Seidel iterations over the resulting matrix, for R and B. - run_matrix_iterations(Cr, lambda_r_, Wr, config_.omega, config_.n_iter, - config_.threshold, config_.lambda_bound); - run_matrix_iterations(Cb, lambda_b_, Wb, config_.omega, config_.n_iter, - config_.threshold, config_.lambda_bound); - // Fold the calibrated gains into our final lambda values. (Note that on - // the next run, we re-start with the lambda values that don't have the - // calibration gains included.) - compensate_lambdas_for_cal(cal_table_r, lambda_r_, async_lambda_r_); - compensate_lambdas_for_cal(cal_table_b, lambda_b_, async_lambda_b_); - // Fold in the luminance table at the appropriate strength. - add_luminance_to_tables(async_results_, async_lambda_r_, 1.0, - async_lambda_b_, luminance_table_, - config_.luminance_strength); -} - -// Register algorithm with the system. -static Algorithm *Create(Controller *controller) -{ - return (Algorithm *)new Alsc(controller); -} -static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/raspberrypi/controller/rpi/alsc.hpp b/src/ipa/raspberrypi/controller/rpi/alsc.hpp deleted file mode 100644 index d1dbe0d1..00000000 --- a/src/ipa/raspberrypi/controller/rpi/alsc.hpp +++ /dev/null @@ -1,106 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * alsc.hpp - ALSC (auto lens shading correction) control algorithm - */ -#pragma once - -#include <mutex> -#include <condition_variable> -#include <thread> - -#include "../algorithm.hpp" -#include "../alsc_status.h" - -namespace RPiController { - -// Algorithm to generate automagic LSC (Lens Shading Correction) tables. - -struct AlscCalibration { - double ct; - double table[ALSC_CELLS_X * ALSC_CELLS_Y]; -}; - -struct AlscConfig { - // Only repeat the ALSC calculation every "this many" frames - uint16_t frame_period; - // number of initial frames for which speed taken as 1.0 (maximum) - uint16_t startup_frames; - // IIR filter speed applied to algorithm results - double speed; - double sigma_Cr; - double sigma_Cb; - double min_count; - uint16_t min_G; - double omega; - uint32_t n_iter; - double luminance_lut[ALSC_CELLS_X * ALSC_CELLS_Y]; - double luminance_strength; - std::vector<AlscCalibration> calibrations_Cr; - std::vector<AlscCalibration> calibrations_Cb; - double default_ct; // colour temperature if no metadata found - double threshold; // iteration termination threshold - double lambda_bound; // upper/lower bound for lambda from a value of 1 -}; - -class Alsc : public Algorithm -{ -public: - Alsc(Controller *controller = NULL); - ~Alsc(); - char const *Name() const override; - void Initialise() override; - void SwitchMode(CameraMode const &camera_mode, Metadata *metadata) override; - void Read(boost::property_tree::ptree const ¶ms) override; - void Prepare(Metadata *image_metadata) override; - void Process(StatisticsPtr &stats, Metadata *image_metadata) override; - -private: - // configuration is read-only, and available to both threads - AlscConfig config_; - bool first_time_; - CameraMode camera_mode_; - double luminance_table_[ALSC_CELLS_X * ALSC_CELLS_Y]; - std::thread async_thread_; - void asyncFunc(); // asynchronous thread function - std::mutex mutex_; - // condvar for async thread to wait on - std::condition_variable async_signal_; - // condvar for synchronous thread to wait on - std::condition_variable sync_signal_; - // for sync thread to check if async thread finished (requires mutex) - bool async_finished_; - // for async thread to check if it's been told to run (requires mutex) - bool async_start_; - // for async thread to check if it's been told to quit (requires mutex) - bool async_abort_; - - // The following are only for the synchronous thread to use: - // for sync thread to note its has asked async thread to run - bool async_started_; - // counts up to frame_period before restarting the async thread - int frame_phase_; - // counts up to startup_frames - int frame_count_; - // counts up to startup_frames for Process function - int frame_count2_; - double sync_results_[3][ALSC_CELLS_Y][ALSC_CELLS_X]; - double prev_sync_results_[3][ALSC_CELLS_Y][ALSC_CELLS_X]; - void waitForAysncThread(); - // The following are for the asynchronous thread to use, though the main - // thread can set/reset them if the async thread is known to be idle: - void restartAsync(StatisticsPtr &stats, Metadata *image_metadata); - // copy out the results from the async thread so that it can be restarted - void fetchAsyncResults(); - double ct_; - bcm2835_isp_stats_region statistics_[ALSC_CELLS_Y * ALSC_CELLS_X]; - double async_results_[3][ALSC_CELLS_Y][ALSC_CELLS_X]; - double async_lambda_r_[ALSC_CELLS_X * ALSC_CELLS_Y]; - double async_lambda_b_[ALSC_CELLS_X * ALSC_CELLS_Y]; - void doAlsc(); - double lambda_r_[ALSC_CELLS_X * ALSC_CELLS_Y]; - double lambda_b_[ALSC_CELLS_X * ALSC_CELLS_Y]; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/rpi/awb.cpp b/src/ipa/raspberrypi/controller/rpi/awb.cpp deleted file mode 100644 index d4c93447..00000000 --- a/src/ipa/raspberrypi/controller/rpi/awb.cpp +++ /dev/null @@ -1,667 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * awb.cpp - AWB control algorithm - */ - -#include <libcamera/base/log.h> - -#include "../lux_status.h" - -#include "awb.hpp" - -using namespace RPiController; -using namespace libcamera; - -LOG_DEFINE_CATEGORY(RPiAwb) - -#define NAME "rpi.awb" - -#define AWB_STATS_SIZE_X DEFAULT_AWB_REGIONS_X -#define AWB_STATS_SIZE_Y DEFAULT_AWB_REGIONS_Y - -// todo - the locking in this algorithm needs some tidying up as has been done -// elsewhere (ALSC and AGC). - -void AwbMode::Read(boost::property_tree::ptree const ¶ms) -{ - ct_lo = params.get<double>("lo"); - ct_hi = params.get<double>("hi"); -} - -void AwbPrior::Read(boost::property_tree::ptree const ¶ms) -{ - lux = params.get<double>("lux"); - prior.Read(params.get_child("prior")); -} - -static void read_ct_curve(Pwl &ct_r, Pwl &ct_b, - boost::property_tree::ptree const ¶ms) -{ - int num = 0; - for (auto it = params.begin(); it != params.end(); it++) { - double ct = it->second.get_value<double>(); - assert(it == params.begin() || ct != ct_r.Domain().end); - if (++it == params.end()) - throw std::runtime_error( - "AwbConfig: incomplete CT curve entry"); - ct_r.Append(ct, it->second.get_value<double>()); - if (++it == params.end()) - throw std::runtime_error( - "AwbConfig: incomplete CT curve entry"); - ct_b.Append(ct, it->second.get_value<double>()); - num++; - } - if (num < 2) - throw std::runtime_error( - "AwbConfig: insufficient points in CT curve"); -} - -void AwbConfig::Read(boost::property_tree::ptree const ¶ms) -{ - bayes = params.get<int>("bayes", 1); - frame_period = params.get<uint16_t>("frame_period", 10); - startup_frames = params.get<uint16_t>("startup_frames", 10); - convergence_frames = params.get<unsigned int>("convergence_frames", 3); - speed = params.get<double>("speed", 0.05); - if (params.get_child_optional("ct_curve")) - read_ct_curve(ct_r, ct_b, params.get_child("ct_curve")); - if (params.get_child_optional("priors")) { - for (auto &p : params.get_child("priors")) { - AwbPrior prior; - prior.Read(p.second); - if (!priors.empty() && prior.lux <= priors.back().lux) - throw std::runtime_error( - "AwbConfig: Prior must be ordered in increasing lux value"); - priors.push_back(prior); - } - if (priors.empty()) - throw std::runtime_error( - "AwbConfig: no AWB priors configured"); - } - if (params.get_child_optional("modes")) { - for (auto &p : params.get_child("modes")) { - modes[p.first].Read(p.second); - if (default_mode == nullptr) - default_mode = &modes[p.first]; - } - if (default_mode == nullptr) - throw std::runtime_error( - "AwbConfig: no AWB modes configured"); - } - min_pixels = params.get<double>("min_pixels", 16.0); - min_G = params.get<uint16_t>("min_G", 32); - min_regions = params.get<uint32_t>("min_regions", 10); - delta_limit = params.get<double>("delta_limit", 0.2); - coarse_step = params.get<double>("coarse_step", 0.2); - transverse_pos = params.get<double>("transverse_pos", 0.01); - transverse_neg = params.get<double>("transverse_neg", 0.01); - if (transverse_pos <= 0 || transverse_neg <= 0) - throw std::runtime_error( - "AwbConfig: transverse_pos/neg must be > 0"); - sensitivity_r = params.get<double>("sensitivity_r", 1.0); - sensitivity_b = params.get<double>("sensitivity_b", 1.0); - if (bayes) { - if (ct_r.Empty() || ct_b.Empty() || priors.empty() || - default_mode == nullptr) { - LOG(RPiAwb, Warning) - << "Bayesian AWB mis-configured - switch to Grey method"; - bayes = false; - } - } - fast = params.get<int>( - "fast", bayes); // default to fast for Bayesian, otherwise slow - whitepoint_r = params.get<double>("whitepoint_r", 0.0); - whitepoint_b = params.get<double>("whitepoint_b", 0.0); - if (bayes == false) - sensitivity_r = sensitivity_b = - 1.0; // nor do sensitivities make any sense -} - -Awb::Awb(Controller *controller) - : AwbAlgorithm(controller) -{ - async_abort_ = async_start_ = async_started_ = async_finished_ = false; - mode_ = nullptr; - manual_r_ = manual_b_ = 0.0; - first_switch_mode_ = true; - async_thread_ = std::thread(std::bind(&Awb::asyncFunc, this)); -} - -Awb::~Awb() -{ - { - std::lock_guard<std::mutex> lock(mutex_); - async_abort_ = true; - } - async_signal_.notify_one(); - async_thread_.join(); -} - -char const *Awb::Name() const -{ - return NAME; -} - -void Awb::Read(boost::property_tree::ptree const ¶ms) -{ - config_.Read(params); -} - -void Awb::Initialise() -{ - frame_count_ = frame_phase_ = 0; - // Put something sane into the status that we are filtering towards, - // just in case the first few frames don't have anything meaningful in - // them. - if (!config_.ct_r.Empty() && !config_.ct_b.Empty()) { - sync_results_.temperature_K = config_.ct_r.Domain().Clip(4000); - sync_results_.gain_r = - 1.0 / config_.ct_r.Eval(sync_results_.temperature_K); - sync_results_.gain_g = 1.0; - sync_results_.gain_b = - 1.0 / config_.ct_b.Eval(sync_results_.temperature_K); - } else { - // random values just to stop the world blowing up - sync_results_.temperature_K = 4500; - sync_results_.gain_r = sync_results_.gain_g = - sync_results_.gain_b = 1.0; - } - prev_sync_results_ = sync_results_; - async_results_ = sync_results_; -} - -bool Awb::IsPaused() const -{ - return false; -} - -void Awb::Pause() -{ - // "Pause" by fixing everything to the most recent values. - manual_r_ = sync_results_.gain_r = prev_sync_results_.gain_r; - manual_b_ = sync_results_.gain_b = prev_sync_results_.gain_b; - sync_results_.gain_g = prev_sync_results_.gain_g; - sync_results_.temperature_K = prev_sync_results_.temperature_K; -} - -void Awb::Resume() -{ - manual_r_ = 0.0; - manual_b_ = 0.0; -} - -unsigned int Awb::GetConvergenceFrames() const -{ - // If not in auto mode, there is no convergence - // to happen, so no need to drop any frames - return zero. - if (!isAutoEnabled()) - return 0; - else - return config_.convergence_frames; -} - -void Awb::SetMode(std::string const &mode_name) -{ - mode_name_ = mode_name; -} - -void Awb::SetManualGains(double manual_r, double manual_b) -{ - // If any of these are 0.0, we swich back to auto. - manual_r_ = manual_r; - manual_b_ = manual_b; - // If not in auto mode, set these values into the sync_results which - // means that Prepare() will adopt them immediately. - if (!isAutoEnabled()) { - sync_results_.gain_r = prev_sync_results_.gain_r = manual_r_; - sync_results_.gain_g = prev_sync_results_.gain_g = 1.0; - sync_results_.gain_b = prev_sync_results_.gain_b = manual_b_; - } -} - -void Awb::SwitchMode([[maybe_unused]] CameraMode const &camera_mode, - Metadata *metadata) -{ - // On the first mode switch we'll have no meaningful colour - // temperature, so try to dead reckon one if in manual mode. - if (!isAutoEnabled() && first_switch_mode_ && config_.bayes) { - Pwl ct_r_inverse = config_.ct_r.Inverse(); - Pwl ct_b_inverse = config_.ct_b.Inverse(); - double ct_r = ct_r_inverse.Eval(ct_r_inverse.Domain().Clip(1 / manual_r_)); - double ct_b = ct_b_inverse.Eval(ct_b_inverse.Domain().Clip(1 / manual_b_)); - prev_sync_results_.temperature_K = (ct_r + ct_b) / 2; - sync_results_.temperature_K = prev_sync_results_.temperature_K; - } - // Let other algorithms know the current white balance values. - metadata->Set("awb.status", prev_sync_results_); - first_switch_mode_ = false; -} - -bool Awb::isAutoEnabled() const -{ - return manual_r_ == 0.0 || manual_b_ == 0.0; -} - -void Awb::fetchAsyncResults() -{ - LOG(RPiAwb, Debug) << "Fetch AWB results"; - async_finished_ = false; - async_started_ = false; - // It's possible manual gains could be set even while the async - // thread was running, so only copy the results if still in auto mode. - if (isAutoEnabled()) - sync_results_ = async_results_; -} - -void Awb::restartAsync(StatisticsPtr &stats, double lux) -{ - LOG(RPiAwb, Debug) << "Starting AWB calculation"; - // this makes a new reference which belongs to the asynchronous thread - statistics_ = stats; - // store the mode as it could technically change - auto m = config_.modes.find(mode_name_); - mode_ = m != config_.modes.end() - ? &m->second - : (mode_ == nullptr ? config_.default_mode : mode_); - lux_ = lux; - frame_phase_ = 0; - async_started_ = true; - size_t len = mode_name_.copy(async_results_.mode, - sizeof(async_results_.mode) - 1); - async_results_.mode[len] = '\0'; - { - std::lock_guard<std::mutex> lock(mutex_); - async_start_ = true; - } - async_signal_.notify_one(); -} - -void Awb::Prepare(Metadata *image_metadata) -{ - if (frame_count_ < (int)config_.startup_frames) - frame_count_++; - double speed = frame_count_ < (int)config_.startup_frames - ? 1.0 - : config_.speed; - LOG(RPiAwb, Debug) - << "frame_count " << frame_count_ << " speed " << speed; - { - std::unique_lock<std::mutex> lock(mutex_); - if (async_started_ && async_finished_) - fetchAsyncResults(); - } - // Finally apply IIR filter to results and put into metadata. - memcpy(prev_sync_results_.mode, sync_results_.mode, - sizeof(prev_sync_results_.mode)); - prev_sync_results_.temperature_K = - speed * sync_results_.temperature_K + - (1.0 - speed) * prev_sync_results_.temperature_K; - prev_sync_results_.gain_r = speed * sync_results_.gain_r + - (1.0 - speed) * prev_sync_results_.gain_r; - prev_sync_results_.gain_g = speed * sync_results_.gain_g + - (1.0 - speed) * prev_sync_results_.gain_g; - prev_sync_results_.gain_b = speed * sync_results_.gain_b + - (1.0 - speed) * prev_sync_results_.gain_b; - image_metadata->Set("awb.status", prev_sync_results_); - LOG(RPiAwb, Debug) - << "Using AWB gains r " << prev_sync_results_.gain_r << " g " - << prev_sync_results_.gain_g << " b " - << prev_sync_results_.gain_b; -} - -void Awb::Process(StatisticsPtr &stats, Metadata *image_metadata) -{ - // Count frames since we last poked the async thread. - if (frame_phase_ < (int)config_.frame_period) - frame_phase_++; - LOG(RPiAwb, Debug) << "frame_phase " << frame_phase_; - // We do not restart the async thread if we're not in auto mode. - if (isAutoEnabled() && - (frame_phase_ >= (int)config_.frame_period || - frame_count_ < (int)config_.startup_frames)) { - // Update any settings and any image metadata that we need. - struct LuxStatus lux_status = {}; - lux_status.lux = 400; // in case no metadata - if (image_metadata->Get("lux.status", lux_status) != 0) - LOG(RPiAwb, Debug) << "No lux metadata found"; - LOG(RPiAwb, Debug) << "Awb lux value is " << lux_status.lux; - - if (async_started_ == false) - restartAsync(stats, lux_status.lux); - } -} - -void Awb::asyncFunc() -{ - while (true) { - { - std::unique_lock<std::mutex> lock(mutex_); - async_signal_.wait(lock, [&] { - return async_start_ || async_abort_; - }); - async_start_ = false; - if (async_abort_) - break; - } - doAwb(); - { - std::lock_guard<std::mutex> lock(mutex_); - async_finished_ = true; - } - sync_signal_.notify_one(); - } -} - -static void generate_stats(std::vector<Awb::RGB> &zones, - bcm2835_isp_stats_region *stats, double min_pixels, - double min_G) -{ - for (int i = 0; i < AWB_STATS_SIZE_X * AWB_STATS_SIZE_Y; i++) { - Awb::RGB zone; - double counted = stats[i].counted; - if (counted >= min_pixels) { - zone.G = stats[i].g_sum / counted; - if (zone.G >= min_G) { - zone.R = stats[i].r_sum / counted; - zone.B = stats[i].b_sum / counted; - zones.push_back(zone); - } - } - } -} - -void Awb::prepareStats() -{ - zones_.clear(); - // LSC has already been applied to the stats in this pipeline, so stop - // any LSC compensation. We also ignore config_.fast in this version. - generate_stats(zones_, statistics_->awb_stats, config_.min_pixels, - config_.min_G); - // we're done with these; we may as well relinquish our hold on the - // pointer. - statistics_.reset(); - // apply sensitivities, so values appear to come from our "canonical" - // sensor. - for (auto &zone : zones_) - zone.R *= config_.sensitivity_r, - zone.B *= config_.sensitivity_b; -} - -double Awb::computeDelta2Sum(double gain_r, double gain_b) -{ - // Compute the sum of the squared colour error (non-greyness) as it - // appears in the log likelihood equation. - double delta2_sum = 0; - for (auto &z : zones_) { - double delta_r = gain_r * z.R - 1 - config_.whitepoint_r; - double delta_b = gain_b * z.B - 1 - config_.whitepoint_b; - double delta2 = delta_r * delta_r + delta_b * delta_b; - //LOG(RPiAwb, Debug) << "delta_r " << delta_r << " delta_b " << delta_b << " delta2 " << delta2; - delta2 = std::min(delta2, config_.delta_limit); - delta2_sum += delta2; - } - return delta2_sum; -} - -Pwl Awb::interpolatePrior() -{ - // Interpolate the prior log likelihood function for our current lux - // value. - if (lux_ <= config_.priors.front().lux) - return config_.priors.front().prior; - else if (lux_ >= config_.priors.back().lux) - return config_.priors.back().prior; - else { - int idx = 0; - // find which two we lie between - while (config_.priors[idx + 1].lux < lux_) - idx++; - double lux0 = config_.priors[idx].lux, - lux1 = config_.priors[idx + 1].lux; - return Pwl::Combine(config_.priors[idx].prior, - config_.priors[idx + 1].prior, - [&](double /*x*/, double y0, double y1) { - return y0 + (y1 - y0) * - (lux_ - lux0) / (lux1 - lux0); - }); - } -} - -static double interpolate_quadatric(Pwl::Point const &A, Pwl::Point const &B, - Pwl::Point const &C) -{ - // Given 3 points on a curve, find the extremum of the function in that - // interval by fitting a quadratic. - const double eps = 1e-3; - Pwl::Point CA = C - A, BA = B - A; - double denominator = 2 * (BA.y * CA.x - CA.y * BA.x); - if (abs(denominator) > eps) { - double numerator = BA.y * CA.x * CA.x - CA.y * BA.x * BA.x; - double result = numerator / denominator + A.x; - return std::max(A.x, std::min(C.x, result)); - } - // has degenerated to straight line segment - return A.y < C.y - eps ? A.x : (C.y < A.y - eps ? C.x : B.x); -} - -double Awb::coarseSearch(Pwl const &prior) -{ - points_.clear(); // assume doesn't deallocate memory - size_t best_point = 0; - double t = mode_->ct_lo; - int span_r = 0, span_b = 0; - // Step down the CT curve evaluating log likelihood. - while (true) { - double r = config_.ct_r.Eval(t, &span_r); - double b = config_.ct_b.Eval(t, &span_b); - double gain_r = 1 / r, gain_b = 1 / b; - double delta2_sum = computeDelta2Sum(gain_r, gain_b); - double prior_log_likelihood = - prior.Eval(prior.Domain().Clip(t)); - double final_log_likelihood = delta2_sum - prior_log_likelihood; - LOG(RPiAwb, Debug) - << "t: " << t << " gain_r " << gain_r << " gain_b " - << gain_b << " delta2_sum " << delta2_sum - << " prior " << prior_log_likelihood << " final " - << final_log_likelihood; - points_.push_back(Pwl::Point(t, final_log_likelihood)); - if (points_.back().y < points_[best_point].y) - best_point = points_.size() - 1; - if (t == mode_->ct_hi) - break; - // for even steps along the r/b curve scale them by the current t - t = std::min(t + t / 10 * config_.coarse_step, - mode_->ct_hi); - } - t = points_[best_point].x; - LOG(RPiAwb, Debug) << "Coarse search found CT " << t; - // We have the best point of the search, but refine it with a quadratic - // interpolation around its neighbours. - if (points_.size() > 2) { - unsigned long bp = std::min(best_point, points_.size() - 2); - best_point = std::max(1UL, bp); - t = interpolate_quadatric(points_[best_point - 1], - points_[best_point], - points_[best_point + 1]); - LOG(RPiAwb, Debug) - << "After quadratic refinement, coarse search has CT " - << t; - } - return t; -} - -void Awb::fineSearch(double &t, double &r, double &b, Pwl const &prior) -{ - int span_r = -1, span_b = -1; - config_.ct_r.Eval(t, &span_r); - config_.ct_b.Eval(t, &span_b); - double step = t / 10 * config_.coarse_step * 0.1; - int nsteps = 5; - double r_diff = config_.ct_r.Eval(t + nsteps * step, &span_r) - - config_.ct_r.Eval(t - nsteps * step, &span_r); - double b_diff = config_.ct_b.Eval(t + nsteps * step, &span_b) - - config_.ct_b.Eval(t - nsteps * step, &span_b); - Pwl::Point transverse(b_diff, -r_diff); - if (transverse.Len2() < 1e-6) - return; - // unit vector orthogonal to the b vs. r function (pointing outwards - // with r and b increasing) - transverse = transverse / transverse.Len(); - double best_log_likelihood = 0, best_t = 0, best_r = 0, best_b = 0; - double transverse_range = - config_.transverse_neg + config_.transverse_pos; - const int MAX_NUM_DELTAS = 12; - // a transverse step approximately every 0.01 r/b units - int num_deltas = floor(transverse_range * 100 + 0.5) + 1; - num_deltas = num_deltas < 3 ? 3 : - (num_deltas > MAX_NUM_DELTAS ? MAX_NUM_DELTAS : num_deltas); - // Step down CT curve. March a bit further if the transverse range is - // large. - nsteps += num_deltas; - for (int i = -nsteps; i <= nsteps; i++) { - double t_test = t + i * step; - double prior_log_likelihood = - prior.Eval(prior.Domain().Clip(t_test)); - double r_curve = config_.ct_r.Eval(t_test, &span_r); - double b_curve = config_.ct_b.Eval(t_test, &span_b); - // x will be distance off the curve, y the log likelihood there - Pwl::Point points[MAX_NUM_DELTAS]; - int best_point = 0; - // Take some measurements transversely *off* the CT curve. - for (int j = 0; j < num_deltas; j++) { - points[j].x = -config_.transverse_neg + - (transverse_range * j) / (num_deltas - 1); - Pwl::Point rb_test = Pwl::Point(r_curve, b_curve) + - transverse * points[j].x; - double r_test = rb_test.x, b_test = rb_test.y; - double gain_r = 1 / r_test, gain_b = 1 / b_test; - double delta2_sum = computeDelta2Sum(gain_r, gain_b); - points[j].y = delta2_sum - prior_log_likelihood; - LOG(RPiAwb, Debug) - << "At t " << t_test << " r " << r_test << " b " - << b_test << ": " << points[j].y; - if (points[j].y < points[best_point].y) - best_point = j; - } - // We have NUM_DELTAS points transversely across the CT curve, - // now let's do a quadratic interpolation for the best result. - best_point = std::max(1, std::min(best_point, num_deltas - 2)); - Pwl::Point rb_test = - Pwl::Point(r_curve, b_curve) + - transverse * - interpolate_quadatric(points[best_point - 1], - points[best_point], - points[best_point + 1]); - double r_test = rb_test.x, b_test = rb_test.y; - double gain_r = 1 / r_test, gain_b = 1 / b_test; - double delta2_sum = computeDelta2Sum(gain_r, gain_b); - double final_log_likelihood = delta2_sum - prior_log_likelihood; - LOG(RPiAwb, Debug) - << "Finally " - << t_test << " r " << r_test << " b " << b_test << ": " - << final_log_likelihood - << (final_log_likelihood < best_log_likelihood ? " BEST" : ""); - if (best_t == 0 || final_log_likelihood < best_log_likelihood) - best_log_likelihood = final_log_likelihood, - best_t = t_test, best_r = r_test, best_b = b_test; - } - t = best_t, r = best_r, b = best_b; - LOG(RPiAwb, Debug) - << "Fine search found t " << t << " r " << r << " b " << b; -} - -void Awb::awbBayes() -{ - // May as well divide out G to save computeDelta2Sum from doing it over - // and over. - for (auto &z : zones_) - z.R = z.R / (z.G + 1), z.B = z.B / (z.G + 1); - // Get the current prior, and scale according to how many zones are - // valid... not entirely sure about this. - Pwl prior = interpolatePrior(); - prior *= zones_.size() / (double)(AWB_STATS_SIZE_X * AWB_STATS_SIZE_Y); - prior.Map([](double x, double y) { - LOG(RPiAwb, Debug) << "(" << x << "," << y << ")"; - }); - double t = coarseSearch(prior); - double r = config_.ct_r.Eval(t); - double b = config_.ct_b.Eval(t); - LOG(RPiAwb, Debug) - << "After coarse search: r " << r << " b " << b << " (gains r " - << 1 / r << " b " << 1 / b << ")"; - // 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 transverely 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); - LOG(RPiAwb, Debug) - << "After fine search: r " << r << " b " << b << " (gains r " - << 1 / r << " b " << 1 / b << ")"; - // Write results out for the main thread to pick up. Remember to adjust - // the gains from the ones that the "canonical sensor" would require to - // the ones needed by *this* sensor. - async_results_.temperature_K = t; - async_results_.gain_r = 1.0 / r * config_.sensitivity_r; - async_results_.gain_g = 1.0; - async_results_.gain_b = 1.0 / b * config_.sensitivity_b; -} - -void Awb::awbGrey() -{ - LOG(RPiAwb, Debug) << "Grey world AWB"; - // Make a separate list of the derivatives for each of red and blue, so - // that we can sort them to exclude the extreme gains. We could - // consider some variations, such as normalising all the zones first, or - // doing an L2 average etc. - std::vector<RGB> &derivs_R(zones_); - std::vector<RGB> derivs_B(derivs_R); - std::sort(derivs_R.begin(), derivs_R.end(), - [](RGB const &a, RGB const &b) { - return a.G * b.R < b.G * a.R; - }); - std::sort(derivs_B.begin(), derivs_B.end(), - [](RGB const &a, RGB const &b) { - return a.G * b.B < b.G * a.B; - }); - // Average the middle half of the values. - int discard = derivs_R.size() / 4; - RGB sum_R(0, 0, 0), sum_B(0, 0, 0); - for (auto ri = derivs_R.begin() + discard, - bi = derivs_B.begin() + discard; - ri != derivs_R.end() - discard; ri++, bi++) - sum_R += *ri, sum_B += *bi; - double gain_r = sum_R.G / (sum_R.R + 1), - gain_b = sum_B.G / (sum_B.B + 1); - async_results_.temperature_K = 4500; // don't know what it is - async_results_.gain_r = gain_r; - async_results_.gain_g = 1.0; - async_results_.gain_b = gain_b; -} - -void Awb::doAwb() -{ - prepareStats(); - LOG(RPiAwb, Debug) << "Valid zones: " << zones_.size(); - if (zones_.size() > config_.min_regions) { - if (config_.bayes) - awbBayes(); - else - awbGrey(); - LOG(RPiAwb, Debug) - << "CT found is " - << async_results_.temperature_K - << " with gains r " << async_results_.gain_r - << " and b " << async_results_.gain_b; - } -} - -// Register algorithm with the system. -static Algorithm *Create(Controller *controller) -{ - return (Algorithm *)new Awb(controller); -} -static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/raspberrypi/controller/rpi/awb.hpp b/src/ipa/raspberrypi/controller/rpi/awb.hpp deleted file mode 100644 index ac3dca6f..00000000 --- a/src/ipa/raspberrypi/controller/rpi/awb.hpp +++ /dev/null @@ -1,179 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * awb.hpp - AWB control algorithm - */ -#pragma once - -#include <mutex> -#include <condition_variable> -#include <thread> - -#include "../awb_algorithm.hpp" -#include "../pwl.hpp" -#include "../awb_status.h" - -namespace RPiController { - -// Control algorithm to perform AWB calculations. - -struct AwbMode { - void Read(boost::property_tree::ptree const ¶ms); - double ct_lo; // low CT value for search - double ct_hi; // high CT value for search -}; - -struct AwbPrior { - void Read(boost::property_tree::ptree const ¶ms); - double lux; // lux level - Pwl prior; // maps CT to prior log likelihood for this lux level -}; - -struct AwbConfig { - AwbConfig() : default_mode(nullptr) {} - void Read(boost::property_tree::ptree const ¶ms); - // Only repeat the AWB calculation every "this many" frames - uint16_t frame_period; - // number of initial frames for which speed taken as 1.0 (maximum) - uint16_t startup_frames; - unsigned int convergence_frames; // approx number of frames to converge - double speed; // IIR filter speed applied to algorithm results - bool fast; // "fast" mode uses a 16x16 rather than 32x32 grid - Pwl ct_r; // function maps CT to r (= R/G) - Pwl ct_b; // function maps CT to b (= B/G) - // table of illuminant priors at different lux levels - std::vector<AwbPrior> priors; - // AWB "modes" (determines the search range) - std::map<std::string, AwbMode> modes; - AwbMode *default_mode; // mode used if no mode selected - // minimum proportion of pixels counted within AWB region for it to be - // "useful" - double min_pixels; - // minimum G value of those pixels, to be regarded a "useful" - uint16_t min_G; - // number of AWB regions that must be "useful" in order to do the AWB - // calculation - uint32_t min_regions; - // clamp on colour error term (so as not to penalise non-grey excessively) - double delta_limit; - // step size control in coarse search - double coarse_step; - // how far to wander off CT curve towards "more purple" - double transverse_pos; - // how far to wander off CT curve towards "more green" - double transverse_neg; - // red sensitivity ratio (set to canonical sensor's R/G divided by this - // sensor's R/G) - double sensitivity_r; - // blue sensitivity ratio (set to canonical sensor's B/G divided by this - // sensor's B/G) - double sensitivity_b; - // The whitepoint (which we normally "aim" for) can be moved. - double whitepoint_r; - double whitepoint_b; - bool bayes; // use Bayesian algorithm -}; - -class Awb : public AwbAlgorithm -{ -public: - Awb(Controller *controller = NULL); - ~Awb(); - char const *Name() const override; - void Initialise() override; - void Read(boost::property_tree::ptree const ¶ms) override; - // AWB handles "pausing" for itself. - bool IsPaused() const override; - void Pause() override; - void Resume() override; - unsigned int GetConvergenceFrames() const override; - void SetMode(std::string const &name) override; - void SetManualGains(double manual_r, double manual_b) override; - void SwitchMode(CameraMode const &camera_mode, Metadata *metadata) override; - void Prepare(Metadata *image_metadata) override; - void Process(StatisticsPtr &stats, Metadata *image_metadata) override; - struct RGB { - RGB(double _R = 0, double _G = 0, double _B = 0) - : R(_R), G(_G), B(_B) - { - } - double R, G, B; - RGB &operator+=(RGB const &other) - { - R += other.R, G += other.G, B += other.B; - return *this; - } - }; - -private: - bool isAutoEnabled() const; - // configuration is read-only, and available to both threads - AwbConfig config_; - std::thread async_thread_; - void asyncFunc(); // asynchronous thread function - std::mutex mutex_; - // condvar for async thread to wait on - std::condition_variable async_signal_; - // condvar for synchronous thread to wait on - std::condition_variable sync_signal_; - // for sync thread to check if async thread finished (requires mutex) - bool async_finished_; - // for async thread to check if it's been told to run (requires mutex) - bool async_start_; - // for async thread to check if it's been told to quit (requires mutex) - bool async_abort_; - - // The following are only for the synchronous thread to use: - // for sync thread to note its has asked async thread to run - bool async_started_; - // counts up to frame_period before restarting the async thread - int frame_phase_; - int frame_count_; // counts up to startup_frames - AwbStatus sync_results_; - AwbStatus prev_sync_results_; - std::string mode_name_; - // The following are for the asynchronous thread to use, though the main - // thread can set/reset them if the async thread is known to be idle: - void restartAsync(StatisticsPtr &stats, double lux); - // copy out the results from the async thread so that it can be restarted - void fetchAsyncResults(); - StatisticsPtr statistics_; - AwbMode *mode_; - double lux_; - AwbStatus async_results_; - void doAwb(); - void awbBayes(); - void awbGrey(); - void prepareStats(); - double computeDelta2Sum(double gain_r, double gain_b); - Pwl interpolatePrior(); - double coarseSearch(Pwl const &prior); - void fineSearch(double &t, double &r, double &b, Pwl const &prior); - std::vector<RGB> zones_; - std::vector<Pwl::Point> points_; - // manual r setting - double manual_r_; - // manual b setting - double manual_b_; - bool first_switch_mode_; // is this the first call to SwitchMode? -}; - -static inline Awb::RGB operator+(Awb::RGB const &a, Awb::RGB const &b) -{ - return Awb::RGB(a.R + b.R, a.G + b.G, a.B + b.B); -} -static inline Awb::RGB operator-(Awb::RGB const &a, Awb::RGB const &b) -{ - return Awb::RGB(a.R - b.R, a.G - b.G, a.B - b.B); -} -static inline Awb::RGB operator*(double d, Awb::RGB const &rgb) -{ - return Awb::RGB(d * rgb.R, d * rgb.G, d * rgb.B); -} -static inline Awb::RGB operator*(Awb::RGB const &rgb, double d) -{ - return d * rgb; -} - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/rpi/black_level.cpp b/src/ipa/raspberrypi/controller/rpi/black_level.cpp deleted file mode 100644 index 6b3497f1..00000000 --- a/src/ipa/raspberrypi/controller/rpi/black_level.cpp +++ /dev/null @@ -1,63 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * black_level.cpp - black level control algorithm - */ - -#include <math.h> -#include <stdint.h> - -#include <libcamera/base/log.h> - -#include "../black_level_status.h" - -#include "black_level.hpp" - -using namespace RPiController; -using namespace libcamera; - -LOG_DEFINE_CATEGORY(RPiBlackLevel) - -#define NAME "rpi.black_level" - -BlackLevel::BlackLevel(Controller *controller) - : Algorithm(controller) -{ -} - -char const *BlackLevel::Name() const -{ - return NAME; -} - -void BlackLevel::Read(boost::property_tree::ptree const ¶ms) -{ - uint16_t black_level = params.get<uint16_t>( - "black_level", 4096); // 64 in 10 bits scaled to 16 bits - black_level_r_ = params.get<uint16_t>("black_level_r", black_level); - black_level_g_ = params.get<uint16_t>("black_level_g", black_level); - black_level_b_ = params.get<uint16_t>("black_level_b", black_level); - LOG(RPiBlackLevel, Debug) - << " Read black levels red " << black_level_r_ - << " green " << black_level_g_ - << " blue " << black_level_b_; -} - -void BlackLevel::Prepare(Metadata *image_metadata) -{ - // Possibly we should think about doing this in a switch_mode or - // something? - struct BlackLevelStatus status; - status.black_level_r = black_level_r_; - status.black_level_g = black_level_g_; - status.black_level_b = black_level_b_; - image_metadata->Set("black_level.status", status); -} - -// Register algorithm with the system. -static Algorithm *Create(Controller *controller) -{ - return new BlackLevel(controller); -} -static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/raspberrypi/controller/rpi/black_level.hpp b/src/ipa/raspberrypi/controller/rpi/black_level.hpp deleted file mode 100644 index 65ec4d0e..00000000 --- a/src/ipa/raspberrypi/controller/rpi/black_level.hpp +++ /dev/null @@ -1,30 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * black_level.hpp - black level control algorithm - */ -#pragma once - -#include "../algorithm.hpp" -#include "../black_level_status.h" - -// This is our implementation of the "black level algorithm". - -namespace RPiController { - -class BlackLevel : public Algorithm -{ -public: - BlackLevel(Controller *controller); - char const *Name() const override; - void Read(boost::property_tree::ptree const ¶ms) override; - void Prepare(Metadata *image_metadata) override; - -private: - double black_level_r_; - double black_level_g_; - double black_level_b_; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/rpi/ccm.cpp b/src/ipa/raspberrypi/controller/rpi/ccm.cpp deleted file mode 100644 index 821a4c7c..00000000 --- a/src/ipa/raspberrypi/controller/rpi/ccm.cpp +++ /dev/null @@ -1,169 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * ccm.cpp - CCM (colour correction matrix) control algorithm - */ - -#include <libcamera/base/log.h> - -#include "../awb_status.h" -#include "../ccm_status.h" -#include "../lux_status.h" -#include "../metadata.hpp" - -#include "ccm.hpp" - -using namespace RPiController; -using namespace libcamera; - -LOG_DEFINE_CATEGORY(RPiCcm) - -// This algorithm selects a CCM (Colour Correction Matrix) according to the -// colour temperature estimated by AWB (interpolating between known matricies as -// necessary). Additionally the amount of colour saturation can be controlled -// both according to the current estimated lux level and according to a -// saturation setting that is exposed to applications. - -#define NAME "rpi.ccm" - -Matrix::Matrix() -{ - memset(m, 0, sizeof(m)); -} -Matrix::Matrix(double m0, double m1, double m2, double m3, double m4, double m5, - double m6, double m7, double m8) -{ - m[0][0] = m0, m[0][1] = m1, m[0][2] = m2, m[1][0] = m3, m[1][1] = m4, - m[1][2] = m5, m[2][0] = m6, m[2][1] = m7, m[2][2] = m8; -} -void Matrix::Read(boost::property_tree::ptree const ¶ms) -{ - double *ptr = (double *)m; - int n = 0; - for (auto it = params.begin(); it != params.end(); it++) { - if (n++ == 9) - throw std::runtime_error("Ccm: too many values in CCM"); - *ptr++ = it->second.get_value<double>(); - } - if (n < 9) - throw std::runtime_error("Ccm: too few values in CCM"); -} - -Ccm::Ccm(Controller *controller) - : CcmAlgorithm(controller), saturation_(1.0) {} - -char const *Ccm::Name() const -{ - return NAME; -} - -void Ccm::Read(boost::property_tree::ptree const ¶ms) -{ - if (params.get_child_optional("saturation")) - config_.saturation.Read(params.get_child("saturation")); - for (auto &p : params.get_child("ccms")) { - CtCcm ct_ccm; - ct_ccm.ct = p.second.get<double>("ct"); - ct_ccm.ccm.Read(p.second.get_child("ccm")); - if (!config_.ccms.empty() && - ct_ccm.ct <= config_.ccms.back().ct) - throw std::runtime_error( - "Ccm: CCM not in increasing colour temperature order"); - config_.ccms.push_back(std::move(ct_ccm)); - } - if (config_.ccms.empty()) - throw std::runtime_error("Ccm: no CCMs specified"); -} - -void Ccm::SetSaturation(double saturation) -{ - saturation_ = saturation; -} - -void Ccm::Initialise() {} - -template<typename T> -static bool get_locked(Metadata *metadata, std::string const &tag, T &value) -{ - T *ptr = metadata->GetLocked<T>(tag); - if (ptr == nullptr) - return false; - value = *ptr; - return true; -} - -Matrix calculate_ccm(std::vector<CtCcm> const &ccms, double ct) -{ - if (ct <= ccms.front().ct) - return ccms.front().ccm; - else if (ct >= ccms.back().ct) - return ccms.back().ccm; - else { - int i = 0; - for (; ct > ccms[i].ct; i++) - ; - double lambda = - (ct - ccms[i - 1].ct) / (ccms[i].ct - ccms[i - 1].ct); - return lambda * ccms[i].ccm + (1.0 - lambda) * ccms[i - 1].ccm; - } -} - -Matrix apply_saturation(Matrix const &ccm, double saturation) -{ - Matrix RGB2Y(0.299, 0.587, 0.114, -0.169, -0.331, 0.500, 0.500, -0.419, - -0.081); - Matrix Y2RGB(1.000, 0.000, 1.402, 1.000, -0.345, -0.714, 1.000, 1.771, - 0.000); - Matrix S(1, 0, 0, 0, saturation, 0, 0, 0, saturation); - return Y2RGB * S * RGB2Y * ccm; -} - -void Ccm::Prepare(Metadata *image_metadata) -{ - bool awb_ok = false, lux_ok = false; - struct AwbStatus awb = {}; - awb.temperature_K = 4000; // in case no metadata - struct LuxStatus lux = {}; - lux.lux = 400; // in case no metadata - { - // grab mutex just once to get everything - std::lock_guard<Metadata> lock(*image_metadata); - awb_ok = get_locked(image_metadata, "awb.status", awb); - lux_ok = get_locked(image_metadata, "lux.status", lux); - } - if (!awb_ok) - LOG(RPiCcm, Warning) << "no colour temperature found"; - if (!lux_ok) - LOG(RPiCcm, Warning) << "no lux value found"; - Matrix ccm = calculate_ccm(config_.ccms, awb.temperature_K); - double saturation = saturation_; - struct CcmStatus ccm_status; - ccm_status.saturation = saturation; - if (!config_.saturation.Empty()) - saturation *= config_.saturation.Eval( - config_.saturation.Domain().Clip(lux.lux)); - ccm = apply_saturation(ccm, saturation); - for (int j = 0; j < 3; j++) - for (int i = 0; i < 3; i++) - ccm_status.matrix[j * 3 + i] = - std::max(-8.0, std::min(7.9999, ccm.m[j][i])); - LOG(RPiCcm, Debug) - << "colour temperature " << awb.temperature_K << "K"; - LOG(RPiCcm, Debug) - << "CCM: " << ccm_status.matrix[0] << " " << ccm_status.matrix[1] - << " " << ccm_status.matrix[2] << " " - << ccm_status.matrix[3] << " " << ccm_status.matrix[4] - << " " << ccm_status.matrix[5] << " " - << ccm_status.matrix[6] << " " << ccm_status.matrix[7] - << " " << ccm_status.matrix[8]; - image_metadata->Set("ccm.status", ccm_status); -} - -// Register algorithm with the system. -static Algorithm *Create(Controller *controller) -{ - return (Algorithm *)new Ccm(controller); - ; -} -static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/raspberrypi/controller/rpi/contrast.cpp b/src/ipa/raspberrypi/controller/rpi/contrast.cpp deleted file mode 100644 index ae55aad5..00000000 --- a/src/ipa/raspberrypi/controller/rpi/contrast.cpp +++ /dev/null @@ -1,185 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * contrast.cpp - contrast (gamma) control algorithm - */ -#include <stdint.h> - -#include <libcamera/base/log.h> - -#include "../contrast_status.h" -#include "../histogram.hpp" - -#include "contrast.hpp" - -using namespace RPiController; -using namespace libcamera; - -LOG_DEFINE_CATEGORY(RPiContrast) - -// This is a very simple control algorithm which simply retrieves the results of -// AGC and AWB via their "status" metadata, and applies digital gain to the -// colour channels in accordance with those instructions. We take care never to -// apply less than unity gains, as that would cause fully saturated pixels to go -// off-white. - -#define NAME "rpi.contrast" - -Contrast::Contrast(Controller *controller) - : ContrastAlgorithm(controller), brightness_(0.0), contrast_(1.0) -{ -} - -char const *Contrast::Name() const -{ - return NAME; -} - -void Contrast::Read(boost::property_tree::ptree const ¶ms) -{ - // enable adaptive enhancement by default - config_.ce_enable = params.get<int>("ce_enable", 1); - // the point near the bottom of the histogram to move - config_.lo_histogram = params.get<double>("lo_histogram", 0.01); - // where in the range to try and move it to - config_.lo_level = params.get<double>("lo_level", 0.015); - // but don't move by more than this - config_.lo_max = params.get<double>("lo_max", 500); - // equivalent values for the top of the histogram... - config_.hi_histogram = params.get<double>("hi_histogram", 0.95); - config_.hi_level = params.get<double>("hi_level", 0.95); - config_.hi_max = params.get<double>("hi_max", 2000); - config_.gamma_curve.Read(params.get_child("gamma_curve")); -} - -void Contrast::SetBrightness(double brightness) -{ - brightness_ = brightness; -} - -void Contrast::SetContrast(double contrast) -{ - contrast_ = contrast; -} - -static void fill_in_status(ContrastStatus &status, double brightness, - double contrast, Pwl &gamma_curve) -{ - status.brightness = brightness; - status.contrast = contrast; - for (int i = 0; i < CONTRAST_NUM_POINTS - 1; i++) { - int x = i < 16 ? i * 1024 - : (i < 24 ? (i - 16) * 2048 + 16384 - : (i - 24) * 4096 + 32768); - status.points[i].x = x; - status.points[i].y = std::min(65535.0, gamma_curve.Eval(x)); - } - status.points[CONTRAST_NUM_POINTS - 1].x = 65535; - status.points[CONTRAST_NUM_POINTS - 1].y = 65535; -} - -void Contrast::Initialise() -{ - // Fill in some default values as Prepare will run before Process gets - // called. - fill_in_status(status_, brightness_, contrast_, config_.gamma_curve); -} - -void Contrast::Prepare(Metadata *image_metadata) -{ - std::unique_lock<std::mutex> lock(mutex_); - image_metadata->Set("contrast.status", status_); -} - -Pwl compute_stretch_curve(Histogram const &histogram, - ContrastConfig const &config) -{ - Pwl enhance; - enhance.Append(0, 0); - // If the start of the histogram is rather empty, try to pull it down a - // bit. - double hist_lo = histogram.Quantile(config.lo_histogram) * - (65536 / NUM_HISTOGRAM_BINS); - double level_lo = config.lo_level * 65536; - LOG(RPiContrast, Debug) - << "Move histogram point " << hist_lo << " to " << level_lo; - hist_lo = std::max( - level_lo, - std::min(65535.0, std::min(hist_lo, level_lo + config.lo_max))); - LOG(RPiContrast, Debug) - << "Final values " << hist_lo << " -> " << level_lo; - enhance.Append(hist_lo, level_lo); - // Keep the mid-point (median) in the same place, though, to limit the - // apparent amount of global brightness shift. - double mid = histogram.Quantile(0.5) * (65536 / NUM_HISTOGRAM_BINS); - enhance.Append(mid, mid); - - // If the top to the histogram is empty, try to pull the pixel values - // there up. - double hist_hi = histogram.Quantile(config.hi_histogram) * - (65536 / NUM_HISTOGRAM_BINS); - double level_hi = config.hi_level * 65536; - LOG(RPiContrast, Debug) - << "Move histogram point " << hist_hi << " to " << level_hi; - hist_hi = std::min( - level_hi, - std::max(0.0, std::max(hist_hi, level_hi - config.hi_max))); - LOG(RPiContrast, Debug) - << "Final values " << hist_hi << " -> " << level_hi; - enhance.Append(hist_hi, level_hi); - enhance.Append(65535, 65535); - return enhance; -} - -Pwl apply_manual_contrast(Pwl const &gamma_curve, double brightness, - double contrast) -{ - Pwl new_gamma_curve; - LOG(RPiContrast, Debug) - << "Manual brightness " << brightness << " contrast " << contrast; - gamma_curve.Map([&](double x, double y) { - new_gamma_curve.Append( - x, std::max(0.0, std::min(65535.0, - (y - 32768) * contrast + - 32768 + brightness))); - }); - return new_gamma_curve; -} - -void Contrast::Process(StatisticsPtr &stats, - [[maybe_unused]] Metadata *image_metadata) -{ - Histogram histogram(stats->hist[0].g_hist, NUM_HISTOGRAM_BINS); - // We look at the histogram and adjust the gamma curve in the following - // ways: 1. Adjust the gamma curve so as to pull the start of the - // histogram down, and possibly push the end up. - Pwl gamma_curve = config_.gamma_curve; - if (config_.ce_enable) { - if (config_.lo_max != 0 || config_.hi_max != 0) - gamma_curve = compute_stretch_curve(histogram, config_) - .Compose(gamma_curve); - // We could apply other adjustments (e.g. partial equalisation) - // based on the histogram...? - } - // 2. Finally apply any manually selected brightness/contrast - // adjustment. - if (brightness_ != 0 || contrast_ != 1.0) - gamma_curve = apply_manual_contrast(gamma_curve, brightness_, - contrast_); - // And fill in the status for output. Use more points towards the bottom - // of the curve. - ContrastStatus status; - fill_in_status(status, brightness_, contrast_, gamma_curve); - { - std::unique_lock<std::mutex> lock(mutex_); - status_ = status; - } -} - -// Register algorithm with the system. -static Algorithm *Create(Controller *controller) -{ - return (Algorithm *)new Contrast(controller); -} -static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/raspberrypi/controller/rpi/contrast.hpp b/src/ipa/raspberrypi/controller/rpi/contrast.hpp deleted file mode 100644 index 85624539..00000000 --- a/src/ipa/raspberrypi/controller/rpi/contrast.hpp +++ /dev/null @@ -1,50 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * contrast.hpp - contrast (gamma) control algorithm - */ -#pragma once - -#include <mutex> - -#include "../contrast_algorithm.hpp" -#include "../pwl.hpp" - -namespace RPiController { - -// Back End algorithm to appaly correct digital gain. Should be placed after -// Back End AWB. - -struct ContrastConfig { - bool ce_enable; - double lo_histogram; - double lo_level; - double lo_max; - double hi_histogram; - double hi_level; - double hi_max; - Pwl gamma_curve; -}; - -class Contrast : public ContrastAlgorithm -{ -public: - Contrast(Controller *controller = NULL); - char const *Name() const override; - void Read(boost::property_tree::ptree const ¶ms) override; - void SetBrightness(double brightness) override; - void SetContrast(double contrast) override; - void Initialise() override; - void Prepare(Metadata *image_metadata) override; - void Process(StatisticsPtr &stats, Metadata *image_metadata) override; - -private: - ContrastConfig config_; - double brightness_; - double contrast_; - ContrastStatus status_; - std::mutex mutex_; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/rpi/dpc.cpp b/src/ipa/raspberrypi/controller/rpi/dpc.cpp deleted file mode 100644 index 110f5056..00000000 --- a/src/ipa/raspberrypi/controller/rpi/dpc.cpp +++ /dev/null @@ -1,53 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * dpc.cpp - DPC (defective pixel correction) control algorithm - */ - -#include <libcamera/base/log.h> - -#include "dpc.hpp" - -using namespace RPiController; -using namespace libcamera; - -LOG_DEFINE_CATEGORY(RPiDpc) - -// We use the lux status so that we can apply stronger settings in darkness (if -// necessary). - -#define NAME "rpi.dpc" - -Dpc::Dpc(Controller *controller) - : Algorithm(controller) -{ -} - -char const *Dpc::Name() const -{ - return NAME; -} - -void Dpc::Read(boost::property_tree::ptree const ¶ms) -{ - config_.strength = params.get<int>("strength", 1); - if (config_.strength < 0 || config_.strength > 2) - throw std::runtime_error("Dpc: bad strength value"); -} - -void Dpc::Prepare(Metadata *image_metadata) -{ - DpcStatus dpc_status = {}; - // Should we vary this with lux level or analogue gain? TBD. - dpc_status.strength = config_.strength; - LOG(RPiDpc, Debug) << "strength " << dpc_status.strength; - image_metadata->Set("dpc.status", dpc_status); -} - -// Register algorithm with the system. -static Algorithm *Create(Controller *controller) -{ - return (Algorithm *)new Dpc(controller); -} -static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/raspberrypi/controller/rpi/dpc.hpp b/src/ipa/raspberrypi/controller/rpi/dpc.hpp deleted file mode 100644 index d90285c4..00000000 --- a/src/ipa/raspberrypi/controller/rpi/dpc.hpp +++ /dev/null @@ -1,32 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * dpc.hpp - DPC (defective pixel correction) control algorithm - */ -#pragma once - -#include "../algorithm.hpp" -#include "../dpc_status.h" - -namespace RPiController { - -// Back End algorithm to apply appropriate GEQ settings. - -struct DpcConfig { - int strength; -}; - -class Dpc : public Algorithm -{ -public: - Dpc(Controller *controller); - char const *Name() const override; - void Read(boost::property_tree::ptree const ¶ms) override; - void Prepare(Metadata *image_metadata) override; - -private: - DpcConfig config_; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/rpi/focus.cpp b/src/ipa/raspberrypi/controller/rpi/focus.cpp deleted file mode 100644 index a87ec802..00000000 --- a/src/ipa/raspberrypi/controller/rpi/focus.cpp +++ /dev/null @@ -1,50 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2020, Raspberry Pi (Trading) Limited - * - * focus.cpp - focus algorithm - */ -#include <stdint.h> - -#include <libcamera/base/log.h> - -#include "../focus_status.h" -#include "focus.hpp" - -using namespace RPiController; -using namespace libcamera; - -LOG_DEFINE_CATEGORY(RPiFocus) - -#define NAME "rpi.focus" - -Focus::Focus(Controller *controller) - : Algorithm(controller) -{ -} - -char const *Focus::Name() const -{ - return NAME; -} - -void Focus::Process(StatisticsPtr &stats, Metadata *image_metadata) -{ - FocusStatus status; - unsigned int i; - for (i = 0; i < FOCUS_REGIONS; i++) - status.focus_measures[i] = stats->focus_stats[i].contrast_val[1][1] / 1000; - status.num = i; - image_metadata->Set("focus.status", status); - - LOG(RPiFocus, Debug) - << "Focus contrast measure: " - << (status.focus_measures[5] + status.focus_measures[6]) / 10; -} - -/* Register algorithm with the system. */ -static Algorithm *Create(Controller *controller) -{ - return new Focus(controller); -} -static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/raspberrypi/controller/rpi/geq.cpp b/src/ipa/raspberrypi/controller/rpi/geq.cpp deleted file mode 100644 index 4530cb75..00000000 --- a/src/ipa/raspberrypi/controller/rpi/geq.cpp +++ /dev/null @@ -1,81 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * geq.cpp - GEQ (green equalisation) control algorithm - */ - -#include <libcamera/base/log.h> - -#include "../device_status.h" -#include "../lux_status.h" -#include "../pwl.hpp" - -#include "geq.hpp" - -using namespace RPiController; -using namespace libcamera; - -LOG_DEFINE_CATEGORY(RPiGeq) - -// We use the lux status so that we can apply stronger settings in darkness (if -// necessary). - -#define NAME "rpi.geq" - -Geq::Geq(Controller *controller) - : Algorithm(controller) -{ -} - -char const *Geq::Name() const -{ - return NAME; -} - -void Geq::Read(boost::property_tree::ptree const ¶ms) -{ - config_.offset = params.get<uint16_t>("offset", 0); - config_.slope = params.get<double>("slope", 0.0); - if (config_.slope < 0.0 || config_.slope >= 1.0) - throw std::runtime_error("Geq: bad slope value"); - if (params.get_child_optional("strength")) - config_.strength.Read(params.get_child("strength")); -} - -void Geq::Prepare(Metadata *image_metadata) -{ - LuxStatus lux_status = {}; - lux_status.lux = 400; - if (image_metadata->Get("lux.status", lux_status)) - LOG(RPiGeq, Warning) << "no lux data found"; - DeviceStatus device_status; - device_status.analogue_gain = 1.0; // in case not found - if (image_metadata->Get("device.status", device_status)) - LOG(RPiGeq, Warning) - << "no device metadata - use analogue gain of 1x"; - GeqStatus geq_status = {}; - double strength = - config_.strength.Empty() - ? 1.0 - : config_.strength.Eval(config_.strength.Domain().Clip( - lux_status.lux)); - strength *= device_status.analogue_gain; - double offset = config_.offset * strength; - double slope = config_.slope * strength; - geq_status.offset = std::min(65535.0, std::max(0.0, offset)); - geq_status.slope = std::min(.99999, std::max(0.0, slope)); - LOG(RPiGeq, Debug) - << "offset " << geq_status.offset << " slope " - << geq_status.slope << " (analogue gain " - << device_status.analogue_gain << " lux " - << lux_status.lux << ")"; - image_metadata->Set("geq.status", geq_status); -} - -// Register algorithm with the system. -static Algorithm *Create(Controller *controller) -{ - return (Algorithm *)new Geq(controller); -} -static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/raspberrypi/controller/rpi/geq.hpp b/src/ipa/raspberrypi/controller/rpi/geq.hpp deleted file mode 100644 index 8ba3046b..00000000 --- a/src/ipa/raspberrypi/controller/rpi/geq.hpp +++ /dev/null @@ -1,34 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * geq.hpp - GEQ (green equalisation) control algorithm - */ -#pragma once - -#include "../algorithm.hpp" -#include "../geq_status.h" - -namespace RPiController { - -// Back End algorithm to apply appropriate GEQ settings. - -struct GeqConfig { - uint16_t offset; - double slope; - Pwl strength; // lux to strength factor -}; - -class Geq : public Algorithm -{ -public: - Geq(Controller *controller); - char const *Name() const override; - void Read(boost::property_tree::ptree const ¶ms) override; - void Prepare(Metadata *image_metadata) override; - -private: - GeqConfig config_; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/rpi/lux.cpp b/src/ipa/raspberrypi/controller/rpi/lux.cpp deleted file mode 100644 index 4d145b6f..00000000 --- a/src/ipa/raspberrypi/controller/rpi/lux.cpp +++ /dev/null @@ -1,104 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * lux.cpp - Lux control algorithm - */ -#include <math.h> - -#include <linux/bcm2835-isp.h> - -#include <libcamera/base/log.h> - -#include "../device_status.h" - -#include "lux.hpp" - -using namespace RPiController; -using namespace libcamera; -using namespace std::literals::chrono_literals; - -LOG_DEFINE_CATEGORY(RPiLux) - -#define NAME "rpi.lux" - -Lux::Lux(Controller *controller) - : Algorithm(controller) -{ - // Put in some defaults as there will be no meaningful values until - // Process has run. - status_.aperture = 1.0; - status_.lux = 400; -} - -char const *Lux::Name() const -{ - return NAME; -} - -void Lux::Read(boost::property_tree::ptree const ¶ms) -{ - reference_shutter_speed_ = - params.get<double>("reference_shutter_speed") * 1.0us; - reference_gain_ = params.get<double>("reference_gain"); - reference_aperture_ = params.get<double>("reference_aperture", 1.0); - reference_Y_ = params.get<double>("reference_Y"); - reference_lux_ = params.get<double>("reference_lux"); - current_aperture_ = reference_aperture_; -} - -void Lux::SetCurrentAperture(double aperture) -{ - current_aperture_ = aperture; -} - -void Lux::Prepare(Metadata *image_metadata) -{ - std::unique_lock<std::mutex> lock(mutex_); - image_metadata->Set("lux.status", status_); -} - -void Lux::Process(StatisticsPtr &stats, Metadata *image_metadata) -{ - DeviceStatus device_status; - if (image_metadata->Get("device.status", device_status) == 0) { - double current_gain = device_status.analogue_gain; - double current_aperture = device_status.aperture.value_or(current_aperture_); - uint64_t sum = 0; - uint32_t num = 0; - uint32_t *bin = stats->hist[0].g_hist; - const int num_bins = sizeof(stats->hist[0].g_hist) / - sizeof(stats->hist[0].g_hist[0]); - for (int i = 0; i < num_bins; i++) - sum += bin[i] * (uint64_t)i, num += bin[i]; - // add .5 to reflect the mid-points of bins - double current_Y = sum / (double)num + .5; - double gain_ratio = reference_gain_ / current_gain; - double shutter_speed_ratio = - reference_shutter_speed_ / device_status.shutter_speed; - double aperture_ratio = reference_aperture_ / current_aperture; - double Y_ratio = current_Y * (65536 / num_bins) / reference_Y_; - double estimated_lux = shutter_speed_ratio * gain_ratio * - aperture_ratio * aperture_ratio * - Y_ratio * reference_lux_; - LuxStatus status; - status.lux = estimated_lux; - status.aperture = current_aperture; - LOG(RPiLux, Debug) << ": estimated lux " << estimated_lux; - { - std::unique_lock<std::mutex> lock(mutex_); - status_ = status; - } - // Overwrite the metadata here as well, so that downstream - // algorithms get the latest value. - image_metadata->Set("lux.status", status); - } else - LOG(RPiLux, Warning) << ": no device metadata"; -} - -// Register algorithm with the system. -static Algorithm *Create(Controller *controller) -{ - return (Algorithm *)new Lux(controller); -} -static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/raspberrypi/controller/rpi/lux.hpp b/src/ipa/raspberrypi/controller/rpi/lux.hpp deleted file mode 100644 index 3ebd35d1..00000000 --- a/src/ipa/raspberrypi/controller/rpi/lux.hpp +++ /dev/null @@ -1,43 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * lux.hpp - Lux control algorithm - */ -#pragma once - -#include <mutex> - -#include <libcamera/base/utils.h> - -#include "../lux_status.h" -#include "../algorithm.hpp" - -// This is our implementation of the "lux control algorithm". - -namespace RPiController { - -class Lux : public Algorithm -{ -public: - Lux(Controller *controller); - char const *Name() const override; - void Read(boost::property_tree::ptree const ¶ms) override; - void Prepare(Metadata *image_metadata) override; - void Process(StatisticsPtr &stats, Metadata *image_metadata) override; - void SetCurrentAperture(double aperture); - -private: - // These values define the conditions of the reference image, against - // which we compare the new image. - libcamera::utils::Duration reference_shutter_speed_; - double reference_gain_; - double reference_aperture_; // units of 1/f - double reference_Y_; // out of 65536 - double reference_lux_; - double current_aperture_; - LuxStatus status_; - std::mutex mutex_; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/rpi/noise.cpp b/src/ipa/raspberrypi/controller/rpi/noise.cpp deleted file mode 100644 index 63cad639..00000000 --- a/src/ipa/raspberrypi/controller/rpi/noise.cpp +++ /dev/null @@ -1,76 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * noise.cpp - Noise control algorithm - */ - -#include <math.h> - -#include <libcamera/base/log.h> - -#include "../device_status.h" -#include "../noise_status.h" - -#include "noise.hpp" - -using namespace RPiController; -using namespace libcamera; - -LOG_DEFINE_CATEGORY(RPiNoise) - -#define NAME "rpi.noise" - -Noise::Noise(Controller *controller) - : Algorithm(controller), mode_factor_(1.0) -{ -} - -char const *Noise::Name() const -{ - return NAME; -} - -void Noise::SwitchMode(CameraMode const &camera_mode, - [[maybe_unused]] Metadata *metadata) -{ - // For example, we would expect a 2x2 binned mode to have a "noise - // factor" of sqrt(2x2) = 2. (can't be less than one, right?) - mode_factor_ = std::max(1.0, camera_mode.noise_factor); -} - -void Noise::Read(boost::property_tree::ptree const ¶ms) -{ - reference_constant_ = params.get<double>("reference_constant"); - reference_slope_ = params.get<double>("reference_slope"); -} - -void Noise::Prepare(Metadata *image_metadata) -{ - struct DeviceStatus device_status; - device_status.analogue_gain = 1.0; // keep compiler calm - if (image_metadata->Get("device.status", device_status) == 0) { - // There is a slight question as to exactly how the noise - // profile, specifically the constant part of it, scales. For - // now we assume it all scales the same, and we'll revisit this - // if it proves substantially wrong. NOTE: we may also want to - // make some adjustments based on the camera mode (such as - // binning), if we knew how to discover it... - double factor = sqrt(device_status.analogue_gain) / mode_factor_; - struct NoiseStatus status; - status.noise_constant = reference_constant_ * factor; - status.noise_slope = reference_slope_ * factor; - image_metadata->Set("noise.status", status); - LOG(RPiNoise, Debug) - << "constant " << status.noise_constant - << " slope " << status.noise_slope; - } else - LOG(RPiNoise, Warning) << " no metadata"; -} - -// Register algorithm with the system. -static Algorithm *Create(Controller *controller) -{ - return new Noise(controller); -} -static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/raspberrypi/controller/rpi/noise.hpp b/src/ipa/raspberrypi/controller/rpi/noise.hpp deleted file mode 100644 index 1c9de5c8..00000000 --- a/src/ipa/raspberrypi/controller/rpi/noise.hpp +++ /dev/null @@ -1,32 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * noise.hpp - Noise control algorithm - */ -#pragma once - -#include "../algorithm.hpp" -#include "../noise_status.h" - -// This is our implementation of the "noise algorithm". - -namespace RPiController { - -class Noise : public Algorithm -{ -public: - Noise(Controller *controller); - char const *Name() const override; - void SwitchMode(CameraMode const &camera_mode, Metadata *metadata) override; - void Read(boost::property_tree::ptree const ¶ms) override; - void Prepare(Metadata *image_metadata) override; - -private: - // the noise profile for analogue gain of 1.0 - double reference_constant_; - double reference_slope_; - double mode_factor_; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/rpi/sdn.cpp b/src/ipa/raspberrypi/controller/rpi/sdn.cpp deleted file mode 100644 index 93845509..00000000 --- a/src/ipa/raspberrypi/controller/rpi/sdn.cpp +++ /dev/null @@ -1,75 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019-2021, Raspberry Pi (Trading) Limited - * - * sdn.cpp - SDN (spatial denoise) control algorithm - */ - -#include <libcamera/base/log.h> - -#include "../denoise_status.h" -#include "../noise_status.h" - -#include "sdn.hpp" - -using namespace RPiController; -using namespace libcamera; - -LOG_DEFINE_CATEGORY(RPiSdn) - -// Calculate settings for the spatial denoise block using the noise profile in -// the image metadata. - -#define NAME "rpi.sdn" - -Sdn::Sdn(Controller *controller) - : DenoiseAlgorithm(controller), mode_(DenoiseMode::ColourOff) -{ -} - -char const *Sdn::Name() const -{ - return NAME; -} - -void Sdn::Read(boost::property_tree::ptree const ¶ms) -{ - deviation_ = params.get<double>("deviation", 3.2); - strength_ = params.get<double>("strength", 0.75); -} - -void Sdn::Initialise() {} - -void Sdn::Prepare(Metadata *image_metadata) -{ - struct NoiseStatus noise_status = {}; - noise_status.noise_slope = 3.0; // in case no metadata - if (image_metadata->Get("noise.status", noise_status) != 0) - LOG(RPiSdn, Warning) << "no noise profile found"; - LOG(RPiSdn, Debug) - << "Noise profile: constant " << noise_status.noise_constant - << " slope " << noise_status.noise_slope; - struct DenoiseStatus status; - status.noise_constant = noise_status.noise_constant * deviation_; - status.noise_slope = noise_status.noise_slope * deviation_; - status.strength = strength_; - status.mode = static_cast<std::underlying_type_t<DenoiseMode>>(mode_); - image_metadata->Set("denoise.status", status); - LOG(RPiSdn, Debug) - << "programmed constant " << status.noise_constant - << " slope " << status.noise_slope - << " strength " << status.strength; -} - -void Sdn::SetMode(DenoiseMode mode) -{ - // We only distinguish between off and all other modes. - mode_ = mode; -} - -// Register algorithm with the system. -static Algorithm *Create(Controller *controller) -{ - return (Algorithm *)new Sdn(controller); -} -static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/raspberrypi/controller/rpi/sdn.hpp b/src/ipa/raspberrypi/controller/rpi/sdn.hpp deleted file mode 100644 index 2371ce04..00000000 --- a/src/ipa/raspberrypi/controller/rpi/sdn.hpp +++ /dev/null @@ -1,32 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * sdn.hpp - SDN (spatial denoise) control algorithm - */ -#pragma once - -#include "../algorithm.hpp" -#include "../denoise_algorithm.hpp" - -namespace RPiController { - -// Algorithm to calculate correct spatial denoise (SDN) settings. - -class Sdn : public DenoiseAlgorithm -{ -public: - Sdn(Controller *controller = NULL); - char const *Name() const override; - void Read(boost::property_tree::ptree const ¶ms) override; - void Initialise() override; - void Prepare(Metadata *image_metadata) override; - void SetMode(DenoiseMode mode) override; - -private: - double deviation_; - double strength_; - DenoiseMode mode_; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/rpi/sharpen.cpp b/src/ipa/raspberrypi/controller/rpi/sharpen.cpp deleted file mode 100644 index 18825a43..00000000 --- a/src/ipa/raspberrypi/controller/rpi/sharpen.cpp +++ /dev/null @@ -1,85 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * sharpen.cpp - sharpening control algorithm - */ - -#include <math.h> - -#include <libcamera/base/log.h> - -#include "../sharpen_status.h" - -#include "sharpen.hpp" - -using namespace RPiController; -using namespace libcamera; - -LOG_DEFINE_CATEGORY(RPiSharpen) - -#define NAME "rpi.sharpen" - -Sharpen::Sharpen(Controller *controller) - : SharpenAlgorithm(controller), user_strength_(1.0) -{ -} - -char const *Sharpen::Name() const -{ - return NAME; -} - -void Sharpen::SwitchMode(CameraMode const &camera_mode, - [[maybe_unused]] Metadata *metadata) -{ - // can't be less than one, right? - mode_factor_ = std::max(1.0, camera_mode.noise_factor); -} - -void Sharpen::Read(boost::property_tree::ptree const ¶ms) -{ - threshold_ = params.get<double>("threshold", 1.0); - strength_ = params.get<double>("strength", 1.0); - limit_ = params.get<double>("limit", 1.0); - LOG(RPiSharpen, Debug) - << "Read threshold " << threshold_ - << " strength " << strength_ - << " limit " << limit_; -} - -void Sharpen::SetStrength(double strength) -{ - // Note that this function is how an application sets the overall - // sharpening "strength". We call this the "user strength" field - // as there already is a strength_ field - being an internal gain - // parameter that gets passed to the ISP control code. Negative - // values are not allowed - coerce them to zero (no sharpening). - user_strength_ = std::max(0.0, strength); -} - -void Sharpen::Prepare(Metadata *image_metadata) -{ - // The user_strength_ affects the algorithm's internal gain directly, but - // we adjust the limit and threshold less aggressively. Using a sqrt - // function is an arbitrary but gentle way of accomplishing this. - double user_strength_sqrt = sqrt(user_strength_); - struct SharpenStatus status; - // Binned modes seem to need the sharpening toned down with this - // pipeline, thus we use the mode_factor here. Also avoid - // divide-by-zero with the user_strength_sqrt. - status.threshold = threshold_ * mode_factor_ / - std::max(0.01, user_strength_sqrt); - status.strength = strength_ / mode_factor_ * user_strength_; - status.limit = limit_ / mode_factor_ * user_strength_sqrt; - // Finally, report any application-supplied parameters that were used. - status.user_strength = user_strength_; - image_metadata->Set("sharpen.status", status); -} - -// Register algorithm with the system. -static Algorithm *Create(Controller *controller) -{ - return new Sharpen(controller); -} -static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/raspberrypi/controller/rpi/sharpen.hpp b/src/ipa/raspberrypi/controller/rpi/sharpen.hpp deleted file mode 100644 index 13a076a8..00000000 --- a/src/ipa/raspberrypi/controller/rpi/sharpen.hpp +++ /dev/null @@ -1,34 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * sharpen.hpp - sharpening control algorithm - */ -#pragma once - -#include "../sharpen_algorithm.hpp" -#include "../sharpen_status.h" - -// This is our implementation of the "sharpen algorithm". - -namespace RPiController { - -class Sharpen : public SharpenAlgorithm -{ -public: - Sharpen(Controller *controller); - char const *Name() const override; - void SwitchMode(CameraMode const &camera_mode, Metadata *metadata) override; - void Read(boost::property_tree::ptree const ¶ms) override; - void SetStrength(double strength) override; - void Prepare(Metadata *image_metadata) override; - -private: - double threshold_; - double strength_; - double limit_; - double mode_factor_; - double user_strength_; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/sharpen_algorithm.hpp b/src/ipa/raspberrypi/controller/sharpen_algorithm.hpp deleted file mode 100644 index ca800308..00000000 --- a/src/ipa/raspberrypi/controller/sharpen_algorithm.hpp +++ /dev/null @@ -1,21 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2020, Raspberry Pi (Trading) Limited - * - * sharpen_algorithm.hpp - sharpness control algorithm interface - */ -#pragma once - -#include "algorithm.hpp" - -namespace RPiController { - -class SharpenAlgorithm : public Algorithm -{ -public: - SharpenAlgorithm(Controller *controller) : Algorithm(controller) {} - // A sharpness control algorithm must provide the following: - virtual void SetStrength(double strength) = 0; -}; - -} // namespace RPiController diff --git a/src/ipa/raspberrypi/controller/sharpen_status.h b/src/ipa/raspberrypi/controller/sharpen_status.h deleted file mode 100644 index 7501b191..00000000 --- a/src/ipa/raspberrypi/controller/sharpen_status.h +++ /dev/null @@ -1,28 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited - * - * sharpen_status.h - Sharpen control algorithm status - */ -#pragma once - -// The "sharpen" algorithm stores the strength to use. - -#ifdef __cplusplus -extern "C" { -#endif - -struct SharpenStatus { - // controls the smallest level of detail (or noise!) that sharpening will pick up - double threshold; - // the rate at which the sharpening response ramps once above the threshold - double strength; - // upper limit of the allowed sharpening response - double limit; - // The sharpening strength requested by the user or application. - double user_strength; -}; - -#ifdef __cplusplus -} -#endif diff --git a/src/ipa/raspberrypi/data/imx219.json b/src/ipa/raspberrypi/data/imx219.json deleted file mode 100644 index de59d936..00000000 --- a/src/ipa/raspberrypi/data/imx219.json +++ /dev/null @@ -1,412 +0,0 @@ -{ - "rpi.black_level": - { - "black_level": 4096 - }, - "rpi.dpc": - { - - }, - "rpi.lux": - { - "reference_shutter_speed": 27685, - "reference_gain": 1.0, - "reference_aperture": 1.0, - "reference_lux": 998, - "reference_Y": 12744 - }, - "rpi.noise": - { - "reference_constant": 0, - "reference_slope": 3.67 - }, - "rpi.geq": - { - "offset": 204, - "slope": 0.01633 - }, - "rpi.sdn": - { - - }, - "rpi.awb": - { - "priors": - [ - { - "lux": 0, "prior": - [ - 2000, 1.0, 3000, 0.0, 13000, 0.0 - ] - }, - { - "lux": 800, "prior": - [ - 2000, 0.0, 6000, 2.0, 13000, 2.0 - ] - }, - { - "lux": 1500, "prior": - [ - 2000, 0.0, 4000, 1.0, 6000, 6.0, 6500, 7.0, 7000, 1.0, 13000, 1.0 - ] - } - ], - "modes": - { - "auto": - { - "lo": 2500, - "hi": 8000 - }, - "incandescent": - { - "lo": 2500, - "hi": 3000 - }, - "tungsten": - { - "lo": 3000, - "hi": 3500 - }, - "fluorescent": - { - "lo": 4000, - "hi": 4700 - }, - "indoor": - { - "lo": 3000, - "hi": 5000 - }, - "daylight": - { - "lo": 5500, - "hi": 6500 - }, - "cloudy": - { - "lo": 7000, - "hi": 8600 - } - }, - "bayes": 1, - "ct_curve": - [ - 2498.0, 0.9309, 0.3599, 2911.0, 0.8682, 0.4283, 2919.0, 0.8358, 0.4621, 3627.0, 0.7646, 0.5327, 4600.0, 0.6079, 0.6721, 5716.0, - 0.5712, 0.7017, 8575.0, 0.4331, 0.8037 - ], - "sensitivity_r": 1.05, - "sensitivity_b": 1.05, - "transverse_pos": 0.04791, - "transverse_neg": 0.04881 - }, - "rpi.agc": - { - "metering_modes": - { - "centre-weighted": - { - "weights": - [ - 3, 3, 3, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 - ] - }, - "spot": - { - "weights": - [ - 2, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 - ] - }, - "matrix": - { - "weights": - [ - 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 - ] - } - }, - "exposure_modes": - { - "normal": - { - "shutter": - [ - 100, 10000, 30000, 60000, 66666 - ], - "gain": - [ - 1.0, 2.0, 4.0, 6.0, 8.0 - ] - }, - "short": - { - "shutter": - [ - 100, 5000, 10000, 20000, 33333 - ], - "gain": - [ - 1.0, 2.0, 4.0, 6.0, 8.0 - ] - }, - "long": - { - "shutter": - [ - 100, 10000, 30000, 60000, 120000 - ], - "gain": - [ - 1.0, 2.0, 4.0, 6.0, 12.0 - ] - } - }, - "constraint_modes": - { - "normal": - [ - { - "bound": "LOWER", "q_lo": 0.98, "q_hi": 1.0, "y_target": - [ - 0, 0.5, 1000, 0.5 - ] - } - ], - "highlight": - [ - { - "bound": "LOWER", "q_lo": 0.98, "q_hi": 1.0, "y_target": - [ - 0, 0.5, 1000, 0.5 - ] - }, - { - "bound": "UPPER", "q_lo": 0.98, "q_hi": 1.0, "y_target": - 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32768, 54876, 36864, 57012, 40960, 58656, 45056, 59954, 49152, 61183, 53248, 62355, 57344, 63419, 61440, 64476, - 65535, 65535 - ] - }, - "rpi.ccm": - { - "ccms": - [ - { - "ct": 2900, "ccm": - [ - 1.44924, -0.12935, -0.31989, -0.65839, 1.95441, -0.29602, 0.18344, -1.22282, 2.03938 - ] - }, - { - "ct": 3000, "ccm": - [ - 1.38736, 0.07714, -0.46451, -0.59691, 1.84335, -0.24644, 0.10092, -1.30441, 2.20349 - ] - }, - { - "ct": 3600, "ccm": - [ - 1.51261, -0.27921, -0.23339, -0.55129, 1.83241, -0.28111, 0.11649, -0.93195, 1.81546 - ] - }, - { - "ct": 4600, "ccm": - [ - 1.47082, -0.18523, -0.28559, -0.48923, 1.95126, -0.46203, 0.07951, -0.83987, 1.76036 - ] - }, - { - "ct": 5800, "ccm": - [ - 1.57294, -0.36229, -0.21065, -0.42272, 1.80305, -0.38032, 0.03671, -0.66862, 1.63191 - ] - }, - { - "ct": 8100, "ccm": - [ - 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 - } -} diff --git a/src/ipa/raspberrypi/data/uncalibrated.json b/src/ipa/raspberrypi/data/uncalibrated.json deleted file mode 100644 index 16a01e94..00000000 --- a/src/ipa/raspberrypi/data/uncalibrated.json +++ /dev/null @@ -1,82 +0,0 @@ -{ - "rpi.black_level": - { - "black_level": 4096 - }, - "rpi.awb": - { - "use_derivatives": 0, - "bayes": 0 - }, - "rpi.agc": - { - "metering_modes": - { - "centre-weighted": { - "weights": [4, 4, 4, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0] - } - }, - "exposure_modes": - { - "normal": - { - "shutter": [ 100, 15000, 30000, 60000, 120000 ], - "gain": [ 1.0, 2.0, 3.0, 4.0, 6.0 ] - } - }, - "constraint_modes": - { - "normal": - [ - { "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 - ] - } -} diff --git a/src/ipa/raspberrypi/md_parser_smia.cpp b/src/ipa/raspberrypi/md_parser_smia.cpp deleted file mode 100644 index ea5eac41..00000000 --- a/src/ipa/raspberrypi/md_parser_smia.cpp +++ /dev/null @@ -1,149 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019-2021, Raspberry Pi (Trading) Limited - * - * md_parser_smia.cpp - SMIA specification based embedded data parser - */ - -#include <libcamera/base/log.h> -#include "md_parser.hpp" - -using namespace RPiController; -using namespace libcamera; - -/* - * This function goes through the embedded data to find the offsets (not - * values!), in the data block, where the values of the given registers can - * subsequently be found. - * - * Embedded data tag bytes, from Sony IMX219 datasheet but general to all SMIA - * sensors, I think. - */ - -constexpr unsigned int LINE_START = 0x0a; -constexpr unsigned int LINE_END_TAG = 0x07; -constexpr unsigned int REG_HI_BITS = 0xaa; -constexpr unsigned int REG_LOW_BITS = 0xa5; -constexpr unsigned int REG_VALUE = 0x5a; -constexpr unsigned int REG_SKIP = 0x55; - -MdParserSmia::MdParserSmia(std::initializer_list<uint32_t> registerList) -{ - for (auto r : registerList) - offsets_[r] = {}; -} - -MdParser::Status MdParserSmia::Parse(libcamera::Span<const uint8_t> buffer, - RegisterMap ®isters) -{ - if (reset_) { - /* - * Search again through the metadata for all the registers - * requested. - */ - ASSERT(bits_per_pixel_); - - for (const auto &kv : offsets_) - offsets_[kv.first] = {}; - - ParseStatus ret = findRegs(buffer); - /* - * > 0 means "worked partially but parse again next time", - * < 0 means "hard error". - * - * In either case, we retry parsing on the next frame. - */ - if (ret != PARSE_OK) - return ERROR; - - reset_ = false; - } - - /* Populate the register values requested. */ - registers.clear(); - for (const auto &[reg, offset] : offsets_) { - if (!offset) { - reset_ = true; - return NOTFOUND; - } - registers[reg] = buffer[offset.value()]; - } - - return OK; -} - -MdParserSmia::ParseStatus MdParserSmia::findRegs(libcamera::Span<const uint8_t> buffer) -{ - ASSERT(offsets_.size()); - - if (buffer[0] != LINE_START) - return NO_LINE_START; - - unsigned int current_offset = 1; /* after the LINE_START */ - unsigned int current_line_start = 0, current_line = 0; - unsigned int reg_num = 0, regs_done = 0; - - while (1) { - int tag = buffer[current_offset++]; - - if ((bits_per_pixel_ == 10 && - (current_offset + 1 - current_line_start) % 5 == 0) || - (bits_per_pixel_ == 12 && - (current_offset + 1 - current_line_start) % 3 == 0)) { - if (buffer[current_offset++] != REG_SKIP) - return BAD_DUMMY; - } - - int data_byte = buffer[current_offset++]; - - if (tag == LINE_END_TAG) { - if (data_byte != LINE_END_TAG) - return BAD_LINE_END; - - if (num_lines_ && ++current_line == num_lines_) - return MISSING_REGS; - - if (line_length_bytes_) { - current_offset = current_line_start + line_length_bytes_; - - /* Require whole line to be in the buffer (if buffer size set). */ - if (buffer.size() && - current_offset + line_length_bytes_ > buffer.size()) - return MISSING_REGS; - - if (buffer[current_offset] != LINE_START) - return NO_LINE_START; - } else { - /* allow a zero line length to mean "hunt for the next line" */ - while (current_offset < buffer.size() && - buffer[current_offset] != LINE_START) - current_offset++; - - if (current_offset == buffer.size()) - return NO_LINE_START; - } - - /* inc current_offset to after LINE_START */ - current_line_start = current_offset++; - } else { - if (tag == REG_HI_BITS) - reg_num = (reg_num & 0xff) | (data_byte << 8); - else if (tag == REG_LOW_BITS) - reg_num = (reg_num & 0xff00) | data_byte; - else if (tag == REG_SKIP) - reg_num++; - else if (tag == REG_VALUE) { - auto reg = offsets_.find(reg_num); - - if (reg != offsets_.end()) { - offsets_[reg_num] = current_offset - 1; - - if (++regs_done == offsets_.size()) - return PARSE_OK; - } - reg_num++; - } else - return ILLEGAL_TAG; - } - } -} diff --git a/src/ipa/raspberrypi/meson.build b/src/ipa/raspberrypi/meson.build deleted file mode 100644 index 32897e07..00000000 --- a/src/ipa/raspberrypi/meson.build +++ /dev/null @@ -1,66 +0,0 @@ -# SPDX-License-Identifier: CC0-1.0 - -ipa_name = 'ipa_rpi' - -rpi_ipa_deps = [ - libcamera_private, - dependency('boost'), - libatomic, -] - -rpi_ipa_includes = [ - ipa_includes, - libipa_includes, - include_directories('controller') -] - -rpi_ipa_sources = files([ - 'raspberrypi.cpp', - 'md_parser_smia.cpp', - 'cam_helper.cpp', - 'cam_helper_ov5647.cpp', - 'cam_helper_imx219.cpp', - 'cam_helper_imx290.cpp', - 'cam_helper_imx296.cpp', - 'cam_helper_imx477.cpp', - 'cam_helper_imx519.cpp', - 'cam_helper_ov9281.cpp', - 'controller/controller.cpp', - 'controller/histogram.cpp', - 'controller/algorithm.cpp', - 'controller/rpi/alsc.cpp', - 'controller/rpi/awb.cpp', - 'controller/rpi/sharpen.cpp', - 'controller/rpi/black_level.cpp', - 'controller/rpi/focus.cpp', - 'controller/rpi/geq.cpp', - 'controller/rpi/noise.cpp', - 'controller/rpi/lux.cpp', - 'controller/rpi/agc.cpp', - 'controller/rpi/dpc.cpp', - 'controller/rpi/ccm.cpp', - 'controller/rpi/contrast.cpp', - 'controller/rpi/sdn.cpp', - 'controller/pwl.cpp', - 'controller/device_status.cpp', -]) - -mod = shared_module(ipa_name, - [rpi_ipa_sources, libcamera_generated_ipa_headers], - name_prefix : '', - include_directories : rpi_ipa_includes, - dependencies : rpi_ipa_deps, - link_with : libipa, - install : true, - install_dir : ipa_install_dir) - -if ipa_sign_module - custom_target(ipa_name + '.so.sign', - input : mod, - output : ipa_name + '.so.sign', - command : [ipa_sign, ipa_priv_key, '@INPUT@', '@OUTPUT@'], - install : false, - build_by_default : true) -endif - -subdir('data') diff --git a/src/ipa/raspberrypi/raspberrypi.cpp b/src/ipa/raspberrypi/raspberrypi.cpp deleted file mode 100644 index f8d37b87..00000000 --- a/src/ipa/raspberrypi/raspberrypi.cpp +++ /dev/null @@ -1,1460 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2019-2021, Raspberry Pi (Trading) Ltd. - * - * rpi.cpp - Raspberry Pi Image Processing Algorithms - */ - -#include <algorithm> -#include <array> -#include <fcntl.h> -#include <math.h> -#include <stdint.h> -#include <string.h> -#include <sys/mman.h> - -#include <linux/bcm2835-isp.h> - -#include <libcamera/base/log.h> -#include <libcamera/base/shared_fd.h> -#include <libcamera/base/span.h> - -#include <libcamera/control_ids.h> -#include <libcamera/controls.h> -#include <libcamera/framebuffer.h> -#include <libcamera/ipa/ipa_interface.h> -#include <libcamera/ipa/ipa_module_info.h> -#include <libcamera/ipa/raspberrypi_ipa_interface.h> -#include <libcamera/request.h> - -#include "libcamera/internal/mapped_framebuffer.h" - -#include "agc_algorithm.hpp" -#include "agc_status.h" -#include "alsc_status.h" -#include "awb_algorithm.hpp" -#include "awb_status.h" -#include "black_level_status.h" -#include "cam_helper.hpp" -#include "ccm_algorithm.hpp" -#include "ccm_status.h" -#include "contrast_algorithm.hpp" -#include "contrast_status.h" -#include "controller.hpp" -#include "denoise_algorithm.hpp" -#include "denoise_status.h" -#include "dpc_status.h" -#include "focus_status.h" -#include "geq_status.h" -#include "lux_status.h" -#include "metadata.hpp" -#include "noise_status.h" -#include "sharpen_algorithm.hpp" -#include "sharpen_status.h" - -namespace libcamera { - -using namespace std::literals::chrono_literals; -using utils::Duration; - -/* Configure the sensor with these values initially. */ -constexpr double defaultAnalogueGain = 1.0; -constexpr Duration defaultExposureTime = 20.0ms; -constexpr Duration defaultMinFrameDuration = 1.0s / 30.0; -constexpr Duration defaultMaxFrameDuration = 250.0s; - -/* - * Determine the minimum allowable inter-frame duration to run the controller - * algorithms. If the pipeline handler provider frames at a rate higher than this, - * we rate-limit the controller Prepare() and Process() calls to lower than or - * equal to this rate. - */ -constexpr Duration controllerMinFrameDuration = 1.0s / 30.0; - -/* List of controls handled by the Raspberry Pi IPA */ -static const ControlInfoMap::Map ipaControls{ - { &controls::AeEnable, ControlInfo(false, true) }, - { &controls::ExposureTime, ControlInfo(0, 66666) }, - { &controls::AnalogueGain, ControlInfo(1.0f, 16.0f) }, - { &controls::AeMeteringMode, ControlInfo(controls::AeMeteringModeValues) }, - { &controls::AeConstraintMode, ControlInfo(controls::AeConstraintModeValues) }, - { &controls::AeExposureMode, ControlInfo(controls::AeExposureModeValues) }, - { &controls::ExposureValue, ControlInfo(-8.0f, 8.0f, 0.0f) }, - { &controls::AwbEnable, ControlInfo(false, true) }, - { &controls::ColourGains, ControlInfo(0.0f, 32.0f) }, - { &controls::AwbMode, ControlInfo(controls::AwbModeValues) }, - { &controls::Brightness, ControlInfo(-1.0f, 1.0f, 0.0f) }, - { &controls::Contrast, ControlInfo(0.0f, 32.0f, 1.0f) }, - { &controls::Saturation, ControlInfo(0.0f, 32.0f, 1.0f) }, - { &controls::Sharpness, ControlInfo(0.0f, 16.0f, 1.0f) }, - { &controls::ColourCorrectionMatrix, ControlInfo(-16.0f, 16.0f) }, - { &controls::ScalerCrop, ControlInfo(Rectangle{}, Rectangle(65535, 65535, 65535, 65535), Rectangle{}) }, - { &controls::FrameDurationLimits, ControlInfo(INT64_C(33333), INT64_C(120000)) }, - { &controls::draft::NoiseReductionMode, ControlInfo(controls::draft::NoiseReductionModeValues) } -}; - -LOG_DEFINE_CATEGORY(IPARPI) - -namespace ipa::RPi { - -class IPARPi : public IPARPiInterface -{ -public: - IPARPi() - : controller_(), frameCount_(0), checkCount_(0), mistrustCount_(0), - lastRunTimestamp_(0), lsTable_(nullptr), firstStart_(true) - { - } - - ~IPARPi() - { - if (lsTable_) - munmap(lsTable_, MaxLsGridSize); - } - - int init(const IPASettings &settings, IPAInitResult *result) override; - void start(const ControlList &controls, StartConfig *startConfig) override; - void stop() override {} - - int configure(const IPACameraSensorInfo &sensorInfo, - const std::map<unsigned int, IPAStream> &streamConfig, - const std::map<unsigned int, ControlInfoMap> &entityControls, - const IPAConfig &data, - ControlList *controls, IPAConfigResult *result) override; - void mapBuffers(const std::vector<IPABuffer> &buffers) override; - void unmapBuffers(const std::vector<unsigned int> &ids) override; - void signalStatReady(const uint32_t bufferId) override; - void signalQueueRequest(const ControlList &controls) override; - void signalIspPrepare(const ISPConfig &data) override; - -private: - void setMode(const IPACameraSensorInfo &sensorInfo); - bool validateSensorControls(); - bool validateIspControls(); - void queueRequest(const ControlList &controls); - void returnEmbeddedBuffer(unsigned int bufferId); - void prepareISP(const ISPConfig &data); - void reportMetadata(); - void fillDeviceStatus(const ControlList &sensorControls); - void processStats(unsigned int bufferId); - void applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration); - void applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls); - void applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls); - void applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls); - void applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls); - void applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, ControlList &ctrls); - void applyGamma(const struct ContrastStatus *contrastStatus, ControlList &ctrls); - void applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls); - void applyDenoise(const struct DenoiseStatus *denoiseStatus, ControlList &ctrls); - void applySharpen(const struct SharpenStatus *sharpenStatus, ControlList &ctrls); - void applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls); - void applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls); - void resampleTable(uint16_t dest[], double const src[12][16], int destW, int destH); - - std::map<unsigned int, MappedFrameBuffer> buffers_; - - ControlInfoMap sensorCtrls_; - ControlInfoMap ispCtrls_; - ControlList libcameraMetadata_; - - /* Camera sensor params. */ - CameraMode mode_; - - /* Raspberry Pi controller specific defines. */ - std::unique_ptr<RPiController::CamHelper> helper_; - RPiController::Controller controller_; - RPiController::Metadata rpiMetadata_; - - /* - * We count frames to decide if the frame must be hidden (e.g. from - * display) or mistrusted (i.e. not given to the control algos). - */ - uint64_t frameCount_; - - /* For checking the sequencing of Prepare/Process calls. */ - uint64_t checkCount_; - - /* How many frames we should avoid running control algos on. */ - unsigned int mistrustCount_; - - /* Number of frames that need to be dropped on startup. */ - unsigned int dropFrameCount_; - - /* Frame timestamp for the last run of the controller. */ - uint64_t lastRunTimestamp_; - - /* Do we run a Controller::process() for this frame? */ - bool processPending_; - - /* LS table allocation passed in from the pipeline handler. */ - SharedFD lsTableHandle_; - void *lsTable_; - - /* Distinguish the first camera start from others. */ - bool firstStart_; - - /* Frame duration (1/fps) limits. */ - Duration minFrameDuration_; - Duration maxFrameDuration_; - - /* Maximum gain code for the sensor. */ - uint32_t maxSensorGainCode_; -}; - -int IPARPi::init(const IPASettings &settings, IPAInitResult *result) -{ - /* - * Load the "helper" for this sensor. This tells us all the device specific stuff - * that the kernel driver doesn't. We only do this the first time; we don't need - * to re-parse the metadata after a simple mode-switch for no reason. - */ - helper_ = std::unique_ptr<RPiController::CamHelper>(RPiController::CamHelper::Create(settings.sensorModel)); - if (!helper_) { - LOG(IPARPI, Error) << "Could not create camera helper for " - << settings.sensorModel; - return -EINVAL; - } - - /* - * Pass out the sensor config to the pipeline handler in order - * to setup the staggered writer class. - */ - int gainDelay, exposureDelay, vblankDelay, sensorMetadata; - helper_->GetDelays(exposureDelay, gainDelay, vblankDelay); - sensorMetadata = helper_->SensorEmbeddedDataPresent(); - - result->sensorConfig.gainDelay = gainDelay; - result->sensorConfig.exposureDelay = exposureDelay; - result->sensorConfig.vblankDelay = vblankDelay; - result->sensorConfig.sensorMetadata = sensorMetadata; - - /* Load the tuning file for this sensor. */ - controller_.Read(settings.configurationFile.c_str()); - controller_.Initialise(); - - /* Return the controls handled by the IPA */ - ControlInfoMap::Map ctrlMap = ipaControls; - result->controlInfo = ControlInfoMap(std::move(ctrlMap), controls::controls); - - return 0; -} - -void IPARPi::start(const ControlList &controls, StartConfig *startConfig) -{ - RPiController::Metadata metadata; - - ASSERT(startConfig); - if (!controls.empty()) { - /* We have been given some controls to action before start. */ - queueRequest(controls); - } - - controller_.SwitchMode(mode_, &metadata); - - /* SwitchMode may supply updated exposure/gain values to use. */ - AgcStatus agcStatus; - agcStatus.shutter_time = 0.0s; - agcStatus.analogue_gain = 0.0; - - metadata.Get("agc.status", agcStatus); - if (agcStatus.shutter_time && agcStatus.analogue_gain) { - ControlList ctrls(sensorCtrls_); - applyAGC(&agcStatus, ctrls); - startConfig->controls = std::move(ctrls); - } - - /* - * Initialise frame counts, and decide how many frames must be hidden or - * "mistrusted", which depends on whether this is a startup from cold, - * or merely a mode switch in a running system. - */ - frameCount_ = 0; - checkCount_ = 0; - if (firstStart_) { - dropFrameCount_ = helper_->HideFramesStartup(); - mistrustCount_ = helper_->MistrustFramesStartup(); - - /* - * Query the AGC/AWB for how many frames they may take to - * converge sufficiently. Where these numbers are non-zero - * we must allow for the frames with bad statistics - * (mistrustCount_) that they won't see. But if zero (i.e. - * no convergence necessary), no frames need to be dropped. - */ - unsigned int agcConvergenceFrames = 0; - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.GetAlgorithm("agc")); - if (agc) { - agcConvergenceFrames = agc->GetConvergenceFrames(); - if (agcConvergenceFrames) - agcConvergenceFrames += mistrustCount_; - } - - unsigned int awbConvergenceFrames = 0; - RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( - controller_.GetAlgorithm("awb")); - if (awb) { - awbConvergenceFrames = awb->GetConvergenceFrames(); - if (awbConvergenceFrames) - awbConvergenceFrames += mistrustCount_; - } - - dropFrameCount_ = std::max({ dropFrameCount_, agcConvergenceFrames, awbConvergenceFrames }); - LOG(IPARPI, Debug) << "Drop " << dropFrameCount_ << " frames on startup"; - } else { - dropFrameCount_ = helper_->HideFramesModeSwitch(); - mistrustCount_ = helper_->MistrustFramesModeSwitch(); - } - - startConfig->dropFrameCount = dropFrameCount_; - const Duration maxSensorFrameDuration = mode_.max_frame_length * mode_.line_length; - startConfig->maxSensorFrameLengthMs = maxSensorFrameDuration.get<std::milli>(); - - firstStart_ = false; - lastRunTimestamp_ = 0; -} - -void IPARPi::setMode(const IPACameraSensorInfo &sensorInfo) -{ - mode_.bitdepth = sensorInfo.bitsPerPixel; - mode_.width = sensorInfo.outputSize.width; - mode_.height = sensorInfo.outputSize.height; - mode_.sensor_width = sensorInfo.activeAreaSize.width; - mode_.sensor_height = sensorInfo.activeAreaSize.height; - mode_.crop_x = sensorInfo.analogCrop.x; - mode_.crop_y = sensorInfo.analogCrop.y; - - /* - * Calculate scaling parameters. The scale_[xy] factors are determined - * by the ratio between the crop rectangle size and the output size. - */ - mode_.scale_x = sensorInfo.analogCrop.width / sensorInfo.outputSize.width; - mode_.scale_y = sensorInfo.analogCrop.height / sensorInfo.outputSize.height; - - /* - * We're not told by the pipeline handler how scaling is split between - * binning and digital scaling. For now, as a heuristic, assume that - * downscaling up to 2 is achieved through binning, and that any - * additional scaling is achieved through digital scaling. - * - * \todo Get the pipeline handle to provide the full data - */ - mode_.bin_x = std::min(2, static_cast<int>(mode_.scale_x)); - mode_.bin_y = std::min(2, static_cast<int>(mode_.scale_y)); - - /* The noise factor is the square root of the total binning factor. */ - mode_.noise_factor = sqrt(mode_.bin_x * mode_.bin_y); - - /* - * Calculate the line length as the ratio between the line length in - * pixels and the pixel rate. - */ - mode_.line_length = sensorInfo.lineLength * (1.0s / sensorInfo.pixelRate); - - /* - * Set the frame length limits for the mode to ensure exposure and - * framerate calculations are clipped appropriately. - */ - mode_.min_frame_length = sensorInfo.minFrameLength; - mode_.max_frame_length = sensorInfo.maxFrameLength; - - /* - * Some sensors may have different sensitivities in different modes; - * the CamHelper will know the correct value. - */ - mode_.sensitivity = helper_->GetModeSensitivity(mode_); -} - -int IPARPi::configure(const IPACameraSensorInfo &sensorInfo, - [[maybe_unused]] const std::map<unsigned int, IPAStream> &streamConfig, - const std::map<unsigned int, ControlInfoMap> &entityControls, - const IPAConfig &ipaConfig, - ControlList *controls, IPAConfigResult *result) -{ - if (entityControls.size() != 2) { - LOG(IPARPI, Error) << "No ISP or sensor controls found."; - return -1; - } - - sensorCtrls_ = entityControls.at(0); - ispCtrls_ = entityControls.at(1); - - if (!validateSensorControls()) { - LOG(IPARPI, Error) << "Sensor control validation failed."; - return -1; - } - - if (!validateIspControls()) { - LOG(IPARPI, Error) << "ISP control validation failed."; - return -1; - } - - maxSensorGainCode_ = sensorCtrls_.at(V4L2_CID_ANALOGUE_GAIN).max().get<int32_t>(); - - /* Setup a metadata ControlList to output metadata. */ - libcameraMetadata_ = ControlList(controls::controls); - - /* Re-assemble camera mode using the sensor info. */ - setMode(sensorInfo); - - mode_.transform = static_cast<libcamera::Transform>(ipaConfig.transform); - - /* Store the lens shading table pointer and handle if available. */ - if (ipaConfig.lsTableHandle.isValid()) { - /* Remove any previous table, if there was one. */ - if (lsTable_) { - munmap(lsTable_, MaxLsGridSize); - lsTable_ = nullptr; - } - - /* Map the LS table buffer into user space. */ - lsTableHandle_ = std::move(ipaConfig.lsTableHandle); - if (lsTableHandle_.isValid()) { - lsTable_ = mmap(nullptr, MaxLsGridSize, PROT_READ | PROT_WRITE, - MAP_SHARED, lsTableHandle_.get(), 0); - - if (lsTable_ == MAP_FAILED) { - LOG(IPARPI, Error) << "dmaHeap mmap failure for LS table."; - lsTable_ = nullptr; - } - } - } - - /* Pass the camera mode to the CamHelper to setup algorithms. */ - helper_->SetCameraMode(mode_); - - /* - * Initialise this ControlList correctly, even if empty, in case the IPA is - * running is isolation mode (passing the ControlList through the IPC layer). - */ - ControlList ctrls(sensorCtrls_); - - /* The pipeline handler passes out the mode's sensitivity. */ - result->modeSensitivity = mode_.sensitivity; - - if (firstStart_) { - /* Supply initial values for frame durations. */ - applyFrameDurations(defaultMinFrameDuration, defaultMaxFrameDuration); - - /* Supply initial values for gain and exposure. */ - AgcStatus agcStatus; - agcStatus.shutter_time = defaultExposureTime; - agcStatus.analogue_gain = defaultAnalogueGain; - applyAGC(&agcStatus, ctrls); - } - - ASSERT(controls); - *controls = std::move(ctrls); - - /* - * Apply the correct limits to the exposure, gain and frame duration controls - * based on the current sensor mode. - */ - ControlInfoMap::Map ctrlMap = ipaControls; - const Duration minSensorFrameDuration = mode_.min_frame_length * mode_.line_length; - const Duration maxSensorFrameDuration = mode_.max_frame_length * mode_.line_length; - ctrlMap[&controls::FrameDurationLimits] = - ControlInfo(static_cast<int64_t>(minSensorFrameDuration.get<std::micro>()), - static_cast<int64_t>(maxSensorFrameDuration.get<std::micro>())); - - ctrlMap[&controls::AnalogueGain] = - ControlInfo(1.0f, static_cast<float>(helper_->Gain(maxSensorGainCode_))); - - /* - * Calculate the max exposure limit from the frame duration limit as V4L2 - * will limit the maximum control value based on the current VBLANK value. - */ - Duration maxShutter = Duration::max(); - helper_->GetVBlanking(maxShutter, minSensorFrameDuration, maxSensorFrameDuration); - const uint32_t exposureMin = sensorCtrls_.at(V4L2_CID_EXPOSURE).min().get<int32_t>(); - - ctrlMap[&controls::ExposureTime] = - ControlInfo(static_cast<int32_t>(helper_->Exposure(exposureMin).get<std::micro>()), - static_cast<int32_t>(maxShutter.get<std::micro>())); - - result->controlInfo = ControlInfoMap(std::move(ctrlMap), controls::controls); - return 0; -} - -void IPARPi::mapBuffers(const std::vector<IPABuffer> &buffers) -{ - for (const IPABuffer &buffer : buffers) { - const FrameBuffer fb(buffer.planes); - buffers_.emplace(buffer.id, - MappedFrameBuffer(&fb, MappedFrameBuffer::MapFlag::ReadWrite)); - } -} - -void IPARPi::unmapBuffers(const std::vector<unsigned int> &ids) -{ - for (unsigned int id : ids) { - auto it = buffers_.find(id); - if (it == buffers_.end()) - continue; - - buffers_.erase(id); - } -} - -void IPARPi::signalStatReady(uint32_t bufferId) -{ - if (++checkCount_ != frameCount_) /* assert here? */ - LOG(IPARPI, Error) << "WARNING: Prepare/Process mismatch!!!"; - if (processPending_ && frameCount_ > mistrustCount_) - processStats(bufferId); - - reportMetadata(); - - statsMetadataComplete.emit(bufferId & MaskID, libcameraMetadata_); -} - -void IPARPi::signalQueueRequest(const ControlList &controls) -{ - queueRequest(controls); -} - -void IPARPi::signalIspPrepare(const ISPConfig &data) -{ - /* - * At start-up, or after a mode-switch, we may want to - * avoid running the control algos for a few frames in case - * they are "unreliable". - */ - prepareISP(data); - frameCount_++; - - /* Ready to push the input buffer into the ISP. */ - runIsp.emit(data.bayerBufferId & MaskID); -} - -void IPARPi::reportMetadata() -{ - std::unique_lock<RPiController::Metadata> lock(rpiMetadata_); - - /* - * Certain information about the current frame and how it will be - * processed can be extracted and placed into the libcamera metadata - * buffer, where an application could query it. - */ - DeviceStatus *deviceStatus = rpiMetadata_.GetLocked<DeviceStatus>("device.status"); - if (deviceStatus) { - libcameraMetadata_.set(controls::ExposureTime, - deviceStatus->shutter_speed.get<std::micro>()); - libcameraMetadata_.set(controls::AnalogueGain, deviceStatus->analogue_gain); - libcameraMetadata_.set(controls::FrameDuration, - helper_->Exposure(deviceStatus->frame_length).get<std::micro>()); - if (deviceStatus->sensor_temperature) - libcameraMetadata_.set(controls::SensorTemperature, *deviceStatus->sensor_temperature); - } - - AgcStatus *agcStatus = rpiMetadata_.GetLocked<AgcStatus>("agc.status"); - if (agcStatus) { - libcameraMetadata_.set(controls::AeLocked, agcStatus->locked); - libcameraMetadata_.set(controls::DigitalGain, agcStatus->digital_gain); - } - - LuxStatus *luxStatus = rpiMetadata_.GetLocked<LuxStatus>("lux.status"); - if (luxStatus) - libcameraMetadata_.set(controls::Lux, luxStatus->lux); - - AwbStatus *awbStatus = rpiMetadata_.GetLocked<AwbStatus>("awb.status"); - if (awbStatus) { - libcameraMetadata_.set(controls::ColourGains, { static_cast<float>(awbStatus->gain_r), - static_cast<float>(awbStatus->gain_b) }); - libcameraMetadata_.set(controls::ColourTemperature, awbStatus->temperature_K); - } - - BlackLevelStatus *blackLevelStatus = rpiMetadata_.GetLocked<BlackLevelStatus>("black_level.status"); - if (blackLevelStatus) - libcameraMetadata_.set(controls::SensorBlackLevels, - { static_cast<int32_t>(blackLevelStatus->black_level_r), - static_cast<int32_t>(blackLevelStatus->black_level_g), - static_cast<int32_t>(blackLevelStatus->black_level_g), - static_cast<int32_t>(blackLevelStatus->black_level_b) }); - - FocusStatus *focusStatus = rpiMetadata_.GetLocked<FocusStatus>("focus.status"); - if (focusStatus && focusStatus->num == 12) { - /* - * We get a 4x3 grid of regions by default. Calculate the average - * FoM over the central two positions to give an overall scene FoM. - * This can change later if it is not deemed suitable. - */ - int32_t focusFoM = (focusStatus->focus_measures[5] + focusStatus->focus_measures[6]) / 2; - libcameraMetadata_.set(controls::FocusFoM, focusFoM); - } - - CcmStatus *ccmStatus = rpiMetadata_.GetLocked<CcmStatus>("ccm.status"); - if (ccmStatus) { - float m[9]; - for (unsigned int i = 0; i < 9; i++) - m[i] = ccmStatus->matrix[i]; - libcameraMetadata_.set(controls::ColourCorrectionMatrix, m); - } -} - -bool IPARPi::validateSensorControls() -{ - static const uint32_t ctrls[] = { - V4L2_CID_ANALOGUE_GAIN, - V4L2_CID_EXPOSURE, - V4L2_CID_VBLANK, - }; - - for (auto c : ctrls) { - if (sensorCtrls_.find(c) == sensorCtrls_.end()) { - LOG(IPARPI, Error) << "Unable to find sensor control " - << utils::hex(c); - return false; - } - } - - return true; -} - -bool IPARPi::validateIspControls() -{ - static const uint32_t ctrls[] = { - V4L2_CID_RED_BALANCE, - V4L2_CID_BLUE_BALANCE, - V4L2_CID_DIGITAL_GAIN, - V4L2_CID_USER_BCM2835_ISP_CC_MATRIX, - V4L2_CID_USER_BCM2835_ISP_GAMMA, - V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL, - V4L2_CID_USER_BCM2835_ISP_GEQ, - V4L2_CID_USER_BCM2835_ISP_DENOISE, - V4L2_CID_USER_BCM2835_ISP_SHARPEN, - V4L2_CID_USER_BCM2835_ISP_DPC, - V4L2_CID_USER_BCM2835_ISP_LENS_SHADING, - V4L2_CID_USER_BCM2835_ISP_CDN, - }; - - for (auto c : ctrls) { - if (ispCtrls_.find(c) == ispCtrls_.end()) { - LOG(IPARPI, Error) << "Unable to find ISP control " - << utils::hex(c); - return false; - } - } - - return true; -} - -/* - * Converting between enums (used in the libcamera API) and the names that - * we use to identify different modes. Unfortunately, the conversion tables - * must be kept up-to-date by hand. - */ -static const std::map<int32_t, std::string> MeteringModeTable = { - { controls::MeteringCentreWeighted, "centre-weighted" }, - { controls::MeteringSpot, "spot" }, - { controls::MeteringMatrix, "matrix" }, - { controls::MeteringCustom, "custom" }, -}; - -static const std::map<int32_t, std::string> ConstraintModeTable = { - { controls::ConstraintNormal, "normal" }, - { controls::ConstraintHighlight, "highlight" }, - { controls::ConstraintCustom, "custom" }, -}; - -static const std::map<int32_t, std::string> ExposureModeTable = { - { controls::ExposureNormal, "normal" }, - { controls::ExposureShort, "short" }, - { controls::ExposureLong, "long" }, - { controls::ExposureCustom, "custom" }, -}; - -static const std::map<int32_t, std::string> AwbModeTable = { - { controls::AwbAuto, "auto" }, - { controls::AwbIncandescent, "incandescent" }, - { controls::AwbTungsten, "tungsten" }, - { controls::AwbFluorescent, "fluorescent" }, - { controls::AwbIndoor, "indoor" }, - { controls::AwbDaylight, "daylight" }, - { controls::AwbCloudy, "cloudy" }, - { controls::AwbCustom, "custom" }, -}; - -static const std::map<int32_t, RPiController::DenoiseMode> DenoiseModeTable = { - { controls::draft::NoiseReductionModeOff, RPiController::DenoiseMode::Off }, - { controls::draft::NoiseReductionModeFast, RPiController::DenoiseMode::ColourFast }, - { controls::draft::NoiseReductionModeHighQuality, RPiController::DenoiseMode::ColourHighQuality }, - { controls::draft::NoiseReductionModeMinimal, RPiController::DenoiseMode::ColourOff }, - { controls::draft::NoiseReductionModeZSL, RPiController::DenoiseMode::ColourHighQuality }, -}; - -void IPARPi::queueRequest(const ControlList &controls) -{ - /* Clear the return metadata buffer. */ - libcameraMetadata_.clear(); - - for (auto const &ctrl : controls) { - LOG(IPARPI, Debug) << "Request ctrl: " - << controls::controls.at(ctrl.first)->name() - << " = " << ctrl.second.toString(); - - switch (ctrl.first) { - case controls::AE_ENABLE: { - RPiController::Algorithm *agc = controller_.GetAlgorithm("agc"); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set AE_ENABLE - no AGC algorithm"; - break; - } - - if (ctrl.second.get<bool>() == false) - agc->Pause(); - else - agc->Resume(); - - libcameraMetadata_.set(controls::AeEnable, ctrl.second.get<bool>()); - break; - } - - case controls::EXPOSURE_TIME: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.GetAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set EXPOSURE_TIME - no AGC algorithm"; - break; - } - - /* The control provides units of microseconds. */ - agc->SetFixedShutter(ctrl.second.get<int32_t>() * 1.0us); - - libcameraMetadata_.set(controls::ExposureTime, ctrl.second.get<int32_t>()); - break; - } - - case controls::ANALOGUE_GAIN: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.GetAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set ANALOGUE_GAIN - no AGC algorithm"; - break; - } - - agc->SetFixedAnalogueGain(ctrl.second.get<float>()); - - libcameraMetadata_.set(controls::AnalogueGain, - ctrl.second.get<float>()); - break; - } - - case controls::AE_METERING_MODE: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.GetAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set AE_METERING_MODE - no AGC algorithm"; - break; - } - - int32_t idx = ctrl.second.get<int32_t>(); - if (MeteringModeTable.count(idx)) { - agc->SetMeteringMode(MeteringModeTable.at(idx)); - libcameraMetadata_.set(controls::AeMeteringMode, idx); - } else { - LOG(IPARPI, Error) << "Metering mode " << idx - << " not recognised"; - } - break; - } - - case controls::AE_CONSTRAINT_MODE: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.GetAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set AE_CONSTRAINT_MODE - no AGC algorithm"; - break; - } - - int32_t idx = ctrl.second.get<int32_t>(); - if (ConstraintModeTable.count(idx)) { - agc->SetConstraintMode(ConstraintModeTable.at(idx)); - libcameraMetadata_.set(controls::AeConstraintMode, idx); - } else { - LOG(IPARPI, Error) << "Constraint mode " << idx - << " not recognised"; - } - break; - } - - case controls::AE_EXPOSURE_MODE: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.GetAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set AE_EXPOSURE_MODE - no AGC algorithm"; - break; - } - - int32_t idx = ctrl.second.get<int32_t>(); - if (ExposureModeTable.count(idx)) { - agc->SetExposureMode(ExposureModeTable.at(idx)); - libcameraMetadata_.set(controls::AeExposureMode, idx); - } else { - LOG(IPARPI, Error) << "Exposure mode " << idx - << " not recognised"; - } - break; - } - - case controls::EXPOSURE_VALUE: { - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.GetAlgorithm("agc")); - if (!agc) { - LOG(IPARPI, Warning) - << "Could not set EXPOSURE_VALUE - no AGC algorithm"; - break; - } - - /* - * The SetEv() function takes in a direct exposure multiplier. - * So convert to 2^EV - */ - double ev = pow(2.0, ctrl.second.get<float>()); - agc->SetEv(ev); - libcameraMetadata_.set(controls::ExposureValue, - ctrl.second.get<float>()); - break; - } - - case controls::AWB_ENABLE: { - RPiController::Algorithm *awb = controller_.GetAlgorithm("awb"); - if (!awb) { - LOG(IPARPI, Warning) - << "Could not set AWB_ENABLE - no AWB algorithm"; - break; - } - - if (ctrl.second.get<bool>() == false) - awb->Pause(); - else - awb->Resume(); - - libcameraMetadata_.set(controls::AwbEnable, - ctrl.second.get<bool>()); - break; - } - - case controls::AWB_MODE: { - RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( - controller_.GetAlgorithm("awb")); - if (!awb) { - LOG(IPARPI, Warning) - << "Could not set AWB_MODE - no AWB algorithm"; - break; - } - - int32_t idx = ctrl.second.get<int32_t>(); - if (AwbModeTable.count(idx)) { - awb->SetMode(AwbModeTable.at(idx)); - libcameraMetadata_.set(controls::AwbMode, idx); - } else { - LOG(IPARPI, Error) << "AWB mode " << idx - << " not recognised"; - } - break; - } - - case controls::COLOUR_GAINS: { - auto gains = ctrl.second.get<Span<const float>>(); - RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( - controller_.GetAlgorithm("awb")); - if (!awb) { - LOG(IPARPI, Warning) - << "Could not set COLOUR_GAINS - no AWB algorithm"; - break; - } - - awb->SetManualGains(gains[0], gains[1]); - if (gains[0] != 0.0f && gains[1] != 0.0f) - /* A gain of 0.0f will switch back to auto mode. */ - libcameraMetadata_.set(controls::ColourGains, - { gains[0], gains[1] }); - break; - } - - case controls::BRIGHTNESS: { - RPiController::ContrastAlgorithm *contrast = dynamic_cast<RPiController::ContrastAlgorithm *>( - controller_.GetAlgorithm("contrast")); - if (!contrast) { - LOG(IPARPI, Warning) - << "Could not set BRIGHTNESS - no contrast algorithm"; - break; - } - - contrast->SetBrightness(ctrl.second.get<float>() * 65536); - libcameraMetadata_.set(controls::Brightness, - ctrl.second.get<float>()); - break; - } - - case controls::CONTRAST: { - RPiController::ContrastAlgorithm *contrast = dynamic_cast<RPiController::ContrastAlgorithm *>( - controller_.GetAlgorithm("contrast")); - if (!contrast) { - LOG(IPARPI, Warning) - << "Could not set CONTRAST - no contrast algorithm"; - break; - } - - contrast->SetContrast(ctrl.second.get<float>()); - libcameraMetadata_.set(controls::Contrast, - ctrl.second.get<float>()); - break; - } - - case controls::SATURATION: { - RPiController::CcmAlgorithm *ccm = dynamic_cast<RPiController::CcmAlgorithm *>( - controller_.GetAlgorithm("ccm")); - if (!ccm) { - LOG(IPARPI, Warning) - << "Could not set SATURATION - no ccm algorithm"; - break; - } - - ccm->SetSaturation(ctrl.second.get<float>()); - libcameraMetadata_.set(controls::Saturation, - ctrl.second.get<float>()); - break; - } - - case controls::SHARPNESS: { - RPiController::SharpenAlgorithm *sharpen = dynamic_cast<RPiController::SharpenAlgorithm *>( - controller_.GetAlgorithm("sharpen")); - if (!sharpen) { - LOG(IPARPI, Warning) - << "Could not set SHARPNESS - no sharpen algorithm"; - break; - } - - sharpen->SetStrength(ctrl.second.get<float>()); - libcameraMetadata_.set(controls::Sharpness, - ctrl.second.get<float>()); - break; - } - - case controls::SCALER_CROP: { - /* We do nothing with this, but should avoid the warning below. */ - break; - } - - case controls::FRAME_DURATION_LIMITS: { - auto frameDurations = ctrl.second.get<Span<const int64_t>>(); - applyFrameDurations(frameDurations[0] * 1.0us, frameDurations[1] * 1.0us); - break; - } - - case controls::NOISE_REDUCTION_MODE: { - RPiController::DenoiseAlgorithm *sdn = dynamic_cast<RPiController::DenoiseAlgorithm *>( - controller_.GetAlgorithm("SDN")); - if (!sdn) { - LOG(IPARPI, Warning) - << "Could not set NOISE_REDUCTION_MODE - no SDN algorithm"; - break; - } - - int32_t idx = ctrl.second.get<int32_t>(); - auto mode = DenoiseModeTable.find(idx); - if (mode != DenoiseModeTable.end()) { - sdn->SetMode(mode->second); - - /* - * \todo If the colour denoise is not going to run due to an - * analysis image resolution or format mismatch, we should - * report the status correctly in the metadata. - */ - libcameraMetadata_.set(controls::draft::NoiseReductionMode, idx); - } else { - LOG(IPARPI, Error) << "Noise reduction mode " << idx - << " not recognised"; - } - break; - } - - default: - LOG(IPARPI, Warning) - << "Ctrl " << controls::controls.at(ctrl.first)->name() - << " is not handled."; - break; - } - } -} - -void IPARPi::returnEmbeddedBuffer(unsigned int bufferId) -{ - embeddedComplete.emit(bufferId & MaskID); -} - -void IPARPi::prepareISP(const ISPConfig &data) -{ - int64_t frameTimestamp = data.controls.get(controls::SensorTimestamp); - RPiController::Metadata lastMetadata; - Span<uint8_t> embeddedBuffer; - - lastMetadata = std::move(rpiMetadata_); - fillDeviceStatus(data.controls); - - if (data.embeddedBufferPresent) { - /* - * Pipeline handler has supplied us with an embedded data buffer, - * we must pass it to the CamHelper for parsing. - */ - auto it = buffers_.find(data.embeddedBufferId); - ASSERT(it != buffers_.end()); - embeddedBuffer = it->second.planes()[0]; - } - - /* - * This may overwrite the DeviceStatus using values from the sensor - * metadata, and may also do additional custom processing. - */ - helper_->Prepare(embeddedBuffer, rpiMetadata_); - - /* Done with embedded data now, return to pipeline handler asap. */ - if (data.embeddedBufferPresent) - returnEmbeddedBuffer(data.embeddedBufferId); - - /* Allow a 10% margin on the comparison below. */ - Duration delta = (frameTimestamp - lastRunTimestamp_) * 1.0ns; - if (lastRunTimestamp_ && frameCount_ > dropFrameCount_ && - delta < controllerMinFrameDuration * 0.9) { - /* - * Ensure we merge the previous frame's metadata with the current - * frame. This will not overwrite exposure/gain values for the - * current frame, or any other bits of metadata that were added - * in helper_->Prepare(). - */ - rpiMetadata_.Merge(lastMetadata); - processPending_ = false; - return; - } - - lastRunTimestamp_ = frameTimestamp; - processPending_ = true; - - ControlList ctrls(ispCtrls_); - - controller_.Prepare(&rpiMetadata_); - - /* Lock the metadata buffer to avoid constant locks/unlocks. */ - std::unique_lock<RPiController::Metadata> lock(rpiMetadata_); - - AwbStatus *awbStatus = rpiMetadata_.GetLocked<AwbStatus>("awb.status"); - if (awbStatus) - applyAWB(awbStatus, ctrls); - - CcmStatus *ccmStatus = rpiMetadata_.GetLocked<CcmStatus>("ccm.status"); - if (ccmStatus) - applyCCM(ccmStatus, ctrls); - - AgcStatus *dgStatus = rpiMetadata_.GetLocked<AgcStatus>("agc.status"); - if (dgStatus) - applyDG(dgStatus, ctrls); - - AlscStatus *lsStatus = rpiMetadata_.GetLocked<AlscStatus>("alsc.status"); - if (lsStatus) - applyLS(lsStatus, ctrls); - - ContrastStatus *contrastStatus = rpiMetadata_.GetLocked<ContrastStatus>("contrast.status"); - if (contrastStatus) - applyGamma(contrastStatus, ctrls); - - BlackLevelStatus *blackLevelStatus = rpiMetadata_.GetLocked<BlackLevelStatus>("black_level.status"); - if (blackLevelStatus) - applyBlackLevel(blackLevelStatus, ctrls); - - GeqStatus *geqStatus = rpiMetadata_.GetLocked<GeqStatus>("geq.status"); - if (geqStatus) - applyGEQ(geqStatus, ctrls); - - DenoiseStatus *denoiseStatus = rpiMetadata_.GetLocked<DenoiseStatus>("denoise.status"); - if (denoiseStatus) - applyDenoise(denoiseStatus, ctrls); - - SharpenStatus *sharpenStatus = rpiMetadata_.GetLocked<SharpenStatus>("sharpen.status"); - if (sharpenStatus) - applySharpen(sharpenStatus, ctrls); - - DpcStatus *dpcStatus = rpiMetadata_.GetLocked<DpcStatus>("dpc.status"); - if (dpcStatus) - applyDPC(dpcStatus, ctrls); - - if (!ctrls.empty()) - setIspControls.emit(ctrls); -} - -void IPARPi::fillDeviceStatus(const ControlList &sensorControls) -{ - DeviceStatus deviceStatus = {}; - - int32_t exposureLines = sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>(); - int32_t gainCode = sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>(); - int32_t vblank = sensorControls.get(V4L2_CID_VBLANK).get<int32_t>(); - - deviceStatus.shutter_speed = helper_->Exposure(exposureLines); - deviceStatus.analogue_gain = helper_->Gain(gainCode); - deviceStatus.frame_length = mode_.height + vblank; - - LOG(IPARPI, Debug) << "Metadata - " << deviceStatus; - - rpiMetadata_.Set("device.status", deviceStatus); -} - -void IPARPi::processStats(unsigned int bufferId) -{ - auto it = buffers_.find(bufferId); - if (it == buffers_.end()) { - LOG(IPARPI, Error) << "Could not find stats buffer!"; - return; - } - - Span<uint8_t> mem = it->second.planes()[0]; - bcm2835_isp_stats *stats = reinterpret_cast<bcm2835_isp_stats *>(mem.data()); - RPiController::StatisticsPtr statistics = std::make_shared<bcm2835_isp_stats>(*stats); - helper_->Process(statistics, rpiMetadata_); - controller_.Process(statistics, &rpiMetadata_); - - struct AgcStatus agcStatus; - if (rpiMetadata_.Get("agc.status", agcStatus) == 0) { - ControlList ctrls(sensorCtrls_); - applyAGC(&agcStatus, ctrls); - - setDelayedControls.emit(ctrls); - } -} - -void IPARPi::applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls) -{ - LOG(IPARPI, Debug) << "Applying WB R: " << awbStatus->gain_r << " B: " - << awbStatus->gain_b; - - ctrls.set(V4L2_CID_RED_BALANCE, - static_cast<int32_t>(awbStatus->gain_r * 1000)); - ctrls.set(V4L2_CID_BLUE_BALANCE, - static_cast<int32_t>(awbStatus->gain_b * 1000)); -} - -void IPARPi::applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration) -{ - const Duration minSensorFrameDuration = mode_.min_frame_length * mode_.line_length; - const Duration maxSensorFrameDuration = mode_.max_frame_length * mode_.line_length; - - /* - * This will only be applied once AGC recalculations occur. - * The values may be clamped based on the sensor mode capabilities as well. - */ - minFrameDuration_ = minFrameDuration ? minFrameDuration : defaultMaxFrameDuration; - maxFrameDuration_ = maxFrameDuration ? maxFrameDuration : defaultMinFrameDuration; - minFrameDuration_ = std::clamp(minFrameDuration_, - minSensorFrameDuration, maxSensorFrameDuration); - maxFrameDuration_ = std::clamp(maxFrameDuration_, - minSensorFrameDuration, maxSensorFrameDuration); - maxFrameDuration_ = std::max(maxFrameDuration_, minFrameDuration_); - - /* Return the validated limits via metadata. */ - libcameraMetadata_.set(controls::FrameDurationLimits, - { static_cast<int64_t>(minFrameDuration_.get<std::micro>()), - static_cast<int64_t>(maxFrameDuration_.get<std::micro>()) }); - - /* - * Calculate the maximum exposure time possible for the AGC to use. - * GetVBlanking() will update maxShutter with the largest exposure - * value possible. - */ - Duration maxShutter = Duration::max(); - helper_->GetVBlanking(maxShutter, minFrameDuration_, maxFrameDuration_); - - RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( - controller_.GetAlgorithm("agc")); - agc->SetMaxShutter(maxShutter); -} - -void IPARPi::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls) -{ - int32_t gainCode = helper_->GainCode(agcStatus->analogue_gain); - - /* - * Ensure anything larger than the max gain code will not be passed to - * DelayedControls. The AGC will correctly handle a lower gain returned - * by the sensor, provided it knows the actual gain used. - */ - gainCode = std::min<int32_t>(gainCode, maxSensorGainCode_); - - /* GetVBlanking might clip exposure time to the fps limits. */ - Duration exposure = agcStatus->shutter_time; - int32_t vblanking = helper_->GetVBlanking(exposure, minFrameDuration_, maxFrameDuration_); - int32_t exposureLines = helper_->ExposureLines(exposure); - - LOG(IPARPI, Debug) << "Applying AGC Exposure: " << exposure - << " (Shutter lines: " << exposureLines << ", AGC requested " - << agcStatus->shutter_time << ") Gain: " - << agcStatus->analogue_gain << " (Gain Code: " - << gainCode << ")"; - - /* - * Due to the behavior of V4L2, the current value of VBLANK could clip the - * exposure time without us knowing. The next time though this function should - * clip exposure correctly. - */ - ctrls.set(V4L2_CID_VBLANK, vblanking); - ctrls.set(V4L2_CID_EXPOSURE, exposureLines); - ctrls.set(V4L2_CID_ANALOGUE_GAIN, gainCode); -} - -void IPARPi::applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls) -{ - ctrls.set(V4L2_CID_DIGITAL_GAIN, - static_cast<int32_t>(dgStatus->digital_gain * 1000)); -} - -void IPARPi::applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls) -{ - bcm2835_isp_custom_ccm ccm; - - for (int i = 0; i < 9; i++) { - ccm.ccm.ccm[i / 3][i % 3].den = 1000; - ccm.ccm.ccm[i / 3][i % 3].num = 1000 * ccmStatus->matrix[i]; - } - - ccm.enabled = 1; - ccm.ccm.offsets[0] = ccm.ccm.offsets[1] = ccm.ccm.offsets[2] = 0; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&ccm), - sizeof(ccm) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_CC_MATRIX, c); -} - -void IPARPi::applyGamma(const struct ContrastStatus *contrastStatus, ControlList &ctrls) -{ - struct bcm2835_isp_gamma gamma; - - gamma.enabled = 1; - for (int i = 0; i < CONTRAST_NUM_POINTS; i++) { - gamma.x[i] = contrastStatus->points[i].x; - gamma.y[i] = contrastStatus->points[i].y; - } - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&gamma), - sizeof(gamma) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_GAMMA, c); -} - -void IPARPi::applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, ControlList &ctrls) -{ - bcm2835_isp_black_level blackLevel; - - blackLevel.enabled = 1; - blackLevel.black_level_r = blackLevelStatus->black_level_r; - blackLevel.black_level_g = blackLevelStatus->black_level_g; - blackLevel.black_level_b = blackLevelStatus->black_level_b; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&blackLevel), - sizeof(blackLevel) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL, c); -} - -void IPARPi::applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls) -{ - bcm2835_isp_geq geq; - - geq.enabled = 1; - geq.offset = geqStatus->offset; - geq.slope.den = 1000; - geq.slope.num = 1000 * geqStatus->slope; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&geq), - sizeof(geq) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_GEQ, c); -} - -void IPARPi::applyDenoise(const struct DenoiseStatus *denoiseStatus, ControlList &ctrls) -{ - using RPiController::DenoiseMode; - - bcm2835_isp_denoise denoise; - DenoiseMode mode = static_cast<DenoiseMode>(denoiseStatus->mode); - - denoise.enabled = mode != DenoiseMode::Off; - denoise.constant = denoiseStatus->noise_constant; - denoise.slope.num = 1000 * denoiseStatus->noise_slope; - denoise.slope.den = 1000; - denoise.strength.num = 1000 * denoiseStatus->strength; - denoise.strength.den = 1000; - - /* Set the CDN mode to match the SDN operating mode. */ - bcm2835_isp_cdn cdn; - switch (mode) { - case DenoiseMode::ColourFast: - cdn.enabled = 1; - cdn.mode = CDN_MODE_FAST; - break; - case DenoiseMode::ColourHighQuality: - cdn.enabled = 1; - cdn.mode = CDN_MODE_HIGH_QUALITY; - break; - default: - cdn.enabled = 0; - } - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&denoise), - sizeof(denoise) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_DENOISE, c); - - c = ControlValue(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&cdn), - sizeof(cdn) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_CDN, c); -} - -void IPARPi::applySharpen(const struct SharpenStatus *sharpenStatus, ControlList &ctrls) -{ - bcm2835_isp_sharpen sharpen; - - sharpen.enabled = 1; - sharpen.threshold.num = 1000 * sharpenStatus->threshold; - sharpen.threshold.den = 1000; - sharpen.strength.num = 1000 * sharpenStatus->strength; - sharpen.strength.den = 1000; - sharpen.limit.num = 1000 * sharpenStatus->limit; - sharpen.limit.den = 1000; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&sharpen), - sizeof(sharpen) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_SHARPEN, c); -} - -void IPARPi::applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls) -{ - bcm2835_isp_dpc dpc; - - dpc.enabled = 1; - dpc.strength = dpcStatus->strength; - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&dpc), - sizeof(dpc) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_DPC, c); -} - -void IPARPi::applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls) -{ - /* - * Program lens shading tables into pipeline. - * Choose smallest cell size that won't exceed 63x48 cells. - */ - const int cellSizes[] = { 16, 32, 64, 128, 256 }; - unsigned int numCells = std::size(cellSizes); - unsigned int i, w, h, cellSize; - for (i = 0; i < numCells; i++) { - cellSize = cellSizes[i]; - w = (mode_.width + cellSize - 1) / cellSize; - h = (mode_.height + cellSize - 1) / cellSize; - if (w < 64 && h <= 48) - break; - } - - if (i == numCells) { - LOG(IPARPI, Error) << "Cannot find cell size"; - return; - } - - /* We're going to supply corner sampled tables, 16 bit samples. */ - w++, h++; - bcm2835_isp_lens_shading ls = { - .enabled = 1, - .grid_cell_size = cellSize, - .grid_width = w, - .grid_stride = w, - .grid_height = h, - /* .dmabuf will be filled in by pipeline handler. */ - .dmabuf = 0, - .ref_transform = 0, - .corner_sampled = 1, - .gain_format = GAIN_FORMAT_U4P10 - }; - - if (!lsTable_ || w * h * 4 * sizeof(uint16_t) > MaxLsGridSize) { - LOG(IPARPI, Error) << "Do not have a correctly allocate lens shading table!"; - return; - } - - if (lsStatus) { - /* Format will be u4.10 */ - uint16_t *grid = static_cast<uint16_t *>(lsTable_); - - resampleTable(grid, lsStatus->r, w, h); - resampleTable(grid + w * h, lsStatus->g, w, h); - std::memcpy(grid + 2 * w * h, grid + w * h, w * h * sizeof(uint16_t)); - resampleTable(grid + 3 * w * h, lsStatus->b, w, h); - } - - ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&ls), - sizeof(ls) }); - ctrls.set(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING, c); -} - -/* - * Resamples a 16x12 table with central sampling to destW x destH with corner - * sampling. - */ -void IPARPi::resampleTable(uint16_t dest[], double const src[12][16], - int destW, int destH) -{ - /* - * Precalculate and cache the x sampling locations and phases to - * save recomputing them on every row. - */ - assert(destW > 1 && destH > 1 && destW <= 64); - int xLo[64], xHi[64]; - double xf[64]; - double x = -0.5, xInc = 16.0 / (destW - 1); - for (int i = 0; i < destW; i++, x += xInc) { - xLo[i] = floor(x); - xf[i] = x - xLo[i]; - xHi[i] = xLo[i] < 15 ? xLo[i] + 1 : 15; - xLo[i] = xLo[i] > 0 ? xLo[i] : 0; - } - - /* Now march over the output table generating the new values. */ - double y = -0.5, yInc = 12.0 / (destH - 1); - for (int j = 0; j < destH; j++, y += yInc) { - int yLo = floor(y); - double yf = y - yLo; - int yHi = yLo < 11 ? yLo + 1 : 11; - yLo = yLo > 0 ? yLo : 0; - double const *rowAbove = src[yLo]; - double const *rowBelow = src[yHi]; - for (int i = 0; i < destW; i++) { - double above = rowAbove[xLo[i]] * (1 - xf[i]) + rowAbove[xHi[i]] * xf[i]; - double below = rowBelow[xLo[i]] * (1 - xf[i]) + rowBelow[xHi[i]] * xf[i]; - int result = floor(1024 * (above * (1 - yf) + below * yf) + .5); - *(dest++) = result > 16383 ? 16383 : result; /* want u4.10 */ - } - } -} - -} /* namespace ipa::RPi */ - -/* - * External IPA module interface - */ -extern "C" { -const struct IPAModuleInfo ipaModuleInfo = { - IPA_MODULE_API_VERSION, - 1, - "PipelineHandlerRPi", - "raspberrypi", -}; - -IPAInterface *ipaCreate() -{ - return new ipa::RPi::IPARPi(); -} - -} /* extern "C" */ - -} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/agc.cpp b/src/ipa/rkisp1/algorithms/agc.cpp index a1bb7d97..50e0690f 100644 --- a/src/ipa/rkisp1/algorithms/agc.cpp +++ b/src/ipa/rkisp1/algorithms/agc.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * agc.cpp - AGC/AEC mean-based control algorithm + * AGC/AEC mean-based control algorithm */ #include "agc.h" @@ -14,6 +14,7 @@ #include <libcamera/base/log.h> #include <libcamera/base/utils.h> +#include <libcamera/control_ids.h> #include <libcamera/ipa/core_ipa_interface.h> #include "libipa/histogram.h" @@ -35,32 +36,32 @@ namespace ipa::rkisp1::algorithms { LOG_DEFINE_CATEGORY(RkISP1Agc) -/* Limits for analogue gain values */ -static constexpr double kMinAnalogueGain = 1.0; -static constexpr double kMaxAnalogueGain = 8.0; - -/* \todo Honour the FrameDurationLimits control instead of hardcoding a limit */ -static constexpr utils::Duration kMaxShutterSpeed = 60ms; - -/* Number of frames to wait before calculating stats on minimum exposure */ -static constexpr uint32_t kNumStartupFrames = 10; - -/* Target value to reach for the top 2% of the histogram */ -static constexpr double kEvGainTarget = 0.5; +Agc::Agc() +{ + supportsRaw_ = true; +} -/* - * Relative luminance target. +/** + * \brief Initialise the AGC algorithm from tuning files + * \param[in] context The shared IPA context + * \param[in] tuningData The YamlObject containing Agc tuning data * - * It's a number that's chosen so that, when the camera points at a grey - * target, the resulting image brightness is considered right. + * This function calls the base class' tuningData parsers to discover which + * control values are supported. * - * \todo Why is the value different between IPU3 and RkISP1 ? + * \return 0 on success or errors from the base class */ -static constexpr double kRelativeLuminanceTarget = 0.4; - -Agc::Agc() - : frameCount_(0), numCells_(0), numHistBins_(0), filteredExposure_(0s) +int Agc::init(IPAContext &context, const YamlObject &tuningData) { + int ret; + + ret = parseTuningData(tuningData); + if (ret) + return ret; + + context.ctrlMap.merge(controls()); + + return 0; } /** @@ -73,21 +74,15 @@ Agc::Agc() int Agc::configure(IPAContext &context, const IPACameraSensorInfo &configInfo) { /* Configure the default exposure and gain. */ - context.frameContext.agc.gain = std::max(context.configuration.agc.minAnalogueGain, kMinAnalogueGain); - context.frameContext.agc.exposure = 10ms / context.configuration.sensor.lineDuration; + context.activeState.agc.automatic.gain = context.configuration.sensor.minAnalogueGain; + context.activeState.agc.automatic.exposure = + 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; - /* - * According to the RkISP1 documentation: - * - versions < V12 have RKISP1_CIF_ISP_AE_MEAN_MAX_V10 entries, - * - versions >= V12 have RKISP1_CIF_ISP_AE_MEAN_MAX_V12 entries. - */ - if (context.configuration.hw.revision < RKISP1_V12) { - numCells_ = RKISP1_CIF_ISP_AE_MEAN_MAX_V10; - numHistBins_ = RKISP1_CIF_ISP_HIST_BIN_N_MAX_V10; - } else { - numCells_ = RKISP1_CIF_ISP_AE_MEAN_MAX_V12; - numHistBins_ = RKISP1_CIF_ISP_HIST_BIN_N_MAX_V12; - } + context.activeState.agc.constraintMode = constraintModes().begin()->first; + context.activeState.agc.exposureMode = exposureModeHelpers().begin()->first; /* * Define the measurement window for AGC as a centered rectangle @@ -98,131 +93,125 @@ int Agc::configure(IPAContext &context, const IPACameraSensorInfo &configInfo) context.configuration.agc.measureWindow.h_size = 3 * configInfo.outputSize.width / 4; context.configuration.agc.measureWindow.v_size = 3 * configInfo.outputSize.height / 4; - /* \todo Use actual frame index by populating it in the frameContext. */ - frameCount_ = 0; + /* \todo Run this again when FrameDurationLimits is passed in */ + setLimits(context.configuration.sensor.minShutterSpeed, + context.configuration.sensor.maxShutterSpeed, + context.configuration.sensor.minAnalogueGain, + context.configuration.sensor.maxAnalogueGain); + + resetFrameCount(); + return 0; } /** - * \brief Apply a filter on the exposure value to limit the speed of changes - * \param[in] exposureValue The target exposure from the AGC algorithm - * - * The speed of the filter is adaptive, and will produce the target quicker - * during startup, or when the target exposure is within 20% of the most recent - * filter output. - * - * \return The filtered exposure + * \copydoc libcamera::ipa::Algorithm::queueRequest */ -utils::Duration Agc::filterExposure(utils::Duration exposureValue) +void Agc::queueRequest(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) { - double speed = 0.2; + auto &agc = context.activeState.agc; - /* Adapt instantly if we are in startup phase. */ - if (frameCount_ < kNumStartupFrames) - speed = 1.0; + if (!context.configuration.raw) { + const auto &agcEnable = controls.get(controls::AeEnable); + if (agcEnable && *agcEnable != agc.autoEnabled) { + agc.autoEnabled = *agcEnable; - /* - * If we are close to the desired result, go faster to avoid making - * multiple micro-adjustments. - * \todo Make this customisable? - */ - if (filteredExposure_ < 1.2 * exposureValue && - filteredExposure_ > 0.8 * exposureValue) - speed = sqrt(speed); + LOG(RkISP1Agc, Debug) + << (agc.autoEnabled ? "Enabling" : "Disabling") + << " AGC"; + } + } - filteredExposure_ = speed * exposureValue + - filteredExposure_ * (1.0 - speed); + const auto &exposure = controls.get(controls::ExposureTime); + if (exposure && !agc.autoEnabled) { + agc.manual.exposure = *exposure * 1.0us + / context.configuration.sensor.lineDuration; + + LOG(RkISP1Agc, Debug) + << "Set exposure to " << agc.manual.exposure; + } + + const auto &gain = controls.get(controls::AnalogueGain); + if (gain && !agc.autoEnabled) { + agc.manual.gain = *gain; + + LOG(RkISP1Agc, Debug) << "Set gain to " << agc.manual.gain; + } - LOG(RkISP1Agc, Debug) << "After filtering, exposure " << filteredExposure_; + frameContext.agc.autoEnabled = agc.autoEnabled; - return filteredExposure_; + if (!frameContext.agc.autoEnabled) { + frameContext.agc.exposure = agc.manual.exposure; + frameContext.agc.gain = agc.manual.gain; + } } /** - * \brief Estimate the new exposure and gain values - * \param[inout] frameContext The shared IPA frame Context - * \param[in] yGain The gain calculated on the current brightness level - * \param[in] iqMeanGain The gain calculated based on the relative luminance target + * \copydoc libcamera::ipa::Algorithm::prepare */ -void Agc::computeExposure(IPAContext &context, double yGain, double iqMeanGain) +void Agc::prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, rkisp1_params_cfg *params) { - IPASessionConfiguration &configuration = context.configuration; - IPAFrameContext &frameContext = context.frameContext; - - /* Get the effective exposure and gain applied on the sensor. */ - uint32_t exposure = frameContext.sensor.exposure; - double analogueGain = frameContext.sensor.gain; - - /* Use the highest of the two gain estimates. */ - double evGain = std::max(yGain, iqMeanGain); - - utils::Duration minShutterSpeed = configuration.agc.minShutterSpeed; - utils::Duration maxShutterSpeed = std::min(configuration.agc.maxShutterSpeed, - kMaxShutterSpeed); - - double minAnalogueGain = std::max(configuration.agc.minAnalogueGain, - kMinAnalogueGain); - double maxAnalogueGain = std::min(configuration.agc.maxAnalogueGain, - kMaxAnalogueGain); + if (frameContext.agc.autoEnabled) { + frameContext.agc.exposure = context.activeState.agc.automatic.exposure; + frameContext.agc.gain = context.activeState.agc.automatic.gain; + } - /* Consider within 1% of the target as correctly exposed. */ - if (utils::abs_diff(evGain, 1.0) < 0.01) + if (frame > 0) return; - /* extracted from Rpi::Agc::computeTargetExposure. */ - - /* Calculate the shutter time in seconds. */ - utils::Duration currentShutter = exposure * configuration.sensor.lineDuration; - - /* - * Update the exposure value for the next computation using the values - * of exposure and gain really used by the sensor. - */ - utils::Duration effectiveExposureValue = currentShutter * analogueGain; - - LOG(RkISP1Agc, Debug) << "Actual total exposure " << currentShutter * analogueGain - << " Shutter speed " << currentShutter - << " Gain " << analogueGain - << " Needed ev gain " << evGain; - - /* - * Calculate the current exposure value for the scene as the latest - * exposure value applied multiplied by the new estimated gain. - */ - utils::Duration exposureValue = effectiveExposureValue * evGain; + /* Configure the measurement window. */ + params->meas.aec_config.meas_window = context.configuration.agc.measureWindow; + /* Use a continuous method for measure. */ + params->meas.aec_config.autostop = RKISP1_CIF_ISP_EXP_CTRL_AUTOSTOP_0; + /* Estimate Y as (R + G + B) x (85/256). */ + params->meas.aec_config.mode = RKISP1_CIF_ISP_EXP_MEASURING_MODE_1; - /* Clamp the exposure value to the min and max authorized. */ - utils::Duration maxTotalExposure = maxShutterSpeed * maxAnalogueGain; - exposureValue = std::min(exposureValue, maxTotalExposure); - LOG(RkISP1Agc, Debug) << "Target total exposure " << exposureValue - << ", maximum is " << maxTotalExposure; + params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_AEC; + params->module_ens |= RKISP1_CIF_ISP_MODULE_AEC; + params->module_en_update |= RKISP1_CIF_ISP_MODULE_AEC; - /* - * Divide the exposure value as new exposure and gain values. - * \todo estimate if we need to desaturate - */ - exposureValue = filterExposure(exposureValue); + /* Configure histogram. */ + params->meas.hst_config.meas_window = context.configuration.agc.measureWindow; + /* Produce the luminance histogram. */ + params->meas.hst_config.mode = RKISP1_CIF_ISP_HISTOGRAM_MODE_Y_HISTOGRAM; + /* Set an average weighted histogram. */ + Span<uint8_t> weights{ + params->meas.hst_config.hist_weight, + context.hw->numHistogramWeights + }; + std::fill(weights.begin(), weights.end(), 1); + /* Step size can't be less than 3. */ + params->meas.hst_config.histogram_predivider = 4; - /* - * Push the shutter time up to the maximum first, and only then - * increase the gain. - */ - utils::Duration shutterTime = std::clamp<utils::Duration>(exposureValue / minAnalogueGain, - minShutterSpeed, maxShutterSpeed); - double stepGain = std::clamp(exposureValue / shutterTime, - minAnalogueGain, maxAnalogueGain); - LOG(RkISP1Agc, Debug) << "Divided up shutter and gain are " - << shutterTime << " and " - << stepGain; + /* Update the configuration for histogram. */ + params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_HST; + /* Enable the histogram measure unit. */ + params->module_ens |= RKISP1_CIF_ISP_MODULE_HST; + params->module_en_update |= RKISP1_CIF_ISP_MODULE_HST; +} - /* Update the estimated exposure and gain. */ - frameContext.agc.exposure = shutterTime / configuration.sensor.lineDuration; - frameContext.agc.gain = stepGain; +void Agc::fillMetadata(IPAContext &context, IPAFrameContext &frameContext, + ControlList &metadata) +{ + utils::Duration exposureTime = context.configuration.sensor.lineDuration + * frameContext.sensor.exposure; + metadata.set(controls::AnalogueGain, frameContext.sensor.gain); + metadata.set(controls::ExposureTime, exposureTime.get<std::micro>()); + + /* \todo Use VBlank value calculated from each frame exposure. */ + uint32_t vTotal = context.configuration.sensor.size.height + + context.configuration.sensor.defVBlank; + utils::Duration frameDuration = context.configuration.sensor.lineDuration + * vTotal; + metadata.set(controls::FrameDuration, frameDuration.get<std::micro>()); } /** * \brief Estimate the relative luminance of the frame with a given gain - * \param[in] ae The RkISP1 statistics and ISP results * \param[in] gain The gain to apply to the frame * * This function estimates the average relative luminance of the frame that @@ -236,8 +225,6 @@ void Agc::computeExposure(IPAContext &context, double yGain, double iqMeanGain) * YUV doesn't take into account the fact that the R, G and B components * contribute differently to the relative luminance. * - * \todo Have a dedicated YUV algorithm ? - * * The values are normalized to the [0.0, 1.0] range, where 1.0 corresponds to a * theoretical perfect reflector of 100% reference white. * @@ -246,113 +233,82 @@ void Agc::computeExposure(IPAContext &context, double yGain, double iqMeanGain) * * \return The relative luminance */ -double Agc::estimateLuminance(const rkisp1_cif_isp_ae_stat *ae, - double gain) +double Agc::estimateLuminance(double gain) const { double ySum = 0.0; /* Sum the averages, saturated to 255. */ - for (unsigned int aeCell = 0; aeCell < numCells_; aeCell++) - ySum += std::min(ae->exp_mean[aeCell] * gain, 255.0); + for (uint8_t expMean : expMeans_) + ySum += std::min(expMean * gain, 255.0); /* \todo Weight with the AWB gains */ - return ySum / numCells_ / 255; -} - -/** - * \brief Estimate the mean value of the top 2% of the histogram - * \param[in] hist The histogram statistics computed by the ImgU - * \return The mean value of the top 2% of the histogram - */ -double Agc::measureBrightness(const rkisp1_cif_isp_hist_stat *hist) const -{ - Histogram histogram{ Span<const uint32_t>(hist->hist_bins, numHistBins_) }; - /* Estimate the quantile mean of the top 2% of the histogram. */ - return histogram.interQuantileMean(0.98, 1.0); + return ySum / expMeans_.size() / 255; } /** * \brief Process RkISP1 statistics, and run AGC operations * \param[in] context The shared IPA context + * \param[in] frame The frame context sequence number + * \param[in] frameContext The current frame context * \param[in] stats The RKISP1 statistics and ISP results + * \param[out] metadata Metadata for the frame, to be filled by the algorithm * * Identify the current image brightness, and use that to estimate the optimal * new exposure and gain for the scene. */ -void Agc::process(IPAContext &context, - [[maybe_unused]] IPAFrameContext *frameContext, - const rkisp1_stat_buffer *stats) +void Agc::process(IPAContext &context, [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, const rkisp1_stat_buffer *stats, + ControlList &metadata) { + if (!stats) { + fillMetadata(context, frameContext, metadata); + return; + } + + /* + * \todo Verify that the exposure and gain applied by the sensor for + * this frame match what has been requested. This isn't a hard + * requirement for stability of the AGC (the guarantee we need in + * automatic mode is a perfect match between the frame and the values + * we receive), but is important in manual mode. + */ + const rkisp1_cif_isp_stat *params = &stats->params; ASSERT(stats->meas_type & RKISP1_CIF_ISP_STAT_AUTOEXP); - const rkisp1_cif_isp_ae_stat *ae = ¶ms->ae; - const rkisp1_cif_isp_hist_stat *hist = ¶ms->hist; - - double iqMean = measureBrightness(hist); - double iqMeanGain = kEvGainTarget * numHistBins_ / iqMean; + /* The lower 4 bits are fractional and meant to be discarded. */ + Histogram hist({ params->hist.hist_bins, context.hw->numHistogramBins }, + [](uint32_t x) { return x >> 4; }); + expMeans_ = { params->ae.exp_mean, context.hw->numAeCells }; /* - * Estimate the gain needed to achieve a relative luminance target. To - * account for non-linearity caused by saturation, the value needs to be - * estimated in an iterative process, as multiplying by a gain will not - * increase the relative luminance by the same factor if some image - * regions are saturated. + * The Agc algorithm needs to know the effective exposure value that was + * applied to the sensor when the statistics were collected. */ - double yGain = 1.0; - double yTarget = kRelativeLuminanceTarget; - - for (unsigned int i = 0; i < 8; i++) { - double yValue = estimateLuminance(ae, yGain); - double extra_gain = std::min(10.0, yTarget / (yValue + .001)); - - yGain *= extra_gain; - LOG(RkISP1Agc, Debug) << "Y value: " << yValue - << ", Y target: " << yTarget - << ", gives gain " << yGain; - if (extra_gain < 1.01) - break; - } - - computeExposure(context, yGain, iqMeanGain); - frameCount_++; -} + utils::Duration exposureTime = context.configuration.sensor.lineDuration + * frameContext.sensor.exposure; + double analogueGain = frameContext.sensor.gain; + utils::Duration effectiveExposureValue = exposureTime * analogueGain; -/** - * \copydoc libcamera::ipa::Algorithm::prepare - */ -void Agc::prepare(IPAContext &context, rkisp1_params_cfg *params) -{ - if (context.frameContext.frameCount > 0) - return; + utils::Duration shutterTime; + double aGain, dGain; + std::tie(shutterTime, aGain, dGain) = + calculateNewEv(context.activeState.agc.constraintMode, + context.activeState.agc.exposureMode, + hist, effectiveExposureValue); - /* Configure the measurement window. */ - params->meas.aec_config.meas_window = context.configuration.agc.measureWindow; - /* Use a continuous method for measure. */ - params->meas.aec_config.autostop = RKISP1_CIF_ISP_EXP_CTRL_AUTOSTOP_0; - /* Estimate Y as (R + G + B) x (85/256). */ - params->meas.aec_config.mode = RKISP1_CIF_ISP_EXP_MEASURING_MODE_1; + LOG(RkISP1Agc, Debug) + << "Divided up shutter, analogue gain and digital gain are " + << shutterTime << ", " << aGain << " and " << dGain; - params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_AEC; - params->module_ens |= RKISP1_CIF_ISP_MODULE_AEC; - params->module_en_update |= RKISP1_CIF_ISP_MODULE_AEC; - - /* Configure histogram. */ - params->meas.hst_config.meas_window = context.configuration.agc.measureWindow; - /* Produce the luminance histogram. */ - params->meas.hst_config.mode = RKISP1_CIF_ISP_HISTOGRAM_MODE_Y_HISTOGRAM; - /* Set an average weighted histogram. */ - for (unsigned int histBin = 0; histBin < numHistBins_; histBin++) - params->meas.hst_config.hist_weight[histBin] = 1; - /* Step size can't be less than 3. */ - params->meas.hst_config.histogram_predivider = 4; + IPAActiveState &activeState = context.activeState; + /* Update the estimated exposure and gain. */ + activeState.agc.automatic.exposure = shutterTime / context.configuration.sensor.lineDuration; + activeState.agc.automatic.gain = aGain; - /* Update the configuration for histogram. */ - params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_HST; - /* Enable the histogram measure unit. */ - params->module_ens |= RKISP1_CIF_ISP_MODULE_HST; - params->module_en_update |= RKISP1_CIF_ISP_MODULE_HST; + fillMetadata(context, frameContext, metadata); + expMeans_ = {}; } REGISTER_IPA_ALGORITHM(Agc, "Agc") diff --git a/src/ipa/rkisp1/algorithms/agc.h b/src/ipa/rkisp1/algorithms/agc.h index 22c02779..04b3247e 100644 --- a/src/ipa/rkisp1/algorithms/agc.h +++ b/src/ipa/rkisp1/algorithms/agc.h @@ -2,48 +2,53 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * agc.h - RkISP1 AGC/AEC mean-based control algorithm + * RkISP1 AGC/AEC mean-based control algorithm */ #pragma once #include <linux/rkisp1-config.h> +#include <libcamera/base/span.h> #include <libcamera/base/utils.h> #include <libcamera/geometry.h> +#include "libipa/agc_mean_luminance.h" +#include "libipa/histogram.h" + #include "algorithm.h" namespace libcamera { -struct IPACameraSensorInfo; - namespace ipa::rkisp1::algorithms { -class Agc : public Algorithm +class Agc : public Algorithm, public AgcMeanLuminance { public: Agc(); ~Agc() = default; + int init(IPAContext &context, const YamlObject &tuningData) override; int configure(IPAContext &context, const IPACameraSensorInfo &configInfo) override; - void prepare(IPAContext &context, rkisp1_params_cfg *params) override; - void process(IPAContext &context, IPAFrameContext *frameContext, - const rkisp1_stat_buffer *stats) override; + void queueRequest(IPAContext &context, + const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + rkisp1_params_cfg *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const rkisp1_stat_buffer *stats, + ControlList &metadata) override; private: - void computeExposure(IPAContext &Context, double yGain, double iqMeanGain); - utils::Duration filterExposure(utils::Duration exposureValue); - double estimateLuminance(const rkisp1_cif_isp_ae_stat *ae, double gain); - double measureBrightness(const rkisp1_cif_isp_hist_stat *hist) const; - - uint64_t frameCount_; - - uint32_t numCells_; - uint32_t numHistBins_; + void fillMetadata(IPAContext &context, IPAFrameContext &frameContext, + ControlList &metadata); + double estimateLuminance(double gain) const override; - utils::Duration filteredExposure_; + Span<const uint8_t> expMeans_; }; } /* namespace ipa::rkisp1::algorithms */ diff --git a/src/ipa/rkisp1/algorithms/algorithm.h b/src/ipa/rkisp1/algorithms/algorithm.h index c3212cff..715cfcd8 100644 --- a/src/ipa/rkisp1/algorithms/algorithm.h +++ b/src/ipa/rkisp1/algorithms/algorithm.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas On Board * - * algorithm.h - RkISP1 control algorithm interface + * RkISP1 control algorithm interface */ #pragma once @@ -15,7 +15,17 @@ namespace libcamera { namespace ipa::rkisp1 { -using Algorithm = libcamera::ipa::Algorithm<Module>; +class Algorithm : public libcamera::ipa::Algorithm<Module> +{ +public: + Algorithm() + : disabled_(false), supportsRaw_(false) + { + } + + bool disabled_; + bool supportsRaw_; +}; } /* namespace ipa::rkisp1 */ diff --git a/src/ipa/rkisp1/algorithms/awb.cpp b/src/ipa/rkisp1/algorithms/awb.cpp index 9f00364d..a01fe5d9 100644 --- a/src/ipa/rkisp1/algorithms/awb.cpp +++ b/src/ipa/rkisp1/algorithms/awb.cpp @@ -2,16 +2,18 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * awb.cpp - AWB control algorithm + * AWB control algorithm */ #include "awb.h" #include <algorithm> #include <cmath> +#include <iomanip> #include <libcamera/base/log.h> +#include <libcamera/control_ids.h> #include <libcamera/ipa/core_ipa_interface.h> /** @@ -29,15 +31,27 @@ namespace ipa::rkisp1::algorithms { LOG_DEFINE_CATEGORY(RkISP1Awb) +/* Minimum mean value below which AWB can't operate. */ +constexpr double kMeanMinThreshold = 2.0; + +Awb::Awb() + : rgbMode_(false) +{ +} + /** * \copydoc libcamera::ipa::Algorithm::configure */ int Awb::configure(IPAContext &context, const IPACameraSensorInfo &configInfo) { - context.frameContext.awb.gains.red = 1.0; - context.frameContext.awb.gains.blue = 1.0; - context.frameContext.awb.gains.green = 1.0; + context.activeState.awb.gains.manual.red = 1.0; + context.activeState.awb.gains.manual.blue = 1.0; + context.activeState.awb.gains.manual.green = 1.0; + context.activeState.awb.gains.automatic.red = 1.0; + context.activeState.awb.gains.automatic.blue = 1.0; + context.activeState.awb.gains.automatic.green = 1.0; + context.activeState.awb.autoEnabled = true; /* * Define the measurement window for AWB as a centered rectangle @@ -48,131 +62,264 @@ int Awb::configure(IPAContext &context, context.configuration.awb.measureWindow.h_size = 3 * configInfo.outputSize.width / 4; context.configuration.awb.measureWindow.v_size = 3 * configInfo.outputSize.height / 4; + context.configuration.awb.enabled = true; + return 0; } -uint32_t Awb::estimateCCT(double red, double green, double blue) +/** + * \copydoc libcamera::ipa::Algorithm::queueRequest + */ +void Awb::queueRequest(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) { - /* Convert the RGB values to CIE tristimulus values (XYZ) */ - double X = (-0.14282) * (red) + (1.54924) * (green) + (-0.95641) * (blue); - double Y = (-0.32466) * (red) + (1.57837) * (green) + (-0.73191) * (blue); - double Z = (-0.68202) * (red) + (0.77073) * (green) + (0.56332) * (blue); + auto &awb = context.activeState.awb; - /* Calculate the normalized chromaticity values */ - double x = X / (X + Y + Z); - double y = Y / (X + Y + Z); + const auto &awbEnable = controls.get(controls::AwbEnable); + if (awbEnable && *awbEnable != awb.autoEnabled) { + awb.autoEnabled = *awbEnable; - /* Calculate CCT */ - double n = (x - 0.3320) / (0.1858 - y); - return 449 * n * n * n + 3525 * n * n + 6823.3 * n + 5520.33; + LOG(RkISP1Awb, Debug) + << (*awbEnable ? "Enabling" : "Disabling") << " AWB"; + } + + const auto &colourGains = controls.get(controls::ColourGains); + if (colourGains && !awb.autoEnabled) { + awb.gains.manual.red = (*colourGains)[0]; + awb.gains.manual.blue = (*colourGains)[1]; + + LOG(RkISP1Awb, Debug) + << "Set colour gains to red: " << awb.gains.manual.red + << ", blue: " << awb.gains.manual.blue; + } + + frameContext.awb.autoEnabled = awb.autoEnabled; + + if (!awb.autoEnabled) { + frameContext.awb.gains.red = awb.gains.manual.red; + frameContext.awb.gains.green = 1.0; + frameContext.awb.gains.blue = awb.gains.manual.blue; + } } /** * \copydoc libcamera::ipa::Algorithm::prepare */ -void Awb::prepare(IPAContext &context, rkisp1_params_cfg *params) +void Awb::prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, rkisp1_params_cfg *params) { - params->others.awb_gain_config.gain_green_b = 256 * context.frameContext.awb.gains.green; - params->others.awb_gain_config.gain_blue = 256 * context.frameContext.awb.gains.blue; - params->others.awb_gain_config.gain_red = 256 * context.frameContext.awb.gains.red; - params->others.awb_gain_config.gain_green_r = 256 * context.frameContext.awb.gains.green; + /* + * This is the latest time we can read the active state. This is the + * most up-to-date automatic values we can read. + */ + if (frameContext.awb.autoEnabled) { + frameContext.awb.gains.red = context.activeState.awb.gains.automatic.red; + frameContext.awb.gains.green = context.activeState.awb.gains.automatic.green; + frameContext.awb.gains.blue = context.activeState.awb.gains.automatic.blue; + } + + params->others.awb_gain_config.gain_green_b = 256 * frameContext.awb.gains.green; + params->others.awb_gain_config.gain_blue = 256 * frameContext.awb.gains.blue; + params->others.awb_gain_config.gain_red = 256 * frameContext.awb.gains.red; + params->others.awb_gain_config.gain_green_r = 256 * frameContext.awb.gains.green; /* Update the gains. */ params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_AWB_GAIN; - /* If we already have configured the gains and window, return. */ - if (context.frameContext.frameCount > 0) + /* If we have already set the AWB measurement parameters, return. */ + if (frame > 0) return; - /* Configure the gains to apply. */ + rkisp1_cif_isp_awb_meas_config &awb_config = params->meas.awb_meas_config; + + /* Configure the measure window for AWB. */ + awb_config.awb_wnd = context.configuration.awb.measureWindow; + + /* Number of frames to use to estimate the means (0 means 1 frame). */ + awb_config.frames = 0; + + /* Select RGB or YCbCr means measurement. */ + if (rgbMode_) { + awb_config.awb_mode = RKISP1_CIF_ISP_AWB_MODE_RGB; + + /* + * For RGB-based measurements, pixels are selected with maximum + * red, green and blue thresholds that are set in the + * awb_ref_cr, awb_min_y and awb_ref_cb respectively. The other + * values are not used, set them to 0. + */ + awb_config.awb_ref_cr = 250; + awb_config.min_y = 250; + awb_config.awb_ref_cb = 250; + + awb_config.max_y = 0; + awb_config.min_c = 0; + awb_config.max_csum = 0; + } else { + awb_config.awb_mode = RKISP1_CIF_ISP_AWB_MODE_YCBCR; + + /* Set the reference Cr and Cb (AWB target) to white. */ + awb_config.awb_ref_cb = 128; + awb_config.awb_ref_cr = 128; + + /* + * Filter out pixels based on luminance and chrominance values. + * The acceptable luma values are specified as a [16, 250] + * range, while the acceptable chroma values are specified with + * a minimum of 16 and a maximum Cb+Cr sum of 250. + */ + awb_config.min_y = 16; + awb_config.max_y = 250; + awb_config.min_c = 16; + awb_config.max_csum = 250; + } + + /* Enable the AWB gains. */ params->module_en_update |= RKISP1_CIF_ISP_MODULE_AWB_GAIN; - /* Update the ISP to apply the gains configured. */ params->module_ens |= RKISP1_CIF_ISP_MODULE_AWB_GAIN; - /* Configure the measure window for AWB. */ - params->meas.awb_meas_config.awb_wnd = context.configuration.awb.measureWindow; - /* - * Measure Y, Cr and Cb means. - * \todo RGB is not working, the kernel seems to not configure it ? - */ - params->meas.awb_meas_config.awb_mode = RKISP1_CIF_ISP_AWB_MODE_YCBCR; - /* Reference Cr and Cb. */ - params->meas.awb_meas_config.awb_ref_cb = 128; - params->meas.awb_meas_config.awb_ref_cr = 128; - /* Y values to include are between min_y and max_y only. */ - params->meas.awb_meas_config.min_y = 16; - params->meas.awb_meas_config.max_y = 250; - /* Maximum Cr+Cb value to take into account for awb. */ - params->meas.awb_meas_config.max_csum = 250; - /* Minimum Cr and Cb values to take into account. */ - params->meas.awb_meas_config.min_c = 16; - /* Number of frames to use to estimate the mean (0 means 1 frame). */ - params->meas.awb_meas_config.frames = 0; - - /* Update AWB measurement unit configuration. */ + /* Update the AWB measurement parameters and enable the AWB module. */ params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_AWB; - /* Make sure the ISP is measuring the means for the next frame. */ params->module_en_update |= RKISP1_CIF_ISP_MODULE_AWB; params->module_ens |= RKISP1_CIF_ISP_MODULE_AWB; } +uint32_t Awb::estimateCCT(double red, double green, double blue) +{ + /* Convert the RGB values to CIE tristimulus values (XYZ) */ + double X = (-0.14282) * (red) + (1.54924) * (green) + (-0.95641) * (blue); + double Y = (-0.32466) * (red) + (1.57837) * (green) + (-0.73191) * (blue); + double Z = (-0.68202) * (red) + (0.77073) * (green) + (0.56332) * (blue); + + /* Calculate the normalized chromaticity values */ + double x = X / (X + Y + Z); + double y = Y / (X + Y + Z); + + /* Calculate CCT */ + double n = (x - 0.3320) / (0.1858 - y); + return 449 * n * n * n + 3525 * n * n + 6823.3 * n + 5520.33; +} + /** * \copydoc libcamera::ipa::Algorithm::process */ -void Awb::process([[maybe_unused]] IPAContext &context, - [[maybe_unused]] IPAFrameContext *frameCtx, - const rkisp1_stat_buffer *stats) +void Awb::process(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + const rkisp1_stat_buffer *stats, + ControlList &metadata) { const rkisp1_cif_isp_stat *params = &stats->params; const rkisp1_cif_isp_awb_stat *awb = ¶ms->awb; - IPAFrameContext &frameContext = context.frameContext; - - /* Get the YCbCr mean values */ - double yMean = awb->awb_mean[0].mean_y_or_g; - double crMean = awb->awb_mean[0].mean_cr_or_r; - double cbMean = awb->awb_mean[0].mean_cb_or_b; + IPAActiveState &activeState = context.activeState; + double greenMean; + double redMean; + double blueMean; + + if (rgbMode_) { + greenMean = awb->awb_mean[0].mean_y_or_g; + redMean = awb->awb_mean[0].mean_cr_or_r; + blueMean = awb->awb_mean[0].mean_cb_or_b; + } else { + /* Get the YCbCr mean values */ + double yMean = awb->awb_mean[0].mean_y_or_g; + double cbMean = awb->awb_mean[0].mean_cb_or_b; + double crMean = awb->awb_mean[0].mean_cr_or_r; + + /* + * Convert from YCbCr to RGB. + * The hardware uses the following formulas: + * Y = 16 + 0.2500 R + 0.5000 G + 0.1094 B + * Cb = 128 - 0.1406 R - 0.2969 G + 0.4375 B + * Cr = 128 + 0.4375 R - 0.3750 G - 0.0625 B + * + * The inverse matrix is thus: + * [[1,1636, -0,0623, 1,6008] + * [1,1636, -0,4045, -0,7949] + * [1,1636, 1,9912, -0,0250]] + */ + yMean -= 16; + cbMean -= 128; + crMean -= 128; + redMean = 1.1636 * yMean - 0.0623 * cbMean + 1.6008 * crMean; + greenMean = 1.1636 * yMean - 0.4045 * cbMean - 0.7949 * crMean; + blueMean = 1.1636 * yMean + 1.9912 * cbMean - 0.0250 * crMean; + + /* + * Due to hardware rounding errors in the YCbCr means, the + * calculated RGB means may be negative. This would lead to + * negative gains, messing up calculation. Prevent this by + * clamping the means to positive values. + */ + redMean = std::max(redMean, 0.0); + greenMean = std::max(greenMean, 0.0); + blueMean = std::max(blueMean, 0.0); + } /* - * Convert from YCbCr to RGB. - * The hardware uses the following formulas: - * Y = 16 + 0.2500 R + 0.5000 G + 0.1094 B - * Cb = 128 - 0.1406 R - 0.2969 G + 0.4375 B - * Cr = 128 + 0.4375 R - 0.3750 G - 0.0625 B - * - * The inverse matrix is thus: - * [[1,1636, -0,0623, 1,6008] - * [1,1636, -0,4045, -0,7949] - * [1,1636, 1,9912, -0,0250]] + * The ISP computes the AWB means after applying the colour gains, + * divide by the gains that were used to get the raw means from the + * sensor. */ - yMean -= 16; - cbMean -= 128; - crMean -= 128; - double redMean = 1.1636 * yMean - 0.0623 * cbMean + 1.6008 * crMean; - double greenMean = 1.1636 * yMean - 0.4045 * cbMean - 0.7949 * crMean; - double blueMean = 1.1636 * yMean + 1.9912 * cbMean - 0.0250 * crMean; + redMean /= frameContext.awb.gains.red; + greenMean /= frameContext.awb.gains.green; + blueMean /= frameContext.awb.gains.blue; - /* Estimate the red and blue gains to apply in a grey world. */ - double redGain = greenMean / (redMean + 1); - double blueGain = greenMean / (blueMean + 1); + /* + * If the means are too small we don't have enough information to + * meaningfully calculate gains. Freeze the algorithm in that case. + */ + if (redMean < kMeanMinThreshold && greenMean < kMeanMinThreshold && + blueMean < kMeanMinThreshold) { + frameContext.awb.temperatureK = activeState.awb.temperatureK; + return; + } - /* Filter the values to avoid oscillations. */ - double speed = 0.2; - redGain = speed * redGain + (1 - speed) * frameContext.awb.gains.red; - blueGain = speed * blueGain + (1 - speed) * frameContext.awb.gains.blue; + activeState.awb.temperatureK = estimateCCT(redMean, greenMean, blueMean); /* - * Gain values are unsigned integer value, range 0 to 4 with 8 bit - * fractional part. + * 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. */ - frameContext.awb.gains.red = std::clamp(redGain, 0.0, 1023.0 / 256); - frameContext.awb.gains.blue = std::clamp(blueGain, 0.0, 1023.0 / 256); - /* Hardcode the green gain to 1.0. */ - frameContext.awb.gains.green = 1.0; + double redGain = greenMean / std::max(redMean, 1.0); + double blueGain = greenMean / std::max(blueMean, 1.0); - frameContext.awb.temperatureK = estimateCCT(redMean, greenMean, blueMean); + /* + * 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. + */ + redGain = std::clamp(redGain, 1.0 / 256, 1023.0 / 256); + blueGain = std::clamp(blueGain, 1.0 / 256, 1023.0 / 256); - LOG(RkISP1Awb, Debug) << "Gain found for red: " << context.frameContext.awb.gains.red - << " and for blue: " << context.frameContext.awb.gains.blue; + /* Filter the values to avoid oscillations. */ + double speed = 0.2; + redGain = speed * redGain + (1 - speed) * activeState.awb.gains.automatic.red; + blueGain = speed * blueGain + (1 - speed) * activeState.awb.gains.automatic.blue; + + activeState.awb.gains.automatic.red = redGain; + activeState.awb.gains.automatic.blue = blueGain; + activeState.awb.gains.automatic.green = 1.0; + + frameContext.awb.temperatureK = activeState.awb.temperatureK; + + metadata.set(controls::AwbEnable, frameContext.awb.autoEnabled); + metadata.set(controls::ColourGains, { + static_cast<float>(frameContext.awb.gains.red), + static_cast<float>(frameContext.awb.gains.blue) + }); + metadata.set(controls::ColourTemperature, frameContext.awb.temperatureK); + + LOG(RkISP1Awb, Debug) << std::showpoint + << "Means [" << redMean << ", " << greenMean << ", " << blueMean + << "], gains [" << activeState.awb.gains.automatic.red << ", " + << activeState.awb.gains.automatic.green << ", " + << activeState.awb.gains.automatic.blue << "], temp " + << frameContext.awb.temperatureK << "K"; } REGISTER_IPA_ALGORITHM(Awb, "Awb") diff --git a/src/ipa/rkisp1/algorithms/awb.h b/src/ipa/rkisp1/algorithms/awb.h index 7647842f..06c92896 100644 --- a/src/ipa/rkisp1/algorithms/awb.h +++ b/src/ipa/rkisp1/algorithms/awb.h @@ -2,13 +2,11 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * awb.h - AWB control algorithm + * AWB control algorithm */ #pragma once -#include <linux/rkisp1-config.h> - #include "algorithm.h" namespace libcamera { @@ -18,16 +16,25 @@ namespace ipa::rkisp1::algorithms { class Awb : public Algorithm { public: - Awb() = default; + Awb(); ~Awb() = default; int configure(IPAContext &context, const IPACameraSensorInfo &configInfo) override; - void prepare(IPAContext &context, rkisp1_params_cfg *params) override; - void process(IPAContext &context, IPAFrameContext *frameCtx, - const rkisp1_stat_buffer *stats) override; + void queueRequest(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + rkisp1_params_cfg *params) override; + void process(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const rkisp1_stat_buffer *stats, + ControlList &metadata) override; private: uint32_t estimateCCT(double red, double green, double blue); + + bool rgbMode_; }; } /* namespace ipa::rkisp1::algorithms */ diff --git a/src/ipa/rkisp1/algorithms/blc.cpp b/src/ipa/rkisp1/algorithms/blc.cpp index 3542f61c..d2e74354 100644 --- a/src/ipa/rkisp1/algorithms/blc.cpp +++ b/src/ipa/rkisp1/algorithms/blc.cpp @@ -2,11 +2,15 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * blc.cpp - RkISP1 Black Level Correction control + * RkISP1 Black Level Correction control */ #include "blc.h" +#include <libcamera/base/log.h> + +#include "libcamera/internal/yaml_parser.h" + /** * \file blc.h */ @@ -29,23 +33,54 @@ namespace ipa::rkisp1::algorithms { * isn't currently supported. */ +LOG_DEFINE_CATEGORY(RkISP1Blc) + +BlackLevelCorrection::BlackLevelCorrection() + : tuningParameters_(false) +{ +} + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int BlackLevelCorrection::init([[maybe_unused]] IPAContext &context, + const YamlObject &tuningData) +{ + blackLevelRed_ = tuningData["R"].get<int16_t>(256); + blackLevelGreenR_ = tuningData["Gr"].get<int16_t>(256); + blackLevelGreenB_ = tuningData["Gb"].get<int16_t>(256); + blackLevelBlue_ = tuningData["B"].get<int16_t>(256); + + tuningParameters_ = true; + + LOG(RkISP1Blc, Debug) + << "Black levels: red " << blackLevelRed_ + << ", green (red) " << blackLevelGreenR_ + << ", green (blue) " << blackLevelGreenB_ + << ", blue " << blackLevelBlue_; + + return 0; +} + /** * \copydoc libcamera::ipa::Algorithm::prepare */ -void BlackLevelCorrection::prepare(IPAContext &context, +void BlackLevelCorrection::prepare([[maybe_unused]] IPAContext &context, + const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, rkisp1_params_cfg *params) { - if (context.frameContext.frameCount > 0) + if (frame > 0) + return; + + if (!tuningParameters_) return; - /* - * Substract fixed values taken from imx219 tuning file. - * \todo Use a configuration file for it ? - */ + params->others.bls_config.enable_auto = 0; - params->others.bls_config.fixed_val.r = 256; - params->others.bls_config.fixed_val.gr = 256; - params->others.bls_config.fixed_val.gb = 256; - params->others.bls_config.fixed_val.b = 256; + params->others.bls_config.fixed_val.r = blackLevelRed_; + params->others.bls_config.fixed_val.gr = blackLevelGreenR_; + params->others.bls_config.fixed_val.gb = blackLevelGreenB_; + params->others.bls_config.fixed_val.b = blackLevelBlue_; params->module_en_update |= RKISP1_CIF_ISP_MODULE_BLS; params->module_ens |= RKISP1_CIF_ISP_MODULE_BLS; diff --git a/src/ipa/rkisp1/algorithms/blc.h b/src/ipa/rkisp1/algorithms/blc.h index 69874d8f..460ebcc1 100644 --- a/src/ipa/rkisp1/algorithms/blc.h +++ b/src/ipa/rkisp1/algorithms/blc.h @@ -2,28 +2,34 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * blc.h - RkISP1 Black Level Correction control + * RkISP1 Black Level Correction control */ #pragma once -#include <linux/rkisp1-config.h> - #include "algorithm.h" namespace libcamera { -struct IPACameraSensorInfo; - namespace ipa::rkisp1::algorithms { class BlackLevelCorrection : public Algorithm { public: - BlackLevelCorrection() = default; + BlackLevelCorrection(); ~BlackLevelCorrection() = default; - void prepare(IPAContext &context, rkisp1_params_cfg *params) override; + int init(IPAContext &context, const YamlObject &tuningData) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + rkisp1_params_cfg *params) override; + +private: + bool tuningParameters_; + int16_t blackLevelRed_; + int16_t blackLevelGreenR_; + int16_t blackLevelGreenB_; + int16_t blackLevelBlue_; }; } /* namespace ipa::rkisp1::algorithms */ diff --git a/src/ipa/rkisp1/algorithms/cproc.cpp b/src/ipa/rkisp1/algorithms/cproc.cpp new file mode 100644 index 00000000..68bb8180 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/cproc.cpp @@ -0,0 +1,111 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Color Processing control + */ + +#include "cproc.h" + +#include <algorithm> +#include <cmath> + +#include <libcamera/base/log.h> + +#include <libcamera/control_ids.h> + +/** + * \file cproc.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class ColorProcessing + * \brief RkISP1 Color Processing control + * + * The ColorProcessing algorithm is responsible for applying brightness, + * contrast and saturation corrections. The values are directly provided + * through requests by the corresponding controls. + */ + +LOG_DEFINE_CATEGORY(RkISP1CProc) + +/** + * \copydoc libcamera::ipa::Algorithm::queueRequest + */ +void ColorProcessing::queueRequest(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) +{ + auto &cproc = context.activeState.cproc; + bool update = false; + + const auto &brightness = controls.get(controls::Brightness); + if (brightness) { + int value = std::clamp<int>(std::lround(*brightness * 128), -128, 127); + if (cproc.brightness != value) { + cproc.brightness = value; + update = true; + } + + LOG(RkISP1CProc, Debug) << "Set brightness to " << value; + } + + const auto &contrast = controls.get(controls::Contrast); + if (contrast) { + int value = std::clamp<int>(std::lround(*contrast * 128), 0, 255); + if (cproc.contrast != value) { + cproc.contrast = value; + update = true; + } + + LOG(RkISP1CProc, Debug) << "Set contrast to " << value; + } + + const auto saturation = controls.get(controls::Saturation); + if (saturation) { + int value = std::clamp<int>(std::lround(*saturation * 128), 0, 255); + if (cproc.saturation != value) { + cproc.saturation = value; + update = true; + } + + LOG(RkISP1CProc, Debug) << "Set saturation to " << value; + } + + frameContext.cproc.brightness = cproc.brightness; + frameContext.cproc.contrast = cproc.contrast; + frameContext.cproc.saturation = cproc.saturation; + frameContext.cproc.update = update; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void ColorProcessing::prepare([[maybe_unused]] IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + rkisp1_params_cfg *params) +{ + /* Check if the algorithm configuration has been updated. */ + if (!frameContext.cproc.update) + return; + + params->others.cproc_config.brightness = frameContext.cproc.brightness; + params->others.cproc_config.contrast = frameContext.cproc.contrast; + params->others.cproc_config.sat = frameContext.cproc.saturation; + + params->module_en_update |= RKISP1_CIF_ISP_MODULE_CPROC; + params->module_ens |= RKISP1_CIF_ISP_MODULE_CPROC; + params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_CPROC; +} + +REGISTER_IPA_ALGORITHM(ColorProcessing, "ColorProcessing") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/cproc.h b/src/ipa/rkisp1/algorithms/cproc.h new file mode 100644 index 00000000..bafba5cc --- /dev/null +++ b/src/ipa/rkisp1/algorithms/cproc.h @@ -0,0 +1,33 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Color Processing control + */ + +#pragma once + +#include <sys/types.h> + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class ColorProcessing : public Algorithm +{ +public: + ColorProcessing() = default; + ~ColorProcessing() = default; + + void queueRequest(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + rkisp1_params_cfg *params) override; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/dpcc.cpp b/src/ipa/rkisp1/algorithms/dpcc.cpp new file mode 100644 index 00000000..b5a339e9 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/dpcc.cpp @@ -0,0 +1,251 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Defect Pixel Cluster Correction control + */ + +#include "dpcc.h" + +#include <libcamera/base/log.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "linux/rkisp1-config.h" + +/** + * \file dpcc.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class DefectPixelClusterCorrection + * \brief RkISP1 Defect Pixel Cluster Correction control + * + * Depending of the sensor quality, some pixels can be defective and then + * appear significantly brighter or darker than the other pixels. + * + * The Defect Pixel Cluster Correction algorithms is responsible to minimize + * the impact of the pixels. This can be done with algorithms applied at run + * time (on-the-fly method) or with a table of defective pixels. Only the first + * method is supported for the moment. + */ + +LOG_DEFINE_CATEGORY(RkISP1Dpcc) + +DefectPixelClusterCorrection::DefectPixelClusterCorrection() + : config_({}) +{ +} + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int DefectPixelClusterCorrection::init([[maybe_unused]] IPAContext &context, + const YamlObject &tuningData) +{ + config_.mode = RKISP1_CIF_ISP_DPCC_MODE_STAGE1_ENABLE; + config_.output_mode = RKISP1_CIF_ISP_DPCC_OUTPUT_MODE_STAGE1_INCL_G_CENTER + | RKISP1_CIF_ISP_DPCC_OUTPUT_MODE_STAGE1_INCL_RB_CENTER; + + config_.set_use = tuningData["fixed-set"].get<bool>(false) + ? RKISP1_CIF_ISP_DPCC_SET_USE_STAGE1_USE_FIX_SET : 0; + + /* Get all defined sets to apply (up to 3). */ + const YamlObject &setsObject = tuningData["sets"]; + if (!setsObject.isList()) { + LOG(RkISP1Dpcc, Error) + << "'sets' parameter not found in tuning file"; + return -EINVAL; + } + + if (setsObject.size() > RKISP1_CIF_ISP_DPCC_METHODS_MAX) { + LOG(RkISP1Dpcc, Error) + << "'sets' size in tuning file (" << setsObject.size() + << ") exceeds the maximum hardware capacity (3)"; + return -EINVAL; + } + + for (std::size_t i = 0; i < setsObject.size(); ++i) { + struct rkisp1_cif_isp_dpcc_methods_config &method = config_.methods[i]; + const YamlObject &set = setsObject[i]; + uint16_t value; + + /* Enable set if described in YAML tuning file. */ + config_.set_use |= 1 << i; + + /* PG Method */ + const YamlObject &pgObject = set["pg-factor"]; + + if (pgObject.contains("green")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_PG_GREEN_ENABLE; + + value = pgObject["green"].get<uint16_t>(0); + method.pg_fac |= RKISP1_CIF_ISP_DPCC_PG_FAC_G(value); + } + + if (pgObject.contains("red-blue")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_PG_RED_BLUE_ENABLE; + + value = pgObject["red-blue"].get<uint16_t>(0); + method.pg_fac |= RKISP1_CIF_ISP_DPCC_PG_FAC_RB(value); + } + + /* RO Method */ + const YamlObject &roObject = set["ro-limits"]; + + if (roObject.contains("green")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_RO_GREEN_ENABLE; + + value = roObject["green"].get<uint16_t>(0); + config_.ro_limits |= + RKISP1_CIF_ISP_DPCC_RO_LIMITS_n_G(i, value); + } + + if (roObject.contains("red-blue")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_RO_RED_BLUE_ENABLE; + + value = roObject["red-blue"].get<uint16_t>(0); + config_.ro_limits |= + RKISP1_CIF_ISP_DPCC_RO_LIMITS_n_RB(i, value); + } + + /* RG Method */ + const YamlObject &rgObject = set["rg-factor"]; + method.rg_fac = 0; + + if (rgObject.contains("green")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_RG_GREEN_ENABLE; + + value = rgObject["green"].get<uint16_t>(0); + method.rg_fac |= RKISP1_CIF_ISP_DPCC_RG_FAC_G(value); + } + + if (rgObject.contains("red-blue")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_RG_RED_BLUE_ENABLE; + + value = rgObject["red-blue"].get<uint16_t>(0); + method.rg_fac |= RKISP1_CIF_ISP_DPCC_RG_FAC_RB(value); + } + + /* RND Method */ + const YamlObject &rndOffsetsObject = set["rnd-offsets"]; + + if (rndOffsetsObject.contains("green")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_RND_GREEN_ENABLE; + + value = rndOffsetsObject["green"].get<uint16_t>(0); + config_.rnd_offs |= + RKISP1_CIF_ISP_DPCC_RND_OFFS_n_G(i, value); + } + + if (rndOffsetsObject.contains("red-blue")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_RND_RED_BLUE_ENABLE; + + value = rndOffsetsObject["red-blue"].get<uint16_t>(0); + config_.rnd_offs |= + RKISP1_CIF_ISP_DPCC_RND_OFFS_n_RB(i, value); + } + + const YamlObject &rndThresholdObject = set["rnd-threshold"]; + method.rnd_thresh = 0; + + if (rndThresholdObject.contains("green")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_RND_GREEN_ENABLE; + + value = rndThresholdObject["green"].get<uint16_t>(0); + method.rnd_thresh |= + RKISP1_CIF_ISP_DPCC_RND_THRESH_G(value); + } + + if (rndThresholdObject.contains("red-blue")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_RND_RED_BLUE_ENABLE; + + value = rndThresholdObject["red-blue"].get<uint16_t>(0); + method.rnd_thresh |= + RKISP1_CIF_ISP_DPCC_RND_THRESH_RB(value); + } + + /* LC Method */ + const YamlObject &lcThresholdObject = set["line-threshold"]; + method.line_thresh = 0; + + if (lcThresholdObject.contains("green")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_LC_GREEN_ENABLE; + + value = lcThresholdObject["green"].get<uint16_t>(0); + method.line_thresh |= + RKISP1_CIF_ISP_DPCC_LINE_THRESH_G(value); + } + + if (lcThresholdObject.contains("red-blue")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_LC_RED_BLUE_ENABLE; + + value = lcThresholdObject["red-blue"].get<uint16_t>(0); + method.line_thresh |= + RKISP1_CIF_ISP_DPCC_LINE_THRESH_RB(value); + } + + const YamlObject &lcTMadFactorObject = set["line-mad-factor"]; + method.line_mad_fac = 0; + + if (lcTMadFactorObject.contains("green")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_LC_GREEN_ENABLE; + + value = lcTMadFactorObject["green"].get<uint16_t>(0); + method.line_mad_fac |= + RKISP1_CIF_ISP_DPCC_LINE_MAD_FAC_G(value); + } + + if (lcTMadFactorObject.contains("red-blue")) { + method.method |= + RKISP1_CIF_ISP_DPCC_METHODS_SET_LC_RED_BLUE_ENABLE; + + value = lcTMadFactorObject["red-blue"].get<uint16_t>(0); + method.line_mad_fac |= + RKISP1_CIF_ISP_DPCC_LINE_MAD_FAC_RB(value); + } + } + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void DefectPixelClusterCorrection::prepare([[maybe_unused]] IPAContext &context, + const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + rkisp1_params_cfg *params) +{ + if (frame > 0) + return; + + params->others.dpcc_config = config_; + + params->module_en_update |= RKISP1_CIF_ISP_MODULE_DPCC; + params->module_ens |= RKISP1_CIF_ISP_MODULE_DPCC; + params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_DPCC; +} + +REGISTER_IPA_ALGORITHM(DefectPixelClusterCorrection, "DefectPixelClusterCorrection") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/dpcc.h b/src/ipa/rkisp1/algorithms/dpcc.h new file mode 100644 index 00000000..d39b7bed --- /dev/null +++ b/src/ipa/rkisp1/algorithms/dpcc.h @@ -0,0 +1,32 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Defect Pixel Cluster Correction control + */ + +#pragma once + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class DefectPixelClusterCorrection : public Algorithm +{ +public: + DefectPixelClusterCorrection(); + ~DefectPixelClusterCorrection() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + rkisp1_params_cfg *params) override; + +private: + rkisp1_cif_isp_dpcc_config config_; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/dpf.cpp b/src/ipa/rkisp1/algorithms/dpf.cpp new file mode 100644 index 00000000..abf95728 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/dpf.cpp @@ -0,0 +1,260 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Denoise Pre-Filter control + */ + +#include "dpf.h" + +#include <cmath> + +#include <libcamera/base/log.h> + +#include <libcamera/control_ids.h> + +#include "linux/rkisp1-config.h" + +/** + * \file dpf.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class Dpf + * \brief RkISP1 Denoise Pre-Filter control + * + * The denoise pre-filter algorithm is a bilateral filter which combines a + * range filter and a domain filter. The denoise pre-filter is applied before + * demosaicing. + */ + +LOG_DEFINE_CATEGORY(RkISP1Dpf) + +Dpf::Dpf() + : config_({}), strengthConfig_({}) +{ +} + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int Dpf::init([[maybe_unused]] IPAContext &context, + const YamlObject &tuningData) +{ + std::vector<uint8_t> values; + + /* + * The domain kernel is configured with a 9x9 kernel for the green + * pixels, and a 13x9 or 9x9 kernel for red and blue pixels. + */ + const YamlObject &dFObject = tuningData["DomainFilter"]; + + /* + * For the green component, we have the 9x9 kernel specified + * as 6 coefficients: + * Y + * ^ + * 4 | 6 5 4 5 6 + * 3 | 5 3 3 5 + * 2 | 5 3 2 3 5 + * 1 | 3 1 1 3 + * 0 - 4 2 0 2 4 + * -1 | 3 1 1 3 + * -2 | 5 3 2 3 5 + * -3 | 5 3 3 5 + * -4 | 6 5 4 5 6 + * +---------|--------> X + * -4....-1 0 1 2 3 4 + */ + values = dFObject["g"].getList<uint8_t>().value_or(std::vector<uint8_t>{}); + if (values.size() != RKISP1_CIF_ISP_DPF_MAX_SPATIAL_COEFFS) { + LOG(RkISP1Dpf, Error) + << "Invalid 'DomainFilter:g': expected " + << RKISP1_CIF_ISP_DPF_MAX_SPATIAL_COEFFS + << " elements, got " << values.size(); + return -EINVAL; + } + + std::copy_n(values.begin(), values.size(), + std::begin(config_.g_flt.spatial_coeff)); + + config_.g_flt.gr_enable = true; + config_.g_flt.gb_enable = true; + + /* + * For the red and blue components, we have the 13x9 kernel specified + * as 6 coefficients: + * + * Y + * ^ + * 4 | 6 5 4 3 4 5 6 + * | + * 2 | 5 4 2 1 2 4 5 + * | + * 0 - 5 3 1 0 1 3 5 + * | + * -2 | 5 4 2 1 2 4 5 + * | + * -4 | 6 5 4 3 4 5 6 + * +-------------|------------> X + * -6 -4 -2 0 2 4 6 + * + * For a 9x9 kernel, columns -6 and 6 are dropped, so coefficient + * number 6 is not used. + */ + values = dFObject["rb"].getList<uint8_t>().value_or(std::vector<uint8_t>{}); + if (values.size() != RKISP1_CIF_ISP_DPF_MAX_SPATIAL_COEFFS && + values.size() != RKISP1_CIF_ISP_DPF_MAX_SPATIAL_COEFFS - 1) { + LOG(RkISP1Dpf, Error) + << "Invalid 'DomainFilter:rb': expected " + << RKISP1_CIF_ISP_DPF_MAX_SPATIAL_COEFFS - 1 + << " or " << RKISP1_CIF_ISP_DPF_MAX_SPATIAL_COEFFS + << " elements, got " << values.size(); + return -EINVAL; + } + + config_.rb_flt.fltsize = values.size() == RKISP1_CIF_ISP_DPF_MAX_SPATIAL_COEFFS + ? RKISP1_CIF_ISP_DPF_RB_FILTERSIZE_13x9 + : RKISP1_CIF_ISP_DPF_RB_FILTERSIZE_9x9; + + std::copy_n(values.begin(), values.size(), + std::begin(config_.rb_flt.spatial_coeff)); + + config_.rb_flt.r_enable = true; + config_.rb_flt.b_enable = true; + + /* + * The range kernel is configured with a noise level lookup table (NLL) + * which stores a piecewise linear function that characterizes the + * sensor noise profile as a noise level function curve (NLF). + */ + const YamlObject &rFObject = tuningData["NoiseLevelFunction"]; + + std::vector<uint16_t> nllValues; + nllValues = rFObject["coeff"].getList<uint16_t>().value_or(std::vector<uint16_t>{}); + if (nllValues.size() != RKISP1_CIF_ISP_DPF_MAX_NLF_COEFFS) { + LOG(RkISP1Dpf, Error) + << "Invalid 'RangeFilter:coeff': expected " + << RKISP1_CIF_ISP_DPF_MAX_NLF_COEFFS + << " elements, got " << nllValues.size(); + return -EINVAL; + } + + std::copy_n(nllValues.begin(), nllValues.size(), + std::begin(config_.nll.coeff)); + + std::string scaleMode = rFObject["scale-mode"].get<std::string>(""); + if (scaleMode == "linear") { + config_.nll.scale_mode = RKISP1_CIF_ISP_NLL_SCALE_LINEAR; + } else if (scaleMode == "logarithmic") { + config_.nll.scale_mode = RKISP1_CIF_ISP_NLL_SCALE_LOGARITHMIC; + } else { + LOG(RkISP1Dpf, Error) + << "Invalid 'RangeFilter:scale-mode': expected " + << "'linear' or 'logarithmic' value, got " + << scaleMode; + return -EINVAL; + } + + const YamlObject &fSObject = tuningData["FilterStrength"]; + + strengthConfig_.r = fSObject["r"].get<uint16_t>(64); + strengthConfig_.g = fSObject["g"].get<uint16_t>(64); + strengthConfig_.b = fSObject["b"].get<uint16_t>(64); + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::queueRequest + */ +void Dpf::queueRequest(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) +{ + auto &dpf = context.activeState.dpf; + bool update = false; + + const auto &denoise = controls.get(controls::draft::NoiseReductionMode); + if (denoise) { + LOG(RkISP1Dpf, Debug) << "Set denoise to " << *denoise; + + switch (*denoise) { + case controls::draft::NoiseReductionModeOff: + if (dpf.denoise) { + dpf.denoise = false; + update = true; + } + break; + case controls::draft::NoiseReductionModeMinimal: + case controls::draft::NoiseReductionModeHighQuality: + case controls::draft::NoiseReductionModeFast: + if (!dpf.denoise) { + dpf.denoise = true; + update = true; + } + break; + default: + LOG(RkISP1Dpf, Error) + << "Unsupported denoise value " + << *denoise; + break; + } + } + + frameContext.dpf.denoise = dpf.denoise; + frameContext.dpf.update = update; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void Dpf::prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, rkisp1_params_cfg *params) +{ + if (frame == 0) { + params->others.dpf_config = config_; + params->others.dpf_strength_config = strengthConfig_; + + const auto &awb = context.configuration.awb; + const auto &lsc = context.configuration.lsc; + auto &mode = params->others.dpf_config.gain.mode; + + /* + * The DPF needs to take into account the total amount of + * digital gain, which comes from the AWB and LSC modules. The + * DPF hardware can be programmed with a digital gain value + * manually, but can also use the gains supplied by the AWB and + * LSC modules automatically when they are enabled. Use that + * mode of operation as it simplifies control of the DPF. + */ + if (awb.enabled && lsc.enabled) + mode = RKISP1_CIF_ISP_DPF_GAIN_USAGE_AWB_LSC_GAINS; + else if (awb.enabled) + mode = RKISP1_CIF_ISP_DPF_GAIN_USAGE_AWB_GAINS; + else if (lsc.enabled) + mode = RKISP1_CIF_ISP_DPF_GAIN_USAGE_LSC_GAINS; + else + mode = RKISP1_CIF_ISP_DPF_GAIN_USAGE_DISABLED; + + params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_DPF | + RKISP1_CIF_ISP_MODULE_DPF_STRENGTH; + } + + if (frameContext.dpf.update) { + params->module_en_update |= RKISP1_CIF_ISP_MODULE_DPF; + if (frameContext.dpf.denoise) + params->module_ens |= RKISP1_CIF_ISP_MODULE_DPF; + } +} + +REGISTER_IPA_ALGORITHM(Dpf, "Dpf") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/dpf.h b/src/ipa/rkisp1/algorithms/dpf.h new file mode 100644 index 00000000..da0115ba --- /dev/null +++ b/src/ipa/rkisp1/algorithms/dpf.h @@ -0,0 +1,38 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Denoise Pre-Filter control + */ + +#pragma once + +#include <sys/types.h> + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class Dpf : public Algorithm +{ +public: + Dpf(); + ~Dpf() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + void queueRequest(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + rkisp1_params_cfg *params) override; + +private: + struct rkisp1_cif_isp_dpf_config config_; + struct rkisp1_cif_isp_dpf_strength_config strengthConfig_; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/filter.cpp b/src/ipa/rkisp1/algorithms/filter.cpp new file mode 100644 index 00000000..9752248a --- /dev/null +++ b/src/ipa/rkisp1/algorithms/filter.cpp @@ -0,0 +1,216 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Filter control + */ + +#include "filter.h" + +#include <cmath> + +#include <libcamera/base/log.h> + +#include <libcamera/control_ids.h> + +/** + * \file filter.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class Filter + * \brief RkISP1 Filter control + * + * Denoise and Sharpness filters will be applied by RkISP1 during the + * demosaicing step. The denoise filter is responsible for removing noise from + * the image, while the sharpness filter will enhance its acutance. + * + * \todo In current version the denoise and sharpness control is based on user + * controls. In a future version it should be controlled automatically by the + * algorithm. + */ + +LOG_DEFINE_CATEGORY(RkISP1Filter) + +static constexpr uint32_t kFiltLumWeightDefault = 0x00022040; +static constexpr uint32_t kFiltModeDefault = 0x000004f2; + +/** + * \copydoc libcamera::ipa::Algorithm::queueRequest + */ +void Filter::queueRequest(IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) +{ + auto &filter = context.activeState.filter; + bool update = false; + + const auto &sharpness = controls.get(controls::Sharpness); + if (sharpness) { + unsigned int value = std::round(std::clamp(*sharpness, 0.0f, 10.0f)); + + if (filter.sharpness != value) { + filter.sharpness = value; + update = true; + } + + LOG(RkISP1Filter, Debug) << "Set sharpness to " << *sharpness; + } + + const auto &denoise = controls.get(controls::draft::NoiseReductionMode); + if (denoise) { + LOG(RkISP1Filter, Debug) << "Set denoise to " << *denoise; + + switch (*denoise) { + case controls::draft::NoiseReductionModeOff: + if (filter.denoise != 0) { + filter.denoise = 0; + update = true; + } + break; + case controls::draft::NoiseReductionModeMinimal: + if (filter.denoise != 1) { + filter.denoise = 1; + update = true; + } + break; + case controls::draft::NoiseReductionModeHighQuality: + case controls::draft::NoiseReductionModeFast: + if (filter.denoise != 3) { + filter.denoise = 3; + update = true; + } + break; + default: + LOG(RkISP1Filter, Error) + << "Unsupported denoise value " + << *denoise; + break; + } + } + + frameContext.filter.denoise = filter.denoise; + frameContext.filter.sharpness = filter.sharpness; + frameContext.filter.update = update; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void Filter::prepare([[maybe_unused]] IPAContext &context, + [[maybe_unused]] const uint32_t frame, + IPAFrameContext &frameContext, rkisp1_params_cfg *params) +{ + /* Check if the algorithm configuration has been updated. */ + if (!frameContext.filter.update) + return; + + static constexpr uint16_t filt_fac_sh0[] = { + 0x04, 0x07, 0x0a, 0x0c, 0x10, 0x14, 0x1a, 0x1e, 0x24, 0x2a, 0x30 + }; + + static constexpr uint16_t filt_fac_sh1[] = { + 0x04, 0x08, 0x0c, 0x10, 0x16, 0x1b, 0x20, 0x26, 0x2c, 0x30, 0x3f + }; + + static constexpr uint16_t filt_fac_mid[] = { + 0x04, 0x06, 0x08, 0x0a, 0x0c, 0x10, 0x13, 0x17, 0x1d, 0x22, 0x28 + }; + + static constexpr uint16_t filt_fac_bl0[] = { + 0x02, 0x02, 0x04, 0x06, 0x08, 0x0a, 0x0c, 0x10, 0x15, 0x1a, 0x24 + }; + + static constexpr uint16_t filt_fac_bl1[] = { + 0x00, 0x00, 0x00, 0x02, 0x04, 0x04, 0x06, 0x08, 0x0d, 0x14, 0x20 + }; + + static constexpr uint16_t filt_thresh_sh0[] = { + 0, 18, 26, 36, 41, 75, 90, 120, 170, 250, 1023 + }; + + static constexpr uint16_t filt_thresh_sh1[] = { + 0, 33, 44, 51, 67, 100, 120, 150, 200, 300, 1023 + }; + + static constexpr uint16_t filt_thresh_bl0[] = { + 0, 8, 13, 23, 26, 50, 60, 80, 140, 180, 1023 + }; + + static constexpr uint16_t filt_thresh_bl1[] = { + 0, 2, 5, 10, 15, 20, 26, 51, 100, 150, 1023 + }; + + static constexpr uint16_t stage1_select[] = { + 6, 6, 4, 4, 3, 3, 2, 2, 2, 1, 0 + }; + + static constexpr uint16_t filt_chr_v_mode[] = { + 1, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3 + }; + + static constexpr uint16_t filt_chr_h_mode[] = { + 0, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3 + }; + + uint8_t denoise = frameContext.filter.denoise; + uint8_t sharpness = frameContext.filter.sharpness; + auto &flt_config = params->others.flt_config; + + flt_config.fac_sh0 = filt_fac_sh0[sharpness]; + flt_config.fac_sh1 = filt_fac_sh1[sharpness]; + flt_config.fac_mid = filt_fac_mid[sharpness]; + flt_config.fac_bl0 = filt_fac_bl0[sharpness]; + flt_config.fac_bl1 = filt_fac_bl1[sharpness]; + + flt_config.lum_weight = kFiltLumWeightDefault; + flt_config.mode = kFiltModeDefault; + flt_config.thresh_sh0 = filt_thresh_sh0[denoise]; + flt_config.thresh_sh1 = filt_thresh_sh1[denoise]; + flt_config.thresh_bl0 = filt_thresh_bl0[denoise]; + flt_config.thresh_bl1 = filt_thresh_bl1[denoise]; + flt_config.grn_stage1 = stage1_select[denoise]; + flt_config.chr_v_mode = filt_chr_v_mode[denoise]; + flt_config.chr_h_mode = filt_chr_h_mode[denoise]; + + /* + * Combined high denoising and high sharpening requires some + * adjustments to the configuration of the filters. A first stage + * filter with a lower strength must be selected, and the blur factors + * must be decreased. + */ + if (denoise == 9) { + if (sharpness > 3) + flt_config.grn_stage1 = 2; + } else if (denoise == 10) { + if (sharpness > 5) + flt_config.grn_stage1 = 2; + else if (sharpness > 3) + flt_config.grn_stage1 = 1; + } + + if (denoise > 7) { + if (sharpness > 7) { + flt_config.fac_bl0 /= 2; + flt_config.fac_bl1 /= 4; + } else if (sharpness > 4) { + flt_config.fac_bl0 = flt_config.fac_bl0 * 3 / 4; + flt_config.fac_bl1 /= 2; + } + } + + params->module_en_update |= RKISP1_CIF_ISP_MODULE_FLT; + params->module_ens |= RKISP1_CIF_ISP_MODULE_FLT; + params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_FLT; +} + +REGISTER_IPA_ALGORITHM(Filter, "Filter") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/filter.h b/src/ipa/rkisp1/algorithms/filter.h new file mode 100644 index 00000000..d595811d --- /dev/null +++ b/src/ipa/rkisp1/algorithms/filter.h @@ -0,0 +1,33 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Filter control + */ + +#pragma once + +#include <sys/types.h> + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class Filter : public Algorithm +{ +public: + Filter() = default; + ~Filter() = default; + + void queueRequest(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + const ControlList &controls) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + rkisp1_params_cfg *params) override; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/gsl.cpp b/src/ipa/rkisp1/algorithms/gsl.cpp new file mode 100644 index 00000000..9b056c6e --- /dev/null +++ b/src/ipa/rkisp1/algorithms/gsl.cpp @@ -0,0 +1,146 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Gamma Sensor Linearization control + */ + +#include "gsl.h" + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "linux/rkisp1-config.h" + +/** + * \file gsl.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class GammaSensorLinearization + * \brief RkISP1 Gamma Sensor Linearization control + * + * This algorithm linearizes the sensor output to compensate the sensor + * non-linearities by applying piecewise linear functions to the red, green and + * blue channels. + * + * The curves are specified in the tuning data and defined using 17 points. + * + * - The X coordinates are expressed using 16 intervals, with the first point + * at X coordinate 0. Each interval is expressed as a 2-bit value DX (from + * GAMMA_DX_1 to GAMMA_DX_16), stored in the RKISP1_CIF_ISP_GAMMA_DX_LO and + * RKISP1_CIF_ISP_GAMMA_DX_HI registers. The real interval is equal to + * \f$2^{dx+4}\f$. X coordinates are shared between the red, green and blue + * curves. + * + * - The Y coordinates are specified as 17 values separately for the + * red, green and blue channels, with a 12-bit resolution. Each value must be + * in the [-2048, 2047] range compared to the previous value. + */ + +LOG_DEFINE_CATEGORY(RkISP1Gsl) + +static constexpr unsigned int kDegammaXIntervals = 16; + +GammaSensorLinearization::GammaSensorLinearization() +{ +} + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int GammaSensorLinearization::init([[maybe_unused]] IPAContext &context, + const YamlObject &tuningData) +{ + std::vector<uint16_t> xIntervals = + tuningData["x-intervals"].getList<uint16_t>().value_or(std::vector<uint16_t>{}); + if (xIntervals.size() != kDegammaXIntervals) { + LOG(RkISP1Gsl, Error) + << "Invalid 'x' coordinates: expected " + << kDegammaXIntervals << " elements, got " + << xIntervals.size(); + + return -EINVAL; + } + + /* Compute gammaDx_ intervals from xIntervals values */ + gammaDx_[0] = 0; + gammaDx_[1] = 0; + for (unsigned int i = 0; i < kDegammaXIntervals; ++i) + gammaDx_[i / 8] |= (xIntervals[i] & 0x07) << ((i % 8) * 4); + + const YamlObject &yObject = tuningData["y"]; + if (!yObject.isDictionary()) { + LOG(RkISP1Gsl, Error) + << "Issue while parsing 'y' in tuning file: " + << "entry must be a dictionary"; + return -EINVAL; + } + + curveYr_ = yObject["red"].getList<uint16_t>().value_or(std::vector<uint16_t>{}); + if (curveYr_.size() != RKISP1_CIF_ISP_DEGAMMA_CURVE_SIZE) { + LOG(RkISP1Gsl, Error) + << "Invalid 'y:red' coordinates: expected " + << RKISP1_CIF_ISP_DEGAMMA_CURVE_SIZE + << " elements, got " << curveYr_.size(); + return -EINVAL; + } + + curveYg_ = yObject["green"].getList<uint16_t>().value_or(std::vector<uint16_t>{}); + if (curveYg_.size() != RKISP1_CIF_ISP_DEGAMMA_CURVE_SIZE) { + LOG(RkISP1Gsl, Error) + << "Invalid 'y:green' coordinates: expected " + << RKISP1_CIF_ISP_DEGAMMA_CURVE_SIZE + << " elements, got " << curveYg_.size(); + return -EINVAL; + } + + curveYb_ = yObject["blue"].getList<uint16_t>().value_or(std::vector<uint16_t>{}); + if (curveYb_.size() != RKISP1_CIF_ISP_DEGAMMA_CURVE_SIZE) { + LOG(RkISP1Gsl, Error) + << "Invalid 'y:blue' coordinates: expected " + << RKISP1_CIF_ISP_DEGAMMA_CURVE_SIZE + << " elements, got " << curveYb_.size(); + return -EINVAL; + } + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void GammaSensorLinearization::prepare([[maybe_unused]] IPAContext &context, + const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + rkisp1_params_cfg *params) +{ + if (frame > 0) + return; + + params->others.sdg_config.xa_pnts.gamma_dx0 = gammaDx_[0]; + params->others.sdg_config.xa_pnts.gamma_dx1 = gammaDx_[1]; + + std::copy(curveYr_.begin(), curveYr_.end(), + params->others.sdg_config.curve_r.gamma_y); + std::copy(curveYg_.begin(), curveYg_.end(), + params->others.sdg_config.curve_g.gamma_y); + std::copy(curveYb_.begin(), curveYb_.end(), + params->others.sdg_config.curve_b.gamma_y); + + params->module_en_update |= RKISP1_CIF_ISP_MODULE_SDG; + params->module_ens |= RKISP1_CIF_ISP_MODULE_SDG; + params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_SDG; +} + +REGISTER_IPA_ALGORITHM(GammaSensorLinearization, "GammaSensorLinearization") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/gsl.h b/src/ipa/rkisp1/algorithms/gsl.h new file mode 100644 index 00000000..c404105e --- /dev/null +++ b/src/ipa/rkisp1/algorithms/gsl.h @@ -0,0 +1,35 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Gamma Sensor Linearization control + */ + +#pragma once + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class GammaSensorLinearization : public Algorithm +{ +public: + GammaSensorLinearization(); + ~GammaSensorLinearization() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + rkisp1_params_cfg *params) override; + +private: + uint32_t gammaDx_[2]; + std::vector<uint16_t> curveYr_; + std::vector<uint16_t> curveYg_; + std::vector<uint16_t> curveYb_; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/lsc.cpp b/src/ipa/rkisp1/algorithms/lsc.cpp new file mode 100644 index 00000000..161183fc --- /dev/null +++ b/src/ipa/rkisp1/algorithms/lsc.cpp @@ -0,0 +1,342 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Lens Shading Correction control + */ + +#include "lsc.h" + +#include <algorithm> +#include <cmath> +#include <numeric> + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "linux/rkisp1-config.h" + +/** + * \file lsc.h + */ + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +/** + * \class LensShadingCorrection + * \brief RkISP1 Lens Shading Correction control + * + * Due to the optical characteristics of the lens, the light intensity received + * by the sensor is not uniform. + * + * The Lens Shading Correction algorithm applies multipliers to all pixels + * to compensate for the lens shading effect. The coefficients are + * specified in a downscaled table in the YAML tuning file. + */ + +LOG_DEFINE_CATEGORY(RkISP1Lsc) + +static std::vector<double> parseSizes(const YamlObject &tuningData, + const char *prop) +{ + std::vector<double> sizes = + tuningData[prop].getList<double>().value_or(std::vector<double>{}); + if (sizes.size() != RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE) { + LOG(RkISP1Lsc, Error) + << "Invalid '" << prop << "' values: expected " + << RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE + << " elements, got " << sizes.size(); + return {}; + } + + /* + * The sum of all elements must be 0.5 to satisfy hardware constraints. + * Validate it here, allowing a 1% tolerance as rounding errors may + * prevent an exact match (further adjustments will be performed in + * LensShadingCorrection::prepare()). + */ + double sum = std::accumulate(sizes.begin(), sizes.end(), 0.0); + if (sum < 0.495 || sum > 0.505) { + LOG(RkISP1Lsc, Error) + << "Invalid '" << prop << "' values: sum of the elements" + << " should be 0.5, got " << sum; + return {}; + } + + return sizes; +} + +static std::vector<uint16_t> parseTable(const YamlObject &tuningData, + const char *prop) +{ + static constexpr unsigned int kLscNumSamples = + RKISP1_CIF_ISP_LSC_SAMPLES_MAX * RKISP1_CIF_ISP_LSC_SAMPLES_MAX; + + std::vector<uint16_t> table = + tuningData[prop].getList<uint16_t>().value_or(std::vector<uint16_t>{}); + if (table.size() != kLscNumSamples) { + LOG(RkISP1Lsc, Error) + << "Invalid '" << prop << "' values: expected " + << kLscNumSamples + << " elements, got " << table.size(); + return {}; + } + + return table; +} + +LensShadingCorrection::LensShadingCorrection() + : lastCt_({ 0, 0 }) +{ +} + +/** + * \copydoc libcamera::ipa::Algorithm::init + */ +int LensShadingCorrection::init([[maybe_unused]] IPAContext &context, + const YamlObject &tuningData) +{ + xSize_ = parseSizes(tuningData, "x-size"); + ySize_ = parseSizes(tuningData, "y-size"); + + if (xSize_.empty() || ySize_.empty()) + return -EINVAL; + + /* Get all defined sets to apply. */ + const YamlObject &yamlSets = tuningData["sets"]; + if (!yamlSets.isList()) { + LOG(RkISP1Lsc, Error) + << "'sets' parameter not found in tuning file"; + return -EINVAL; + } + + const auto &sets = yamlSets.asList(); + for (const auto &yamlSet : sets) { + uint32_t ct = yamlSet["ct"].get<uint32_t>(0); + + if (sets_.count(ct)) { + LOG(RkISP1Lsc, Error) + << "Multiple sets found for color temperature " + << ct; + return -EINVAL; + } + + Components &set = sets_[ct]; + + set.ct = ct; + set.r = parseTable(yamlSet, "r"); + set.gr = parseTable(yamlSet, "gr"); + set.gb = parseTable(yamlSet, "gb"); + set.b = parseTable(yamlSet, "b"); + + if (set.r.empty() || set.gr.empty() || + set.gb.empty() || set.b.empty()) { + LOG(RkISP1Lsc, Error) + << "Set for color temperature " << ct + << " is missing tables"; + return -EINVAL; + } + } + + if (sets_.empty()) { + LOG(RkISP1Lsc, Error) << "Failed to load any sets"; + return -EINVAL; + } + + return 0; +} + +/** + * \copydoc libcamera::ipa::Algorithm::configure + */ +int LensShadingCorrection::configure(IPAContext &context, + [[maybe_unused]] const IPACameraSensorInfo &configInfo) +{ + const Size &size = context.configuration.sensor.size; + Size totalSize{}; + + for (unsigned int i = 0; i < RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE; ++i) { + xSizes_[i] = xSize_[i] * size.width; + ySizes_[i] = ySize_[i] * size.height; + + /* + * To prevent unexpected behavior of the ISP, the sum of x_size_tbl and + * y_size_tbl items shall be equal to respectively size.width/2 and + * size.height/2. Enforce it by computing the last tables value to avoid + * rounding-induced errors. + */ + if (i == RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE - 1) { + xSizes_[i] = size.width / 2 - totalSize.width; + ySizes_[i] = size.height / 2 - totalSize.height; + } + + totalSize.width += xSizes_[i]; + totalSize.height += ySizes_[i]; + + xGrad_[i] = std::round(32768 / xSizes_[i]); + yGrad_[i] = std::round(32768 / ySizes_[i]); + } + + context.configuration.lsc.enabled = true; + return 0; +} + +void LensShadingCorrection::setParameters(rkisp1_params_cfg *params) +{ + struct rkisp1_cif_isp_lsc_config &config = params->others.lsc_config; + + memcpy(config.x_grad_tbl, xGrad_, sizeof(config.x_grad_tbl)); + memcpy(config.y_grad_tbl, yGrad_, sizeof(config.y_grad_tbl)); + memcpy(config.x_size_tbl, xSizes_, sizeof(config.x_size_tbl)); + memcpy(config.y_size_tbl, ySizes_, sizeof(config.y_size_tbl)); + + params->module_en_update |= RKISP1_CIF_ISP_MODULE_LSC; + params->module_ens |= RKISP1_CIF_ISP_MODULE_LSC; + params->module_cfg_update |= RKISP1_CIF_ISP_MODULE_LSC; +} + +void LensShadingCorrection::copyTable(rkisp1_cif_isp_lsc_config &config, + const Components &set) +{ + std::copy(set.r.begin(), set.r.end(), &config.r_data_tbl[0][0]); + std::copy(set.gr.begin(), set.gr.end(), &config.gr_data_tbl[0][0]); + std::copy(set.gb.begin(), set.gb.end(), &config.gb_data_tbl[0][0]); + std::copy(set.b.begin(), set.b.end(), &config.b_data_tbl[0][0]); +} + +/* + * Interpolate LSC parameters based on color temperature value. + */ +void LensShadingCorrection::interpolateTable(rkisp1_cif_isp_lsc_config &config, + const Components &set0, + const Components &set1, + const uint32_t ct) +{ + double coeff0 = (set1.ct - ct) / static_cast<double>(set1.ct - set0.ct); + double coeff1 = (ct - set0.ct) / static_cast<double>(set1.ct - set0.ct); + + for (unsigned int i = 0; i < RKISP1_CIF_ISP_LSC_SAMPLES_MAX; ++i) { + for (unsigned int j = 0; j < RKISP1_CIF_ISP_LSC_SAMPLES_MAX; ++j) { + unsigned int sample = i * RKISP1_CIF_ISP_LSC_SAMPLES_MAX + j; + + config.r_data_tbl[i][j] = + set0.r[sample] * coeff0 + + set1.r[sample] * coeff1; + + config.gr_data_tbl[i][j] = + set0.gr[sample] * coeff0 + + set1.gr[sample] * coeff1; + + config.gb_data_tbl[i][j] = + set0.gb[sample] * coeff0 + + set1.gb[sample] * coeff1; + + config.b_data_tbl[i][j] = + set0.b[sample] * coeff0 + + set1.b[sample] * coeff1; + } + } +} + +/** + * \copydoc libcamera::ipa::Algorithm::prepare + */ +void LensShadingCorrection::prepare(IPAContext &context, + const uint32_t frame, + [[maybe_unused]] IPAFrameContext &frameContext, + rkisp1_params_cfg *params) +{ + struct rkisp1_cif_isp_lsc_config &config = params->others.lsc_config; + + /* + * If there is only one set, the configuration has already been done + * for first frame. + */ + if (sets_.size() == 1 && frame > 0) + return; + + /* + * If there is only one set, pick it. We can ignore lastCt_, as it will + * never be relevant. + */ + if (sets_.size() == 1) { + setParameters(params); + copyTable(config, sets_.cbegin()->second); + return; + } + + uint32_t ct = context.activeState.awb.temperatureK; + ct = std::clamp(ct, sets_.cbegin()->first, sets_.crbegin()->first); + + /* + * If the original is the same, then it means the same adjustment would + * be made. If the adjusted is the same, then it means that it's the + * same as what was actually applied. Thus in these cases we can skip + * reprogramming the LSC. + * + * original == adjusted can only happen if an interpolation + * happened, or if original has an exact entry in sets_. This means + * that if original != adjusted, then original was adjusted to + * the nearest available entry in sets_, resulting in adjusted. + * Clearly, any ct value that is in between original and adjusted + * will be adjusted to the same adjusted value, so we can skip + * reprogramming the LSC table. + * + * We also skip updating the original value, as the last one had a + * larger bound and thus a larger range of ct values that will be + * adjusted to the same adjusted. + */ + if ((lastCt_.original <= ct && ct <= lastCt_.adjusted) || + (lastCt_.adjusted <= ct && ct <= lastCt_.original)) + return; + + setParameters(params); + + /* + * The color temperature matches exactly one of the available LSC tables. + */ + if (sets_.count(ct)) { + copyTable(config, sets_[ct]); + lastCt_ = { ct, ct }; + return; + } + + /* No shortcuts left; we need to round or interpolate */ + auto iter = sets_.upper_bound(ct); + const Components &set1 = iter->second; + const Components &set0 = (--iter)->second; + uint32_t ct0 = set0.ct; + uint32_t ct1 = set1.ct; + uint32_t diff0 = ct - ct0; + uint32_t diff1 = ct1 - ct; + static constexpr double kThreshold = 0.1; + float threshold = kThreshold * (ct1 - ct0); + + if (diff0 < threshold || diff1 < threshold) { + const Components &set = diff0 < diff1 ? set0 : set1; + LOG(RkISP1Lsc, Debug) << "using LSC table for " << set.ct; + copyTable(config, set); + lastCt_ = { ct, set.ct }; + return; + } + + /* + * ct is not within 10% of the difference between the neighbouring + * color temperatures, so we need to interpolate. + */ + LOG(RkISP1Lsc, Debug) + << "ct is " << ct << ", interpolating between " + << ct0 << " and " << ct1; + interpolateTable(config, set0, set1, ct); + lastCt_ = { ct, ct }; +} + +REGISTER_IPA_ALGORITHM(LensShadingCorrection, "LensShadingCorrection") + +} /* namespace ipa::rkisp1::algorithms */ + +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/lsc.h b/src/ipa/rkisp1/algorithms/lsc.h new file mode 100644 index 00000000..5baf5927 --- /dev/null +++ b/src/ipa/rkisp1/algorithms/lsc.h @@ -0,0 +1,59 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2021-2022, Ideas On Board + * + * RkISP1 Lens Shading Correction control + */ + +#pragma once + +#include <map> + +#include "algorithm.h" + +namespace libcamera { + +namespace ipa::rkisp1::algorithms { + +class LensShadingCorrection : public Algorithm +{ +public: + LensShadingCorrection(); + ~LensShadingCorrection() = default; + + int init(IPAContext &context, const YamlObject &tuningData) override; + int configure(IPAContext &context, const IPACameraSensorInfo &configInfo) override; + void prepare(IPAContext &context, const uint32_t frame, + IPAFrameContext &frameContext, + rkisp1_params_cfg *params) override; + +private: + struct Components { + uint32_t ct; + std::vector<uint16_t> r; + std::vector<uint16_t> gr; + std::vector<uint16_t> gb; + std::vector<uint16_t> b; + }; + + void setParameters(rkisp1_params_cfg *params); + void copyTable(rkisp1_cif_isp_lsc_config &config, const Components &set0); + void interpolateTable(rkisp1_cif_isp_lsc_config &config, + const Components &set0, const Components &set1, + const uint32_t ct); + + std::map<uint32_t, Components> sets_; + std::vector<double> xSize_; + std::vector<double> ySize_; + uint16_t xGrad_[RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE]; + uint16_t yGrad_[RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE]; + uint16_t xSizes_[RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE]; + uint16_t ySizes_[RKISP1_CIF_ISP_LSC_SECTORS_TBL_SIZE]; + struct { + uint32_t original; + uint32_t adjusted; + } lastCt_; +}; + +} /* namespace ipa::rkisp1::algorithms */ +} /* namespace libcamera */ diff --git a/src/ipa/rkisp1/algorithms/meson.build b/src/ipa/rkisp1/algorithms/meson.build index 7ec53d89..93a48329 100644 --- a/src/ipa/rkisp1/algorithms/meson.build +++ b/src/ipa/rkisp1/algorithms/meson.build @@ -4,4 +4,10 @@ rkisp1_ipa_algorithms = files([ 'agc.cpp', 'awb.cpp', 'blc.cpp', + 'cproc.cpp', + 'dpcc.cpp', + 'dpf.cpp', + 'filter.cpp', + 'gsl.cpp', + 'lsc.cpp', ]) diff --git a/src/ipa/rkisp1/data/imx219.yaml b/src/ipa/rkisp1/data/imx219.yaml index 232d8ae8..cbcc43b8 100644 --- a/src/ipa/rkisp1/data/imx219.yaml +++ b/src/ipa/rkisp1/data/imx219.yaml @@ -1,5 +1,5 @@ # SPDX-License-Identifier: CC0-1.0 -%YAML 1.2 +%YAML 1.1 --- version: 1 algorithms: @@ -10,4 +10,109 @@ algorithms: Gr: 256 Gb: 256 B: 256 + - LensShadingCorrection: + x-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + y-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + sets: + - ct: 5800 + r: [ + 1501, 1480, 1478, 1362, 1179, 1056, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1030, 1053, 1134, 1185, 1520, 1480, 1463, 1179, 1056, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1027, 1046, 1134, 1533, 1471, 1179, 1056, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1025, 1039, 1471, + 1314, 1068, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1025, 1314, 1150, 1028, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1150, 1050, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1076, 1026, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1052, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1050, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1050, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1050, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1025, 1086, 1037, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1025, 1057, 1182, 1071, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1057, 1161, + 1345, 1146, 1027, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1036, 1161, 1298, 1612, 1328, 1089, 1025, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1025, 1036, 1161, 1324, 1463, 1884, 1651, 1339, 1103, 1032, + 1025, 1024, 1024, 1024, 1024, 1025, 1038, 1101, 1204, 1324, 1463, 1497, 1933, + 1884, 1587, 1275, 1079, 1052, 1046, 1046, 1046, 1046, 1055, 1101, 1204, 1336, + 1487, 1493, 1476, + ] + gr: [ + 1262, 1250, 1094, 1027, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1250, 1095, 1028, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1095, 1030, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1030, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1025, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1041, 1051, 1025, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1051, 1165, 1088, + 1051, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1051, 1165, 1261, + ] + gb: [ + 1259, 1248, 1092, 1027, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1248, 1092, 1027, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1092, 1029, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1029, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1025, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1041, 1051, 1025, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1052, 1166, 1090, + 1051, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1052, 1166, 1266, + ] + b: [ + 1380, 1378, 1377, 1247, 1080, 1025, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1030, 1406, 1378, 1284, 1092, 1027, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1406, 1338, 1129, 1029, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1338, + 1205, 1043, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1205, 1094, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1116, 1039, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1070, 1025, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1052, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1052, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1052, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1052, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1070, 1025, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1025, 1109, 1036, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1025, 1057, + 1175, 1082, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1057, 1176, 1293, 1172, 1036, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1054, 1185, 1334, 1438, 1294, 1099, 1025, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1054, 1185, 1334, 1334, 1462, + 1438, 1226, 1059, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1025, 1054, 1185, + 1326, 1334, 1334, + ] ... diff --git a/src/ipa/rkisp1/data/imx258.yaml b/src/ipa/rkisp1/data/imx258.yaml new file mode 100644 index 00000000..43dddf20 --- /dev/null +++ b/src/ipa/rkisp1/data/imx258.yaml @@ -0,0 +1,54 @@ +# SPDX-License-Identifier: CC0-1.0 +%YAML 1.1 +--- +version: 1 +algorithms: + - Agc: + - Awb: + - LensShadingCorrection: + x-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + y-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + sets: + #4208x3120_A_70 - A + - ct: 2856 + resolution: 4208x3120 + r: [1483, 1423, 1410, 1414, 1417, 1384, 1356, 1348, 1349, 1348, 1393, 1392, 1409, 1444, 1460, 1475, 1568, 1462, 1409, 1398, 1391, 1361, 1343, 1328, 1312, 1316, 1325, 1328, 1372, 1395, 1427, 1410, 1440, 1525, 1441, 1366, 1373, 1364, 1338, 1312, 1287, 1270, 1262, 1267, 1305, 1339, 1380, 1402, 1425, 1424, 1510, 1423, 1376, 1375, 1353, 1309, 1253, 1220, 1201, 1192, 1203, 1243, 1286, 1338, 1375, 1427, 1438, 1499, 1405, 1353, 1354, 1331, 1269, 1207, 1169, 1140, 1137, 1145, 1186, 1246, 1309, 1373, 1399, 1438, 1512, 1391, 1349, 1351, 1306, 1236, 1174, 1121, 1089, 1083, 1098, 1139, 1202, 1276, 1349, 1384, 1428, 1494, 1401, 1337, 1336, 1277, 1211, 1138, 1082, 1057, 1053, 1067, 1110, 1166, 1253, 1331, 1375, 1417, 1485, 1401, 1341, 1316, 1269, 1184, 1115, 1063, 1037, 1029, 1042, 1082, 1144, 1234, 1322, 1368, 1405, 1480, 1387, 1329, 1305, 1257, 1179, 1104, 1049, 1028, 1024, 1037, 1078, 1144, 1231, 1312, 1363, 1404, 1456, 1401, 1341, 1313, 1254, 1177, 1104, 1053, 1041, 1026, 1042, 1082, 1149, 1229, 1322, 1372, 1397, 1457, 1397, 1344, 1312, 1271, 1191, 1122, 1070, 1052, 1044, 1061, 1097, 1166, 1245, 1334, 1382, 1405, 1476, 1400, 1342, 1333, 1293, 1213, 1146, 1099, 1073, 1061, 1081, 1134, 1202, 1273, 1332, 1380, 1411, 1484, 1414, 1350, 1344, 1301, 1251, 1181, 1133, 1109, 1100, 1118, 1164, 1218, 1299, 1338, 1373, 1408, 1459, 1397, 1360, 1342, 1339, 1293, 1231, 1181, 1149, 1155, 1161, 1202, 1256, 1315, 1364, 1383, 1396, 1479, 1382, 1342, 1358, 1346, 1314, 1284, 1231, 1210, 1198, 1224, 1251, 1303, 1338, 1361, 1381, 1394, 1455, 1386, 1338, 1342, 1341, 1326, 1296, 1274, 1254, 1249, 1262, 1280, 1319, 1357, 1367, 1373, 1379, 1462, 1426, 1340, 1356, 1354, 1330, 1344, 1291, 1275, 1255, 1272, 1298, 1333, 1374, 1390, 1393, 1418, 1580, ] + gr: [1274, 1203, 1200, 1184, 1165, 1167, 1155, 1160, 1155, 1158, 1164, 1181, 1196, 1223, 1219, 1220, 1369, 1233, 1172, 1161, 1158, 1146, 1149, 1142, 1129, 1133, 1137, 1144, 1155, 1173, 1189, 1204, 1205, 1268, 1215, 1172, 1148, 1137, 1135, 1124, 1123, 1114, 1110, 1116, 1131, 1149, 1161, 1175, 1191, 1220, 1263, 1185, 1153, 1140, 1137, 1119, 1106, 1094, 1088, 1086, 1099, 1107, 1125, 1152, 1154, 1187, 1209, 1255, 1195, 1141, 1133, 1133, 1112, 1083, 1081, 1066, 1057, 1067, 1088, 1103, 1134, 1154, 1172, 1199, 1255, 1186, 1136, 1127, 1121, 1094, 1077, 1055, 1044, 1040, 1048, 1067, 1086, 1121, 1146, 1155, 1185, 1258, 1177, 1127, 1117, 1104, 1082, 1063, 1044, 1038, 1027, 1036, 1057, 1070, 1101, 1138, 1151, 1177, 1245, 1184, 1116, 1119, 1098, 1070, 1045, 1037, 1030, 1027, 1026, 1045, 1062, 1099, 1132, 1149, 1179, 1238, 1172, 1120, 1113, 1100, 1070, 1042, 1029, 1027, 1029, 1027, 1042, 1066, 1088, 1126, 1149, 1174, 1223, 1162, 1118, 1117, 1093, 1065, 1039, 1030, 1028, 1022, 1028, 1045, 1060, 1101, 1134, 1146, 1165, 1246, 1172, 1116, 1119, 1102, 1075, 1046, 1029, 1032, 1030, 1038, 1049, 1073, 1097, 1132, 1146, 1168, 1231, 1178, 1118, 1123, 1111, 1083, 1062, 1041, 1038, 1033, 1041, 1054, 1074, 1109, 1135, 1144, 1175, 1244, 1193, 1136, 1123, 1118, 1100, 1070, 1045, 1036, 1044, 1047, 1067, 1090, 1116, 1135, 1158, 1174, 1232, 1198, 1142, 1127, 1130, 1107, 1085, 1068, 1060, 1057, 1069, 1079, 1102, 1115, 1124, 1154, 1178, 1241, 1192, 1136, 1125, 1113, 1116, 1096, 1081, 1075, 1075, 1088, 1097, 1116, 1124, 1135, 1155, 1177, 1232, 1183, 1142, 1119, 1113, 1099, 1101, 1088, 1084, 1085, 1089, 1103, 1109, 1122, 1133, 1147, 1175, 1258, 1238, 1162, 1161, 1143, 1124, 1131, 1108, 1111, 1107, 1115, 1116, 1138, 1137, 1150, 1163, 1186, 1381, ] + gb: [1277, 1217, 1179, 1179, 1163, 1158, 1151, 1150, 1149, 1143, 1151, 1172, 1184, 1207, 1216, 1246, 1375, 1242, 1194, 1166, 1151, 1144, 1145, 1135, 1130, 1129, 1132, 1137, 1154, 1166, 1189, 1207, 1210, 1290, 1229, 1177, 1153, 1144, 1140, 1135, 1124, 1110, 1104, 1115, 1126, 1148, 1162, 1171, 1199, 1220, 1268, 1226, 1163, 1152, 1138, 1130, 1111, 1091, 1088, 1086, 1089, 1097, 1126, 1147, 1164, 1187, 1206, 1273, 1212, 1151, 1141, 1132, 1117, 1093, 1075, 1060, 1059, 1062, 1088, 1108, 1133, 1162, 1168, 1204, 1278, 1207, 1141, 1130, 1126, 1095, 1075, 1063, 1046, 1044, 1054, 1069, 1084, 1120, 1153, 1167, 1195, 1269, 1200, 1141, 1126, 1113, 1092, 1063, 1045, 1033, 1036, 1038, 1055, 1080, 1117, 1139, 1165, 1182, 1262, 1195, 1130, 1128, 1115, 1079, 1052, 1041, 1031, 1024, 1028, 1046, 1072, 1110, 1141, 1160, 1175, 1258, 1189, 1136, 1124, 1105, 1077, 1049, 1029, 1021, 1029, 1033, 1040, 1074, 1108, 1143, 1152, 1173, 1237, 1200, 1130, 1126, 1109, 1080, 1050, 1030, 1031, 1027, 1031, 1043, 1069, 1099, 1141, 1152, 1168, 1249, 1203, 1132, 1124, 1113, 1082, 1058, 1032, 1030, 1024, 1033, 1050, 1083, 1109, 1151, 1156, 1178, 1253, 1204, 1130, 1128, 1112, 1088, 1060, 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1123, 1138, 1226, 1203, 1118, 1090, 1097, 1081, 1052, 1041, 1027, 1030, 1034, 1048, 1067, 1093, 1110, 1121, 1142, 1220, 1210, 1127, 1102, 1091, 1087, 1061, 1052, 1024, 1044, 1041, 1056, 1076, 1091, 1113, 1125, 1152, 1216, 1194, 1107, 1106, 1077, 1085, 1074, 1060, 1048, 1041, 1048, 1060, 1082, 1085, 1085, 1125, 1132, 1218, 1190, 1112, 1074, 1071, 1066, 1067, 1050, 1045, 1045, 1045, 1061, 1075, 1070, 1088, 1106, 1128, 1222, 1234, 1145, 1131, 1120, 1099, 1095, 1079, 1078, 1073, 1078, 1083, 1086, 1108, 1125, 1141, 1156, 1386, ] + #4208x3120_F2_CWF_70 - F2_CWF + - ct: 4230 + resolution: 4208x3120 + r: [1140, 1119, 1106, 1105, 1086, 1079, 1072, 1070, 1070, 1079, 1084, 1102, 1114, 1131, 1157, 1152, 1232, 1131, 1103, 1088, 1084, 1071, 1074, 1077, 1066, 1064, 1063, 1080, 1094, 1101, 1112, 1113, 1134, 1194, 1143, 1073, 1077, 1078, 1069, 1067, 1058, 1060, 1046, 1048, 1067, 1085, 1095, 1101, 1127, 1144, 1169, 1132, 1072, 1074, 1078, 1055, 1045, 1037, 1033, 1039, 1036, 1045, 1068, 1085, 1098, 1122, 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1064, 1085, 1087, 1097, 1157, 1102, 1059, 1064, 1059, 1054, 1035, 1018, 1002, 1005, 1012, 1035, 1052, 1057, 1068, 1071, 1098, 1156, 1098, 1045, 1044, 1042, 1046, 1041, 1024, 1009, 1004, 1017, 1035, 1062, 1062, 1064, 1064, 1088, 1140, 1088, 1043, 1070, 1066, 1041, 1047, 1026, 1014, 1009, 1022, 1032, 1060, 1073, 1077, 1087, 1107, 1237, ] + gr: [1219, 1156, 1145, 1130, 1128, 1112, 1116, 1104, 1112, 1106, 1118, 1128, 1154, 1165, 1161, 1170, 1306, 1183, 1124, 1113, 1099, 1100, 1099, 1091, 1084, 1095, 1090, 1099, 1116, 1126, 1140, 1142, 1158, 1213, 1174, 1112, 1103, 1094, 1084, 1087, 1090, 1075, 1075, 1077, 1088, 1101, 1119, 1133, 1149, 1162, 1193, 1149, 1106, 1091, 1086, 1076, 1071, 1066, 1057, 1064, 1064, 1074, 1082, 1109, 1117, 1140, 1151, 1204, 1155, 1094, 1089, 1088, 1075, 1059, 1052, 1046, 1043, 1048, 1061, 1074, 1101, 1113, 1123, 1154, 1198, 1137, 1093, 1082, 1078, 1059, 1048, 1041, 1033, 1030, 1038, 1048, 1059, 1078, 1109, 1116, 1143, 1198, 1119, 1082, 1074, 1071, 1051, 1040, 1036, 1032, 1031, 1031, 1042, 1047, 1077, 1097, 1112, 1133, 1185, 1126, 1082, 1077, 1058, 1039, 1029, 1025, 1024, 1024, 1022, 1033, 1044, 1068, 1095, 1099, 1131, 1187, 1123, 1078, 1071, 1060, 1043, 1028, 1025, 1027, 1027, 1021, 1033, 1045, 1066, 1087, 1105, 1121, 1173, 1121, 1070, 1067, 1058, 1039, 1024, 1020, 1024, 1024, 1022, 1030, 1043, 1064, 1093, 1099, 1121, 1182, 1112, 1076, 1072, 1065, 1044, 1029, 1021, 1023, 1021, 1026, 1032, 1047, 1066, 1091, 1105, 1131, 1180, 1132, 1076, 1066, 1067, 1052, 1031, 1021, 1021, 1020, 1028, 1039, 1044, 1076, 1098, 1107, 1127, 1179, 1124, 1087, 1076, 1076, 1064, 1036, 1018, 1018, 1020, 1028, 1041, 1056, 1085, 1086, 1106, 1128, 1187, 1126, 1099, 1082, 1072, 1065, 1043, 1031, 1024, 1029, 1034, 1052, 1065, 1074, 1094, 1111, 1127, 1181, 1128, 1086, 1076, 1073, 1072, 1058, 1050, 1046, 1039, 1048, 1059, 1074, 1070, 1096, 1112, 1124, 1174, 1140, 1078, 1077, 1067, 1057, 1055, 1043, 1040, 1042, 1042, 1054, 1069, 1075, 1088, 1099, 1112, 1189, 1182, 1099, 1096, 1093, 1082, 1080, 1072, 1055, 1059, 1061, 1076, 1095, 1090, 1112, 1113, 1140, 1321, ] + gb: [1236, 1163, 1136, 1120, 1113, 1111, 1109, 1101, 1104, 1099, 1102, 1140, 1141, 1158, 1170, 1194, 1332, 1195, 1138, 1114, 1109, 1097, 1098, 1092, 1089, 1085, 1089, 1098, 1117, 1125, 1141, 1155, 1156, 1232, 1186, 1125, 1108, 1095, 1099, 1081, 1078, 1075, 1073, 1073, 1083, 1097, 1118, 1128, 1148, 1166, 1218, 1171, 1107, 1099, 1091, 1086, 1069, 1059, 1051, 1049, 1064, 1071, 1088, 1110, 1118, 1137, 1162, 1225, 1171, 1099, 1092, 1085, 1069, 1057, 1051, 1041, 1036, 1050, 1055, 1077, 1092, 1118, 1133, 1151, 1227, 1158, 1099, 1090, 1086, 1061, 1043, 1039, 1028, 1036, 1039, 1048, 1060, 1091, 1110, 1117, 1147, 1216, 1152, 1086, 1082, 1073, 1054, 1040, 1026, 1028, 1029, 1032, 1040, 1051, 1076, 1104, 1115, 1139, 1222, 1141, 1088, 1078, 1073, 1048, 1034, 1026, 1025, 1025, 1022, 1033, 1051, 1077, 1104, 1115, 1129, 1202, 1154, 1081, 1080, 1069, 1050, 1029, 1023, 1022, 1029, 1027, 1031, 1050, 1070, 1098, 1107, 1127, 1188, 1146, 1090, 1078, 1065, 1044, 1029, 1015, 1022, 1024, 1025, 1035, 1053, 1071, 1104, 1102, 1136, 1207, 1152, 1083, 1078, 1073, 1042, 1027, 1024, 1024, 1016, 1024, 1037, 1056, 1076, 1106, 1111, 1130, 1197, 1146, 1086, 1076, 1074, 1046, 1031, 1023, 1018, 1021, 1026, 1043, 1051, 1081, 1102, 1111, 1126, 1191, 1134, 1090, 1084, 1079, 1067, 1038, 1019, 1018, 1021, 1033, 1041, 1055, 1081, 1099, 1107, 1131, 1199, 1147, 1091, 1082, 1083, 1072, 1050, 1031, 1024, 1027, 1032, 1053, 1063, 1082, 1099, 1107, 1130, 1191, 1139, 1087, 1078, 1077, 1073, 1058, 1048, 1037, 1037, 1046, 1062, 1073, 1079, 1099, 1099, 1130, 1177, 1147, 1082, 1087, 1074, 1061, 1062, 1052, 1042, 1036, 1045, 1063, 1068, 1079, 1094, 1103, 1120, 1189, 1176, 1105, 1102, 1092, 1081, 1073, 1064, 1053, 1053, 1066, 1067, 1084, 1087, 1103, 1134, 1146, 1336, ] + b: [1203, 1195, 1154, 1123, 1104, 1106, 1116, 1099, 1099, 1099, 1102, 1106, 1123, 1155, 1149, 1168, 1283, 1196, 1141, 1119, 1102, 1098, 1088, 1088, 1095, 1086, 1095, 1097, 1101, 1117, 1121, 1156, 1135, 1209, 1211, 1127, 1102, 1082, 1089, 1088, 1072, 1075, 1083, 1083, 1085, 1106, 1107, 1120, 1142, 1149, 1224, 1163, 1121, 1087, 1078, 1085, 1077, 1062, 1065, 1056, 1057, 1082, 1093, 1094, 1096, 1111, 1147, 1193, 1179, 1105, 1083, 1088, 1070, 1074, 1060, 1048, 1055, 1044, 1068, 1082, 1091, 1097, 1102, 1141, 1209, 1178, 1091, 1076, 1077, 1063, 1060, 1043, 1043, 1035, 1046, 1059, 1064, 1084, 1103, 1107, 1125, 1196, 1156, 1088, 1068, 1070, 1057, 1043, 1046, 1041, 1038, 1038, 1046, 1059, 1073, 1083, 1086, 1111, 1178, 1146, 1067, 1083, 1068, 1044, 1042, 1033, 1044, 1033, 1026, 1037, 1045, 1067, 1089, 1092, 1108, 1203, 1148, 1082, 1072, 1066, 1050, 1044, 1035, 1035, 1031, 1028, 1035, 1055, 1069, 1082, 1094, 1101, 1188, 1163, 1067, 1074, 1056, 1040, 1034, 1037, 1026, 1022, 1033, 1037, 1049, 1067, 1084, 1092, 1103, 1185, 1156, 1074, 1073, 1066, 1042, 1036, 1028, 1031, 1030, 1034, 1042, 1051, 1073, 1091, 1090, 1102, 1196, 1172, 1086, 1071, 1077, 1055, 1041, 1036, 1025, 1024, 1028, 1032, 1053, 1076, 1094, 1089, 1101, 1178, 1179, 1095, 1079, 1075, 1070, 1043, 1026, 1022, 1022, 1029, 1045, 1054, 1078, 1075, 1092, 1120, 1179, 1193, 1091, 1074, 1061, 1064, 1056, 1043, 1034, 1026, 1027, 1039, 1060, 1081, 1070, 1078, 1115, 1205, 1172, 1096, 1069, 1060, 1071, 1055, 1044, 1035, 1027, 1043, 1048, 1063, 1054, 1065, 1083, 1122, 1186, 1158, 1088, 1060, 1043, 1037, 1037, 1031, 1033, 1025, 1029, 1035, 1041, 1041, 1060, 1084, 1114, 1202, 1217, 1122, 1101, 1079, 1058, 1061, 1049, 1056, 1051, 1036, 1062, 1061, 1076, 1094, 1116, 1139, 1331, ] + diff --git a/src/ipa/rkisp1/data/meson.build b/src/ipa/rkisp1/data/meson.build index c3b4e388..7150e155 100644 --- a/src/ipa/rkisp1/data/meson.build +++ b/src/ipa/rkisp1/data/meson.build @@ -2,9 +2,11 @@ conf_files = files([ 'imx219.yaml', + 'ov4689.yaml', 'ov5640.yaml', 'uncalibrated.yaml', ]) install_data(conf_files, - install_dir : ipa_data_dir / 'rkisp1') + install_dir : ipa_data_dir / 'rkisp1', + install_tag : 'runtime') diff --git a/src/ipa/rkisp1/data/ov2685.yaml b/src/ipa/rkisp1/data/ov2685.yaml new file mode 100644 index 00000000..fdfc98d3 --- /dev/null +++ b/src/ipa/rkisp1/data/ov2685.yaml @@ -0,0 +1,41 @@ +# SPDX-License-Identifier: CC0-1.0 +%YAML 1.1 +--- +version: 1 +algorithms: + - Agc: + - Awb: + - LensShadingCorrection: + x-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + y-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + sets: + #800x600_A_70 - A + - ct: 2856 + resolution: 800x600 + r: [2451, 2258, 2111, 2039, 1982, 1925, 1860, 1818, 1802, 1815, 1859, 1936, 1997, 2056, 2129, 2298, 2486, 2351, 2157, 2066, 1991, 1912, 1809, 1720, 1677, 1653, 1671, 1739, 1843, 1932, 2009, 2071, 2182, 2392, 2253, 2105, 2018, 1929, 1802, 1670, 1566, 1503, 1475, 1508, 1590, 1705, 1848, 1947, 2026, 2118, 2281, 2174, 2065, 1975, 1854, 1687, 1529, 1412, 1345, 1327, 1358, 1445, 1572, 1733, 1870, 1992, 2075, 2202, 2125, 2033, 1929, 1765, 1574, 1407, 1286, 1220, 1204, 1237, 1318, 1447, 1632, 1801, 1951, 2048, 2142, 2092, 2010, 1877, 1688, 1471, 1304, 1187, 1127, 1118, 1149, 1221, 1348, 1533, 1738, 1918, 2021, 2105, 2088, 1982, 1836, 1628, 1398, 1239, 1128, 1073, 1060, 1086, 1163, 1280, 1466, 1688, 1886, 2001, 2092, 2067, 1965, 1809, 1584, 1358, 1200, 1094, 1044, 1030, 1056, 1123, 1240, 1424, 1649, 1860, 1989, 2082, 2057, 1960, 1795, 1569, 1345, 1187, 1083, 1034, 1024, 1046, 1111, 1229, 1408, 1637, 1850, 1989, 2085, 2053, 1967, 1802, 1578, 1358, 1199, 1095, 1046, 1031, 1058, 1122, 1245, 1423, 1651, 1867, 1989, 2084, 2059, 1970, 1823, 1615, 1399, 1235, 1129, 1074, 1061, 1090, 1161, 1281, 1461, 1689, 1878, 2006, 2096, 2086, 1989, 1866, 1670, 1471, 1302, 1188, 1134, 1117, 1150, 1223, 1352, 1537, 1745, 1909, 2028, 2114, 2101, 2006, 1916, 1749, 1567, 1399, 1278, 1218, 1206, 1237, 1317, 1456, 1633, 1813, 1954, 2053, 2142, 2171, 2023, 1954, 1843, 1680, 1526, 1403, 1339, 1323, 1357, 1440, 1575, 1733, 1885, 1996, 2069, 2212, 2231, 2074, 1990, 1916, 1792, 1656, 1554, 1489, 1473, 1513, 1588, 1702, 1840, 1946, 2011, 2124, 2283, 2343, 2146, 2036, 1973, 1890, 1789, 1700, 1653, 1645, 1678, 1733, 1828, 1922, 1978, 2065, 2181, 2405, 2420, 2246, 2092, 2015, 1954, 1885, 1816, 1776, 1777, 1791, 1847, 1904, 1941, 2016, 2105, 2284, 2463, ] + gr: [1790, 1645, 1522, 1469, 1433, 1419, 1390, 1381, 1374, 1381, 1401, 1428, 1460, 1494, 1552, 1693, 1839, 1687, 1555, 1471, 1433, 1408, 1362, 1335, 1319, 1308, 1318, 1344, 1393, 1430, 1456, 1497, 1591, 1752, 1612, 1503, 1447, 1417, 1365, 1315, 1276, 1248, 1237, 1252, 1290, 1339, 1404, 1435, 1469, 1539, 1661, 1547, 1470, 1424, 1389, 1321, 1260, 1205, 1173, 1165, 1181, 1221, 1286, 1358, 1409, 1452, 1503, 1603, 1504, 1451, 1411, 1358, 1276, 1198, 1148, 1114, 1110, 1124, 1164, 1228, 1320, 1388, 1435, 1479, 1552, 1475, 1437, 1392, 1325, 1231, 1153, 1094, 1069, 1068, 1084, 1119, 1182, 1278, 1365, 1429, 1469, 1529, 1464, 1430, 1375, 1301, 1196, 1118, 1067, 1043, 1039, 1051, 1089, 1150, 1245, 1342, 1417, 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B: 66 +... diff --git a/src/ipa/rkisp1/data/ov5640.yaml b/src/ipa/rkisp1/data/ov5640.yaml index 232d8ae8..897b83cb 100644 --- a/src/ipa/rkisp1/data/ov5640.yaml +++ b/src/ipa/rkisp1/data/ov5640.yaml @@ -1,5 +1,5 @@ # SPDX-License-Identifier: CC0-1.0 -%YAML 1.2 +%YAML 1.1 --- version: 1 algorithms: @@ -10,4 +10,245 @@ algorithms: Gr: 256 Gb: 256 B: 256 + - ColorProcessing: + - GammaSensorLinearization: + x-intervals: [ 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2 ] + y: + red: [ 0, 256, 512, 768, 1024, 1280, 1536, 1792, 2048, 2304, 2560, 2816, 3072, 3328, 3584, 3840, 4095 ] + green: [ 0, 256, 512, 768, 1024, 1280, 1536, 1792, 2048, 2304, 2560, 2816, 3072, 3328, 3584, 3840, 4095 ] + blue: [ 0, 256, 512, 768, 1024, 1280, 1536, 1792, 2048, 2304, 2560, 2816, 3072, 3328, 3584, 3840, 4095 ] + - LensShadingCorrection: + x-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + y-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + sets: + - ct: 3000 + r: [ + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 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1024, 1024, 1024, 1024, 1024, + 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, 1024, + ] + - ct: 7000 + r: [ + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 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1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, 1536, + ] + - DefectPixelClusterCorrection: + fixed-set: false + sets: + # PG, LC, RO, RND, RG + - line-threshold: + green: 8 + red-blue: 8 + line-mad-factor: + green: 4 + red-blue: 4 + pg-factor: + green: 8 + red-blue: 8 + rnd-threshold: + green: 10 + red-blue: 10 + rg-factor: + green: 32 + red-blue: 32 + ro-limits: + green: 1 + red-blue: 1 + rnd-offsets: + green: 2 + red-blue: 2 + # PG, LC, RO + - line-threshold: + green: 24 + red-blue: 32 + line-mad-factor: + green: 16 + red-blue: 24 + pg-factor: + green: 6 + red-blue: 8 + ro-limits: + green: 2 + red-blue: 2 + # PG, LC, RO, RND, RG + - line-threshold: + green: 32 + red-blue: 32 + line-mad-factor: + green: 4 + red-blue: 4 + pg-factor: + green: 10 + red-blue: 10 + rnd-threshold: + green: 6 + red-blue: 8 + rg-factor: + green: 4 + red-blue: 4 + ro-limits: + green: 1 + red-blue: 2 + rnd-offsets: + green: 2 + red-blue: 2 + - Dpf: + DomainFilter: + g: [ 16, 16, 16, 16, 16, 16 ] + rb: [ 16, 16, 16, 16, 16, 16 ] + NoiseLevelFunction: + coeff: [ + 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, + 1023, 1023, 1023, 1023, 1023, 1023, 1023, 1023, + 1023 + ] + scale-mode: "linear" + FilterStrength: + r: 64 + g: 64 + b: 64 + - Filter: ... diff --git a/src/ipa/rkisp1/data/ov5695.yaml b/src/ipa/rkisp1/data/ov5695.yaml new file mode 100644 index 00000000..2e39e3a5 --- /dev/null +++ b/src/ipa/rkisp1/data/ov5695.yaml @@ -0,0 +1,41 @@ +# SPDX-License-Identifier: CC0-1.0 +%YAML 1.1 +--- +version: 1 +algorithms: + - Agc: + - Awb: + - LensShadingCorrection: + x-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + y-size: [ 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625, 0.0625 ] + sets: + #2592x1944_A_70 - A + - ct: 2856 + resolution: 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2200, 2111, 2075, 2079, 2145, 2258, 2393, 2547, 2713, 3030, 3396, 3294, 2882, 2641, 2461, 2294, 2117, 1965, 1868, 1822, 1827, 1898, 2020, 2200, 2366, 2557, 2763, 3190, 3081, 2755, 2527, 2334, 2120, 1915, 1760, 1667, 1625, 1635, 1702, 1820, 2002, 2225, 2422, 2641, 2979, 2935, 2624, 2415, 2192, 1939, 1732, 1587, 1496, 1452, 1461, 1526, 1643, 1825, 2064, 2314, 2518, 2804, 2832, 2532, 2323, 2050, 1792, 1591, 1448, 1348, 1301, 1315, 1382, 1504, 1675, 1916, 2190, 2435, 2700, 2735, 2464, 2229, 1935, 1680, 1485, 1327, 1227, 1183, 1194, 1265, 1392, 1567, 1799, 2091, 2351, 2611, 2673, 2415, 2150, 1853, 1597, 1397, 1244, 1144, 1096, 1111, 1182, 1308, 1489, 1715, 2000, 2291, 2552, 2638, 2381, 2104, 1797, 1546, 1342, 1189, 1086, 1042, 1058, 1126, 1255, 1435, 1666, 1950, 2257, 2514, 2621, 2361, 2083, 1766, 1525, 1319, 1164, 1064, 1024, 1037, 1106, 1231, 1415, 1644, 1929, 2233, 2506, 2638, 2364, 2088, 1777, 1528, 1326, 1168, 1073, 1029, 1046, 1115, 1240, 1422, 1654, 1941, 2237, 2511, 2655, 2388, 2121, 1813, 1563, 1366, 1210, 1114, 1070, 1084, 1155, 1283, 1459, 1693, 1981, 2269, 2530, 2712, 2427, 2182, 1884, 1628, 1428, 1281, 1183, 1143, 1158, 1226, 1352, 1531, 1764, 2046, 2317, 2579, 2790, 2485, 2250, 1983, 1722, 1523, 1379, 1284, 1242, 1258, 1327, 1454, 1628, 1862, 2139, 2376, 2667, 2895, 2571, 2344, 2103, 1851, 1644, 1506, 1409, 1371, 1388, 1457, 1578, 1756, 1996, 2250, 2457, 2782, 3048, 2672, 2441, 2229, 2007, 1806, 1658, 1567, 1526, 1541, 1611, 1739, 1916, 2148, 2340, 2583, 2953, 3225, 2827, 2544, 2353, 2172, 1998, 1846, 1755, 1708, 1732, 1794, 1928, 2102, 2282, 2468, 2726, 3175, 3641, 3010, 2734, 2492, 2341, 2192, 2069, 1968, 1937, 1948, 2023, 2139, 2270, 2437, 2634, 2994, 3392, ] + gr: [3050, 2599, 2407, 2232, 2134, 2044, 1950, 1879, 1843, 1845, 1897, 1973, 2069, 2164, 2285, 2518, 2788, 2763, 2436, 2247, 2112, 1994, 1867, 1764, 1688, 1655, 1661, 1710, 1788, 1907, 2024, 2157, 2320, 2612, 2604, 2323, 2155, 2009, 1858, 1715, 1606, 1543, 1504, 1512, 1556, 1640, 1766, 1917, 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2411, 2169, 2025, 1895, 1760, 1650, 1578, 1548, 1559, 1612, 1702, 1834, 1960, 2101, 2302, 2647, 3035, 2523, 2314, 2125, 2002, 1897, 1806, 1738, 1705, 1716, 1766, 1855, 1944, 2061, 2204, 2497, 2792, ] + b: [2861, 2421, 2239, 2078, 1980, 1893, 1811, 1762, 1723, 1742, 1779, 1851, 1933, 2034, 2151, 2359, 2635, 2562, 2279, 2088, 1949, 1859, 1748, 1650, 1585, 1562, 1570, 1607, 1691, 1798, 1909, 2028, 2181, 2467, 2428, 2166, 2009, 1873, 1736, 1613, 1518, 1461, 1436, 1441, 1480, 1557, 1676, 1814, 1932, 2087, 2311, 2326, 2088, 1923, 1779, 1621, 1492, 1404, 1351, 1322, 1329, 1368, 1445, 1557, 1708, 1863, 2004, 2200, 2250, 2013, 1869, 1687, 1522, 1398, 1309, 1250, 1218, 1231, 1273, 1354, 1457, 1615, 1779, 1941, 2113, 2187, 1979, 1812, 1617, 1454, 1331, 1231, 1163, 1137, 1145, 1195, 1277, 1392, 1537, 1720, 1899, 2061, 2161, 1947, 1769, 1567, 1405, 1273, 1171, 1101, 1078, 1087, 1132, 1222, 1336, 1483, 1665, 1849, 2018, 2122, 1923, 1740, 1530, 1369, 1239, 1131, 1064, 1037, 1049, 1096, 1182, 1306, 1452, 1625, 1829, 1999, 2115, 1919, 1730, 1520, 1360, 1222, 1117, 1046, 1024, 1033, 1086, 1169, 1288, 1439, 1617, 1815, 1991, 2121, 1918, 1736, 1524, 1359, 1227, 1119, 1053, 1025, 1040, 1088, 1173, 1295, 1442, 1624, 1817, 1995, 2136, 1934, 1750, 1546, 1384, 1254, 1147, 1079, 1053, 1063, 1114, 1203, 1321, 1464, 1649, 1837, 2004, 2179, 1955, 1795, 1587, 1423, 1294, 1195, 1131, 1105, 1112, 1161, 1247, 1362, 1506, 1688, 1872, 2037, 2228, 1999, 1833, 1656, 1480, 1353, 1263, 1197, 1172, 1182, 1228, 1311, 1423, 1574, 1751, 1903, 2078, 2309, 2047, 1889, 1724, 1558, 1425, 1336, 1277, 1252, 1263, 1308, 1382, 1500, 1654, 1806, 1954, 2164, 2390, 2114, 1949, 1802, 1660, 1524, 1429, 1373, 1352, 1360, 1401, 1482, 1597, 1748, 1863, 2031, 2287, 2520, 2231, 2019, 1882, 1760, 1651, 1549, 1494, 1466, 1478, 1519, 1597, 1715, 1827, 1947, 2124, 2444, 2788, 2355, 2157, 1974, 1878, 1770, 1701, 1637, 1615, 1612, 1661, 1743, 1824, 1925, 2064, 2315, 2599, ] + diff --git a/src/ipa/rkisp1/data/uncalibrated.yaml b/src/ipa/rkisp1/data/uncalibrated.yaml index bdbd5fda..a7bbd8d8 100644 --- a/src/ipa/rkisp1/data/uncalibrated.yaml +++ b/src/ipa/rkisp1/data/uncalibrated.yaml @@ -1,5 +1,5 @@ # SPDX-License-Identifier: CC0-1.0 -%YAML 1.2 +%YAML 1.1 --- version: 1 algorithms: diff --git a/src/ipa/rkisp1/ipa_context.cpp b/src/ipa/rkisp1/ipa_context.cpp index 1559d3ff..283bc131 100644 --- a/src/ipa/rkisp1/ipa_context.cpp +++ b/src/ipa/rkisp1/ipa_context.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * ipa_context.cpp - RkISP1 IPA Context + * RkISP1 IPA Context */ #include "ipa_context.h" @@ -15,6 +15,25 @@ namespace libcamera::ipa::rkisp1 { /** + * \struct IPAHwSettings + * \brief RkISP1 version-specific hardware parameters + */ + +/** + * \var IPAHwSettings::numAeCells + * \brief Number of cells in the AE exposure means grid + * + * \var IPAHwSettings::numHistogramBins + * \brief Number of bins in the histogram + * + * \var IPAHwSettings::numHistogramWeights + * \brief Number of weights in the histogram grid + * + * \var IPAHwSettings::numGammaOutSamples + * \brief Number of samples in the gamma out table + */ + +/** * \struct IPASessionConfiguration * \brief Session configuration for the IPA module * @@ -25,84 +44,217 @@ namespace libcamera::ipa::rkisp1 { */ /** - * \struct IPAFrameContext - * \brief Per-frame context for algorithms + * \var IPASessionConfiguration::agc + * \brief AGC parameters configuration of the IPA + * + * \var IPASessionConfiguration::agc.measureWindow + * \brief AGC measure window + */ + +/** + * \var IPASessionConfiguration::awb + * \brief AWB parameters configuration of the IPA * - * The frame context stores data specific to a single frame processed by the - * IPA. Each frame processed by the IPA has a context associated with it, - * accessible through the IPAContext structure. + * \var IPASessionConfiguration::awb.measureWindow + * \brief AWB measure window * - * \todo Detail how to access contexts for a particular frame + * \var IPASessionConfiguration::awb.enabled + * \brief Indicates if the AWB hardware is enabled and applies colour gains * - * Each of the fields in the frame context belongs to either a specific - * algorithm, or to the top-level IPA module. A field may be read by any - * algorithm, but should only be written by its owner. + * The AWB module of the ISP applies colour gains and computes statistics. It is + * enabled when the AWB algorithm is loaded, regardless of whether the algorithm + * operates in manual or automatic mode. */ /** - * \struct IPAContext - * \brief Global IPA context data shared between all algorithms + * \var IPASessionConfiguration::lsc + * \brief Lens Shading Correction configuration of the IPA * - * \var IPAContext::configuration - * \brief The IPA session configuration, immutable during the session + * \var IPASessionConfiguration::lsc.enabled + * \brief Indicates if the LSC hardware is enabled + */ + +/** + * \var IPASessionConfiguration::sensor + * \brief Sensor-specific configuration of the IPA + * + * \var IPASessionConfiguration::sensor.minShutterSpeed + * \brief Minimum shutter speed supported with the sensor + * + * \var IPASessionConfiguration::sensor.maxShutterSpeed + * \brief Maximum shutter speed supported with the sensor * - * \var IPAContext::frameContext - * \brief The frame context for the frame being processed + * \var IPASessionConfiguration::sensor.minAnalogueGain + * \brief Minimum analogue gain supported with the sensor * - * \todo While the frame context is supposed to be per-frame, this - * single frame context stores data related to both the current frame - * and the previous frames, with fields being updated as the algorithms - * are run. This needs to be turned into real per-frame data storage. + * \var IPASessionConfiguration::sensor.maxAnalogueGain + * \brief Maximum analogue gain supported with the sensor + * + * \var IPASessionConfiguration::sensor.defVBlank + * \brief The default vblank value of the sensor + * + * \var IPASessionConfiguration::sensor.lineDuration + * \brief Line duration in microseconds + * + * \var IPASessionConfiguration::sensor.size + * \brief Sensor output resolution */ /** - * \var IPASessionConfiguration::agc - * \brief AGC parameters configuration of the IPA + * \var IPASessionConfiguration::raw + * \brief Indicates if the camera is configured to capture raw frames + */ + +/** + * \struct IPAActiveState + * \brief Active state for algorithms * - * \var IPASessionConfiguration::agc.minShutterSpeed - * \brief Minimum shutter speed supported with the configured sensor + * The active state contains all algorithm-specific data that needs to be + * maintained by algorithms across frames. Unlike the session configuration, + * the active state is mutable and constantly updated by algorithms. The active + * state is accessible through the IPAContext structure. * - * \var IPASessionConfiguration::agc.maxShutterSpeed - * \brief Maximum shutter speed supported with the configured sensor + * The active state stores two distinct categories of information: * - * \var IPASessionConfiguration::agc.minAnalogueGain - * \brief Minimum analogue gain supported with the configured sensor + * - The consolidated value of all algorithm controls. Requests passed to + * the queueRequest() function store values for controls that the + * application wants to modify for that particular frame, and the + * queueRequest() function updates the active state with those values. + * The active state thus contains a consolidated view of the value of all + * controls handled by the algorithm. * - * \var IPASessionConfiguration::agc.maxAnalogueGain - * \brief Maximum analogue gain supported with the configured sensor + * - The value of parameters computed by the algorithm when running in auto + * mode. Algorithms running in auto mode compute new parameters every + * time statistics buffers are received (either synchronously, or + * possibly in a background thread). The latest computed value of those + * parameters is stored in the active state in the process() function. * - * \var IPASessionConfiguration::agc.measureWindow - * \brief AGC measure window + * Each of the members in the active state belongs to a specific algorithm. A + * member may be read by any algorithm, but shall only be written by its owner. + */ + +/** + * \var IPAActiveState::agc + * \brief State for the Automatic Gain Control algorithm * - * \var IPASessionConfiguration::hw - * \brief RkISP1-specific hardware information + * The exposure and gain are the latest values computed by the AGC algorithm. * - * \var IPASessionConfiguration::hw.revision - * \brief Hardware revision of the ISP + * \var IPAActiveState::agc.exposure + * \brief Exposure time expressed as a number of lines + * + * \var IPAActiveState::agc.gain + * \brief Analogue gain multiplier */ /** - * \var IPASessionConfiguration::awb - * \brief AWB parameters configuration of the IPA + * \var IPAActiveState::awb + * \brief State for the Automatic White Balance algorithm * - * \var IPASessionConfiguration::awb.measureWindow - * \brief AWB measure window + * \struct IPAActiveState::awb.gains + * \brief White balance gains + * + * \struct IPAActiveState::awb.gains.manual + * \brief Manual white balance gains (set through requests) + * + * \var IPAActiveState::awb.gains.manual.red + * \brief Manual white balance gain for R channel + * + * \var IPAActiveState::awb.gains.manual.green + * \brief Manual white balance gain for G channel + * + * \var IPAActiveState::awb.gains.manual.blue + * \brief Manual white balance gain for B channel + * + * \struct IPAActiveState::awb.gains.automatic + * \brief Automatic white balance gains (computed by the algorithm) + * + * \var IPAActiveState::awb.gains.automatic.red + * \brief Automatic white balance gain for R channel + * + * \var IPAActiveState::awb.gains.automatic.green + * \brief Automatic white balance gain for G channel + * + * \var IPAActiveState::awb.gains.automatic.blue + * \brief Automatic white balance gain for B channel + * + * \var IPAActiveState::awb.temperatureK + * \brief Estimated color temperature + * + * \var IPAActiveState::awb.autoEnabled + * \brief Whether the Auto White Balance algorithm is enabled */ /** - * \var IPASessionConfiguration::sensor - * \brief Sensor-specific configuration of the IPA + * \var IPAActiveState::cproc + * \brief State for the Color Processing algorithm * - * \var IPASessionConfiguration::sensor.lineDuration - * \brief Line duration in microseconds + * \struct IPAActiveState::cproc.brightness + * \brief Brightness level + * + * \var IPAActiveState::cproc.contrast + * \brief Contrast level + * + * \var IPAActiveState::cproc.saturation + * \brief Saturation level + */ + +/** + * \var IPAActiveState::dpf + * \brief State for the Denoise Pre-Filter algorithm + * + * \var IPAActiveState::dpf.denoise + * \brief Indicates if denoise is activated + */ + +/** + * \var IPAActiveState::filter + * \brief State for the Filter algorithm + * + * \struct IPAActiveState::filter.denoise + * \brief Denoising level + * + * \var IPAActiveState::filter.sharpness + * \brief Sharpness level + */ + +/** + * \struct IPAFrameContext + * \brief Per-frame context for algorithms + * + * The frame context stores two distinct categories of information: + * + * - The value of the controls to be applied to the frame. These values are + * typically set in the queueRequest() function, from the consolidated + * control values stored in the active state. The frame context thus stores + * values for all controls related to the algorithm, not limited to the + * controls specified in the corresponding request, but consolidated from all + * requests that have been queued so far. + * + * For controls that can be set manually or computed by an algorithm + * (depending on the algorithm operation mode), such as for instance the + * colour gains for the AWB algorithm, the control value will be stored in + * the frame context in the queueRequest() function only when operating in + * manual mode. When operating in auto mode, the values are computed by the + * algorithm in process(), stored in the active state, and copied to the + * frame context in prepare(), just before being stored in the ISP parameters + * buffer. + * + * The queueRequest() function can also store ancillary data in the frame + * context, such as flags to indicate if (and what) control values have + * changed compared to the previous request. + * + * - Status information computed by the algorithm for a frame. For instance, + * the colour temperature estimated by the AWB algorithm from ISP statistics + * calculated on a frame is stored in the frame context for that frame in + * the process() function. */ /** * \var IPAFrameContext::agc - * \brief Context for the Automatic Gain Control algorithm + * \brief Automatic Gain Control parameters for this frame * - * The exposure and gain determined are expected to be applied to the sensor - * at the earliest opportunity. + * 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. * * \var IPAFrameContext::agc.exposure * \brief Exposure time expressed as a number of lines @@ -115,7 +267,7 @@ namespace libcamera::ipa::rkisp1 { /** * \var IPAFrameContext::awb - * \brief Context for the Automatic White Balance algorithm + * \brief Automatic White Balance parameters for this frame * * \struct IPAFrameContext::awb.gains * \brief White balance gains @@ -131,11 +283,59 @@ namespace libcamera::ipa::rkisp1 { * * \var IPAFrameContext::awb.temperatureK * \brief Estimated color temperature + * + * \var IPAFrameContext::awb.autoEnabled + * \brief Whether the Auto White Balance algorithm is enabled + */ + +/** + * \var IPAFrameContext::cproc + * \brief Color Processing parameters for this frame + * + * \struct IPAFrameContext::cproc.brightness + * \brief Brightness level + * + * \var IPAFrameContext::cproc.contrast + * \brief Contrast level + * + * \var IPAFrameContext::cproc.saturation + * \brief Saturation level + * + * \var IPAFrameContext::cproc.update + * \brief Indicates if the color processing parameters have been updated + * compared to the previous frame + */ + +/** + * \var IPAFrameContext::dpf + * \brief Denoise Pre-Filter parameters for this frame + * + * \var IPAFrameContext::dpf.denoise + * \brief Indicates if denoise is activated + * + * \var IPAFrameContext::dpf.update + * \brief Indicates if the denoise pre-filter parameters have been updated + * compared to the previous frame + */ + +/** + * \var IPAFrameContext::filter + * \brief Filter parameters for this frame + * + * \struct IPAFrameContext::filter.denoise + * \brief Denoising level + * + * \var IPAFrameContext::filter.sharpness + * \brief Sharpness level + * + * \var IPAFrameContext::filter.updateParams + * \brief Indicates if the filter parameters have been updated compared to the + * previous frame */ /** * \var IPAFrameContext::sensor - * \brief Effective sensor values + * \brief Sensor configuration that used been used for this frame * * \var IPAFrameContext::sensor.exposure * \brief Exposure time expressed as a number of lines @@ -145,12 +345,20 @@ namespace libcamera::ipa::rkisp1 { */ /** - * \var IPAFrameContext::frameCount - * \brief Counter of requests queued to the IPA module + * \struct IPAContext + * \brief Global IPA context data shared between all algorithms + * + * \var IPAContext::hw + * \brief RkISP1 version-specific hardware parameters + * + * \var IPAContext::configuration + * \brief The IPA session configuration, immutable during the session + * + * \var IPAContext::activeState + * \brief The IPA active state, storing the latest state for all algorithms * - * The counter is reset to 0 when the IPA module is configured, and is - * incremented for each request being queued, after calling the - * Algorithm::prepare() function of all algorithms. + * \var IPAContext::frameContexts + * \brief Ring buffer of per-frame contexts */ } /* namespace libcamera::ipa::rkisp1 */ diff --git a/src/ipa/rkisp1/ipa_context.h b/src/ipa/rkisp1/ipa_context.h index f387cace..bd02a7a2 100644 --- a/src/ipa/rkisp1/ipa_context.h +++ b/src/ipa/rkisp1/ipa_context.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2021-2022, Ideas On Board * - * ipa_context.h - RkISP1 IPA Context + * RkISP1 IPA Context * */ @@ -12,38 +12,105 @@ #include <libcamera/base/utils.h> +#include <libcamera/controls.h> #include <libcamera/geometry.h> +#include <libipa/fc_queue.h> + namespace libcamera { namespace ipa::rkisp1 { +struct IPAHwSettings { + unsigned int numAeCells; + unsigned int numHistogramBins; + unsigned int numHistogramWeights; + unsigned int numGammaOutSamples; +}; + struct IPASessionConfiguration { struct { - utils::Duration minShutterSpeed; - utils::Duration maxShutterSpeed; - double minAnalogueGain; - double maxAnalogueGain; struct rkisp1_cif_isp_window measureWindow; } agc; struct { struct rkisp1_cif_isp_window measureWindow; + bool enabled; } awb; struct { + bool enabled; + } lsc; + + struct { + utils::Duration minShutterSpeed; + utils::Duration maxShutterSpeed; + double minAnalogueGain; + double maxAnalogueGain; + + int32_t defVBlank; utils::Duration lineDuration; + Size size; } sensor; + bool raw; +}; + +struct IPAActiveState { struct { - rkisp1_cif_isp_version revision; - } hw; + struct { + uint32_t exposure; + double gain; + } manual; + struct { + uint32_t exposure; + double gain; + } automatic; + + bool autoEnabled; + uint32_t constraintMode; + uint32_t exposureMode; + } agc; + + struct { + struct { + struct { + double red; + double green; + double blue; + } manual; + struct { + double red; + double green; + double blue; + } automatic; + } gains; + + unsigned int temperatureK; + bool autoEnabled; + } awb; + + struct { + int8_t brightness; + uint8_t contrast; + uint8_t saturation; + } cproc; + + struct { + bool denoise; + } dpf; + + struct { + uint8_t denoise; + uint8_t sharpness; + } filter; }; -struct IPAFrameContext { +struct IPAFrameContext : public FrameContext { struct { uint32_t exposure; double gain; + bool autoEnabled; } agc; struct { @@ -53,20 +120,42 @@ struct IPAFrameContext { double blue; } gains; - double temperatureK; + unsigned int temperatureK; + bool autoEnabled; } awb; struct { + int8_t brightness; + uint8_t contrast; + uint8_t saturation; + bool update; + } cproc; + + struct { + bool denoise; + bool update; + } dpf; + + struct { + uint8_t denoise; + uint8_t sharpness; + bool update; + } filter; + + struct { uint32_t exposure; double gain; } sensor; - - unsigned int frameCount; }; struct IPAContext { + const IPAHwSettings *hw; IPASessionConfiguration configuration; - IPAFrameContext frameContext; + IPAActiveState activeState; + + FCQueue<IPAFrameContext> frameContexts; + + ControlInfoMap::Map ctrlMap; }; } /* namespace ipa::rkisp1 */ diff --git a/src/ipa/rkisp1/meson.build b/src/ipa/rkisp1/meson.build index ccb84b27..e813da53 100644 --- a/src/ipa/rkisp1/meson.build +++ b/src/ipa/rkisp1/meson.build @@ -29,3 +29,5 @@ if ipa_sign_module install : false, build_by_default : true) endif + +ipa_names += ipa_name diff --git a/src/ipa/rkisp1/module.h b/src/ipa/rkisp1/module.h index 89f83208..16c3e43e 100644 --- a/src/ipa/rkisp1/module.h +++ b/src/ipa/rkisp1/module.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Ideas On Board * - * module.h - RkISP1 IPA Module + * RkISP1 IPA Module */ #pragma once diff --git a/src/ipa/rkisp1/rkisp1.cpp b/src/ipa/rkisp1/rkisp1.cpp index 21166b0f..6687c91e 100644 --- a/src/ipa/rkisp1/rkisp1.cpp +++ b/src/ipa/rkisp1/rkisp1.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * rkisp1.cpp - RkISP1 Image Processing Algorithms + * RkISP1 Image Processing Algorithms */ #include <algorithm> @@ -24,13 +24,11 @@ #include <libcamera/ipa/rkisp1_ipa_interface.h> #include <libcamera/request.h> +#include "libcamera/internal/formats.h" #include "libcamera/internal/mapped_framebuffer.h" #include "libcamera/internal/yaml_parser.h" -#include "algorithms/agc.h" #include "algorithms/algorithm.h" -#include "algorithms/awb.h" -#include "algorithms/blc.h" #include "libipa/camera_sensor_helper.h" #include "ipa_context.h" @@ -43,16 +41,24 @@ using namespace std::literals::chrono_literals; namespace ipa::rkisp1 { +/* Maximum number of frame contexts to be held */ +static constexpr uint32_t kMaxFrameContexts = 16; + class IPARkISP1 : public IPARkISP1Interface, public Module { public: - int init(const IPASettings &settings, unsigned int hwRevision) override; + IPARkISP1(); + + int init(const IPASettings &settings, unsigned int hwRevision, + const IPACameraSensorInfo &sensorInfo, + const ControlInfoMap &sensorControls, + ControlInfoMap *ipaControls) override; int start() override; - void stop() override {} + void stop() override; - int configure(const IPACameraSensorInfo &info, + int configure(const IPAConfigInfo &ipaConfig, const std::map<uint32_t, IPAStream> &streamConfig, - const std::map<uint32_t, ControlInfoMap> &entityControls) override; + ControlInfoMap *ipaControls) override; void mapBuffers(const std::vector<IPABuffer> &buffers) override; void unmapBuffers(const std::vector<unsigned int> &ids) override; @@ -65,22 +71,15 @@ protected: std::string logPrefix() const override; private: + void updateControls(const IPACameraSensorInfo &sensorInfo, + const ControlInfoMap &sensorControls, + ControlInfoMap *ipaControls); void setControls(unsigned int frame); - void prepareMetadata(unsigned int frame, unsigned int aeState); std::map<unsigned int, FrameBuffer> buffers_; std::map<unsigned int, MappedFrameBuffer> mappedBuffers_; - ControlInfoMap ctrls_; - - /* Camera sensor controls. */ - bool autoExposure_; - - /* revision-specific data */ - rkisp1_cif_isp_version hwRevision_; - unsigned int hwHistBinNMax_; - unsigned int hwGammaOutMaxSamples_; - unsigned int hwHistogramWeightGridsSize_; + ControlInfoMap sensorControls_; /* Interface to the Camera Helper */ std::unique_ptr<CameraSensorHelper> camHelper_; @@ -89,24 +88,59 @@ private: struct IPAContext context_; }; +namespace { + +const IPAHwSettings ipaHwSettingsV10{ + RKISP1_CIF_ISP_AE_MEAN_MAX_V10, + RKISP1_CIF_ISP_HIST_BIN_N_MAX_V10, + RKISP1_CIF_ISP_HISTOGRAM_WEIGHT_GRIDS_SIZE_V10, + RKISP1_CIF_ISP_GAMMA_OUT_MAX_SAMPLES_V10, +}; + +const IPAHwSettings ipaHwSettingsV12{ + RKISP1_CIF_ISP_AE_MEAN_MAX_V12, + RKISP1_CIF_ISP_HIST_BIN_N_MAX_V12, + RKISP1_CIF_ISP_HISTOGRAM_WEIGHT_GRIDS_SIZE_V12, + RKISP1_CIF_ISP_GAMMA_OUT_MAX_SAMPLES_V12, +}; + +/* List of controls handled by the RkISP1 IPA */ +const ControlInfoMap::Map rkisp1Controls{ + { &controls::AeEnable, ControlInfo(false, true) }, + { &controls::AwbEnable, ControlInfo(false, true) }, + { &controls::ColourGains, ControlInfo(0.0f, 3.996f, 1.0f) }, + { &controls::Brightness, ControlInfo(-1.0f, 0.993f, 0.0f) }, + { &controls::Contrast, ControlInfo(0.0f, 1.993f, 1.0f) }, + { &controls::Saturation, ControlInfo(0.0f, 1.993f, 1.0f) }, + { &controls::Sharpness, ControlInfo(0.0f, 10.0f, 1.0f) }, + { &controls::draft::NoiseReductionMode, ControlInfo(controls::draft::NoiseReductionModeValues) }, +}; + +} /* namespace */ + +IPARkISP1::IPARkISP1() + : context_({ {}, {}, {}, { kMaxFrameContexts }, {} }) +{ +} + std::string IPARkISP1::logPrefix() const { return "rkisp1"; } -int IPARkISP1::init(const IPASettings &settings, unsigned int hwRevision) +int IPARkISP1::init(const IPASettings &settings, unsigned int hwRevision, + const IPACameraSensorInfo &sensorInfo, + const ControlInfoMap &sensorControls, + ControlInfoMap *ipaControls) { /* \todo Add support for other revisions */ switch (hwRevision) { case RKISP1_V10: - hwHistBinNMax_ = RKISP1_CIF_ISP_HIST_BIN_N_MAX_V10; - hwGammaOutMaxSamples_ = RKISP1_CIF_ISP_GAMMA_OUT_MAX_SAMPLES_V10; - hwHistogramWeightGridsSize_ = RKISP1_CIF_ISP_HISTOGRAM_WEIGHT_GRIDS_SIZE_V10; + case RKISP1_V_IMX8MP: + context_.hw = &ipaHwSettingsV10; break; case RKISP1_V12: - hwHistBinNMax_ = RKISP1_CIF_ISP_HIST_BIN_N_MAX_V12; - hwGammaOutMaxSamples_ = RKISP1_CIF_ISP_GAMMA_OUT_MAX_SAMPLES_V12; - hwHistogramWeightGridsSize_ = RKISP1_CIF_ISP_HISTOGRAM_WEIGHT_GRIDS_SIZE_V12; + context_.hw = &ipaHwSettingsV12; break; default: LOG(IPARkISP1, Error) @@ -117,10 +151,7 @@ int IPARkISP1::init(const IPASettings &settings, unsigned int hwRevision) LOG(IPARkISP1, Debug) << "Hardware revision is " << hwRevision; - /* Cache the value to set it in configure. */ - hwRevision_ = static_cast<rkisp1_cif_isp_version>(hwRevision); - - camHelper_ = CameraSensorHelperFactory::create(settings.sensorModel); + camHelper_ = CameraSensorHelperFactoryBase::create(settings.sensorModel); if (!camHelper_) { LOG(IPARkISP1, Error) << "Failed to create camera sensor helper for " @@ -128,8 +159,11 @@ int IPARkISP1::init(const IPASettings &settings, unsigned int hwRevision) return -ENODEV; } + context_.configuration.sensor.lineDuration = sensorInfo.minLineLength + * 1.0s / sensorInfo.pixelRate; + /* Load the tuning data file. */ - File file(settings.configurationFile.c_str()); + File file(settings.configurationFile); if (!file.open(File::OpenModeFlag::ReadOnly)) { int ret = file.error(); LOG(IPARkISP1, Error) @@ -155,7 +189,14 @@ int IPARkISP1::init(const IPASettings &settings, unsigned int hwRevision) return -EINVAL; } - return createAlgorithms(context_, (*data)["algorithms"]); + int ret = createAlgorithms(context_, (*data)["algorithms"]); + if (ret) + return ret; + + /* Initialize controls. */ + updateControls(sensorInfo, sensorControls, ipaControls); + + return 0; } int IPARkISP1::start() @@ -165,52 +206,42 @@ int IPARkISP1::start() return 0; } -/** - * \todo The RkISP1 pipeline currently provides an empty IPACameraSensorInfo - * if the connected sensor does not provide enough information to properly - * assemble one. Make sure the reported sensor information are relevant - * before accessing them. - */ -int IPARkISP1::configure([[maybe_unused]] const IPACameraSensorInfo &info, - [[maybe_unused]] const std::map<uint32_t, IPAStream> &streamConfig, - const std::map<uint32_t, ControlInfoMap> &entityControls) +void IPARkISP1::stop() { - if (entityControls.empty()) - return -EINVAL; - - ctrls_ = entityControls.at(0); - - const auto itExp = ctrls_.find(V4L2_CID_EXPOSURE); - if (itExp == ctrls_.end()) { - LOG(IPARkISP1, Error) << "Can't find exposure control"; - return -EINVAL; - } - - const auto itGain = ctrls_.find(V4L2_CID_ANALOGUE_GAIN); - if (itGain == ctrls_.end()) { - LOG(IPARkISP1, Error) << "Can't find gain control"; - return -EINVAL; - } + context_.frameContexts.clear(); +} - autoExposure_ = true; +int IPARkISP1::configure(const IPAConfigInfo &ipaConfig, + const std::map<uint32_t, IPAStream> &streamConfig, + ControlInfoMap *ipaControls) +{ + sensorControls_ = ipaConfig.sensorControls; + const auto itExp = sensorControls_.find(V4L2_CID_EXPOSURE); int32_t minExposure = itExp->second.min().get<int32_t>(); int32_t maxExposure = itExp->second.max().get<int32_t>(); + const auto itGain = sensorControls_.find(V4L2_CID_ANALOGUE_GAIN); int32_t minGain = itGain->second.min().get<int32_t>(); int32_t maxGain = itGain->second.max().get<int32_t>(); - LOG(IPARkISP1, Info) - << "Exposure: " << minExposure << "-" << maxExposure - << " Gain: " << minGain << "-" << maxGain; + LOG(IPARkISP1, Debug) + << "Exposure: [" << minExposure << ", " << maxExposure + << "], gain: [" << minGain << ", " << maxGain << "]"; - /* Clean context at configuration */ - context_ = {}; + /* Clear the IPA context before the streaming session. */ + context_.configuration = {}; + context_.activeState = {}; + context_.frameContexts.clear(); - /* Set the hardware revision for the algorithms. */ - context_.configuration.hw.revision = hwRevision_; + const IPACameraSensorInfo &info = ipaConfig.sensorInfo; + const ControlInfo vBlank = sensorControls_.find(V4L2_CID_VBLANK)->second; + context_.configuration.sensor.defVBlank = vBlank.def().get<int32_t>(); + context_.configuration.sensor.size = info.outputSize; + context_.configuration.sensor.lineDuration = info.minLineLength * 1.0s / info.pixelRate; - context_.configuration.sensor.lineDuration = info.lineLength * 1.0s / info.pixelRate; + /* Update the camera controls using the new sensor settings. */ + updateControls(info, sensorControls_, ipaControls); /* * When the AGC computes the new exposure values for a frame, it needs @@ -219,14 +250,28 @@ int IPARkISP1::configure([[maybe_unused]] const IPACameraSensorInfo &info, * * \todo take VBLANK into account for maximum shutter speed */ - context_.configuration.agc.minShutterSpeed = minExposure * context_.configuration.sensor.lineDuration; - context_.configuration.agc.maxShutterSpeed = maxExposure * context_.configuration.sensor.lineDuration; - context_.configuration.agc.minAnalogueGain = camHelper_->gain(minGain); - context_.configuration.agc.maxAnalogueGain = camHelper_->gain(maxGain); - - context_.frameContext.frameCount = 0; + context_.configuration.sensor.minShutterSpeed = + minExposure * context_.configuration.sensor.lineDuration; + context_.configuration.sensor.maxShutterSpeed = + maxExposure * context_.configuration.sensor.lineDuration; + context_.configuration.sensor.minAnalogueGain = camHelper_->gain(minGain); + context_.configuration.sensor.maxAnalogueGain = camHelper_->gain(maxGain); + + context_.configuration.raw = std::any_of(streamConfig.begin(), streamConfig.end(), + [](auto &cfg) -> bool { + PixelFormat pixelFormat{ cfg.second.pixelFormat }; + const PixelFormatInfo &format = PixelFormatInfo::info(pixelFormat); + return format.colourEncoding == PixelFormatInfo::ColourEncodingRAW; + }); + + for (auto const &a : algorithms()) { + Algorithm *algo = static_cast<Algorithm *>(a.get()); + + /* Disable algorithms that don't support raw formats. */ + algo->disabled_ = context_.configuration.raw && !algo->supportsRaw_; + if (algo->disabled_) + continue; - for (auto const &algo : algorithms()) { int ret = algo->configure(context_, info); if (ret) return ret; @@ -265,14 +310,22 @@ void IPARkISP1::unmapBuffers(const std::vector<unsigned int> &ids) } } -void IPARkISP1::queueRequest([[maybe_unused]] const uint32_t frame, - [[maybe_unused]] const ControlList &controls) +void IPARkISP1::queueRequest(const uint32_t frame, const ControlList &controls) { - /* \todo Start processing for 'frame' based on 'controls'. */ + IPAFrameContext &frameContext = context_.frameContexts.alloc(frame); + + for (auto const &a : algorithms()) { + Algorithm *algo = static_cast<Algorithm *>(a.get()); + if (algo->disabled_) + continue; + algo->queueRequest(context_, frame, frameContext, controls); + } } void IPARkISP1::fillParamsBuffer(const uint32_t frame, const uint32_t bufferId) { + IPAFrameContext &frameContext = context_.frameContexts.get(frame); + rkisp1_params_cfg *params = reinterpret_cast<rkisp1_params_cfg *>( mappedBuffers_.at(bufferId).planes()[0].data()); @@ -281,54 +334,119 @@ void IPARkISP1::fillParamsBuffer(const uint32_t frame, const uint32_t bufferId) memset(params, 0, sizeof(*params)); for (auto const &algo : algorithms()) - algo->prepare(context_, params); + algo->prepare(context_, frame, frameContext, params); paramsBufferReady.emit(frame); - context_.frameContext.frameCount++; } void IPARkISP1::processStatsBuffer(const uint32_t frame, const uint32_t bufferId, const ControlList &sensorControls) { - const rkisp1_stat_buffer *stats = - reinterpret_cast<rkisp1_stat_buffer *>( + IPAFrameContext &frameContext = context_.frameContexts.get(frame); + + /* + * In raw capture mode, the ISP is bypassed and no statistics buffer is + * provided. + */ + const rkisp1_stat_buffer *stats = nullptr; + if (!context_.configuration.raw) + stats = reinterpret_cast<rkisp1_stat_buffer *>( mappedBuffers_.at(bufferId).planes()[0].data()); - context_.frameContext.sensor.exposure = + frameContext.sensor.exposure = sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>(); - context_.frameContext.sensor.gain = + frameContext.sensor.gain = camHelper_->gain(sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>()); - unsigned int aeState = 0; + ControlList metadata(controls::controls); - for (auto const &algo : algorithms()) - algo->process(context_, nullptr, stats); + for (auto const &a : algorithms()) { + Algorithm *algo = static_cast<Algorithm *>(a.get()); + if (algo->disabled_) + continue; + algo->process(context_, frame, frameContext, stats, metadata); + } setControls(frame); - prepareMetadata(frame, aeState); + metadataReady.emit(frame, metadata); } -void IPARkISP1::setControls(unsigned int frame) +void IPARkISP1::updateControls(const IPACameraSensorInfo &sensorInfo, + const ControlInfoMap &sensorControls, + ControlInfoMap *ipaControls) { - uint32_t exposure = context_.frameContext.agc.exposure; - uint32_t gain = camHelper_->gainCode(context_.frameContext.agc.gain); + ControlInfoMap::Map ctrlMap = rkisp1Controls; - ControlList ctrls(ctrls_); - ctrls.set(V4L2_CID_EXPOSURE, static_cast<int32_t>(exposure)); - ctrls.set(V4L2_CID_ANALOGUE_GAIN, static_cast<int32_t>(gain)); + /* + * Compute exposure time limits from the V4L2_CID_EXPOSURE control + * limits and the line duration. + */ + double lineDuration = context_.configuration.sensor.lineDuration.get<std::micro>(); + const ControlInfo &v4l2Exposure = sensorControls.find(V4L2_CID_EXPOSURE)->second; + int32_t minExposure = v4l2Exposure.min().get<int32_t>() * lineDuration; + int32_t maxExposure = v4l2Exposure.max().get<int32_t>() * lineDuration; + int32_t defExposure = v4l2Exposure.def().get<int32_t>() * lineDuration; + ctrlMap.emplace(std::piecewise_construct, + std::forward_as_tuple(&controls::ExposureTime), + std::forward_as_tuple(minExposure, maxExposure, defExposure)); + + /* Compute the analogue gain limits. */ + const ControlInfo &v4l2Gain = sensorControls.find(V4L2_CID_ANALOGUE_GAIN)->second; + float minGain = camHelper_->gain(v4l2Gain.min().get<int32_t>()); + float maxGain = camHelper_->gain(v4l2Gain.max().get<int32_t>()); + float defGain = camHelper_->gain(v4l2Gain.def().get<int32_t>()); + ctrlMap.emplace(std::piecewise_construct, + std::forward_as_tuple(&controls::AnalogueGain), + std::forward_as_tuple(minGain, maxGain, defGain)); - setSensorControls.emit(frame, ctrls); + /* + * Compute the frame duration limits. + * + * The frame length is computed assuming a fixed line length combined + * with the vertical frame sizes. + */ + const ControlInfo &v4l2HBlank = sensorControls.find(V4L2_CID_HBLANK)->second; + uint32_t hblank = v4l2HBlank.def().get<int32_t>(); + uint32_t lineLength = sensorInfo.outputSize.width + hblank; + + const ControlInfo &v4l2VBlank = sensorControls.find(V4L2_CID_VBLANK)->second; + std::array<uint32_t, 3> frameHeights{ + v4l2VBlank.min().get<int32_t>() + sensorInfo.outputSize.height, + v4l2VBlank.max().get<int32_t>() + sensorInfo.outputSize.height, + v4l2VBlank.def().get<int32_t>() + sensorInfo.outputSize.height, + }; + + std::array<int64_t, 3> frameDurations; + for (unsigned int i = 0; i < frameHeights.size(); ++i) { + uint64_t frameSize = lineLength * frameHeights[i]; + frameDurations[i] = frameSize / (sensorInfo.pixelRate / 1000000U); + } + + ctrlMap[&controls::FrameDurationLimits] = ControlInfo(frameDurations[0], + frameDurations[1], + frameDurations[2]); + + ctrlMap.merge(context_.ctrlMap); + *ipaControls = ControlInfoMap(std::move(ctrlMap), controls::controls); } -void IPARkISP1::prepareMetadata(unsigned int frame, unsigned int aeState) +void IPARkISP1::setControls(unsigned int frame) { - ControlList ctrls(controls::controls); + /* + * \todo The frame number is most likely wrong here, we need to take + * internal sensor delays and other timing parameters into account. + */ + + IPAFrameContext &frameContext = context_.frameContexts.get(frame); + uint32_t exposure = frameContext.agc.exposure; + uint32_t gain = camHelper_->gainCode(frameContext.agc.gain); - if (aeState) - ctrls.set(controls::AeLocked, aeState == 2); + ControlList ctrls(sensorControls_); + ctrls.set(V4L2_CID_EXPOSURE, static_cast<int32_t>(exposure)); + ctrls.set(V4L2_CID_ANALOGUE_GAIN, static_cast<int32_t>(gain)); - metadataReady.emit(frame, ctrls); + setSensorControls.emit(frame, ctrls); } } /* namespace ipa::rkisp1 */ @@ -341,7 +459,7 @@ extern "C" { const struct IPAModuleInfo ipaModuleInfo = { IPA_MODULE_API_VERSION, 1, - "PipelineHandlerRkISP1", + "rkisp1", "rkisp1", }; diff --git a/src/ipa/raspberrypi/README.md b/src/ipa/rpi/README.md index 94a8ccc8..94a8ccc8 100644 --- a/src/ipa/raspberrypi/README.md +++ b/src/ipa/rpi/README.md diff --git a/src/ipa/rpi/cam_helper/cam_helper.cpp b/src/ipa/rpi/cam_helper/cam_helper.cpp new file mode 100644 index 00000000..ee5d011f --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper.cpp @@ -0,0 +1,265 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * helper information for different sensors + */ + +#include <linux/videodev2.h> + +#include <limits> +#include <map> +#include <string.h> + +#include "libcamera/internal/v4l2_videodevice.h" + +#include "cam_helper.h" +#include "md_parser.h" + +using namespace RPiController; +using namespace libcamera; +using libcamera::utils::Duration; +using namespace std::literals::chrono_literals; + +namespace libcamera { +LOG_DECLARE_CATEGORY(IPARPI) +} + +namespace { + +std::map<std::string, CamHelperCreateFunc> &camHelpers() +{ + static std::map<std::string, CamHelperCreateFunc> helpers; + return helpers; +} + +} /* namespace */ + +CamHelper *CamHelper::create(std::string const &camName) +{ + /* + * CamHelpers get registered by static RegisterCamHelper + * initialisers. + */ + for (auto &p : camHelpers()) { + if (camName.find(p.first) != std::string::npos) + return p.second(); + } + + return nullptr; +} + +CamHelper::CamHelper(std::unique_ptr<MdParser> parser, unsigned int frameIntegrationDiff) + : parser_(std::move(parser)), frameIntegrationDiff_(frameIntegrationDiff) +{ +} + +CamHelper::~CamHelper() +{ +} + +void CamHelper::prepare(Span<const uint8_t> buffer, + Metadata &metadata) +{ + parseEmbeddedData(buffer, metadata); +} + +void CamHelper::process([[maybe_unused]] StatisticsPtr &stats, + [[maybe_unused]] Metadata &metadata) +{ +} + +uint32_t CamHelper::exposureLines(const Duration exposure, const Duration lineLength) const +{ + return exposure / lineLength; +} + +Duration CamHelper::exposure(uint32_t exposureLines, const Duration lineLength) const +{ + return exposureLines * lineLength; +} + +std::pair<uint32_t, uint32_t> CamHelper::getBlanking(Duration &exposure, + Duration minFrameDuration, + Duration maxFrameDuration) const +{ + uint32_t frameLengthMin, frameLengthMax, vblank, hblank; + Duration lineLength = mode_.minLineLength; + + /* + * minFrameDuration and maxFrameDuration are clamped by the caller + * based on the limits for the active sensor mode. + * + * frameLengthMax gets calculated on the smallest line length as we do + * not want to extend that unless absolutely necessary. + */ + frameLengthMin = minFrameDuration / mode_.minLineLength; + frameLengthMax = maxFrameDuration / mode_.minLineLength; + + /* + * Watch out for (exposureLines + frameIntegrationDiff_) overflowing a + * uint32_t in the std::clamp() below when the exposure time is + * extremely (extremely!) long - as happens when the IPA calculates the + * maximum possible exposure time. + */ + uint32_t exposureLines = std::min(CamHelper::exposureLines(exposure, lineLength), + std::numeric_limits<uint32_t>::max() - frameIntegrationDiff_); + uint32_t frameLengthLines = std::clamp(exposureLines + frameIntegrationDiff_, + frameLengthMin, frameLengthMax); + + /* + * If our frame length lines is above the maximum allowed, see if we can + * extend the line length to accommodate the requested frame length. + */ + if (frameLengthLines > mode_.maxFrameLength) { + Duration lineLengthAdjusted = lineLength * frameLengthLines / mode_.maxFrameLength; + lineLength = std::min(mode_.maxLineLength, lineLengthAdjusted); + frameLengthLines = mode_.maxFrameLength; + } + + hblank = lineLengthToHblank(lineLength); + vblank = frameLengthLines - mode_.height; + + /* + * Limit the exposure to the maximum frame duration requested, and + * re-calculate if it has been clipped. + */ + exposureLines = std::min(frameLengthLines - frameIntegrationDiff_, + CamHelper::exposureLines(exposure, lineLength)); + exposure = CamHelper::exposure(exposureLines, lineLength); + + return { vblank, hblank }; +} + +Duration CamHelper::hblankToLineLength(uint32_t hblank) const +{ + return (mode_.width + hblank) * (1.0s / mode_.pixelRate); +} + +uint32_t CamHelper::lineLengthToHblank(const Duration &lineLength) const +{ + return (lineLength * mode_.pixelRate / 1.0s) - mode_.width; +} + +Duration CamHelper::lineLengthPckToDuration(uint32_t lineLengthPck) const +{ + return lineLengthPck * (1.0s / mode_.pixelRate); +} + +void CamHelper::setCameraMode(const CameraMode &mode) +{ + mode_ = mode; + if (parser_) { + parser_->reset(); + parser_->setBitsPerPixel(mode.bitdepth); + parser_->setLineLengthBytes(0); /* We use SetBufferSize. */ + } +} + +void CamHelper::getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const +{ + /* + * These values are correct for many sensors. Other sensors will + * need to over-ride this function. + */ + exposureDelay = 2; + gainDelay = 1; + vblankDelay = 2; + hblankDelay = 2; +} + +bool CamHelper::sensorEmbeddedDataPresent() const +{ + return false; +} + +double CamHelper::getModeSensitivity([[maybe_unused]] const CameraMode &mode) const +{ + /* + * Most sensors have the same sensitivity in every mode, but this + * function can be overridden for those that do not. Note that it is + * called before mode_ is set, so it must return the sensitivity + * of the mode that is passed in. + */ + return 1.0; +} + +unsigned int CamHelper::hideFramesStartup() const +{ + /* + * The number of frames when a camera first starts that shouldn't be + * displayed as they are invalid in some way. + */ + return 0; +} + +unsigned int CamHelper::hideFramesModeSwitch() const +{ + /* After a mode switch, many sensors return valid frames immediately. */ + return 0; +} + +unsigned int CamHelper::mistrustFramesStartup() const +{ + /* Many sensors return a single bad frame on start-up. */ + return 1; +} + +unsigned int CamHelper::mistrustFramesModeSwitch() const +{ + /* Many sensors return valid metadata immediately. */ + return 0; +} + +void CamHelper::parseEmbeddedData(Span<const uint8_t> buffer, + Metadata &metadata) +{ + MdParser::RegisterMap registers; + Metadata parsedMetadata; + + if (buffer.empty()) + return; + + if (parser_->parse(buffer, registers) != MdParser::Status::OK) { + LOG(IPARPI, Error) << "Embedded data buffer parsing failed"; + return; + } + + populateMetadata(registers, parsedMetadata); + metadata.merge(parsedMetadata); + + /* + * Overwrite the exposure/gain, line/frame length and sensor temperature values + * in the existing DeviceStatus with values from the parsed embedded buffer. + * Fetch it first in case any other fields were set meaningfully. + */ + DeviceStatus deviceStatus, parsedDeviceStatus; + if (metadata.get("device.status", deviceStatus) || + parsedMetadata.get("device.status", parsedDeviceStatus)) { + LOG(IPARPI, Error) << "DeviceStatus not found"; + return; + } + + deviceStatus.shutterSpeed = parsedDeviceStatus.shutterSpeed; + deviceStatus.analogueGain = parsedDeviceStatus.analogueGain; + deviceStatus.frameLength = parsedDeviceStatus.frameLength; + deviceStatus.lineLength = parsedDeviceStatus.lineLength; + if (parsedDeviceStatus.sensorTemperature) + deviceStatus.sensorTemperature = parsedDeviceStatus.sensorTemperature; + + LOG(IPARPI, Debug) << "Metadata updated - " << deviceStatus; + + metadata.set("device.status", deviceStatus); +} + +void CamHelper::populateMetadata([[maybe_unused]] const MdParser::RegisterMap ®isters, + [[maybe_unused]] Metadata &metadata) const +{ +} + +RegisterCamHelper::RegisterCamHelper(char const *camName, + CamHelperCreateFunc createFunc) +{ + camHelpers()[std::string(camName)] = createFunc; +} diff --git a/src/ipa/rpi/cam_helper/cam_helper.h b/src/ipa/rpi/cam_helper/cam_helper.h new file mode 100644 index 00000000..4a4ab5e6 --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper.h @@ -0,0 +1,132 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * helper class providing camera information + */ +#pragma once + +#include <memory> +#include <string> +#include <utility> + +#include <libcamera/base/span.h> +#include <libcamera/base/utils.h> + +#include "controller/camera_mode.h" +#include "controller/controller.h" +#include "controller/metadata.h" +#include "md_parser.h" + +#include "libcamera/internal/v4l2_videodevice.h" + +namespace RPiController { + +/* + * The CamHelper class provides a number of facilities that anyone trying + * to drive a camera will need to know, but which are not provided by the + * standard driver framework. Specifically, it provides: + * + * A "CameraMode" structure to describe extra information about the chosen + * mode of the driver. For example, how it is cropped from the full sensor + * area, how it is scaled, whether pixels are averaged compared to the full + * resolution. + * + * The ability to convert between number of lines of exposure and actual + * exposure time, and to convert between the sensor's gain codes and actual + * gains. + * + * A function to return the number of frames of delay between updating exposure, + * analogue gain and vblanking, and for the changes to take effect. For many + * sensors these take the values 2, 1 and 2 respectively, but sensors that are + * different will need to over-ride the default function provided. + * + * A function to query if the sensor outputs embedded data that can be parsed. + * + * A function to return the sensitivity of a given camera mode. + * + * A parser to parse the embedded data buffers provided by some sensors (for + * example, the imx219 does; the ov5647 doesn't). This allows us to know for + * sure the exposure and gain of the frame we're looking at. CamHelper + * provides functions for converting analogue gains to and from the sensor's + * native gain codes. + * + * Finally, a set of functions that determine how to handle the vagaries of + * different camera modules on start-up or when switching modes. Some + * modules may produce one or more frames that are not yet correctly exposed, + * or where the metadata may be suspect. We have the following functions: + * HideFramesStartup(): Tell the pipeline handler not to return this many + * frames at start-up. This can also be used to hide initial frames + * while the AGC and other algorithms are sorting themselves out. + * HideFramesModeSwitch(): Tell the pipeline handler not to return this + * many frames after a mode switch (other than start-up). Some sensors + * may produce innvalid frames after a mode switch; others may not. + * MistrustFramesStartup(): At start-up a sensor may return frames for + * which we should not run any control algorithms (for example, metadata + * may be invalid). + * MistrustFramesModeSwitch(): The number of frames, after a mode switch + * (other than start-up), for which control algorithms should not run + * (for example, metadata may be unreliable). + */ + +class CamHelper +{ +public: + static CamHelper *create(std::string const &camName); + CamHelper(std::unique_ptr<MdParser> parser, unsigned int frameIntegrationDiff); + virtual ~CamHelper(); + void setCameraMode(const CameraMode &mode); + virtual void prepare(libcamera::Span<const uint8_t> buffer, + Metadata &metadata); + virtual void process(StatisticsPtr &stats, Metadata &metadata); + virtual uint32_t exposureLines(const libcamera::utils::Duration exposure, + const libcamera::utils::Duration lineLength) const; + virtual libcamera::utils::Duration exposure(uint32_t exposureLines, + const libcamera::utils::Duration lineLength) const; + virtual std::pair<uint32_t, uint32_t> getBlanking(libcamera::utils::Duration &exposure, + libcamera::utils::Duration minFrameDuration, + libcamera::utils::Duration maxFrameDuration) const; + libcamera::utils::Duration hblankToLineLength(uint32_t hblank) const; + uint32_t lineLengthToHblank(const libcamera::utils::Duration &duration) const; + libcamera::utils::Duration lineLengthPckToDuration(uint32_t lineLengthPck) const; + virtual uint32_t gainCode(double gain) const = 0; + virtual double gain(uint32_t gainCode) const = 0; + virtual void getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const; + virtual bool sensorEmbeddedDataPresent() const; + virtual double getModeSensitivity(const CameraMode &mode) const; + virtual unsigned int hideFramesStartup() const; + virtual unsigned int hideFramesModeSwitch() const; + virtual unsigned int mistrustFramesStartup() const; + virtual unsigned int mistrustFramesModeSwitch() const; + +protected: + void parseEmbeddedData(libcamera::Span<const uint8_t> buffer, + Metadata &metadata); + virtual void populateMetadata(const MdParser::RegisterMap ®isters, + Metadata &metadata) const; + + std::unique_ptr<MdParser> parser_; + CameraMode mode_; + +private: + /* + * Smallest difference between the frame length and integration time, + * in units of lines. + */ + unsigned int frameIntegrationDiff_; +}; + +/* + * This is for registering camera helpers with the system, so that the + * CamHelper::Create function picks them up automatically. + */ + +typedef CamHelper *(*CamHelperCreateFunc)(); +struct RegisterCamHelper +{ + RegisterCamHelper(char const *camName, + CamHelperCreateFunc createFunc); +}; + +} /* namespace RPi */ diff --git a/src/ipa/raspberrypi/cam_helper_imx219.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx219.cpp index a3caab71..91461f7a 100644 --- a/src/ipa/raspberrypi/cam_helper_imx219.cpp +++ b/src/ipa/rpi/cam_helper/cam_helper_imx219.cpp @@ -1,8 +1,8 @@ /* SPDX-License-Identifier: BSD-2-Clause */ /* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited + * Copyright (C) 2019, Raspberry Pi Ltd * - * cam_helper_imx219.cpp - camera helper for imx219 sensor + * camera helper for imx219 sensor */ #include <assert.h> @@ -16,9 +16,9 @@ */ #define ENABLE_EMBEDDED_DATA 0 -#include "cam_helper.hpp" +#include "cam_helper.h" #if ENABLE_EMBEDDED_DATA -#include "md_parser.hpp" +#include "md_parser.h" #endif using namespace RPiController; @@ -32,17 +32,20 @@ constexpr uint32_t expHiReg = 0x15a; constexpr uint32_t expLoReg = 0x15b; constexpr uint32_t frameLengthHiReg = 0x160; constexpr uint32_t frameLengthLoReg = 0x161; +constexpr uint32_t lineLengthHiReg = 0x162; +constexpr uint32_t lineLengthLoReg = 0x163; constexpr std::initializer_list<uint32_t> registerList [[maybe_unused]] - = { expHiReg, expLoReg, gainReg, frameLengthHiReg, frameLengthLoReg }; + = { expHiReg, expLoReg, gainReg, frameLengthHiReg, frameLengthLoReg, + lineLengthHiReg, lineLengthLoReg }; class CamHelperImx219 : public CamHelper { public: CamHelperImx219(); - uint32_t GainCode(double gain) const override; - double Gain(uint32_t gain_code) const override; - unsigned int MistrustFramesModeSwitch() const override; - bool SensorEmbeddedDataPresent() const override; + uint32_t gainCode(double gain) const override; + double gain(uint32_t gainCode) const override; + unsigned int mistrustFramesModeSwitch() const override; + bool sensorEmbeddedDataPresent() const override; private: /* @@ -51,7 +54,7 @@ private: */ static constexpr int frameIntegrationDiff = 4; - void PopulateMetadata(const MdParser::RegisterMap ®isters, + void populateMetadata(const MdParser::RegisterMap ®isters, Metadata &metadata) const override; }; @@ -64,17 +67,17 @@ CamHelperImx219::CamHelperImx219() { } -uint32_t CamHelperImx219::GainCode(double gain) const +uint32_t CamHelperImx219::gainCode(double gain) const { return (uint32_t)(256 - 256 / gain); } -double CamHelperImx219::Gain(uint32_t gain_code) const +double CamHelperImx219::gain(uint32_t gainCode) const { - return 256.0 / (256 - gain_code); + return 256.0 / (256 - gainCode); } -unsigned int CamHelperImx219::MistrustFramesModeSwitch() const +unsigned int CamHelperImx219::mistrustFramesModeSwitch() const { /* * For reasons unknown, we do occasionally get a bogus metadata frame @@ -84,26 +87,29 @@ unsigned int CamHelperImx219::MistrustFramesModeSwitch() const return 1; } -bool CamHelperImx219::SensorEmbeddedDataPresent() const +bool CamHelperImx219::sensorEmbeddedDataPresent() const { return ENABLE_EMBEDDED_DATA; } -void CamHelperImx219::PopulateMetadata(const MdParser::RegisterMap ®isters, +void CamHelperImx219::populateMetadata(const MdParser::RegisterMap ®isters, Metadata &metadata) const { DeviceStatus deviceStatus; - deviceStatus.shutter_speed = Exposure(registers.at(expHiReg) * 256 + registers.at(expLoReg)); - deviceStatus.analogue_gain = Gain(registers.at(gainReg)); - deviceStatus.frame_length = registers.at(frameLengthHiReg) * 256 + registers.at(frameLengthLoReg); + deviceStatus.lineLength = lineLengthPckToDuration(registers.at(lineLengthHiReg) * 256 + + registers.at(lineLengthLoReg)); + deviceStatus.shutterSpeed = exposure(registers.at(expHiReg) * 256 + registers.at(expLoReg), + deviceStatus.lineLength); + deviceStatus.analogueGain = gain(registers.at(gainReg)); + deviceStatus.frameLength = registers.at(frameLengthHiReg) * 256 + registers.at(frameLengthLoReg); - metadata.Set("device.status", deviceStatus); + metadata.set("device.status", deviceStatus); } -static CamHelper *Create() +static CamHelper *create() { return new CamHelperImx219(); } -static RegisterCamHelper reg("imx219", &Create); +static RegisterCamHelper reg("imx219", &create); diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx290.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx290.cpp new file mode 100644 index 00000000..24275e12 --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_imx290.cpp @@ -0,0 +1,75 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2021, Raspberry Pi Ltd + * + * camera helper for imx290 sensor + */ + +#include <math.h> + +#include "cam_helper.h" + +using namespace RPiController; + +class CamHelperImx290 : public CamHelper +{ +public: + CamHelperImx290(); + uint32_t gainCode(double gain) const override; + double gain(uint32_t gainCode) const override; + void getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const override; + unsigned int hideFramesStartup() const override; + unsigned int hideFramesModeSwitch() const override; + +private: + /* + * Smallest difference between the frame length and integration time, + * in units of lines. + */ + static constexpr int frameIntegrationDiff = 2; +}; + +CamHelperImx290::CamHelperImx290() + : CamHelper({}, frameIntegrationDiff) +{ +} + +uint32_t CamHelperImx290::gainCode(double gain) const +{ + int code = 66.6667 * log10(gain); + return std::max(0, std::min(code, 0xf0)); +} + +double CamHelperImx290::gain(uint32_t gainCode) const +{ + return pow(10, 0.015 * gainCode); +} + +void CamHelperImx290::getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const +{ + exposureDelay = 2; + gainDelay = 2; + vblankDelay = 2; + hblankDelay = 2; +} + +unsigned int CamHelperImx290::hideFramesStartup() const +{ + /* On startup, we seem to get 1 bad frame. */ + return 1; +} + +unsigned int CamHelperImx290::hideFramesModeSwitch() const +{ + /* After a mode switch, we seem to get 1 bad frame. */ + return 1; +} + +static CamHelper *create() +{ + return new CamHelperImx290(); +} + +static RegisterCamHelper reg("imx290", &create); diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx296.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx296.cpp new file mode 100644 index 00000000..d4a4fa79 --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_imx296.cpp @@ -0,0 +1,83 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2020, Raspberry Pi Ltd + * + * Camera helper for IMX296 sensor + */ + +#include <algorithm> +#include <cmath> +#include <stddef.h> + +#include "cam_helper.h" + +using namespace RPiController; +using libcamera::utils::Duration; +using namespace std::literals::chrono_literals; + +class CamHelperImx296 : public CamHelper +{ +public: + CamHelperImx296(); + uint32_t gainCode(double gain) const override; + double gain(uint32_t gainCode) const override; + uint32_t exposureLines(const Duration exposure, const Duration lineLength) const override; + Duration exposure(uint32_t exposureLines, const Duration lineLength) const override; + void getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const override; + +private: + static constexpr uint32_t minExposureLines = 1; + static constexpr uint32_t maxGainCode = 239; + static constexpr Duration timePerLine = 550.0 / 37.125e6 * 1.0s; + + /* + * Smallest difference between the frame length and integration time, + * in units of lines. + */ + static constexpr int frameIntegrationDiff = 4; +}; + +CamHelperImx296::CamHelperImx296() + : CamHelper(nullptr, frameIntegrationDiff) +{ +} + +uint32_t CamHelperImx296::gainCode(double gain) const +{ + uint32_t code = 20 * std::log10(gain) * 10; + return std::min(code, maxGainCode); +} + +double CamHelperImx296::gain(uint32_t gainCode) const +{ + return std::pow(10.0, gainCode / 200.0); +} + +uint32_t CamHelperImx296::exposureLines(const Duration exposure, + [[maybe_unused]] const Duration lineLength) const +{ + return std::max<uint32_t>(minExposureLines, (exposure - 14.26us) / timePerLine); +} + +Duration CamHelperImx296::exposure(uint32_t exposureLines, + [[maybe_unused]] const Duration lineLength) const +{ + return std::max<uint32_t>(minExposureLines, exposureLines) * timePerLine + 14.26us; +} + +void CamHelperImx296::getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const +{ + exposureDelay = 2; + gainDelay = 2; + vblankDelay = 2; + hblankDelay = 2; +} + +static CamHelper *create() +{ + return new CamHelperImx296(); +} + +static RegisterCamHelper reg("imx296", &create); diff --git a/src/ipa/raspberrypi/cam_helper_imx477.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx477.cpp index 0e1c0dbd..6bd89334 100644 --- a/src/ipa/raspberrypi/cam_helper_imx477.cpp +++ b/src/ipa/rpi/cam_helper/cam_helper_imx477.cpp @@ -1,8 +1,8 @@ /* SPDX-License-Identifier: BSD-2-Clause */ /* - * Copyright (C) 2020, Raspberry Pi (Trading) Limited + * Copyright (C) 2020, Raspberry Pi Ltd * - * cam_helper_imx477.cpp - camera helper for imx477 sensor + * camera helper for imx477 sensor */ #include <algorithm> @@ -14,8 +14,8 @@ #include <libcamera/base/log.h> -#include "cam_helper.hpp" -#include "md_parser.hpp" +#include "cam_helper.h" +#include "md_parser.h" using namespace RPiController; using namespace libcamera; @@ -35,22 +35,25 @@ constexpr uint32_t gainHiReg = 0x0204; constexpr uint32_t gainLoReg = 0x0205; constexpr uint32_t frameLengthHiReg = 0x0340; constexpr uint32_t frameLengthLoReg = 0x0341; +constexpr uint32_t lineLengthHiReg = 0x0342; +constexpr uint32_t lineLengthLoReg = 0x0343; constexpr uint32_t temperatureReg = 0x013a; constexpr std::initializer_list<uint32_t> registerList = - { expHiReg, expLoReg, gainHiReg, gainLoReg, frameLengthHiReg, frameLengthLoReg, temperatureReg }; + { expHiReg, expLoReg, gainHiReg, gainLoReg, frameLengthHiReg, frameLengthLoReg, + lineLengthHiReg, lineLengthLoReg, temperatureReg }; class CamHelperImx477 : public CamHelper { public: CamHelperImx477(); - uint32_t GainCode(double gain) const override; - double Gain(uint32_t gain_code) const override; - void Prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata) override; - uint32_t GetVBlanking(Duration &exposure, Duration minFrameDuration, - Duration maxFrameDuration) const override; - void GetDelays(int &exposure_delay, int &gain_delay, - int &vblank_delay) const override; - bool SensorEmbeddedDataPresent() const override; + uint32_t gainCode(double gain) const override; + double gain(uint32_t gainCode) const override; + void prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata) override; + std::pair<uint32_t, uint32_t> getBlanking(Duration &exposure, Duration minFrameDuration, + Duration maxFrameDuration) const override; + void getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const override; + bool sensorEmbeddedDataPresent() const override; private: /* @@ -63,7 +66,7 @@ private: /* Largest long exposure scale factor given as a left shift on the frame length. */ static constexpr int longExposureShiftMax = 7; - void PopulateMetadata(const MdParser::RegisterMap ®isters, + void populateMetadata(const MdParser::RegisterMap ®isters, Metadata &metadata) const override; }; @@ -72,22 +75,22 @@ CamHelperImx477::CamHelperImx477() { } -uint32_t CamHelperImx477::GainCode(double gain) const +uint32_t CamHelperImx477::gainCode(double gain) const { return static_cast<uint32_t>(1024 - 1024 / gain); } -double CamHelperImx477::Gain(uint32_t gain_code) const +double CamHelperImx477::gain(uint32_t gainCode) const { - return 1024.0 / (1024 - gain_code); + return 1024.0 / (1024 - gainCode); } -void CamHelperImx477::Prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata) +void CamHelperImx477::prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata) { MdParser::RegisterMap registers; DeviceStatus deviceStatus; - if (metadata.Get("device.status", deviceStatus)) { + if (metadata.get("device.status", deviceStatus)) { LOG(IPARPI, Error) << "DeviceStatus not found from DelayedControls"; return; } @@ -105,28 +108,32 @@ void CamHelperImx477::Prepare(libcamera::Span<const uint8_t> buffer, Metadata &m * Otherwise, all values are updated with what is reported in the * embedded data. */ - if (deviceStatus.frame_length > frameLengthMax) { + if (deviceStatus.frameLength > frameLengthMax) { DeviceStatus parsedDeviceStatus; - metadata.Get("device.status", parsedDeviceStatus); - parsedDeviceStatus.shutter_speed = deviceStatus.shutter_speed; - parsedDeviceStatus.frame_length = deviceStatus.frame_length; - metadata.Set("device.status", parsedDeviceStatus); + metadata.get("device.status", parsedDeviceStatus); + parsedDeviceStatus.shutterSpeed = deviceStatus.shutterSpeed; + parsedDeviceStatus.frameLength = deviceStatus.frameLength; + metadata.set("device.status", parsedDeviceStatus); LOG(IPARPI, Debug) << "Metadata updated for long exposure: " << parsedDeviceStatus; } } -uint32_t CamHelperImx477::GetVBlanking(Duration &exposure, - Duration minFrameDuration, - Duration maxFrameDuration) const +std::pair<uint32_t, uint32_t> CamHelperImx477::getBlanking(Duration &exposure, + Duration minFrameDuration, + Duration maxFrameDuration) const { uint32_t frameLength, exposureLines; unsigned int shift = 0; - frameLength = mode_.height + CamHelper::GetVBlanking(exposure, minFrameDuration, - maxFrameDuration); + auto [vblank, hblank] = CamHelper::getBlanking(exposure, minFrameDuration, + maxFrameDuration); + + frameLength = mode_.height + vblank; + Duration lineLength = hblankToLineLength(hblank); + /* * Check if the frame length calculated needs to be setup for long * exposure mode. This will require us to use a long exposure scale @@ -144,43 +151,47 @@ uint32_t CamHelperImx477::GetVBlanking(Duration &exposure, if (shift) { /* Account for any rounding in the scaled frame length value. */ frameLength <<= shift; - exposureLines = ExposureLines(exposure); + exposureLines = CamHelperImx477::exposureLines(exposure, lineLength); exposureLines = std::min(exposureLines, frameLength - frameIntegrationDiff); - exposure = Exposure(exposureLines); + exposure = CamHelperImx477::exposure(exposureLines, lineLength); } - return frameLength - mode_.height; + return { frameLength - mode_.height, hblank }; } -void CamHelperImx477::GetDelays(int &exposure_delay, int &gain_delay, - int &vblank_delay) const +void CamHelperImx477::getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const { - exposure_delay = 2; - gain_delay = 2; - vblank_delay = 3; + exposureDelay = 2; + gainDelay = 2; + vblankDelay = 3; + hblankDelay = 3; } -bool CamHelperImx477::SensorEmbeddedDataPresent() const +bool CamHelperImx477::sensorEmbeddedDataPresent() const { return true; } -void CamHelperImx477::PopulateMetadata(const MdParser::RegisterMap ®isters, +void CamHelperImx477::populateMetadata(const MdParser::RegisterMap ®isters, Metadata &metadata) const { DeviceStatus deviceStatus; - deviceStatus.shutter_speed = Exposure(registers.at(expHiReg) * 256 + registers.at(expLoReg)); - deviceStatus.analogue_gain = Gain(registers.at(gainHiReg) * 256 + registers.at(gainLoReg)); - deviceStatus.frame_length = registers.at(frameLengthHiReg) * 256 + registers.at(frameLengthLoReg); - deviceStatus.sensor_temperature = std::clamp<int8_t>(registers.at(temperatureReg), -20, 80); + deviceStatus.lineLength = lineLengthPckToDuration(registers.at(lineLengthHiReg) * 256 + + registers.at(lineLengthLoReg)); + deviceStatus.shutterSpeed = exposure(registers.at(expHiReg) * 256 + registers.at(expLoReg), + deviceStatus.lineLength); + deviceStatus.analogueGain = gain(registers.at(gainHiReg) * 256 + registers.at(gainLoReg)); + deviceStatus.frameLength = registers.at(frameLengthHiReg) * 256 + registers.at(frameLengthLoReg); + deviceStatus.sensorTemperature = std::clamp<int8_t>(registers.at(temperatureReg), -20, 80); - metadata.Set("device.status", deviceStatus); + metadata.set("device.status", deviceStatus); } -static CamHelper *Create() +static CamHelper *create() { return new CamHelperImx477(); } -static RegisterCamHelper reg("imx477", &Create); +static RegisterCamHelper reg("imx477", &create); diff --git a/src/ipa/raspberrypi/cam_helper_imx519.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx519.cpp index eaf24982..c2de3d40 100644 --- a/src/ipa/raspberrypi/cam_helper_imx519.cpp +++ b/src/ipa/rpi/cam_helper/cam_helper_imx519.cpp @@ -1,9 +1,9 @@ /* SPDX-License-Identifier: BSD-2-Clause */ /* * Based on cam_helper_imx477.cpp - * Copyright (C) 2020, Raspberry Pi (Trading) Limited + * Copyright (C) 2020, Raspberry Pi Ltd * - * cam_helper_imx519.cpp - camera helper for imx519 sensor + * camera helper for imx519 sensor * Copyright (C) 2021, Arducam Technology co., Ltd. */ @@ -15,8 +15,8 @@ #include <libcamera/base/log.h> -#include "cam_helper.hpp" -#include "md_parser.hpp" +#include "cam_helper.h" +#include "md_parser.h" using namespace RPiController; using namespace libcamera; @@ -36,21 +36,24 @@ constexpr uint32_t gainHiReg = 0x0204; constexpr uint32_t gainLoReg = 0x0205; constexpr uint32_t frameLengthHiReg = 0x0340; constexpr uint32_t frameLengthLoReg = 0x0341; +constexpr uint32_t lineLengthHiReg = 0x0342; +constexpr uint32_t lineLengthLoReg = 0x0343; constexpr std::initializer_list<uint32_t> registerList = - { expHiReg, expLoReg, gainHiReg, gainLoReg, frameLengthHiReg, frameLengthLoReg }; + { expHiReg, expLoReg, gainHiReg, gainLoReg, frameLengthHiReg, frameLengthLoReg, + lineLengthHiReg, lineLengthLoReg }; class CamHelperImx519 : public CamHelper { public: CamHelperImx519(); - uint32_t GainCode(double gain) const override; - double Gain(uint32_t gain_code) const override; - void Prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata) override; - uint32_t GetVBlanking(Duration &exposure, Duration minFrameDuration, - Duration maxFrameDuration) const override; - void GetDelays(int &exposure_delay, int &gain_delay, - int &vblank_delay) const override; - bool SensorEmbeddedDataPresent() const override; + uint32_t gainCode(double gain) const override; + double gain(uint32_t gainCode) const override; + void prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata) override; + std::pair<uint32_t, uint32_t> getBlanking(Duration &exposure, Duration minFrameDuration, + Duration maxFrameDuration) const override; + void getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const override; + bool sensorEmbeddedDataPresent() const override; private: /* @@ -63,7 +66,7 @@ private: /* Largest long exposure scale factor given as a left shift on the frame length. */ static constexpr int longExposureShiftMax = 7; - void PopulateMetadata(const MdParser::RegisterMap ®isters, + void populateMetadata(const MdParser::RegisterMap ®isters, Metadata &metadata) const override; }; @@ -72,22 +75,22 @@ CamHelperImx519::CamHelperImx519() { } -uint32_t CamHelperImx519::GainCode(double gain) const +uint32_t CamHelperImx519::gainCode(double gain) const { return static_cast<uint32_t>(1024 - 1024 / gain); } -double CamHelperImx519::Gain(uint32_t gain_code) const +double CamHelperImx519::gain(uint32_t gainCode) const { - return 1024.0 / (1024 - gain_code); + return 1024.0 / (1024 - gainCode); } -void CamHelperImx519::Prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata) +void CamHelperImx519::prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata) { MdParser::RegisterMap registers; DeviceStatus deviceStatus; - if (metadata.Get("device.status", deviceStatus)) { + if (metadata.get("device.status", deviceStatus)) { LOG(IPARPI, Error) << "DeviceStatus not found from DelayedControls"; return; } @@ -105,28 +108,32 @@ void CamHelperImx519::Prepare(libcamera::Span<const uint8_t> buffer, Metadata &m * Otherwise, all values are updated with what is reported in the * embedded data. */ - if (deviceStatus.frame_length > frameLengthMax) { + if (deviceStatus.frameLength > frameLengthMax) { DeviceStatus parsedDeviceStatus; - metadata.Get("device.status", parsedDeviceStatus); - parsedDeviceStatus.shutter_speed = deviceStatus.shutter_speed; - parsedDeviceStatus.frame_length = deviceStatus.frame_length; - metadata.Set("device.status", parsedDeviceStatus); + metadata.get("device.status", parsedDeviceStatus); + parsedDeviceStatus.shutterSpeed = deviceStatus.shutterSpeed; + parsedDeviceStatus.frameLength = deviceStatus.frameLength; + metadata.set("device.status", parsedDeviceStatus); LOG(IPARPI, Debug) << "Metadata updated for long exposure: " << parsedDeviceStatus; } } -uint32_t CamHelperImx519::GetVBlanking(Duration &exposure, - Duration minFrameDuration, - Duration maxFrameDuration) const +std::pair<uint32_t, uint32_t> CamHelperImx519::getBlanking(Duration &exposure, + Duration minFrameDuration, + Duration maxFrameDuration) const { uint32_t frameLength, exposureLines; unsigned int shift = 0; - frameLength = mode_.height + CamHelper::GetVBlanking(exposure, minFrameDuration, - maxFrameDuration); + auto [vblank, hblank] = CamHelper::getBlanking(exposure, minFrameDuration, + maxFrameDuration); + + frameLength = mode_.height + vblank; + Duration lineLength = hblankToLineLength(hblank); + /* * Check if the frame length calculated needs to be setup for long * exposure mode. This will require us to use a long exposure scale @@ -144,42 +151,46 @@ uint32_t CamHelperImx519::GetVBlanking(Duration &exposure, if (shift) { /* Account for any rounding in the scaled frame length value. */ frameLength <<= shift; - exposureLines = ExposureLines(exposure); + exposureLines = CamHelperImx519::exposureLines(exposure, lineLength); exposureLines = std::min(exposureLines, frameLength - frameIntegrationDiff); - exposure = Exposure(exposureLines); + exposure = CamHelperImx519::exposure(exposureLines, lineLength); } - return frameLength - mode_.height; + return { frameLength - mode_.height, hblank }; } -void CamHelperImx519::GetDelays(int &exposure_delay, int &gain_delay, - int &vblank_delay) const +void CamHelperImx519::getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const { - exposure_delay = 2; - gain_delay = 2; - vblank_delay = 3; + exposureDelay = 2; + gainDelay = 2; + vblankDelay = 3; + hblankDelay = 3; } -bool CamHelperImx519::SensorEmbeddedDataPresent() const +bool CamHelperImx519::sensorEmbeddedDataPresent() const { return true; } -void CamHelperImx519::PopulateMetadata(const MdParser::RegisterMap ®isters, +void CamHelperImx519::populateMetadata(const MdParser::RegisterMap ®isters, Metadata &metadata) const { DeviceStatus deviceStatus; - deviceStatus.shutter_speed = Exposure(registers.at(expHiReg) * 256 + registers.at(expLoReg)); - deviceStatus.analogue_gain = Gain(registers.at(gainHiReg) * 256 + registers.at(gainLoReg)); - deviceStatus.frame_length = registers.at(frameLengthHiReg) * 256 + registers.at(frameLengthLoReg); + deviceStatus.lineLength = lineLengthPckToDuration(registers.at(lineLengthHiReg) * 256 + + registers.at(lineLengthLoReg)); + deviceStatus.shutterSpeed = exposure(registers.at(expHiReg) * 256 + registers.at(expLoReg), + deviceStatus.lineLength); + deviceStatus.analogueGain = gain(registers.at(gainHiReg) * 256 + registers.at(gainLoReg)); + deviceStatus.frameLength = registers.at(frameLengthHiReg) * 256 + registers.at(frameLengthLoReg); - metadata.Set("device.status", deviceStatus); + metadata.set("device.status", deviceStatus); } -static CamHelper *Create() +static CamHelper *create() { return new CamHelperImx519(); } -static RegisterCamHelper reg("imx519", &Create); +static RegisterCamHelper reg("imx519", &create); diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx708.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx708.cpp new file mode 100644 index 00000000..63ddb55e --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_imx708.cpp @@ -0,0 +1,382 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022, Raspberry Pi Ltd + * + * camera helper for imx708 sensor + */ + +#include <cmath> +#include <stddef.h> +#include <stdio.h> +#include <stdlib.h> + +#include <libcamera/base/log.h> + +#include "controller/pdaf_data.h" + +#include "cam_helper.h" +#include "md_parser.h" + +using namespace RPiController; +using namespace libcamera; +using libcamera::utils::Duration; + +using namespace std::literals::chrono_literals; + +namespace libcamera { +LOG_DECLARE_CATEGORY(IPARPI) +} + +/* + * We care about two gain registers and a pair of exposure registers. Their + * I2C addresses from the Sony imx708 datasheet: + */ +constexpr uint32_t expHiReg = 0x0202; +constexpr uint32_t expLoReg = 0x0203; +constexpr uint32_t gainHiReg = 0x0204; +constexpr uint32_t gainLoReg = 0x0205; +constexpr uint32_t frameLengthHiReg = 0x0340; +constexpr uint32_t frameLengthLoReg = 0x0341; +constexpr uint32_t lineLengthHiReg = 0x0342; +constexpr uint32_t lineLengthLoReg = 0x0343; +constexpr uint32_t temperatureReg = 0x013a; +constexpr std::initializer_list<uint32_t> registerList = + { expHiReg, expLoReg, gainHiReg, gainLoReg, lineLengthHiReg, + lineLengthLoReg, frameLengthHiReg, frameLengthLoReg, temperatureReg }; + +class CamHelperImx708 : public CamHelper +{ +public: + CamHelperImx708(); + uint32_t gainCode(double gain) const override; + double gain(uint32_t gain_code) const override; + void prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata) override; + void process(StatisticsPtr &stats, Metadata &metadata) override; + std::pair<uint32_t, uint32_t> getBlanking(Duration &exposure, Duration minFrameDuration, + Duration maxFrameDuration) const override; + void getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const override; + bool sensorEmbeddedDataPresent() const override; + double getModeSensitivity(const CameraMode &mode) const override; + unsigned int hideFramesModeSwitch() const override; + unsigned int hideFramesStartup() const override; + +private: + /* + * Smallest difference between the frame length and integration time, + * in units of lines. + */ + static constexpr int frameIntegrationDiff = 22; + /* Maximum frame length allowable for long exposure calculations. */ + static constexpr int frameLengthMax = 0xffdc; + /* Largest long exposure scale factor given as a left shift on the frame length. */ + static constexpr int longExposureShiftMax = 7; + + static constexpr int pdafStatsRows = 12; + static constexpr int pdafStatsCols = 16; + + void populateMetadata(const MdParser::RegisterMap ®isters, + Metadata &metadata) const override; + + static bool parsePdafData(const uint8_t *ptr, size_t len, unsigned bpp, + PdafRegions &pdaf); + + bool parseAEHist(const uint8_t *ptr, size_t len, unsigned bpp); + void putAGCStatistics(StatisticsPtr stats); + + Histogram aeHistLinear_; + uint32_t aeHistAverage_; + bool aeHistValid_; +}; + +CamHelperImx708::CamHelperImx708() + : CamHelper(std::make_unique<MdParserSmia>(registerList), frameIntegrationDiff), + aeHistLinear_{}, aeHistAverage_(0), aeHistValid_(false) +{ +} + +uint32_t CamHelperImx708::gainCode(double gain) const +{ + return static_cast<uint32_t>(1024 - 1024 / gain); +} + +double CamHelperImx708::gain(uint32_t gain_code) const +{ + return 1024.0 / (1024 - gain_code); +} + +void CamHelperImx708::prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata) +{ + MdParser::RegisterMap registers; + DeviceStatus deviceStatus; + + LOG(IPARPI, Debug) << "Embedded buffer size: " << buffer.size(); + + if (metadata.get("device.status", deviceStatus)) { + LOG(IPARPI, Error) << "DeviceStatus not found from DelayedControls"; + return; + } + + parseEmbeddedData(buffer, metadata); + + /* + * Parse PDAF data, which we expect to occupy the third scanline + * of embedded data. As PDAF is quite sensor-specific, it's parsed here. + */ + size_t bytesPerLine = (mode_.width * mode_.bitdepth) >> 3; + + if (buffer.size() > 2 * bytesPerLine) { + PdafRegions pdaf; + if (parsePdafData(&buffer[2 * bytesPerLine], + buffer.size() - 2 * bytesPerLine, + mode_.bitdepth, pdaf)) + metadata.set("pdaf.regions", pdaf); + } + + /* Parse AE-HIST data where present */ + if (buffer.size() > 3 * bytesPerLine) { + aeHistValid_ = parseAEHist(&buffer[3 * bytesPerLine], + buffer.size() - 3 * bytesPerLine, + mode_.bitdepth); + } + + /* + * The DeviceStatus struct is first populated with values obtained from + * DelayedControls. If this reports frame length is > frameLengthMax, + * it means we are using a long exposure mode. Since the long exposure + * scale factor is not returned back through embedded data, we must rely + * on the existing exposure lines and frame length values returned by + * DelayedControls. + * + * Otherwise, all values are updated with what is reported in the + * embedded data. + */ + if (deviceStatus.frameLength > frameLengthMax) { + DeviceStatus parsedDeviceStatus; + + metadata.get("device.status", parsedDeviceStatus); + parsedDeviceStatus.shutterSpeed = deviceStatus.shutterSpeed; + parsedDeviceStatus.frameLength = deviceStatus.frameLength; + metadata.set("device.status", parsedDeviceStatus); + + LOG(IPARPI, Debug) << "Metadata updated for long exposure: " + << parsedDeviceStatus; + } +} + +void CamHelperImx708::process(StatisticsPtr &stats, [[maybe_unused]] Metadata &metadata) +{ + if (aeHistValid_) + putAGCStatistics(stats); +} + +std::pair<uint32_t, uint32_t> CamHelperImx708::getBlanking(Duration &exposure, + Duration minFrameDuration, + Duration maxFrameDuration) const +{ + uint32_t frameLength, exposureLines; + unsigned int shift = 0; + + auto [vblank, hblank] = CamHelper::getBlanking(exposure, minFrameDuration, + maxFrameDuration); + + frameLength = mode_.height + vblank; + Duration lineLength = hblankToLineLength(hblank); + + /* + * Check if the frame length calculated needs to be setup for long + * exposure mode. This will require us to use a long exposure scale + * factor provided by a shift operation in the sensor. + */ + while (frameLength > frameLengthMax) { + if (++shift > longExposureShiftMax) { + shift = longExposureShiftMax; + frameLength = frameLengthMax; + break; + } + frameLength >>= 1; + } + + if (shift) { + /* Account for any rounding in the scaled frame length value. */ + frameLength <<= shift; + exposureLines = CamHelper::exposureLines(exposure, lineLength); + exposureLines = std::min(exposureLines, frameLength - frameIntegrationDiff); + exposure = CamHelper::exposure(exposureLines, lineLength); + } + + return { frameLength - mode_.height, hblank }; +} + +void CamHelperImx708::getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const +{ + exposureDelay = 2; + gainDelay = 2; + vblankDelay = 3; + hblankDelay = 3; +} + +bool CamHelperImx708::sensorEmbeddedDataPresent() const +{ + return true; +} + +double CamHelperImx708::getModeSensitivity(const CameraMode &mode) const +{ + /* In binned modes, sensitivity increases by a factor of 2 */ + return (mode.width > 2304) ? 1.0 : 2.0; +} + +unsigned int CamHelperImx708::hideFramesModeSwitch() const +{ + /* + * We need to drop the first startup frame in HDR mode. + * Unfortunately the only way to currently determine if the sensor is in + * the HDR mode is to match with the resolution and framerate - the HDR + * mode only runs upto 30fps. + */ + if (mode_.width == 2304 && mode_.height == 1296 && + mode_.minFrameDuration > 1.0s / 32) + return 1; + else + return 0; +} + +unsigned int CamHelperImx708::hideFramesStartup() const +{ + return hideFramesModeSwitch(); +} + +void CamHelperImx708::populateMetadata(const MdParser::RegisterMap ®isters, + Metadata &metadata) const +{ + DeviceStatus deviceStatus; + + deviceStatus.lineLength = lineLengthPckToDuration(registers.at(lineLengthHiReg) * 256 + + registers.at(lineLengthLoReg)); + deviceStatus.shutterSpeed = exposure(registers.at(expHiReg) * 256 + registers.at(expLoReg), + deviceStatus.lineLength); + deviceStatus.analogueGain = gain(registers.at(gainHiReg) * 256 + registers.at(gainLoReg)); + deviceStatus.frameLength = registers.at(frameLengthHiReg) * 256 + registers.at(frameLengthLoReg); + deviceStatus.sensorTemperature = std::clamp<int8_t>(registers.at(temperatureReg), -20, 80); + + metadata.set("device.status", deviceStatus); +} + +bool CamHelperImx708::parsePdafData(const uint8_t *ptr, size_t len, + unsigned bpp, PdafRegions &pdaf) +{ + size_t step = bpp >> 1; /* bytes per PDAF grid entry */ + + if (bpp < 10 || bpp > 14 || len < 194 * step || ptr[0] != 0 || ptr[1] >= 0x40) { + LOG(IPARPI, Error) << "PDAF data in unsupported format"; + return false; + } + + pdaf.init({ pdafStatsCols, pdafStatsRows }); + + ptr += 2 * step; + for (unsigned i = 0; i < pdafStatsRows; ++i) { + for (unsigned j = 0; j < pdafStatsCols; ++j) { + unsigned c = (ptr[0] << 3) | (ptr[1] >> 5); + int p = (((ptr[1] & 0x0F) - (ptr[1] & 0x10)) << 6) | (ptr[2] >> 2); + PdafData pdafData; + pdafData.conf = c; + pdafData.phase = c ? p : 0; + pdaf.set(libcamera::Point(j, i), { pdafData, 1, 0 }); + ptr += step; + } + } + + return true; +} + +bool CamHelperImx708::parseAEHist(const uint8_t *ptr, size_t len, unsigned bpp) +{ + static constexpr unsigned int PipelineBits = Statistics::NormalisationFactorPow2; + + uint64_t count = 0, sum = 0; + size_t step = bpp >> 1; /* bytes per histogram bin */ + uint32_t hist[128]; + + if (len < 144 * step) + return false; + + /* + * Read the 128 bin linear histogram, which by default covers + * the full range of the HDR shortest exposure (small values are + * expected to dominate, so pixel-value resolution will be poor). + */ + for (unsigned i = 0; i < 128; ++i) { + if (ptr[3] != 0x55) + return false; + uint32_t c = (ptr[0] << 14) + (ptr[1] << 6) + (ptr[2] >> 2); + hist[i] = c >> 2; /* pixels to quads */ + if (i != 0) { + count += c; + sum += c * + (i * (1u << (PipelineBits - 7)) + + (1u << (PipelineBits - 8))); + } + ptr += step; + } + + /* + * Now use the first 9 bins of the log histogram (these should be + * subdivisions of the smallest linear bin), to get a more accurate + * average value. Don't assume that AEHIST1_AVERAGE is present. + */ + for (unsigned i = 0; i < 9; ++i) { + if (ptr[3] != 0x55) + return false; + uint32_t c = (ptr[0] << 14) + (ptr[1] << 6) + (ptr[2] >> 2); + count += c; + sum += c * + ((3u << PipelineBits) >> (17 - i)); + ptr += step; + } + if ((unsigned)((ptr[0] << 12) + (ptr[1] << 4) + (ptr[2] >> 4)) != + hist[1]) { + LOG(IPARPI, Error) << "Lin/Log histogram mismatch"; + return false; + } + + aeHistLinear_ = Histogram(hist, 128); + aeHistAverage_ = count ? (sum / count) : 0; + + return count != 0; +} + +void CamHelperImx708::putAGCStatistics(StatisticsPtr stats) +{ + /* + * For HDR mode, copy sensor's AE/AGC statistics over ISP's, so the + * AGC algorithm sees a linear response to exposure and gain changes. + * + * Histogram: Just copy the "raw" histogram over the tone-mapped one, + * although they have different distributions (raw values are lower). + * Tuning should either ignore it, or constrain for highlights only. + * + * Average: Overwrite all regional averages with a global raw average, + * scaled by a fiddle-factor so that a conventional (non-HDR) y_target + * of e.g. 0.17 will map to a suitable level for HDR. + */ + stats->yHist = aeHistLinear_; + + constexpr unsigned int HdrHeadroomFactor = 4; + uint64_t v = HdrHeadroomFactor * aeHistAverage_; + for (auto ®ion : stats->agcRegions) { + region.val.rSum = region.val.gSum = region.val.bSum = region.counted * v; + } +} + +static CamHelper *create() +{ + return new CamHelperImx708(); +} + +static RegisterCamHelper reg("imx708", &create); +static RegisterCamHelper regWide("imx708_wide", &create); +static RegisterCamHelper regNoIr("imx708_noir", &create); +static RegisterCamHelper regWideNoIr("imx708_wide_noir", &create); diff --git a/src/ipa/raspberrypi/cam_helper_ov5647.cpp b/src/ipa/rpi/cam_helper/cam_helper_ov5647.cpp index 702c2d07..c30b017c 100644 --- a/src/ipa/raspberrypi/cam_helper_ov5647.cpp +++ b/src/ipa/rpi/cam_helper/cam_helper_ov5647.cpp @@ -1,13 +1,13 @@ /* SPDX-License-Identifier: BSD-2-Clause */ /* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited + * Copyright (C) 2019, Raspberry Pi Ltd * - * cam_helper_ov5647.cpp - camera information for ov5647 sensor + * camera information for ov5647 sensor */ #include <assert.h> -#include "cam_helper.hpp" +#include "cam_helper.h" using namespace RPiController; @@ -15,14 +15,14 @@ class CamHelperOv5647 : public CamHelper { public: CamHelperOv5647(); - uint32_t GainCode(double gain) const override; - double Gain(uint32_t gain_code) const override; - void GetDelays(int &exposure_delay, int &gain_delay, - int &vblank_delay) const override; - unsigned int HideFramesStartup() const override; - unsigned int HideFramesModeSwitch() const override; - unsigned int MistrustFramesStartup() const override; - unsigned int MistrustFramesModeSwitch() const override; + uint32_t gainCode(double gain) const override; + double gain(uint32_t gainCode) const override; + void getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const override; + unsigned int hideFramesStartup() const override; + unsigned int hideFramesModeSwitch() const override; + unsigned int mistrustFramesStartup() const override; + unsigned int mistrustFramesModeSwitch() const override; private: /* @@ -42,29 +42,30 @@ CamHelperOv5647::CamHelperOv5647() { } -uint32_t CamHelperOv5647::GainCode(double gain) const +uint32_t CamHelperOv5647::gainCode(double gain) const { return static_cast<uint32_t>(gain * 16.0); } -double CamHelperOv5647::Gain(uint32_t gain_code) const +double CamHelperOv5647::gain(uint32_t gainCode) const { - return static_cast<double>(gain_code) / 16.0; + return static_cast<double>(gainCode) / 16.0; } -void CamHelperOv5647::GetDelays(int &exposure_delay, int &gain_delay, - int &vblank_delay) const +void CamHelperOv5647::getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const { /* * We run this sensor in a mode where the gain delay is bumped up to * 2. It seems to be the only way to make the delays "predictable". */ - exposure_delay = 2; - gain_delay = 2; - vblank_delay = 2; + exposureDelay = 2; + gainDelay = 2; + vblankDelay = 2; + hblankDelay = 2; } -unsigned int CamHelperOv5647::HideFramesStartup() const +unsigned int CamHelperOv5647::hideFramesStartup() const { /* * On startup, we get a couple of under-exposed frames which @@ -73,7 +74,7 @@ unsigned int CamHelperOv5647::HideFramesStartup() const return 2; } -unsigned int CamHelperOv5647::HideFramesModeSwitch() const +unsigned int CamHelperOv5647::hideFramesModeSwitch() const { /* * After a mode switch, we get a couple of under-exposed frames which @@ -82,7 +83,7 @@ unsigned int CamHelperOv5647::HideFramesModeSwitch() const return 2; } -unsigned int CamHelperOv5647::MistrustFramesStartup() const +unsigned int CamHelperOv5647::mistrustFramesStartup() const { /* * First couple of frames are under-exposed and are no good for control @@ -91,7 +92,7 @@ unsigned int CamHelperOv5647::MistrustFramesStartup() const return 2; } -unsigned int CamHelperOv5647::MistrustFramesModeSwitch() const +unsigned int CamHelperOv5647::mistrustFramesModeSwitch() const { /* * First couple of frames are under-exposed even after a simple @@ -100,9 +101,9 @@ unsigned int CamHelperOv5647::MistrustFramesModeSwitch() const return 2; } -static CamHelper *Create() +static CamHelper *create() { return new CamHelperOv5647(); } -static RegisterCamHelper reg("ov5647", &Create); +static RegisterCamHelper reg("ov5647", &create); diff --git a/src/ipa/rpi/cam_helper/cam_helper_ov64a40.cpp b/src/ipa/rpi/cam_helper/cam_helper_ov64a40.cpp new file mode 100644 index 00000000..a8efd389 --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_ov64a40.cpp @@ -0,0 +1,74 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2021, Raspberry Pi Ltd + * Copyright (C) 2023, Ideas on Board Oy. + * + * camera information for ov64a40 sensor + */ + +#include <assert.h> + +#include "cam_helper.h" + +using namespace RPiController; + +class CamHelperOv64a40 : public CamHelper +{ +public: + CamHelperOv64a40(); + uint32_t gainCode(double gain) const override; + double gain(uint32_t gainCode) const override; + void getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const override; + double getModeSensitivity(const CameraMode &mode) const override; + +private: + /* + * Smallest difference between the frame length and integration time, + * in units of lines. + */ + static constexpr int frameIntegrationDiff = 32; +}; + +CamHelperOv64a40::CamHelperOv64a40() + : CamHelper({}, frameIntegrationDiff) +{ +} + +uint32_t CamHelperOv64a40::gainCode(double gain) const +{ + return static_cast<uint32_t>(gain * 128.0); +} + +double CamHelperOv64a40::gain(uint32_t gainCode) const +{ + return static_cast<double>(gainCode) / 128.0; +} + +void CamHelperOv64a40::getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const +{ + /* The driver appears to behave as follows: */ + exposureDelay = 2; + gainDelay = 2; + vblankDelay = 2; + hblankDelay = 2; +} + +double CamHelperOv64a40::getModeSensitivity(const CameraMode &mode) const +{ + if (mode.binX >= 2 && mode.scaleX >= 4) { + return 4.0; + } else if (mode.binX >= 2 && mode.scaleX >= 2) { + return 2.0; + } else { + return 1.0; + } +} + +static CamHelper *create() +{ + return new CamHelperOv64a40(); +} + +static RegisterCamHelper reg("ov64a40", &create); diff --git a/src/ipa/rpi/cam_helper/cam_helper_ov9281.cpp b/src/ipa/rpi/cam_helper/cam_helper_ov9281.cpp new file mode 100644 index 00000000..a65c8ac0 --- /dev/null +++ b/src/ipa/rpi/cam_helper/cam_helper_ov9281.cpp @@ -0,0 +1,66 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2021, Raspberry Pi Ltd + * + * camera information for ov9281 sensor + */ + +#include <assert.h> + +#include "cam_helper.h" + +using namespace RPiController; + +class CamHelperOv9281 : public CamHelper +{ +public: + CamHelperOv9281(); + uint32_t gainCode(double gain) const override; + double gain(uint32_t gainCode) const override; + void getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const override; + +private: + /* + * Smallest difference between the frame length and integration time, + * in units of lines. + */ + static constexpr int frameIntegrationDiff = 4; +}; + +/* + * OV9281 doesn't output metadata, so we have to use the "unicam parser" which + * works by counting frames. + */ + +CamHelperOv9281::CamHelperOv9281() + : CamHelper({}, frameIntegrationDiff) +{ +} + +uint32_t CamHelperOv9281::gainCode(double gain) const +{ + return static_cast<uint32_t>(gain * 16.0); +} + +double CamHelperOv9281::gain(uint32_t gainCode) const +{ + return static_cast<double>(gainCode) / 16.0; +} + +void CamHelperOv9281::getDelays(int &exposureDelay, int &gainDelay, + int &vblankDelay, int &hblankDelay) const +{ + /* The driver appears to behave as follows: */ + exposureDelay = 2; + gainDelay = 2; + vblankDelay = 2; + hblankDelay = 2; +} + +static CamHelper *create() +{ + return new CamHelperOv9281(); +} + +static RegisterCamHelper reg("ov9281", &create); diff --git a/src/ipa/raspberrypi/md_parser.hpp b/src/ipa/rpi/cam_helper/md_parser.h index d32d0f54..227c376c 100644 --- a/src/ipa/raspberrypi/md_parser.hpp +++ b/src/ipa/rpi/cam_helper/md_parser.h @@ -1,8 +1,8 @@ /* SPDX-License-Identifier: BSD-2-Clause */ /* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited + * Copyright (C) 2019, Raspberry Pi Ltd * - * md_parser.hpp - image sensor metadata parser interface + * image sensor metadata parser interface */ #pragma once @@ -75,40 +75,40 @@ public: }; MdParser() - : reset_(true), bits_per_pixel_(0), num_lines_(0), line_length_bytes_(0) + : reset_(true), bitsPerPixel_(0), numLines_(0), lineLengthBytes_(0) { } virtual ~MdParser() = default; - void Reset() + void reset() { reset_ = true; } - void SetBitsPerPixel(int bpp) + void setBitsPerPixel(int bpp) { - bits_per_pixel_ = bpp; + bitsPerPixel_ = bpp; } - void SetNumLines(unsigned int num_lines) + void setNumLines(unsigned int numLines) { - num_lines_ = num_lines; + numLines_ = numLines; } - void SetLineLengthBytes(unsigned int num_bytes) + void setLineLengthBytes(unsigned int numBytes) { - line_length_bytes_ = num_bytes; + lineLengthBytes_ = numBytes; } - virtual Status Parse(libcamera::Span<const uint8_t> buffer, + virtual Status parse(libcamera::Span<const uint8_t> buffer, RegisterMap ®isters) = 0; protected: bool reset_; - int bits_per_pixel_; - unsigned int num_lines_; - unsigned int line_length_bytes_; + int bitsPerPixel_; + unsigned int numLines_; + unsigned int lineLengthBytes_; }; /* @@ -123,7 +123,7 @@ class MdParserSmia final : public MdParser public: MdParserSmia(std::initializer_list<uint32_t> registerList); - MdParser::Status Parse(libcamera::Span<const uint8_t> buffer, + MdParser::Status parse(libcamera::Span<const uint8_t> buffer, RegisterMap ®isters) override; private: @@ -133,18 +133,18 @@ private: /* * Note that error codes > 0 are regarded as non-fatal; codes < 0 * indicate a bad data buffer. Status codes are: - * PARSE_OK - found all registers, much happiness - * MISSING_REGS - some registers found; should this be a hard error? + * ParseOk - found all registers, much happiness + * MissingRegs - some registers found; should this be a hard error? * The remaining codes are all hard errors. */ enum ParseStatus { - PARSE_OK = 0, - MISSING_REGS = 1, - NO_LINE_START = -1, - ILLEGAL_TAG = -2, - BAD_DUMMY = -3, - BAD_LINE_END = -4, - BAD_PADDING = -5 + ParseOk = 0, + MissingRegs = 1, + NoLineStart = -1, + IllegalTag = -2, + BadDummy = -3, + BadLineEnd = -4, + BadPadding = -5 }; ParseStatus findRegs(libcamera::Span<const uint8_t> buffer); @@ -152,4 +152,4 @@ private: OffsetMap offsets_; }; -} // namespace RPi +} /* namespace RPi */ diff --git a/src/ipa/rpi/cam_helper/md_parser_smia.cpp b/src/ipa/rpi/cam_helper/md_parser_smia.cpp new file mode 100644 index 00000000..c7bdcf94 --- /dev/null +++ b/src/ipa/rpi/cam_helper/md_parser_smia.cpp @@ -0,0 +1,152 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019-2021, Raspberry Pi Ltd + * + * SMIA specification based embedded data parser + */ + +#include <libcamera/base/log.h> +#include "md_parser.h" + +using namespace RPiController; +using namespace libcamera; + +/* + * This function goes through the embedded data to find the offsets (not + * values!), in the data block, where the values of the given registers can + * subsequently be found. + * + * Embedded data tag bytes, from Sony IMX219 datasheet but general to all SMIA + * sensors, I think. + */ + +constexpr unsigned int LineStart = 0x0a; +constexpr unsigned int LineEndTag = 0x07; +constexpr unsigned int RegHiBits = 0xaa; +constexpr unsigned int RegLowBits = 0xa5; +constexpr unsigned int RegValue = 0x5a; +constexpr unsigned int RegSkip = 0x55; + +MdParserSmia::MdParserSmia(std::initializer_list<uint32_t> registerList) +{ + for (auto r : registerList) + offsets_[r] = {}; +} + +MdParser::Status MdParserSmia::parse(libcamera::Span<const uint8_t> buffer, + RegisterMap ®isters) +{ + if (reset_) { + /* + * Search again through the metadata for all the registers + * requested. + */ + ASSERT(bitsPerPixel_); + + for (const auto &kv : offsets_) + offsets_[kv.first] = {}; + + ParseStatus ret = findRegs(buffer); + /* + * > 0 means "worked partially but parse again next time", + * < 0 means "hard error". + * + * In either case, we retry parsing on the next frame. + */ + if (ret != ParseOk) + return ERROR; + + reset_ = false; + } + + /* Populate the register values requested. */ + registers.clear(); + for (const auto &[reg, offset] : offsets_) { + if (!offset) { + reset_ = true; + return NOTFOUND; + } + registers[reg] = buffer[offset.value()]; + } + + return OK; +} + +MdParserSmia::ParseStatus MdParserSmia::findRegs(libcamera::Span<const uint8_t> buffer) +{ + ASSERT(offsets_.size()); + + if (buffer[0] != LineStart) + return NoLineStart; + + unsigned int currentOffset = 1; /* after the LineStart */ + unsigned int currentLineStart = 0, currentLine = 0; + unsigned int regNum = 0, regsDone = 0; + + while (1) { + int tag = buffer[currentOffset++]; + + /* Non-dummy bytes come in even-sized blocks: skip can only ever follow tag */ + while ((bitsPerPixel_ == 10 && + (currentOffset + 1 - currentLineStart) % 5 == 0) || + (bitsPerPixel_ == 12 && + (currentOffset + 1 - currentLineStart) % 3 == 0) || + (bitsPerPixel_ == 14 && + (currentOffset - currentLineStart) % 7 >= 4)) { + if (buffer[currentOffset++] != RegSkip) + return BadDummy; + } + + int dataByte = buffer[currentOffset++]; + + if (tag == LineEndTag) { + if (dataByte != LineEndTag) + return BadLineEnd; + + if (numLines_ && ++currentLine == numLines_) + return MissingRegs; + + if (lineLengthBytes_) { + currentOffset = currentLineStart + lineLengthBytes_; + + /* Require whole line to be in the buffer (if buffer size set). */ + if (buffer.size() && + currentOffset + lineLengthBytes_ > buffer.size()) + return MissingRegs; + + if (buffer[currentOffset] != LineStart) + return NoLineStart; + } else { + /* allow a zero line length to mean "hunt for the next line" */ + while (currentOffset < buffer.size() && + buffer[currentOffset] != LineStart) + currentOffset++; + + if (currentOffset == buffer.size()) + return NoLineStart; + } + + /* inc currentOffset to after LineStart */ + currentLineStart = currentOffset++; + } else { + if (tag == RegHiBits) + regNum = (regNum & 0xff) | (dataByte << 8); + else if (tag == RegLowBits) + regNum = (regNum & 0xff00) | dataByte; + else if (tag == RegSkip) + regNum++; + else if (tag == RegValue) { + auto reg = offsets_.find(regNum); + + if (reg != offsets_.end()) { + offsets_[regNum] = currentOffset - 1; + + if (++regsDone == offsets_.size()) + return ParseOk; + } + regNum++; + } else + return IllegalTag; + } + } +} diff --git a/src/ipa/rpi/cam_helper/meson.build b/src/ipa/rpi/cam_helper/meson.build new file mode 100644 index 00000000..72625057 --- /dev/null +++ b/src/ipa/rpi/cam_helper/meson.build @@ -0,0 +1,27 @@ +# SPDX-License-Identifier: CC0-1.0 + +rpi_ipa_cam_helper_sources = files([ + 'cam_helper.cpp', + 'cam_helper_ov5647.cpp', + 'cam_helper_imx219.cpp', + 'cam_helper_imx290.cpp', + 'cam_helper_imx296.cpp', + 'cam_helper_imx477.cpp', + 'cam_helper_imx519.cpp', + 'cam_helper_imx708.cpp', + 'cam_helper_ov64a40.cpp', + 'cam_helper_ov9281.cpp', + 'md_parser_smia.cpp', +]) + +rpi_ipa_cam_helper_includes = [ + include_directories('..'), +] + +rpi_ipa_cam_helper_deps = [ + libcamera_private, +] + +rpi_ipa_cam_helper_lib = static_library('rpi_ipa_cam_helper', rpi_ipa_cam_helper_sources, + include_directories : rpi_ipa_cam_helper_includes, + dependencies : rpi_ipa_cam_helper_deps) diff --git a/src/ipa/rpi/common/ipa_base.cpp b/src/ipa/rpi/common/ipa_base.cpp new file mode 100644 index 00000000..61490bd6 --- /dev/null +++ b/src/ipa/rpi/common/ipa_base.cpp @@ -0,0 +1,1514 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019-2023, Raspberry Pi Ltd + * + * Raspberry Pi IPA base class + */ + +#include "ipa_base.h" + +#include <cmath> + +#include <libcamera/base/log.h> +#include <libcamera/base/span.h> +#include <libcamera/control_ids.h> +#include <libcamera/property_ids.h> + +#include "controller/af_algorithm.h" +#include "controller/af_status.h" +#include "controller/agc_algorithm.h" +#include "controller/awb_algorithm.h" +#include "controller/awb_status.h" +#include "controller/black_level_status.h" +#include "controller/ccm_algorithm.h" +#include "controller/ccm_status.h" +#include "controller/contrast_algorithm.h" +#include "controller/denoise_algorithm.h" +#include "controller/hdr_algorithm.h" +#include "controller/lux_status.h" +#include "controller/sharpen_algorithm.h" +#include "controller/statistics.h" + +namespace libcamera { + +using namespace std::literals::chrono_literals; +using utils::Duration; + +namespace { + +/* Number of frame length times to hold in the queue. */ +constexpr unsigned int FrameLengthsQueueSize = 10; + +/* Configure the sensor with these values initially. */ +constexpr double defaultAnalogueGain = 1.0; +constexpr Duration defaultExposureTime = 20.0ms; +constexpr Duration defaultMinFrameDuration = 1.0s / 30.0; +constexpr Duration defaultMaxFrameDuration = 250.0s; + +/* + * Determine the minimum allowable inter-frame duration to run the controller + * algorithms. If the pipeline handler provider frames at a rate higher than this, + * we rate-limit the controller Prepare() and Process() calls to lower than or + * equal to this rate. + */ +constexpr Duration controllerMinFrameDuration = 1.0s / 30.0; + +/* List of controls handled by the Raspberry Pi IPA */ +const ControlInfoMap::Map ipaControls{ + { &controls::AeEnable, ControlInfo(false, true) }, + { &controls::ExposureTime, ControlInfo(0, 66666) }, + { &controls::AnalogueGain, ControlInfo(1.0f, 16.0f) }, + { &controls::AeMeteringMode, ControlInfo(controls::AeMeteringModeValues) }, + { &controls::AeConstraintMode, ControlInfo(controls::AeConstraintModeValues) }, + { &controls::AeExposureMode, ControlInfo(controls::AeExposureModeValues) }, + { &controls::ExposureValue, ControlInfo(-8.0f, 8.0f, 0.0f) }, + { &controls::AeFlickerMode, ControlInfo(static_cast<int>(controls::FlickerOff), + static_cast<int>(controls::FlickerManual), + static_cast<int>(controls::FlickerOff)) }, + { &controls::AeFlickerPeriod, ControlInfo(100, 1000000) }, + { &controls::Brightness, ControlInfo(-1.0f, 1.0f, 0.0f) }, + { &controls::Contrast, ControlInfo(0.0f, 32.0f, 1.0f) }, + { &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::draft::NoiseReductionMode, ControlInfo(controls::draft::NoiseReductionModeValues) }, + { &controls::rpi::StatsOutputEnable, ControlInfo(false, true) }, +}; + +/* IPA controls handled conditionally, if the sensor is not mono */ +const ControlInfoMap::Map ipaColourControls{ + { &controls::AwbEnable, ControlInfo(false, true) }, + { &controls::AwbMode, ControlInfo(controls::AwbModeValues) }, + { &controls::ColourGains, ControlInfo(0.0f, 32.0f) }, + { &controls::Saturation, ControlInfo(0.0f, 32.0f, 1.0f) }, +}; + +/* IPA controls handled conditionally, if the lens has a focus control */ +const ControlInfoMap::Map ipaAfControls{ + { &controls::AfMode, ControlInfo(controls::AfModeValues) }, + { &controls::AfRange, ControlInfo(controls::AfRangeValues) }, + { &controls::AfSpeed, ControlInfo(controls::AfSpeedValues) }, + { &controls::AfMetering, ControlInfo(controls::AfMeteringValues) }, + { &controls::AfWindows, ControlInfo(Rectangle{}, Rectangle(65535, 65535, 65535, 65535), Rectangle{}) }, + { &controls::AfTrigger, ControlInfo(controls::AfTriggerValues) }, + { &controls::AfPause, ControlInfo(controls::AfPauseValues) }, + { &controls::LensPosition, ControlInfo(0.0f, 32.0f, 1.0f) } +}; + +} /* namespace */ + +LOG_DEFINE_CATEGORY(IPARPI) + +namespace ipa::RPi { + +IpaBase::IpaBase() + : controller_(), frameLengths_(FrameLengthsQueueSize, 0s), stitchSwapBuffers_(false), frameCount_(0), + mistrustCount_(0), lastRunTimestamp_(0), firstStart_(true), flickerState_({ 0, 0s }) +{ +} + +IpaBase::~IpaBase() +{ +} + +int32_t IpaBase::init(const IPASettings &settings, const InitParams ¶ms, InitResult *result) +{ + /* + * Load the "helper" for this sensor. This tells us all the device specific stuff + * that the kernel driver doesn't. We only do this the first time; we don't need + * to re-parse the metadata after a simple mode-switch for no reason. + */ + helper_ = std::unique_ptr<RPiController::CamHelper>(RPiController::CamHelper::create(settings.sensorModel)); + if (!helper_) { + LOG(IPARPI, Error) << "Could not create camera helper for " + << settings.sensorModel; + return -EINVAL; + } + + /* + * Pass out the sensor config to the pipeline handler in order + * to setup the staggered writer class. + */ + int gainDelay, exposureDelay, vblankDelay, hblankDelay, sensorMetadata; + helper_->getDelays(exposureDelay, gainDelay, vblankDelay, hblankDelay); + sensorMetadata = helper_->sensorEmbeddedDataPresent(); + + result->sensorConfig.gainDelay = gainDelay; + result->sensorConfig.exposureDelay = exposureDelay; + result->sensorConfig.vblankDelay = vblankDelay; + result->sensorConfig.hblankDelay = hblankDelay; + result->sensorConfig.sensorMetadata = sensorMetadata; + + /* Load the tuning file for this sensor. */ + int ret = controller_.read(settings.configurationFile.c_str()); + if (ret) { + LOG(IPARPI, Error) + << "Failed to load tuning data file " + << settings.configurationFile; + return ret; + } + + lensPresent_ = params.lensPresent; + + controller_.initialise(); + + /* Return the controls handled by the IPA */ + ControlInfoMap::Map ctrlMap = ipaControls; + if (lensPresent_) + ctrlMap.merge(ControlInfoMap::Map(ipaAfControls)); + + monoSensor_ = params.sensorInfo.cfaPattern == properties::draft::ColorFilterArrangementEnum::MONO; + if (!monoSensor_) + ctrlMap.merge(ControlInfoMap::Map(ipaColourControls)); + + result->controlInfo = ControlInfoMap(std::move(ctrlMap), controls::controls); + + return platformInit(params, result); +} + +int32_t IpaBase::configure(const IPACameraSensorInfo &sensorInfo, const ConfigParams ¶ms, + ConfigResult *result) +{ + sensorCtrls_ = params.sensorControls; + + if (!validateSensorControls()) { + LOG(IPARPI, Error) << "Sensor control validation failed."; + return -1; + } + + if (lensPresent_) { + lensCtrls_ = params.lensControls; + if (!validateLensControls()) { + LOG(IPARPI, Warning) << "Lens validation failed, " + << "no lens control will be available."; + lensPresent_ = false; + } + } + + /* Setup a metadata ControlList to output metadata. */ + libcameraMetadata_ = ControlList(controls::controls); + + /* Re-assemble camera mode using the sensor info. */ + setMode(sensorInfo); + + mode_.transform = static_cast<libcamera::Transform>(params.transform); + + /* Pass the camera mode to the CamHelper to setup algorithms. */ + helper_->setCameraMode(mode_); + + /* + * Initialise this ControlList correctly, even if empty, in case the IPA is + * running is isolation mode (passing the ControlList through the IPC layer). + */ + ControlList ctrls(sensorCtrls_); + + /* The pipeline handler passes out the mode's sensitivity. */ + result->modeSensitivity = mode_.sensitivity; + + if (firstStart_) { + /* Supply initial values for frame durations. */ + applyFrameDurations(defaultMinFrameDuration, defaultMaxFrameDuration); + + /* Supply initial values for gain and exposure. */ + AgcStatus agcStatus; + agcStatus.shutterTime = defaultExposureTime; + agcStatus.analogueGain = defaultAnalogueGain; + applyAGC(&agcStatus, ctrls); + + /* + * Set the lens to the default (typically hyperfocal) position + * on first start. + */ + if (lensPresent_) { + RPiController::AfAlgorithm *af = + dynamic_cast<RPiController::AfAlgorithm *>(controller_.getAlgorithm("af")); + + if (af) { + float defaultPos = + ipaAfControls.at(&controls::LensPosition).def().get<float>(); + ControlList lensCtrl(lensCtrls_); + int32_t hwpos; + + af->setLensPosition(defaultPos, &hwpos); + lensCtrl.set(V4L2_CID_FOCUS_ABSOLUTE, hwpos); + result->lensControls = std::move(lensCtrl); + } + } + } + + result->sensorControls = std::move(ctrls); + + /* + * Apply the correct limits to the exposure, gain and frame duration controls + * based on the current sensor mode. + */ + ControlInfoMap::Map ctrlMap = ipaControls; + ctrlMap[&controls::FrameDurationLimits] = + ControlInfo(static_cast<int64_t>(mode_.minFrameDuration.get<std::micro>()), + static_cast<int64_t>(mode_.maxFrameDuration.get<std::micro>())); + + ctrlMap[&controls::AnalogueGain] = + ControlInfo(static_cast<float>(mode_.minAnalogueGain), + static_cast<float>(mode_.maxAnalogueGain)); + + ctrlMap[&controls::ExposureTime] = + ControlInfo(static_cast<int32_t>(mode_.minShutter.get<std::micro>()), + static_cast<int32_t>(mode_.maxShutter.get<std::micro>())); + + /* Declare colour processing related controls for non-mono sensors. */ + if (!monoSensor_) + ctrlMap.merge(ControlInfoMap::Map(ipaColourControls)); + + /* Declare Autofocus controls, only if we have a controllable lens */ + if (lensPresent_) + ctrlMap.merge(ControlInfoMap::Map(ipaAfControls)); + + result->controlInfo = ControlInfoMap(std::move(ctrlMap), controls::controls); + + return platformConfigure(params, result); +} + +void IpaBase::start(const ControlList &controls, StartResult *result) +{ + RPiController::Metadata metadata; + + if (!controls.empty()) { + /* We have been given some controls to action before start. */ + applyControls(controls); + } + + controller_.switchMode(mode_, &metadata); + + /* Reset the frame lengths queue state. */ + lastTimeout_ = 0s; + frameLengths_.clear(); + frameLengths_.resize(FrameLengthsQueueSize, 0s); + + /* SwitchMode may supply updated exposure/gain values to use. */ + AgcStatus agcStatus; + agcStatus.shutterTime = 0.0s; + agcStatus.analogueGain = 0.0; + + metadata.get("agc.status", agcStatus); + if (agcStatus.shutterTime && agcStatus.analogueGain) { + ControlList ctrls(sensorCtrls_); + applyAGC(&agcStatus, ctrls); + result->controls = std::move(ctrls); + setCameraTimeoutValue(); + } + /* Make a note of this as it tells us the HDR status of the first few frames. */ + hdrStatus_ = agcStatus.hdr; + + /* + * Initialise frame counts, and decide how many frames must be hidden or + * "mistrusted", which depends on whether this is a startup from cold, + * or merely a mode switch in a running system. + */ + frameCount_ = 0; + if (firstStart_) { + dropFrameCount_ = helper_->hideFramesStartup(); + mistrustCount_ = helper_->mistrustFramesStartup(); + + /* + * Query the AGC/AWB for how many frames they may take to + * converge sufficiently. Where these numbers are non-zero + * we must allow for the frames with bad statistics + * (mistrustCount_) that they won't see. But if zero (i.e. + * no convergence necessary), no frames need to be dropped. + */ + unsigned int agcConvergenceFrames = 0; + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + if (agc) { + agcConvergenceFrames = agc->getConvergenceFrames(); + if (agcConvergenceFrames) + agcConvergenceFrames += mistrustCount_; + } + + unsigned int awbConvergenceFrames = 0; + RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( + controller_.getAlgorithm("awb")); + if (awb) { + awbConvergenceFrames = awb->getConvergenceFrames(); + if (awbConvergenceFrames) + awbConvergenceFrames += mistrustCount_; + } + + dropFrameCount_ = std::max({ dropFrameCount_, agcConvergenceFrames, awbConvergenceFrames }); + LOG(IPARPI, Debug) << "Drop " << dropFrameCount_ << " frames on startup"; + } else { + dropFrameCount_ = helper_->hideFramesModeSwitch(); + mistrustCount_ = helper_->mistrustFramesModeSwitch(); + } + + result->dropFrameCount = dropFrameCount_; + + firstStart_ = false; + lastRunTimestamp_ = 0; + + platformStart(controls, result); +} + +void IpaBase::mapBuffers(const std::vector<IPABuffer> &buffers) +{ + for (const IPABuffer &buffer : buffers) { + const FrameBuffer fb(buffer.planes); + buffers_.emplace(buffer.id, + MappedFrameBuffer(&fb, MappedFrameBuffer::MapFlag::ReadWrite)); + } +} + +void IpaBase::unmapBuffers(const std::vector<unsigned int> &ids) +{ + for (unsigned int id : ids) { + auto it = buffers_.find(id); + if (it == buffers_.end()) + continue; + + buffers_.erase(id); + } +} + +void IpaBase::prepareIsp(const PrepareParams ¶ms) +{ + applyControls(params.requestControls); + + /* + * At start-up, or after a mode-switch, we may want to + * avoid running the control algos for a few frames in case + * they are "unreliable". + */ + int64_t frameTimestamp = params.sensorControls.get(controls::SensorTimestamp).value_or(0); + unsigned int ipaContext = params.ipaContext % rpiMetadata_.size(); + RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext]; + Span<uint8_t> embeddedBuffer; + + rpiMetadata.clear(); + fillDeviceStatus(params.sensorControls, ipaContext); + + if (params.buffers.embedded) { + /* + * Pipeline handler has supplied us with an embedded data buffer, + * we must pass it to the CamHelper for parsing. + */ + auto it = buffers_.find(params.buffers.embedded); + ASSERT(it != buffers_.end()); + embeddedBuffer = it->second.planes()[0]; + } + + /* + * AGC wants to know the algorithm status from the time it actioned the + * sensor exposure/gain changes. So fetch it from the metadata list + * indexed by the IPA cookie returned, and put it in the current frame + * metadata. + * + * Note if the HDR mode has changed, as things like tonemaps may need updating. + */ + AgcStatus agcStatus; + bool hdrChange = false; + RPiController::Metadata &delayedMetadata = rpiMetadata_[params.delayContext]; + if (!delayedMetadata.get<AgcStatus>("agc.status", agcStatus)) { + rpiMetadata.set("agc.delayed_status", agcStatus); + hdrChange = agcStatus.hdr.mode != hdrStatus_.mode; + hdrStatus_ = agcStatus.hdr; + } + + /* + * This may overwrite the DeviceStatus using values from the sensor + * metadata, and may also do additional custom processing. + */ + helper_->prepare(embeddedBuffer, rpiMetadata); + + /* Allow a 10% margin on the comparison below. */ + Duration delta = (frameTimestamp - lastRunTimestamp_) * 1.0ns; + if (lastRunTimestamp_ && frameCount_ > dropFrameCount_ && + delta < controllerMinFrameDuration * 0.9 && !hdrChange) { + /* + * Ensure we merge the previous frame's metadata with the current + * frame. This will not overwrite exposure/gain values for the + * current frame, or any other bits of metadata that were added + * in helper_->Prepare(). + */ + RPiController::Metadata &lastMetadata = + rpiMetadata_[(ipaContext ? ipaContext : rpiMetadata_.size()) - 1]; + rpiMetadata.mergeCopy(lastMetadata); + processPending_ = false; + } else { + processPending_ = true; + lastRunTimestamp_ = frameTimestamp; + } + + /* + * If the statistics are inline (i.e. already available with the Bayer + * frame), call processStats() now before prepare(). + */ + if (controller_.getHardwareConfig().statsInline) + processStats({ params.buffers, params.ipaContext }); + + /* Do we need/want to call prepare? */ + if (processPending_) { + controller_.prepare(&rpiMetadata); + /* Actually prepare the ISP parameters for the frame. */ + platformPrepareIsp(params, rpiMetadata); + } + + frameCount_++; + + /* If the statistics are inline the metadata can be returned early. */ + if (controller_.getHardwareConfig().statsInline) + reportMetadata(ipaContext); + + /* Ready to push the input buffer into the ISP. */ + prepareIspComplete.emit(params.buffers, stitchSwapBuffers_); +} + +void IpaBase::processStats(const ProcessParams ¶ms) +{ + unsigned int ipaContext = params.ipaContext % rpiMetadata_.size(); + + if (processPending_ && frameCount_ >= mistrustCount_) { + RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext]; + + auto it = buffers_.find(params.buffers.stats); + if (it == buffers_.end()) { + LOG(IPARPI, Error) << "Could not find stats buffer!"; + return; + } + + RPiController::StatisticsPtr statistics = platformProcessStats(it->second.planes()[0]); + + /* reportMetadata() will pick this up and set the FocusFoM metadata */ + rpiMetadata.set("focus.status", statistics->focusRegions); + + helper_->process(statistics, rpiMetadata); + controller_.process(statistics, &rpiMetadata); + + struct AgcStatus agcStatus; + if (rpiMetadata.get("agc.status", agcStatus) == 0) { + ControlList ctrls(sensorCtrls_); + applyAGC(&agcStatus, ctrls); + setDelayedControls.emit(ctrls, ipaContext); + setCameraTimeoutValue(); + } + } + + /* + * If the statistics are not inline the metadata must be returned now, + * before the processStatsComplete signal. + */ + if (!controller_.getHardwareConfig().statsInline) + reportMetadata(ipaContext); + + processStatsComplete.emit(params.buffers); +} + +void IpaBase::setMode(const IPACameraSensorInfo &sensorInfo) +{ + mode_.bitdepth = sensorInfo.bitsPerPixel; + mode_.width = sensorInfo.outputSize.width; + mode_.height = sensorInfo.outputSize.height; + mode_.sensorWidth = sensorInfo.activeAreaSize.width; + mode_.sensorHeight = sensorInfo.activeAreaSize.height; + mode_.cropX = sensorInfo.analogCrop.x; + mode_.cropY = sensorInfo.analogCrop.y; + mode_.pixelRate = sensorInfo.pixelRate; + + /* + * Calculate scaling parameters. The scale_[xy] factors are determined + * by the ratio between the crop rectangle size and the output size. + */ + mode_.scaleX = sensorInfo.analogCrop.width / sensorInfo.outputSize.width; + mode_.scaleY = sensorInfo.analogCrop.height / sensorInfo.outputSize.height; + + /* + * We're not told by the pipeline handler how scaling is split between + * binning and digital scaling. For now, as a heuristic, assume that + * downscaling up to 2 is achieved through binning, and that any + * additional scaling is achieved through digital scaling. + * + * \todo Get the pipeline handle to provide the full data + */ + mode_.binX = std::min(2, static_cast<int>(mode_.scaleX)); + mode_.binY = std::min(2, static_cast<int>(mode_.scaleY)); + + /* The noise factor is the square root of the total binning factor. */ + mode_.noiseFactor = std::sqrt(mode_.binX * mode_.binY); + + /* + * Calculate the line length as the ratio between the line length in + * pixels and the pixel rate. + */ + mode_.minLineLength = sensorInfo.minLineLength * (1.0s / sensorInfo.pixelRate); + mode_.maxLineLength = sensorInfo.maxLineLength * (1.0s / sensorInfo.pixelRate); + + /* + * Ensure that the maximum pixel processing rate does not exceed the ISP + * hardware capabilities. If it does, try adjusting the minimum line + * length to compensate if possible. + */ + Duration minPixelTime = controller_.getHardwareConfig().minPixelProcessingTime; + Duration pixelTime = mode_.minLineLength / mode_.width; + if (minPixelTime && pixelTime < minPixelTime) { + Duration adjustedLineLength = minPixelTime * mode_.width; + if (adjustedLineLength <= mode_.maxLineLength) { + LOG(IPARPI, Info) + << "Adjusting mode minimum line length from " << mode_.minLineLength + << " to " << adjustedLineLength << " because of ISP constraints."; + mode_.minLineLength = adjustedLineLength; + } else { + LOG(IPARPI, Error) + << "Sensor minimum line length of " << pixelTime * mode_.width + << " (" << 1us / pixelTime << " MPix/s)" + << " is below the minimum allowable ISP limit of " + << adjustedLineLength + << " (" << 1us / minPixelTime << " MPix/s) "; + LOG(IPARPI, Error) + << "THIS WILL CAUSE IMAGE CORRUPTION!!! " + << "Please update the camera sensor driver to allow more horizontal blanking control."; + } + } + + /* + * Set the frame length limits for the mode to ensure exposure and + * framerate calculations are clipped appropriately. + */ + mode_.minFrameLength = sensorInfo.minFrameLength; + mode_.maxFrameLength = sensorInfo.maxFrameLength; + + /* Store these for convenience. */ + mode_.minFrameDuration = mode_.minFrameLength * mode_.minLineLength; + mode_.maxFrameDuration = mode_.maxFrameLength * mode_.maxLineLength; + + /* + * Some sensors may have different sensitivities in different modes; + * the CamHelper will know the correct value. + */ + mode_.sensitivity = helper_->getModeSensitivity(mode_); + + const ControlInfo &gainCtrl = sensorCtrls_.at(V4L2_CID_ANALOGUE_GAIN); + const ControlInfo &shutterCtrl = sensorCtrls_.at(V4L2_CID_EXPOSURE); + + mode_.minAnalogueGain = helper_->gain(gainCtrl.min().get<int32_t>()); + mode_.maxAnalogueGain = helper_->gain(gainCtrl.max().get<int32_t>()); + + /* + * We need to give the helper the min/max frame durations so it can calculate + * the correct exposure limits below. + */ + helper_->setCameraMode(mode_); + + /* Shutter speed is calculated based on the limits of the frame durations. */ + mode_.minShutter = helper_->exposure(shutterCtrl.min().get<int32_t>(), mode_.minLineLength); + mode_.maxShutter = Duration::max(); + helper_->getBlanking(mode_.maxShutter, + mode_.minFrameDuration, mode_.maxFrameDuration); +} + +void IpaBase::setCameraTimeoutValue() +{ + /* + * Take the maximum value of the exposure queue as the camera timeout + * value to pass back to the pipeline handler. Only signal if it has changed + * from the last set value. + */ + auto max = std::max_element(frameLengths_.begin(), frameLengths_.end()); + + if (*max != lastTimeout_) { + setCameraTimeout.emit(max->get<std::milli>()); + lastTimeout_ = *max; + } +} + +bool IpaBase::validateSensorControls() +{ + static const uint32_t ctrls[] = { + V4L2_CID_ANALOGUE_GAIN, + V4L2_CID_EXPOSURE, + V4L2_CID_VBLANK, + V4L2_CID_HBLANK, + }; + + for (auto c : ctrls) { + if (sensorCtrls_.find(c) == sensorCtrls_.end()) { + LOG(IPARPI, Error) << "Unable to find sensor control " + << utils::hex(c); + return false; + } + } + + return true; +} + +bool IpaBase::validateLensControls() +{ + if (lensCtrls_.find(V4L2_CID_FOCUS_ABSOLUTE) == lensCtrls_.end()) { + LOG(IPARPI, Error) << "Unable to find Lens control V4L2_CID_FOCUS_ABSOLUTE"; + return false; + } + + return true; +} + +/* + * Converting between enums (used in the libcamera API) and the names that + * we use to identify different modes. Unfortunately, the conversion tables + * must be kept up-to-date by hand. + */ +static const std::map<int32_t, std::string> MeteringModeTable = { + { controls::MeteringCentreWeighted, "centre-weighted" }, + { controls::MeteringSpot, "spot" }, + { controls::MeteringMatrix, "matrix" }, + { controls::MeteringCustom, "custom" }, +}; + +static const std::map<int32_t, std::string> ConstraintModeTable = { + { controls::ConstraintNormal, "normal" }, + { controls::ConstraintHighlight, "highlight" }, + { controls::ConstraintShadows, "shadows" }, + { controls::ConstraintCustom, "custom" }, +}; + +static const std::map<int32_t, std::string> ExposureModeTable = { + { controls::ExposureNormal, "normal" }, + { controls::ExposureShort, "short" }, + { controls::ExposureLong, "long" }, + { controls::ExposureCustom, "custom" }, +}; + +static const std::map<int32_t, std::string> AwbModeTable = { + { controls::AwbAuto, "auto" }, + { controls::AwbIncandescent, "incandescent" }, + { controls::AwbTungsten, "tungsten" }, + { controls::AwbFluorescent, "fluorescent" }, + { controls::AwbIndoor, "indoor" }, + { controls::AwbDaylight, "daylight" }, + { controls::AwbCloudy, "cloudy" }, + { controls::AwbCustom, "custom" }, +}; + +static const std::map<int32_t, RPiController::AfAlgorithm::AfMode> AfModeTable = { + { controls::AfModeManual, RPiController::AfAlgorithm::AfModeManual }, + { controls::AfModeAuto, RPiController::AfAlgorithm::AfModeAuto }, + { controls::AfModeContinuous, RPiController::AfAlgorithm::AfModeContinuous }, +}; + +static const std::map<int32_t, RPiController::AfAlgorithm::AfRange> AfRangeTable = { + { controls::AfRangeNormal, RPiController::AfAlgorithm::AfRangeNormal }, + { controls::AfRangeMacro, RPiController::AfAlgorithm::AfRangeMacro }, + { controls::AfRangeFull, RPiController::AfAlgorithm::AfRangeFull }, +}; + +static const std::map<int32_t, RPiController::AfAlgorithm::AfPause> AfPauseTable = { + { controls::AfPauseImmediate, RPiController::AfAlgorithm::AfPauseImmediate }, + { controls::AfPauseDeferred, RPiController::AfAlgorithm::AfPauseDeferred }, + { controls::AfPauseResume, RPiController::AfAlgorithm::AfPauseResume }, +}; + +static const std::map<int32_t, std::string> HdrModeTable = { + { controls::HdrModeOff, "Off" }, + { controls::HdrModeMultiExposureUnmerged, "MultiExposureUnmerged" }, + { controls::HdrModeMultiExposure, "MultiExposure" }, + { controls::HdrModeSingleExposure, "SingleExposure" }, + { controls::HdrModeNight, "Night" }, +}; + +void IpaBase::applyControls(const ControlList &controls) +{ + using RPiController::AgcAlgorithm; + using RPiController::AfAlgorithm; + using RPiController::ContrastAlgorithm; + using RPiController::DenoiseAlgorithm; + using RPiController::HdrAlgorithm; + + /* Clear the return metadata buffer. */ + libcameraMetadata_.clear(); + + /* Because some AF controls are mode-specific, handle AF mode change first. */ + if (controls.contains(controls::AF_MODE)) { + AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af")); + if (!af) { + LOG(IPARPI, Warning) + << "Could not set AF_MODE - no AF algorithm"; + } + + int32_t idx = controls.get(controls::AF_MODE).get<int32_t>(); + auto mode = AfModeTable.find(idx); + if (mode == AfModeTable.end()) { + LOG(IPARPI, Error) << "AF mode " << idx + << " not recognised"; + } else if (af) + af->setMode(mode->second); + } + + /* Iterate over controls */ + for (auto const &ctrl : controls) { + LOG(IPARPI, Debug) << "Request ctrl: " + << controls::controls.at(ctrl.first)->name() + << " = " << ctrl.second.toString(); + + switch (ctrl.first) { + case controls::AE_ENABLE: { + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set AE_ENABLE - no AGC algorithm"; + break; + } + + if (ctrl.second.get<bool>() == false) + agc->disableAuto(); + else + agc->enableAuto(); + + libcameraMetadata_.set(controls::AeEnable, ctrl.second.get<bool>()); + break; + } + + case controls::EXPOSURE_TIME: { + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set EXPOSURE_TIME - no AGC algorithm"; + break; + } + + /* The control provides units of microseconds. */ + agc->setFixedShutter(0, ctrl.second.get<int32_t>() * 1.0us); + + libcameraMetadata_.set(controls::ExposureTime, ctrl.second.get<int32_t>()); + break; + } + + case controls::ANALOGUE_GAIN: { + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set ANALOGUE_GAIN - no AGC algorithm"; + break; + } + + agc->setFixedAnalogueGain(0, ctrl.second.get<float>()); + + libcameraMetadata_.set(controls::AnalogueGain, + ctrl.second.get<float>()); + break; + } + + case controls::AE_METERING_MODE: { + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set AE_METERING_MODE - no AGC algorithm"; + break; + } + + int32_t idx = ctrl.second.get<int32_t>(); + if (MeteringModeTable.count(idx)) { + agc->setMeteringMode(MeteringModeTable.at(idx)); + libcameraMetadata_.set(controls::AeMeteringMode, idx); + } else { + LOG(IPARPI, Error) << "Metering mode " << idx + << " not recognised"; + } + break; + } + + case controls::AE_CONSTRAINT_MODE: { + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set AE_CONSTRAINT_MODE - no AGC algorithm"; + break; + } + + int32_t idx = ctrl.second.get<int32_t>(); + if (ConstraintModeTable.count(idx)) { + agc->setConstraintMode(ConstraintModeTable.at(idx)); + libcameraMetadata_.set(controls::AeConstraintMode, idx); + } else { + LOG(IPARPI, Error) << "Constraint mode " << idx + << " not recognised"; + } + break; + } + + case controls::AE_EXPOSURE_MODE: { + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set AE_EXPOSURE_MODE - no AGC algorithm"; + break; + } + + int32_t idx = ctrl.second.get<int32_t>(); + if (ExposureModeTable.count(idx)) { + agc->setExposureMode(ExposureModeTable.at(idx)); + libcameraMetadata_.set(controls::AeExposureMode, idx); + } else { + LOG(IPARPI, Error) << "Exposure mode " << idx + << " not recognised"; + } + break; + } + + case controls::EXPOSURE_VALUE: { + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set EXPOSURE_VALUE - no AGC algorithm"; + break; + } + + /* + * The SetEv() function takes in a direct exposure multiplier. + * So convert to 2^EV + */ + double ev = pow(2.0, ctrl.second.get<float>()); + agc->setEv(0, ev); + libcameraMetadata_.set(controls::ExposureValue, + ctrl.second.get<float>()); + break; + } + + case controls::AE_FLICKER_MODE: { + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set AeFlickerMode - no AGC algorithm"; + break; + } + + int32_t mode = ctrl.second.get<int32_t>(); + bool modeValid = true; + + switch (mode) { + case controls::FlickerOff: + agc->setFlickerPeriod(0us); + + break; + + case controls::FlickerManual: + agc->setFlickerPeriod(flickerState_.manualPeriod); + + break; + + default: + LOG(IPARPI, Error) << "Flicker mode " << mode << " is not supported"; + modeValid = false; + + break; + } + + if (modeValid) + flickerState_.mode = mode; + + break; + } + + case controls::AE_FLICKER_PERIOD: { + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + if (!agc) { + LOG(IPARPI, Warning) + << "Could not set AeFlickerPeriod - no AGC algorithm"; + break; + } + + uint32_t manualPeriod = ctrl.second.get<int32_t>(); + flickerState_.manualPeriod = manualPeriod * 1.0us; + + /* + * We note that it makes no difference if the mode gets set to "manual" + * first, and the period updated after, or vice versa. + */ + if (flickerState_.mode == controls::FlickerManual) + agc->setFlickerPeriod(flickerState_.manualPeriod); + + break; + } + + case controls::AWB_ENABLE: { + /* Silently ignore this control for a mono sensor. */ + if (monoSensor_) + break; + + RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( + controller_.getAlgorithm("awb")); + if (!awb) { + LOG(IPARPI, Warning) + << "Could not set AWB_ENABLE - no AWB algorithm"; + break; + } + + if (ctrl.second.get<bool>() == false) + awb->disableAuto(); + else + awb->enableAuto(); + + libcameraMetadata_.set(controls::AwbEnable, + ctrl.second.get<bool>()); + break; + } + + case controls::AWB_MODE: { + /* Silently ignore this control for a mono sensor. */ + if (monoSensor_) + break; + + RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( + controller_.getAlgorithm("awb")); + if (!awb) { + LOG(IPARPI, Warning) + << "Could not set AWB_MODE - no AWB algorithm"; + break; + } + + int32_t idx = ctrl.second.get<int32_t>(); + if (AwbModeTable.count(idx)) { + awb->setMode(AwbModeTable.at(idx)); + libcameraMetadata_.set(controls::AwbMode, idx); + } else { + LOG(IPARPI, Error) << "AWB mode " << idx + << " not recognised"; + } + break; + } + + case controls::COLOUR_GAINS: { + /* Silently ignore this control for a mono sensor. */ + if (monoSensor_) + break; + + auto gains = ctrl.second.get<Span<const float>>(); + RPiController::AwbAlgorithm *awb = dynamic_cast<RPiController::AwbAlgorithm *>( + controller_.getAlgorithm("awb")); + if (!awb) { + LOG(IPARPI, Warning) + << "Could not set COLOUR_GAINS - no AWB algorithm"; + break; + } + + awb->setManualGains(gains[0], gains[1]); + if (gains[0] != 0.0f && gains[1] != 0.0f) + /* A gain of 0.0f will switch back to auto mode. */ + libcameraMetadata_.set(controls::ColourGains, + { gains[0], gains[1] }); + break; + } + + case controls::BRIGHTNESS: { + RPiController::ContrastAlgorithm *contrast = dynamic_cast<RPiController::ContrastAlgorithm *>( + controller_.getAlgorithm("contrast")); + if (!contrast) { + LOG(IPARPI, Warning) + << "Could not set BRIGHTNESS - no contrast algorithm"; + break; + } + + contrast->setBrightness(ctrl.second.get<float>() * 65536); + libcameraMetadata_.set(controls::Brightness, + ctrl.second.get<float>()); + break; + } + + case controls::CONTRAST: { + RPiController::ContrastAlgorithm *contrast = dynamic_cast<RPiController::ContrastAlgorithm *>( + controller_.getAlgorithm("contrast")); + if (!contrast) { + LOG(IPARPI, Warning) + << "Could not set CONTRAST - no contrast algorithm"; + break; + } + + contrast->setContrast(ctrl.second.get<float>()); + libcameraMetadata_.set(controls::Contrast, + ctrl.second.get<float>()); + break; + } + + case controls::SATURATION: { + /* Silently ignore this control for a mono sensor. */ + if (monoSensor_) + break; + + RPiController::CcmAlgorithm *ccm = dynamic_cast<RPiController::CcmAlgorithm *>( + controller_.getAlgorithm("ccm")); + if (!ccm) { + LOG(IPARPI, Warning) + << "Could not set SATURATION - no ccm algorithm"; + break; + } + + ccm->setSaturation(ctrl.second.get<float>()); + libcameraMetadata_.set(controls::Saturation, + ctrl.second.get<float>()); + break; + } + + case controls::SHARPNESS: { + RPiController::SharpenAlgorithm *sharpen = dynamic_cast<RPiController::SharpenAlgorithm *>( + controller_.getAlgorithm("sharpen")); + if (!sharpen) { + LOG(IPARPI, Warning) + << "Could not set SHARPNESS - no sharpen algorithm"; + break; + } + + sharpen->setStrength(ctrl.second.get<float>()); + libcameraMetadata_.set(controls::Sharpness, + ctrl.second.get<float>()); + break; + } + + case controls::SCALER_CROP: { + /* We do nothing with this, but should avoid the warning below. */ + break; + } + + case controls::FRAME_DURATION_LIMITS: { + auto frameDurations = ctrl.second.get<Span<const int64_t>>(); + applyFrameDurations(frameDurations[0] * 1.0us, frameDurations[1] * 1.0us); + break; + } + + case controls::draft::NOISE_REDUCTION_MODE: + /* Handled below in handleControls() */ + libcameraMetadata_.set(controls::draft::NoiseReductionMode, + ctrl.second.get<int32_t>()); + break; + + case controls::AF_MODE: + break; /* We already handled this one above */ + + case controls::AF_RANGE: { + AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af")); + if (!af) { + LOG(IPARPI, Warning) + << "Could not set AF_RANGE - no focus algorithm"; + break; + } + + auto range = AfRangeTable.find(ctrl.second.get<int32_t>()); + if (range == AfRangeTable.end()) { + LOG(IPARPI, Error) << "AF range " << ctrl.second.get<int32_t>() + << " not recognised"; + break; + } + af->setRange(range->second); + break; + } + + case controls::AF_SPEED: { + AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af")); + if (!af) { + LOG(IPARPI, Warning) + << "Could not set AF_SPEED - no focus algorithm"; + break; + } + + AfAlgorithm::AfSpeed speed = ctrl.second.get<int32_t>() == controls::AfSpeedFast ? + AfAlgorithm::AfSpeedFast : AfAlgorithm::AfSpeedNormal; + af->setSpeed(speed); + break; + } + + case controls::AF_METERING: { + AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af")); + if (!af) { + LOG(IPARPI, Warning) + << "Could not set AF_METERING - no AF algorithm"; + break; + } + af->setMetering(ctrl.second.get<int32_t>() == controls::AfMeteringWindows); + break; + } + + case controls::AF_WINDOWS: { + AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af")); + if (!af) { + LOG(IPARPI, Warning) + << "Could not set AF_WINDOWS - no AF algorithm"; + break; + } + af->setWindows(ctrl.second.get<Span<const Rectangle>>()); + break; + } + + case controls::AF_PAUSE: { + AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af")); + if (!af || af->getMode() != AfAlgorithm::AfModeContinuous) { + LOG(IPARPI, Warning) + << "Could not set AF_PAUSE - no AF algorithm or not Continuous"; + break; + } + auto pause = AfPauseTable.find(ctrl.second.get<int32_t>()); + if (pause == AfPauseTable.end()) { + LOG(IPARPI, Error) << "AF pause " << ctrl.second.get<int32_t>() + << " not recognised"; + break; + } + af->pause(pause->second); + break; + } + + case controls::AF_TRIGGER: { + AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af")); + if (!af || af->getMode() != AfAlgorithm::AfModeAuto) { + LOG(IPARPI, Warning) + << "Could not set AF_TRIGGER - no AF algorithm or not Auto"; + break; + } else { + if (ctrl.second.get<int32_t>() == controls::AfTriggerStart) + af->triggerScan(); + else + af->cancelScan(); + } + break; + } + + case controls::LENS_POSITION: { + AfAlgorithm *af = dynamic_cast<AfAlgorithm *>(controller_.getAlgorithm("af")); + if (af) { + int32_t hwpos; + if (af->setLensPosition(ctrl.second.get<float>(), &hwpos)) { + ControlList lensCtrls(lensCtrls_); + lensCtrls.set(V4L2_CID_FOCUS_ABSOLUTE, hwpos); + setLensControls.emit(lensCtrls); + } + } else { + LOG(IPARPI, Warning) + << "Could not set LENS_POSITION - no AF algorithm"; + } + break; + } + + case controls::HDR_MODE: { + HdrAlgorithm *hdr = dynamic_cast<HdrAlgorithm *>(controller_.getAlgorithm("hdr")); + if (!hdr) { + LOG(IPARPI, Warning) << "No HDR algorithm available"; + break; + } + + auto mode = HdrModeTable.find(ctrl.second.get<int32_t>()); + if (mode == HdrModeTable.end()) { + LOG(IPARPI, Warning) << "Unrecognised HDR mode"; + break; + } + + AgcAlgorithm *agc = dynamic_cast<AgcAlgorithm *>(controller_.getAlgorithm("agc")); + if (!agc) { + LOG(IPARPI, Warning) << "HDR requires an AGC algorithm"; + break; + } + + if (hdr->setMode(mode->second) == 0) { + agc->setActiveChannels(hdr->getChannels()); + + /* We also disable adpative contrast enhancement if HDR is running. */ + ContrastAlgorithm *contrast = + dynamic_cast<ContrastAlgorithm *>(controller_.getAlgorithm("contrast")); + if (contrast) { + if (mode->second == "Off") + contrast->restoreCe(); + else + contrast->enableCe(false); + } + + DenoiseAlgorithm *denoise = + dynamic_cast<DenoiseAlgorithm *>(controller_.getAlgorithm("denoise")); + if (denoise) { + /* \todo - make the HDR mode say what denoise it wants? */ + if (mode->second == "Night") + denoise->setConfig("night"); + else if (mode->second == "SingleExposure") + denoise->setConfig("hdr"); + /* MultiExposure doesn't need extra extra denoise. */ + else + denoise->setConfig("normal"); + } + } else + LOG(IPARPI, Warning) + << "HDR mode " << mode->second << " not supported"; + + break; + } + + case controls::rpi::STATS_OUTPUT_ENABLE: + statsMetadataOutput_ = ctrl.second.get<bool>(); + break; + + default: + LOG(IPARPI, Warning) + << "Ctrl " << controls::controls.at(ctrl.first)->name() + << " is not handled."; + break; + } + } + + /* Give derived classes a chance to examine the new controls. */ + handleControls(controls); +} + +void IpaBase::fillDeviceStatus(const ControlList &sensorControls, unsigned int ipaContext) +{ + DeviceStatus deviceStatus = {}; + + int32_t exposureLines = sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>(); + int32_t gainCode = sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>(); + int32_t vblank = sensorControls.get(V4L2_CID_VBLANK).get<int32_t>(); + int32_t hblank = sensorControls.get(V4L2_CID_HBLANK).get<int32_t>(); + + deviceStatus.lineLength = helper_->hblankToLineLength(hblank); + deviceStatus.shutterSpeed = helper_->exposure(exposureLines, deviceStatus.lineLength); + deviceStatus.analogueGain = helper_->gain(gainCode); + deviceStatus.frameLength = mode_.height + vblank; + + RPiController::AfAlgorithm *af = dynamic_cast<RPiController::AfAlgorithm *>( + controller_.getAlgorithm("af")); + if (af) + deviceStatus.lensPosition = af->getLensPosition(); + + LOG(IPARPI, Debug) << "Metadata - " << deviceStatus; + + rpiMetadata_[ipaContext].set("device.status", deviceStatus); +} + +void IpaBase::reportMetadata(unsigned int ipaContext) +{ + RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext]; + std::unique_lock<RPiController::Metadata> lock(rpiMetadata); + + /* + * Certain information about the current frame and how it will be + * processed can be extracted and placed into the libcamera metadata + * buffer, where an application could query it. + */ + DeviceStatus *deviceStatus = rpiMetadata.getLocked<DeviceStatus>("device.status"); + if (deviceStatus) { + libcameraMetadata_.set(controls::ExposureTime, + deviceStatus->shutterSpeed.get<std::micro>()); + libcameraMetadata_.set(controls::AnalogueGain, deviceStatus->analogueGain); + libcameraMetadata_.set(controls::FrameDuration, + helper_->exposure(deviceStatus->frameLength, deviceStatus->lineLength).get<std::micro>()); + if (deviceStatus->sensorTemperature) + libcameraMetadata_.set(controls::SensorTemperature, *deviceStatus->sensorTemperature); + if (deviceStatus->lensPosition) + libcameraMetadata_.set(controls::LensPosition, *deviceStatus->lensPosition); + } + + AgcPrepareStatus *agcPrepareStatus = rpiMetadata.getLocked<AgcPrepareStatus>("agc.prepare_status"); + if (agcPrepareStatus) { + libcameraMetadata_.set(controls::AeLocked, agcPrepareStatus->locked); + libcameraMetadata_.set(controls::DigitalGain, agcPrepareStatus->digitalGain); + } + + LuxStatus *luxStatus = rpiMetadata.getLocked<LuxStatus>("lux.status"); + if (luxStatus) + libcameraMetadata_.set(controls::Lux, luxStatus->lux); + + AwbStatus *awbStatus = rpiMetadata.getLocked<AwbStatus>("awb.status"); + if (awbStatus) { + libcameraMetadata_.set(controls::ColourGains, { static_cast<float>(awbStatus->gainR), + static_cast<float>(awbStatus->gainB) }); + libcameraMetadata_.set(controls::ColourTemperature, awbStatus->temperatureK); + } + + BlackLevelStatus *blackLevelStatus = rpiMetadata.getLocked<BlackLevelStatus>("black_level.status"); + if (blackLevelStatus) + libcameraMetadata_.set(controls::SensorBlackLevels, + { static_cast<int32_t>(blackLevelStatus->blackLevelR), + static_cast<int32_t>(blackLevelStatus->blackLevelG), + static_cast<int32_t>(blackLevelStatus->blackLevelG), + static_cast<int32_t>(blackLevelStatus->blackLevelB) }); + + RPiController::FocusRegions *focusStatus = + rpiMetadata.getLocked<RPiController::FocusRegions>("focus.status"); + if (focusStatus) { + /* + * Calculate the average FoM over the central (symmetric) positions + * to give an overall scene FoM. This can change later if it is + * not deemed suitable. + */ + libcamera::Size size = focusStatus->size(); + unsigned rows = size.height; + unsigned cols = size.width; + + uint64_t sum = 0; + unsigned int numRegions = 0; + for (unsigned r = rows / 3; r < rows - rows / 3; ++r) { + for (unsigned c = cols / 4; c < cols - cols / 4; ++c) { + sum += focusStatus->get({ (int)c, (int)r }).val; + numRegions++; + } + } + + uint32_t focusFoM = sum / numRegions; + libcameraMetadata_.set(controls::FocusFoM, focusFoM); + } + + CcmStatus *ccmStatus = rpiMetadata.getLocked<CcmStatus>("ccm.status"); + if (ccmStatus) { + float m[9]; + for (unsigned int i = 0; i < 9; i++) + m[i] = ccmStatus->matrix[i]; + libcameraMetadata_.set(controls::ColourCorrectionMatrix, m); + } + + const AfStatus *afStatus = rpiMetadata.getLocked<AfStatus>("af.status"); + if (afStatus) { + int32_t s, p; + switch (afStatus->state) { + case AfState::Scanning: + s = controls::AfStateScanning; + break; + case AfState::Focused: + s = controls::AfStateFocused; + break; + case AfState::Failed: + s = controls::AfStateFailed; + break; + default: + s = controls::AfStateIdle; + } + switch (afStatus->pauseState) { + case AfPauseState::Pausing: + p = controls::AfPauseStatePausing; + break; + case AfPauseState::Paused: + p = controls::AfPauseStatePaused; + break; + default: + p = controls::AfPauseStateRunning; + } + libcameraMetadata_.set(controls::AfState, s); + libcameraMetadata_.set(controls::AfPauseState, p); + } + + /* + * THe HDR algorithm sets the HDR channel into the agc.status at the time that those + * AGC parameters were calculated several frames ago, so it comes back to us now in + * the delayed_status. If this frame is too soon after a mode switch for the + * delayed_status to be available, we use the HDR status that came out of the + * switchMode call. + */ + const AgcStatus *agcStatus = rpiMetadata.getLocked<AgcStatus>("agc.delayed_status"); + const HdrStatus &hdrStatus = agcStatus ? agcStatus->hdr : hdrStatus_; + if (!hdrStatus.mode.empty() && hdrStatus.mode != "Off") { + int32_t hdrMode = controls::HdrModeOff; + for (auto const &[mode, name] : HdrModeTable) { + if (hdrStatus.mode == name) { + hdrMode = mode; + break; + } + } + libcameraMetadata_.set(controls::HdrMode, hdrMode); + + if (hdrStatus.channel == "short") + libcameraMetadata_.set(controls::HdrChannel, controls::HdrChannelShort); + else if (hdrStatus.channel == "long") + libcameraMetadata_.set(controls::HdrChannel, controls::HdrChannelLong); + else if (hdrStatus.channel == "medium") + libcameraMetadata_.set(controls::HdrChannel, controls::HdrChannelMedium); + else + libcameraMetadata_.set(controls::HdrChannel, controls::HdrChannelNone); + } + + metadataReady.emit(libcameraMetadata_); +} + +void IpaBase::applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration) +{ + /* + * This will only be applied once AGC recalculations occur. + * The values may be clamped based on the sensor mode capabilities as well. + */ + minFrameDuration_ = minFrameDuration ? minFrameDuration : defaultMinFrameDuration; + maxFrameDuration_ = maxFrameDuration ? maxFrameDuration : defaultMaxFrameDuration; + minFrameDuration_ = std::clamp(minFrameDuration_, + mode_.minFrameDuration, mode_.maxFrameDuration); + maxFrameDuration_ = std::clamp(maxFrameDuration_, + mode_.minFrameDuration, mode_.maxFrameDuration); + maxFrameDuration_ = std::max(maxFrameDuration_, minFrameDuration_); + + /* Return the validated limits via metadata. */ + libcameraMetadata_.set(controls::FrameDurationLimits, + { static_cast<int64_t>(minFrameDuration_.get<std::micro>()), + static_cast<int64_t>(maxFrameDuration_.get<std::micro>()) }); + + /* + * Calculate the maximum exposure time possible for the AGC to use. + * getBlanking() will update maxShutter with the largest exposure + * value possible. + */ + Duration maxShutter = Duration::max(); + helper_->getBlanking(maxShutter, minFrameDuration_, maxFrameDuration_); + + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + agc->setMaxShutter(maxShutter); +} + +void IpaBase::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls) +{ + const int32_t minGainCode = helper_->gainCode(mode_.minAnalogueGain); + const int32_t maxGainCode = helper_->gainCode(mode_.maxAnalogueGain); + int32_t gainCode = helper_->gainCode(agcStatus->analogueGain); + + /* + * Ensure anything larger than the max gain code will not be passed to + * DelayedControls. The AGC will correctly handle a lower gain returned + * by the sensor, provided it knows the actual gain used. + */ + gainCode = std::clamp<int32_t>(gainCode, minGainCode, maxGainCode); + + /* getBlanking might clip exposure time to the fps limits. */ + Duration exposure = agcStatus->shutterTime; + auto [vblank, hblank] = helper_->getBlanking(exposure, minFrameDuration_, maxFrameDuration_); + int32_t exposureLines = helper_->exposureLines(exposure, + helper_->hblankToLineLength(hblank)); + + LOG(IPARPI, Debug) << "Applying AGC Exposure: " << exposure + << " (Shutter lines: " << exposureLines << ", AGC requested " + << agcStatus->shutterTime << ") Gain: " + << agcStatus->analogueGain << " (Gain Code: " + << gainCode << ")"; + + ctrls.set(V4L2_CID_VBLANK, static_cast<int32_t>(vblank)); + ctrls.set(V4L2_CID_EXPOSURE, exposureLines); + ctrls.set(V4L2_CID_ANALOGUE_GAIN, gainCode); + + /* + * At present, there is no way of knowing if a control is read-only. + * As a workaround, assume that if the minimum and maximum values of + * the V4L2_CID_HBLANK control are the same, it implies the control + * is read-only. This seems to be the case for all the cameras our IPA + * works with. + * + * \todo The control API ought to have a flag to specify if a control + * is read-only which could be used below. + */ + if (mode_.minLineLength != mode_.maxLineLength) + ctrls.set(V4L2_CID_HBLANK, static_cast<int32_t>(hblank)); + + /* + * Store the frame length times in a circular queue, up-to FrameLengthsQueueSize + * elements. This will be used to advertise a camera timeout value to the + * pipeline handler. + */ + frameLengths_.pop_front(); + frameLengths_.push_back(helper_->exposure(vblank + mode_.height, + helper_->hblankToLineLength(hblank))); +} + +} /* namespace ipa::RPi */ + +} /* namespace libcamera */ diff --git a/src/ipa/rpi/common/ipa_base.h b/src/ipa/rpi/common/ipa_base.h new file mode 100644 index 00000000..a95cda1f --- /dev/null +++ b/src/ipa/rpi/common/ipa_base.h @@ -0,0 +1,143 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * Raspberry Pi IPA base class + */ +#pragma once + +#include <array> +#include <deque> +#include <map> +#include <stdint.h> + +#include <libcamera/base/utils.h> +#include <libcamera/controls.h> + +#include <libcamera/ipa/raspberrypi_ipa_interface.h> + +#include "libcamera/internal/mapped_framebuffer.h" + +#include "cam_helper/cam_helper.h" +#include "controller/agc_status.h" +#include "controller/camera_mode.h" +#include "controller/controller.h" +#include "controller/hdr_status.h" +#include "controller/metadata.h" + +namespace libcamera { + +namespace ipa::RPi { + +class IpaBase : public IPARPiInterface +{ +public: + IpaBase(); + ~IpaBase(); + + int32_t init(const IPASettings &settings, const InitParams ¶ms, InitResult *result) override; + int32_t configure(const IPACameraSensorInfo &sensorInfo, const ConfigParams ¶ms, + ConfigResult *result) override; + + void start(const ControlList &controls, StartResult *result) override; + void stop() override {} + + void mapBuffers(const std::vector<IPABuffer> &buffers) override; + void unmapBuffers(const std::vector<unsigned int> &ids) override; + + void prepareIsp(const PrepareParams ¶ms) override; + void processStats(const ProcessParams ¶ms) override; + +protected: + bool monoSensor() + { + return monoSensor_; + } + + /* Raspberry Pi controller specific defines. */ + std::unique_ptr<RPiController::CamHelper> helper_; + RPiController::Controller controller_; + + ControlInfoMap sensorCtrls_; + ControlInfoMap lensCtrls_; + + /* Camera sensor params. */ + CameraMode mode_; + + /* Track the frame length times over FrameLengthsQueueSize frames. */ + std::deque<utils::Duration> frameLengths_; + utils::Duration lastTimeout_; + ControlList libcameraMetadata_; + bool statsMetadataOutput_; + + /* Remember the HDR status after a mode switch. */ + HdrStatus hdrStatus_; + + /* Whether the stitch block (if available) needs to swap buffers. */ + bool stitchSwapBuffers_; + +private: + /* Number of metadata objects available in the context list. */ + static constexpr unsigned int numMetadataContexts = 16; + + virtual int32_t platformInit(const InitParams ¶ms, InitResult *result) = 0; + virtual int32_t platformStart(const ControlList &controls, StartResult *result) = 0; + virtual int32_t platformConfigure(const ConfigParams ¶ms, ConfigResult *result) = 0; + + virtual void platformPrepareIsp(const PrepareParams ¶ms, + RPiController::Metadata &rpiMetadata) = 0; + virtual RPiController::StatisticsPtr platformProcessStats(Span<uint8_t> mem) = 0; + + void setMode(const IPACameraSensorInfo &sensorInfo); + void setCameraTimeoutValue(); + bool validateSensorControls(); + bool validateLensControls(); + void applyControls(const ControlList &controls); + virtual void handleControls(const ControlList &controls) = 0; + void fillDeviceStatus(const ControlList &sensorControls, unsigned int ipaContext); + void reportMetadata(unsigned int ipaContext); + void applyFrameDurations(utils::Duration minFrameDuration, utils::Duration maxFrameDuration); + void applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls); + + std::map<unsigned int, MappedFrameBuffer> buffers_; + + bool lensPresent_; + bool monoSensor_; + + std::array<RPiController::Metadata, numMetadataContexts> rpiMetadata_; + + /* + * We count frames to decide if the frame must be hidden (e.g. from + * display) or mistrusted (i.e. not given to the control algos). + */ + uint64_t frameCount_; + + /* How many frames we should avoid running control algos on. */ + unsigned int mistrustCount_; + + /* Number of frames that need to be dropped on startup. */ + unsigned int dropFrameCount_; + + /* Frame timestamp for the last run of the controller. */ + uint64_t lastRunTimestamp_; + + /* Do we run a Controller::process() for this frame? */ + bool processPending_; + + /* Distinguish the first camera start from others. */ + bool firstStart_; + + /* Frame duration (1/fps) limits. */ + utils::Duration minFrameDuration_; + utils::Duration maxFrameDuration_; + + /* The current state of flicker avoidance. */ + struct FlickerState { + int32_t mode; + utils::Duration manualPeriod; + } flickerState_; +}; + +} /* namespace ipa::RPi */ + +} /* namespace libcamera */ diff --git a/src/ipa/rpi/common/meson.build b/src/ipa/rpi/common/meson.build new file mode 100644 index 00000000..73d2ee73 --- /dev/null +++ b/src/ipa/rpi/common/meson.build @@ -0,0 +1,17 @@ +# SPDX-License-Identifier: CC0-1.0 + +rpi_ipa_common_sources = files([ + 'ipa_base.cpp', +]) + +rpi_ipa_common_includes = [ + include_directories('..'), +] + +rpi_ipa_common_deps = [ + libcamera_private, +] + +rpi_ipa_common_lib = static_library('rpi_ipa_common', rpi_ipa_common_sources, + include_directories : rpi_ipa_common_includes, + dependencies : rpi_ipa_common_deps) diff --git a/src/ipa/rpi/controller/af_algorithm.h b/src/ipa/rpi/controller/af_algorithm.h new file mode 100644 index 00000000..ad9b5754 --- /dev/null +++ b/src/ipa/rpi/controller/af_algorithm.h @@ -0,0 +1,76 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022, Raspberry Pi Ltd + * + * af_algorithm.hpp - auto focus algorithm interface + */ +#pragma once + +#include <optional> + +#include <libcamera/base/span.h> + +#include "algorithm.h" + +namespace RPiController { + +class AfAlgorithm : public Algorithm +{ +public: + AfAlgorithm(Controller *controller) + : Algorithm(controller) {} + + /* + * An autofocus algorithm should provide the following calls. + * + * Where a ControlList combines a change of AfMode with other AF + * controls, setMode() should be called first, to ensure the + * algorithm will be in the correct state to handle controls. + * + * setLensPosition() returns true if the mode was AfModeManual and + * the lens position has changed, otherwise returns false. When it + * returns true, hwpos should be sent immediately to the lens driver. + * + * getMode() is provided mainly for validating controls. + * getLensPosition() is provided for populating DeviceStatus. + */ + + enum AfRange { AfRangeNormal = 0, + AfRangeMacro, + AfRangeFull, + AfRangeMax }; + + enum AfSpeed { AfSpeedNormal = 0, + AfSpeedFast, + AfSpeedMax }; + + enum AfMode { AfModeManual = 0, + AfModeAuto, + AfModeContinuous }; + + enum AfPause { AfPauseImmediate = 0, + AfPauseDeferred, + AfPauseResume }; + + virtual void setRange([[maybe_unused]] AfRange range) + { + } + virtual void setSpeed([[maybe_unused]] AfSpeed speed) + { + } + virtual void setMetering([[maybe_unused]] bool use_windows) + { + } + virtual void setWindows([[maybe_unused]] libcamera::Span<libcamera::Rectangle const> const &wins) + { + } + virtual void setMode(AfMode mode) = 0; + virtual AfMode getMode() const = 0; + virtual bool setLensPosition(double dioptres, int32_t *hwpos) = 0; + virtual std::optional<double> getLensPosition() const = 0; + virtual void triggerScan() = 0; + virtual void cancelScan() = 0; + virtual void pause(AfPause pause) = 0; +}; + +} // namespace RPiController diff --git a/src/ipa/rpi/controller/af_status.h b/src/ipa/rpi/controller/af_status.h new file mode 100644 index 00000000..c1487cc4 --- /dev/null +++ b/src/ipa/rpi/controller/af_status.h @@ -0,0 +1,35 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022, Raspberry Pi Ltd + * + * AF control algorithm status + */ +#pragma once + +#include <optional> + +/* + * The AF algorithm should post the following structure into the image's + * "af.status" metadata. lensSetting should control the lens. + */ + +enum class AfState { + Idle = 0, + Scanning, + Focused, + Failed +}; + +enum class AfPauseState { + Running = 0, + Pausing, + Paused +}; + +struct AfStatus { + /* state for reporting */ + AfState state; + AfPauseState pauseState; + /* lensSetting should be sent to the lens driver, when valid */ + std::optional<int> lensSetting; +}; diff --git a/src/ipa/rpi/controller/agc_algorithm.h b/src/ipa/rpi/controller/agc_algorithm.h new file mode 100644 index 00000000..1132de7e --- /dev/null +++ b/src/ipa/rpi/controller/agc_algorithm.h @@ -0,0 +1,38 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * AGC/AEC control algorithm interface + */ +#pragma once + +#include <vector> + +#include <libcamera/base/utils.h> + +#include "algorithm.h" + +namespace RPiController { + +class AgcAlgorithm : public Algorithm +{ +public: + AgcAlgorithm(Controller *controller) : Algorithm(controller) {} + /* An AGC algorithm must provide the following: */ + virtual unsigned int getConvergenceFrames() const = 0; + virtual std::vector<double> const &getWeights() const = 0; + virtual void setEv(unsigned int channel, double ev) = 0; + virtual void setFlickerPeriod(libcamera::utils::Duration flickerPeriod) = 0; + virtual void setFixedShutter(unsigned int channel, + libcamera::utils::Duration fixedShutter) = 0; + virtual void setMaxShutter(libcamera::utils::Duration maxShutter) = 0; + virtual void setFixedAnalogueGain(unsigned int channel, double fixedAnalogueGain) = 0; + 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 setActiveChannels(const std::vector<unsigned int> &activeChannels) = 0; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/agc_status.h b/src/ipa/rpi/controller/agc_status.h new file mode 100644 index 00000000..c7c87b83 --- /dev/null +++ b/src/ipa/rpi/controller/agc_status.h @@ -0,0 +1,48 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * AGC/AEC control algorithm status + */ +#pragma once + +#include <string> + +#include <libcamera/base/utils.h> + +#include "hdr_status.h" + +/* + * The AGC algorithm process method should post an AgcStatus into the image + * metadata under the tag "agc.status". + * The AGC algorithm prepare method should post an AgcPrepareStatus instead + * under "agc.prepare_status". + */ + +/* + * Note: total_exposure_value will be reported as zero until the algorithm has + * seen statistics and calculated meaningful values. The contents should be + * ignored until then. + */ + +struct AgcStatus { + libcamera::utils::Duration totalExposureValue; /* value for all exposure and gain for this image */ + libcamera::utils::Duration targetExposureValue; /* (unfiltered) target total exposure AGC is aiming for */ + libcamera::utils::Duration shutterTime; + double analogueGain; + std::string exposureMode; + std::string constraintMode; + std::string meteringMode; + double ev; + libcamera::utils::Duration flickerPeriod; + int floatingRegionEnable; + libcamera::utils::Duration fixedShutter; + double fixedAnalogueGain; + unsigned int channel; + HdrStatus hdr; +}; + +struct AgcPrepareStatus { + double digitalGain; + int locked; +}; diff --git a/src/ipa/rpi/controller/algorithm.cpp b/src/ipa/rpi/controller/algorithm.cpp new file mode 100644 index 00000000..beed47a1 --- /dev/null +++ b/src/ipa/rpi/controller/algorithm.cpp @@ -0,0 +1,56 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * ISP control algorithms + */ + +#include "algorithm.h" + +using namespace RPiController; + +int Algorithm::read([[maybe_unused]] const libcamera::YamlObject ¶ms) +{ + return 0; +} + +void Algorithm::initialise() +{ +} + +void Algorithm::switchMode([[maybe_unused]] CameraMode const &cameraMode, + [[maybe_unused]] Metadata *metadata) +{ +} + +void Algorithm::prepare([[maybe_unused]] Metadata *imageMetadata) +{ +} + +void Algorithm::process([[maybe_unused]] StatisticsPtr &stats, + [[maybe_unused]] Metadata *imageMetadata) +{ +} + +/* For registering algorithms with the system: */ + +namespace { + +std::map<std::string, AlgoCreateFunc> &algorithms() +{ + static std::map<std::string, AlgoCreateFunc> algorithms; + return algorithms; +} + +} /* namespace */ + +std::map<std::string, AlgoCreateFunc> const &RPiController::getAlgorithms() +{ + return algorithms(); +} + +RegisterAlgorithm::RegisterAlgorithm(char const *name, + AlgoCreateFunc createFunc) +{ + algorithms()[std::string(name)] = createFunc; +} diff --git a/src/ipa/rpi/controller/algorithm.h b/src/ipa/rpi/controller/algorithm.h new file mode 100644 index 00000000..1971bfdc --- /dev/null +++ b/src/ipa/rpi/controller/algorithm.h @@ -0,0 +1,68 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * ISP control algorithm interface + */ +#pragma once + +/* + * All algorithms should be derived from this class and made available to the + * Controller. + */ + +#include <string> +#include <memory> +#include <map> + +#include "libcamera/internal/yaml_parser.h" + +#include "controller.h" + +namespace RPiController { + +/* This defines the basic interface for all control algorithms. */ + +class Algorithm +{ +public: + Algorithm(Controller *controller) + : controller_(controller) + { + } + virtual ~Algorithm() = default; + virtual char const *name() const = 0; + virtual int read(const libcamera::YamlObject ¶ms); + virtual void initialise(); + virtual void switchMode(CameraMode const &cameraMode, Metadata *metadata); + virtual void prepare(Metadata *imageMetadata); + virtual void process(StatisticsPtr &stats, Metadata *imageMetadata); + Metadata &getGlobalMetadata() const + { + return controller_->getGlobalMetadata(); + } + const std::string &getTarget() const + { + return controller_->getTarget(); + } + const Controller::HardwareConfig &getHardwareConfig() const + { + return controller_->getHardwareConfig(); + } + +private: + Controller *controller_; +}; + +/* + * This code is for automatic registration of Front End algorithms with the + * system. + */ + +typedef Algorithm *(*AlgoCreateFunc)(Controller *controller); +struct RegisterAlgorithm { + RegisterAlgorithm(char const *name, AlgoCreateFunc createFunc); +}; +std::map<std::string, AlgoCreateFunc> const &getAlgorithms(); + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/alsc_status.h b/src/ipa/rpi/controller/alsc_status.h new file mode 100644 index 00000000..329e8a37 --- /dev/null +++ b/src/ipa/rpi/controller/alsc_status.h @@ -0,0 +1,22 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * ALSC (auto lens shading correction) control algorithm status + */ +#pragma once + +#include <vector> + +/* + * The ALSC algorithm should post the following structure into the image's + * "alsc.status" metadata. + */ + +struct AlscStatus { + std::vector<double> r; + std::vector<double> g; + std::vector<double> b; + unsigned int rows; + unsigned int cols; +}; diff --git a/src/ipa/rpi/controller/awb_algorithm.h b/src/ipa/rpi/controller/awb_algorithm.h new file mode 100644 index 00000000..1779b050 --- /dev/null +++ b/src/ipa/rpi/controller/awb_algorithm.h @@ -0,0 +1,26 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * AWB control algorithm interface + */ +#pragma once + +#include "algorithm.h" + +namespace RPiController { + +class AwbAlgorithm : public Algorithm +{ +public: + AwbAlgorithm(Controller *controller) : Algorithm(controller) {} + /* An AWB algorithm must provide the following: */ + virtual unsigned int getConvergenceFrames() const = 0; + virtual void initialValues(double &gainR, double &gainB) = 0; + virtual void setMode(std::string const &modeName) = 0; + virtual void setManualGains(double manualR, double manualB) = 0; + virtual void enableAuto() = 0; + virtual void disableAuto() = 0; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/awb_status.h b/src/ipa/rpi/controller/awb_status.h new file mode 100644 index 00000000..125df1a0 --- /dev/null +++ b/src/ipa/rpi/controller/awb_status.h @@ -0,0 +1,20 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * AWB control algorithm status + */ +#pragma once + +/* + * The AWB algorithm places its results into both the image and global metadata, + * under the tag "awb.status". + */ + +struct AwbStatus { + char mode[32]; + double temperatureK; + double gainR; + double gainG; + double gainB; +}; diff --git a/src/ipa/rpi/controller/black_level_algorithm.h b/src/ipa/rpi/controller/black_level_algorithm.h new file mode 100644 index 00000000..ce044e59 --- /dev/null +++ b/src/ipa/rpi/controller/black_level_algorithm.h @@ -0,0 +1,23 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * black level control algorithm interface + */ +#pragma once + +#include "algorithm.h" + +namespace RPiController { + +class BlackLevelAlgorithm : public Algorithm +{ +public: + BlackLevelAlgorithm(Controller *controller) + : Algorithm(controller) {} + /* A black level algorithm must provide the following: */ + virtual void initialValues(uint16_t &blackLevelR, uint16_t &blackLevelG, + uint16_t &blackLevelB) = 0; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/black_level_status.h b/src/ipa/rpi/controller/black_level_status.h new file mode 100644 index 00000000..57a0705a --- /dev/null +++ b/src/ipa/rpi/controller/black_level_status.h @@ -0,0 +1,15 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * black level control algorithm status + */ +#pragma once + +/* The "black level" algorithm stores the black levels to use. */ + +struct BlackLevelStatus { + uint16_t blackLevelR; /* out of 16 bits */ + uint16_t blackLevelG; + uint16_t blackLevelB; +}; diff --git a/src/ipa/rpi/controller/cac_status.h b/src/ipa/rpi/controller/cac_status.h new file mode 100644 index 00000000..475d4c5c --- /dev/null +++ b/src/ipa/rpi/controller/cac_status.h @@ -0,0 +1,16 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023 Raspberry Pi Ltd + * + * CAC (Chromatic Abberation Correction) algorithm status + */ +#pragma once + +#include "pwl.h" + +struct CacStatus { + std::vector<double> lutRx; + std::vector<double> lutRy; + std::vector<double> lutBx; + std::vector<double> lutBy; +}; diff --git a/src/ipa/rpi/controller/camera_mode.h b/src/ipa/rpi/controller/camera_mode.h new file mode 100644 index 00000000..4fdb5b85 --- /dev/null +++ b/src/ipa/rpi/controller/camera_mode.h @@ -0,0 +1,59 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019-2020, Raspberry Pi Ltd + * + * description of a particular operating mode of a sensor + */ +#pragma once + +#include <libcamera/transform.h> + +#include <libcamera/base/utils.h> + +/* + * Description of a "camera mode", holding enough information for control + * algorithms to adapt their behaviour to the different modes of the camera, + * including binning, scaling, cropping etc. + */ + +struct CameraMode { + /* bit depth of the raw camera output */ + uint32_t bitdepth; + /* size in pixels of frames in this mode */ + uint16_t width; + uint16_t height; + /* size of full resolution uncropped frame ("sensor frame") */ + uint16_t sensorWidth; + uint16_t sensorHeight; + /* binning factor (1 = no binning, 2 = 2-pixel binning etc.) */ + uint8_t binX; + uint8_t binY; + /* location of top left pixel in the sensor frame */ + uint16_t cropX; + uint16_t cropY; + /* scaling factor (so if uncropped, width*scaleX is sensorWidth) */ + double scaleX; + double scaleY; + /* scaling of the noise compared to the native sensor mode */ + double noiseFactor; + /* minimum and maximum line time and frame durations */ + libcamera::utils::Duration minLineLength; + libcamera::utils::Duration maxLineLength; + libcamera::utils::Duration minFrameDuration; + libcamera::utils::Duration maxFrameDuration; + /* any camera transform *not* reflected already in the camera tuning */ + libcamera::Transform transform; + /* minimum and maximum frame lengths in units of lines */ + uint32_t minFrameLength; + uint32_t maxFrameLength; + /* sensitivity of this mode */ + double sensitivity; + /* pixel clock rate */ + uint64_t pixelRate; + /* Mode specific shutter speed limits */ + libcamera::utils::Duration minShutter; + libcamera::utils::Duration maxShutter; + /* Mode specific analogue gain limits */ + double minAnalogueGain; + double maxAnalogueGain; +}; diff --git a/src/ipa/rpi/controller/ccm_algorithm.h b/src/ipa/rpi/controller/ccm_algorithm.h new file mode 100644 index 00000000..6678ba75 --- /dev/null +++ b/src/ipa/rpi/controller/ccm_algorithm.h @@ -0,0 +1,21 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * CCM (colour correction matrix) control algorithm interface + */ +#pragma once + +#include "algorithm.h" + +namespace RPiController { + +class CcmAlgorithm : public Algorithm +{ +public: + CcmAlgorithm(Controller *controller) : Algorithm(controller) {} + /* A CCM algorithm must provide the following: */ + virtual void setSaturation(double saturation) = 0; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/ccm_status.h b/src/ipa/rpi/controller/ccm_status.h new file mode 100644 index 00000000..c81bcd42 --- /dev/null +++ b/src/ipa/rpi/controller/ccm_status.h @@ -0,0 +1,14 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * CCM (colour correction matrix) control algorithm status + */ +#pragma once + +/* The "ccm" algorithm generates an appropriate colour matrix. */ + +struct CcmStatus { + double matrix[9]; + double saturation; +}; diff --git a/src/ipa/rpi/controller/contrast_algorithm.h b/src/ipa/rpi/controller/contrast_algorithm.h new file mode 100644 index 00000000..2e983350 --- /dev/null +++ b/src/ipa/rpi/controller/contrast_algorithm.h @@ -0,0 +1,24 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * contrast (gamma) control algorithm interface + */ +#pragma once + +#include "algorithm.h" + +namespace RPiController { + +class ContrastAlgorithm : public Algorithm +{ +public: + ContrastAlgorithm(Controller *controller) : Algorithm(controller) {} + /* A contrast algorithm must provide the following: */ + virtual void setBrightness(double brightness) = 0; + virtual void setContrast(double contrast) = 0; + virtual void enableCe(bool enable) = 0; + virtual void restoreCe() = 0; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/contrast_status.h b/src/ipa/rpi/controller/contrast_status.h new file mode 100644 index 00000000..7c67f054 --- /dev/null +++ b/src/ipa/rpi/controller/contrast_status.h @@ -0,0 +1,20 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * contrast (gamma) control algorithm status + */ +#pragma once + +#include "pwl.h" + +/* + * The "contrast" algorithm creates a gamma curve, optionally doing a little bit + * of contrast stretching based on the AGC histogram. + */ + +struct ContrastStatus { + RPiController::Pwl gammaCurve; + double brightness; + double contrast; +}; diff --git a/src/ipa/rpi/controller/controller.cpp b/src/ipa/rpi/controller/controller.cpp new file mode 100644 index 00000000..e0131018 --- /dev/null +++ b/src/ipa/rpi/controller/controller.cpp @@ -0,0 +1,220 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * ISP controller + */ + +#include <assert.h> + +#include <libcamera/base/file.h> +#include <libcamera/base/log.h> + +#include "libcamera/internal/yaml_parser.h" + +#include "algorithm.h" +#include "controller.h" + +using namespace RPiController; +using namespace libcamera; +using namespace std::literals::chrono_literals; + +LOG_DEFINE_CATEGORY(RPiController) + +static const std::map<std::string, Controller::HardwareConfig> HardwareConfigMap = { + { + "bcm2835", + { + /* + * There are only ever 15 AGC regions computed by the firmware + * due to zoning, but the HW defines AGC_REGIONS == 16! + */ + .agcRegions = { 15 , 1 }, + .agcZoneWeights = { 15 , 1 }, + .awbRegions = { 16, 12 }, + .cacRegions = { 0, 0 }, + .focusRegions = { 4, 3 }, + .numHistogramBins = 128, + .numGammaPoints = 33, + .pipelineWidth = 13, + .statsInline = false, + .minPixelProcessingTime = 0s, + } + }, + { + "pisp", + { + .agcRegions = { 0, 0 }, + .agcZoneWeights = { 15, 15 }, + .awbRegions = { 32, 32 }, + .cacRegions = { 8, 8 }, + .focusRegions = { 8, 8 }, + .numHistogramBins = 1024, + .numGammaPoints = 64, + .pipelineWidth = 16, + .statsInline = true, + + /* + * The constraint below is on the rate of pixels going + * from CSI2 peripheral to ISP-FE (400Mpix/s, plus tiny + * overheads per scanline, for which 380Mpix/s is a + * conservative bound). + * + * There is a 64kbit data FIFO before the bottleneck, + * which means that in all reasonable cases the + * constraint applies at a timescale >= 1 scanline, so + * adding horizontal blanking can prevent loss. + * + * If the backlog were to grow beyond 64kbit during a + * single scanline, there could still be loss. This + * could happen using 4 lanes at 1.5Gbps at 10bpp with + * frames wider than ~16,000 pixels. + */ + .minPixelProcessingTime = 1.0us / 380, + } + }, +}; + +Controller::Controller() + : switchModeCalled_(false) +{ +} + +Controller::~Controller() {} + +int Controller::read(char const *filename) +{ + File file(filename); + if (!file.open(File::OpenModeFlag::ReadOnly)) { + LOG(RPiController, Warning) + << "Failed to open tuning file '" << filename << "'"; + return -EINVAL; + } + + std::unique_ptr<YamlObject> root = YamlParser::parse(file); + if (!root) + return -EINVAL; + + double version = (*root)["version"].get<double>(1.0); + target_ = (*root)["target"].get<std::string>("bcm2835"); + + if (version < 2.0) { + LOG(RPiController, Warning) + << "This format of the tuning file will be deprecated soon!" + << " Please use the convert_tuning.py utility to update to version 2.0."; + + for (auto const &[key, value] : root->asDict()) { + int ret = createAlgorithm(key, value); + if (ret) + return ret; + } + } else if (version < 3.0) { + if (!root->contains("algorithms")) { + LOG(RPiController, Error) + << "Tuning file " << filename + << " does not have an \"algorithms\" list!"; + return -EINVAL; + } + + for (auto const &rootAlgo : (*root)["algorithms"].asList()) + for (auto const &[key, value] : rootAlgo.asDict()) { + int ret = createAlgorithm(key, value); + if (ret) + return ret; + } + } else { + LOG(RPiController, Error) + << "Unrecognised version " << version + << " for the tuning file " << filename; + return -EINVAL; + } + + return 0; +} + +int Controller::createAlgorithm(const std::string &name, const YamlObject ¶ms) +{ + auto it = getAlgorithms().find(name); + if (it == getAlgorithms().end()) { + LOG(RPiController, Warning) + << "No algorithm found for \"" << name << "\""; + return 0; + } + + Algorithm *algo = (*it->second)(this); + int ret = algo->read(params); + if (ret) + return ret; + + algorithms_.push_back(AlgorithmPtr(algo)); + return 0; +} + +void Controller::initialise() +{ + for (auto &algo : algorithms_) + algo->initialise(); +} + +void Controller::switchMode(CameraMode const &cameraMode, Metadata *metadata) +{ + for (auto &algo : algorithms_) + algo->switchMode(cameraMode, metadata); + switchModeCalled_ = true; +} + +void Controller::prepare(Metadata *imageMetadata) +{ + assert(switchModeCalled_); + for (auto &algo : algorithms_) + algo->prepare(imageMetadata); +} + +void Controller::process(StatisticsPtr stats, Metadata *imageMetadata) +{ + assert(switchModeCalled_); + for (auto &algo : algorithms_) + algo->process(stats, imageMetadata); +} + +Metadata &Controller::getGlobalMetadata() +{ + return globalMetadata_; +} + +Algorithm *Controller::getAlgorithm(std::string const &name) const +{ + /* + * The passed name must be the entire algorithm name, or must match the + * last part of it with a period (.) just before. + */ + size_t nameLen = name.length(); + for (auto &algo : algorithms_) { + char const *algoName = algo->name(); + size_t algoNameLen = strlen(algoName); + if (algoNameLen >= nameLen && + strcasecmp(name.c_str(), + algoName + algoNameLen - nameLen) == 0 && + (nameLen == algoNameLen || + algoName[algoNameLen - nameLen - 1] == '.')) + return algo.get(); + } + return nullptr; +} + +const std::string &Controller::getTarget() const +{ + return target_; +} + +const Controller::HardwareConfig &Controller::getHardwareConfig() const +{ + auto cfg = HardwareConfigMap.find(getTarget()); + + /* + * This really should not happen, the IPA ought to validate the target + * on initialisation. + */ + ASSERT(cfg != HardwareConfigMap.end()); + return cfg->second; +} diff --git a/src/ipa/rpi/controller/controller.h b/src/ipa/rpi/controller/controller.h new file mode 100644 index 00000000..eff520bd --- /dev/null +++ b/src/ipa/rpi/controller/controller.h @@ -0,0 +1,77 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * ISP controller interface + */ +#pragma once + +/* + * The Controller is simply a container for a collecting together a number of + * "control algorithms" (such as AWB etc.) and for running them all in a + * convenient manner. + */ + +#include <vector> +#include <string> + +#include <libcamera/base/utils.h> +#include "libcamera/internal/yaml_parser.h" + +#include "camera_mode.h" +#include "device_status.h" +#include "metadata.h" +#include "statistics.h" + +namespace RPiController { + +class Algorithm; +typedef std::unique_ptr<Algorithm> AlgorithmPtr; + +/* + * The Controller holds a pointer to some global_metadata, which is how + * different controllers and control algorithms within them can exchange + * information. The Prepare function returns a pointer to metadata for this + * specific image, and which should be passed on to the Process function. + */ + +class Controller +{ +public: + struct HardwareConfig { + libcamera::Size agcRegions; + libcamera::Size agcZoneWeights; + libcamera::Size awbRegions; + libcamera::Size cacRegions; + libcamera::Size focusRegions; + unsigned int numHistogramBins; + unsigned int numGammaPoints; + unsigned int pipelineWidth; + bool statsInline; + libcamera::utils::Duration minPixelProcessingTime; + }; + + Controller(); + ~Controller(); + int read(char const *filename); + void initialise(); + void switchMode(CameraMode const &cameraMode, Metadata *metadata); + void prepare(Metadata *imageMetadata); + void process(StatisticsPtr stats, Metadata *imageMetadata); + Metadata &getGlobalMetadata(); + Algorithm *getAlgorithm(std::string const &name) const; + const std::string &getTarget() const; + const HardwareConfig &getHardwareConfig() const; + +protected: + int createAlgorithm(const std::string &name, const libcamera::YamlObject ¶ms); + + Metadata globalMetadata_; + std::vector<AlgorithmPtr> algorithms_; + bool switchModeCalled_; + +private: + std::string target_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/denoise_algorithm.h b/src/ipa/rpi/controller/denoise_algorithm.h new file mode 100644 index 00000000..b9a2a33c --- /dev/null +++ b/src/ipa/rpi/controller/denoise_algorithm.h @@ -0,0 +1,27 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2021, Raspberry Pi Ltd + * + * Denoise control algorithm interface + */ +#pragma once + +#include <string> + +#include "algorithm.h" + +namespace RPiController { + +enum class DenoiseMode { Off, ColourOff, ColourFast, ColourHighQuality }; + +class DenoiseAlgorithm : public Algorithm +{ +public: + DenoiseAlgorithm(Controller *controller) : Algorithm(controller) {} + /* A Denoise algorithm must provide the following: */ + virtual void setMode(DenoiseMode mode) = 0; + /* Some platforms may not be able to define this, so supply a default. */ + virtual void setConfig([[maybe_unused]] std::string const &name) {} +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/denoise_status.h b/src/ipa/rpi/controller/denoise_status.h new file mode 100644 index 00000000..eead6086 --- /dev/null +++ b/src/ipa/rpi/controller/denoise_status.h @@ -0,0 +1,35 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019-2021, Raspberry Pi Ltd + * + * Denoise control algorithm status + */ +#pragma once + +/* This stores the parameters required for Denoise. */ + +struct DenoiseStatus { + double noiseConstant; + double noiseSlope; + double strength; + unsigned int mode; +}; + +struct SdnStatus { + double noiseConstant; + double noiseSlope; + double noiseConstant2; + double noiseSlope2; + double strength; +}; + +struct CdnStatus { + double strength; + double threshold; +}; + +struct TdnStatus { + double noiseConstant; + double noiseSlope; + double threshold; +}; diff --git a/src/ipa/rpi/controller/device_status.cpp b/src/ipa/rpi/controller/device_status.cpp new file mode 100644 index 00000000..68100137 --- /dev/null +++ b/src/ipa/rpi/controller/device_status.cpp @@ -0,0 +1,31 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2021, Raspberry Pi Ltd + * + * device (image sensor) status + */ +#include "device_status.h" + +using namespace libcamera; /* for the Duration operator<< overload */ + +std::ostream &operator<<(std::ostream &out, const DeviceStatus &d) +{ + out << "Exposure: " << d.shutterSpeed + << " Frame length: " << d.frameLength + << " Line length: " << d.lineLength + << " Gain: " << d.analogueGain; + + if (d.aperture) + out << " Aperture: " << *d.aperture; + + if (d.lensPosition) + out << " Lens: " << *d.lensPosition; + + if (d.flashIntensity) + out << " Flash: " << *d.flashIntensity; + + if (d.sensorTemperature) + out << " Temperature: " << *d.sensorTemperature; + + return out; +} diff --git a/src/ipa/raspberrypi/controller/device_status.h b/src/ipa/rpi/controller/device_status.h index b33f0d09..518f15b5 100644 --- a/src/ipa/raspberrypi/controller/device_status.h +++ b/src/ipa/rpi/controller/device_status.h @@ -1,8 +1,8 @@ /* SPDX-License-Identifier: BSD-2-Clause */ /* - * Copyright (C) 2019-2021, Raspberry Pi (Trading) Limited + * Copyright (C) 2019-2021, Raspberry Pi Ltd * - * device_status.h - device (image sensor) status + * device (image sensor) status */ #pragma once @@ -18,24 +18,26 @@ struct DeviceStatus { DeviceStatus() - : shutter_speed(std::chrono::seconds(0)), frame_length(0), - analogue_gain(0.0) + : shutterSpeed(std::chrono::seconds(0)), frameLength(0), + lineLength(std::chrono::seconds(0)), analogueGain(0.0) { } friend std::ostream &operator<<(std::ostream &out, const DeviceStatus &d); /* time shutter is open */ - libcamera::utils::Duration shutter_speed; + libcamera::utils::Duration shutterSpeed; /* frame length given in number of lines */ - uint32_t frame_length; - double analogue_gain; - /* 1.0/distance-in-metres, or 0 if unknown */ - std::optional<double> lens_position; - /* 1/f so that brightness quadruples when this doubles, or 0 if unknown */ + uint32_t frameLength; + /* line length for the current frame */ + libcamera::utils::Duration lineLength; + double analogueGain; + /* 1.0/distance-in-metres */ + std::optional<double> lensPosition; + /* 1/f so that brightness quadruples when this doubles */ std::optional<double> aperture; /* proportional to brightness with 0 = no flash, 1 = maximum flash */ - std::optional<double> flash_intensity; + std::optional<double> flashIntensity; /* Sensor reported temperature value (in degrees) */ - std::optional<double> sensor_temperature; + std::optional<double> sensorTemperature; }; diff --git a/src/ipa/rpi/controller/dpc_status.h b/src/ipa/rpi/controller/dpc_status.h new file mode 100644 index 00000000..9f30d5d9 --- /dev/null +++ b/src/ipa/rpi/controller/dpc_status.h @@ -0,0 +1,13 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * DPC (defective pixel correction) control algorithm status + */ +#pragma once + +/* The "DPC" algorithm sets defective pixel correction strength. */ + +struct DpcStatus { + int strength; /* 0 = "off", 1 = "normal", 2 = "strong" */ +}; diff --git a/src/ipa/rpi/controller/geq_status.h b/src/ipa/rpi/controller/geq_status.h new file mode 100644 index 00000000..cb107a48 --- /dev/null +++ b/src/ipa/rpi/controller/geq_status.h @@ -0,0 +1,14 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * GEQ (green equalisation) control algorithm status + */ +#pragma once + +/* The "GEQ" algorithm calculates the green equalisation thresholds */ + +struct GeqStatus { + uint16_t offset; + double slope; +}; diff --git a/src/ipa/rpi/controller/hdr_algorithm.h b/src/ipa/rpi/controller/hdr_algorithm.h new file mode 100644 index 00000000..b889d8fd --- /dev/null +++ b/src/ipa/rpi/controller/hdr_algorithm.h @@ -0,0 +1,25 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * HDR control algorithm interface + */ +#pragma once + +#include <vector> + +#include "algorithm.h" + +namespace RPiController { + +class HdrAlgorithm : public Algorithm +{ +public: + HdrAlgorithm(Controller *controller) + : Algorithm(controller) {} + /* An HDR algorithm must provide the following: */ + virtual int setMode(std::string const &modeName) = 0; + virtual std::vector<unsigned int> getChannels() const = 0; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/hdr_status.h b/src/ipa/rpi/controller/hdr_status.h new file mode 100644 index 00000000..a4955778 --- /dev/null +++ b/src/ipa/rpi/controller/hdr_status.h @@ -0,0 +1,19 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023 Raspberry Pi Ltd + * + * HDR control algorithm status + */ +#pragma once + +#include <string> + +/* + * The HDR algorithm process method should post an HdrStatus into the image + * metadata under the tag "hdr.status". + */ + +struct HdrStatus { + std::string mode; + std::string channel; +}; diff --git a/src/ipa/rpi/controller/histogram.cpp b/src/ipa/rpi/controller/histogram.cpp new file mode 100644 index 00000000..ba5b25dd --- /dev/null +++ b/src/ipa/rpi/controller/histogram.cpp @@ -0,0 +1,76 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * histogram calculations + */ +#include <math.h> +#include <stdio.h> + +#include "histogram.h" + +using namespace RPiController; + +uint64_t Histogram::cumulativeFreq(double bin) const +{ + if (bin <= 0) + return 0; + else if (bin >= bins()) + return total(); + int b = (int)bin; + return cumulative_[b] + + (bin - b) * (cumulative_[b + 1] - cumulative_[b]); +} + +double Histogram::quantile(double q, int first, int last) const +{ + if (first == -1) + first = 0; + if (last == -1) + last = cumulative_.size() - 2; + assert(first <= last); + uint64_t items = q * total(); + while (first < last) /* binary search to find the right bin */ + { + int middle = (first + last) / 2; + if (cumulative_[middle + 1] > items) + last = middle; /* between first and middle */ + else + first = middle + 1; /* after middle */ + } + assert(items >= cumulative_[first] && items <= cumulative_[last + 1]); + double frac = cumulative_[first + 1] == cumulative_[first] ? 0 + : (double)(items - cumulative_[first]) / + (cumulative_[first + 1] - cumulative_[first]); + return first + frac; +} + +double Histogram::interBinMean(double binLo, double binHi) const +{ + assert(binHi >= binLo); + double sumBinFreq = 0, cumulFreq = 0; + for (double binNext = floor(binLo) + 1.0; binNext <= ceil(binHi); + binLo = binNext, binNext += 1.0) { + int bin = floor(binLo); + double freq = (cumulative_[bin + 1] - cumulative_[bin]) * + (std::min(binNext, binHi) - binLo); + sumBinFreq += bin * freq; + cumulFreq += freq; + } + + if (cumulFreq == 0) { + /* interval had zero width or contained no weight? */ + return binHi; + } + + /* add 0.5 to give an average for bin mid-points */ + return sumBinFreq / cumulFreq + 0.5; +} + +double Histogram::interQuantileMean(double qLo, double qHi) const +{ + assert(qHi >= qLo); + double pLo = quantile(qLo); + double pHi = quantile(qHi, (int)pLo); + return interBinMean(pLo, pHi); +} diff --git a/src/ipa/rpi/controller/histogram.h b/src/ipa/rpi/controller/histogram.h new file mode 100644 index 00000000..ab4e5e31 --- /dev/null +++ b/src/ipa/rpi/controller/histogram.h @@ -0,0 +1,55 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * histogram calculation interface + */ +#pragma once + +#include <stdint.h> +#include <vector> +#include <cassert> + +/* + * A simple histogram class, for use in particular to find "quantiles" and + * averages between "quantiles". + */ + +namespace RPiController { + +class Histogram +{ +public: + Histogram() + { + cumulative_.push_back(0); + } + + template<typename T> Histogram(T *histogram, int num) + { + assert(num); + cumulative_.reserve(num + 1); + cumulative_.push_back(0); + for (int i = 0; i < num; i++) + cumulative_.push_back(cumulative_.back() + + histogram[i]); + } + uint32_t bins() const { return cumulative_.size() - 1; } + uint64_t total() const { return cumulative_[cumulative_.size() - 1]; } + /* Cumulative frequency up to a (fractional) point in a bin. */ + uint64_t cumulativeFreq(double bin) const; + /* Return the mean value between two (fractional) bins. */ + double interBinMean(double binLo, double binHi) const; + /* + * Return the (fractional) bin of the point q (0 <= q <= 1) through the + * histogram. Optionally provide limits to help. + */ + double quantile(double q, int first = -1, int last = -1) const; + /* Return the average histogram bin value between the two quantiles. */ + double interQuantileMean(double qLo, double qHi) const; + +private: + std::vector<uint64_t> cumulative_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/lux_status.h b/src/ipa/rpi/controller/lux_status.h new file mode 100644 index 00000000..d8729f43 --- /dev/null +++ b/src/ipa/rpi/controller/lux_status.h @@ -0,0 +1,23 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * Lux control algorithm status + */ +#pragma once + +/* + * The "lux" algorithm looks at the (AGC) histogram statistics of the frame and + * estimates the current lux level of the scene. It does this by a simple ratio + * calculation comparing to a reference image that was taken in known conditions + * with known statistics and a properly measured lux level. There is a slight + * problem with aperture, in that it may be variable without the system knowing + * or being aware of it. In this case an external application may set a + * "current_aperture" value if it wishes, which would be used in place of the + * (presumably meaningless) value in the image metadata. + */ + +struct LuxStatus { + double lux; + double aperture; +}; diff --git a/src/ipa/rpi/controller/meson.build b/src/ipa/rpi/controller/meson.build new file mode 100644 index 00000000..32a4d31c --- /dev/null +++ b/src/ipa/rpi/controller/meson.build @@ -0,0 +1,35 @@ +# SPDX-License-Identifier: CC0-1.0 + +rpi_ipa_controller_sources = files([ + 'algorithm.cpp', + 'controller.cpp', + 'device_status.cpp', + 'histogram.cpp', + 'pwl.cpp', + 'rpi/af.cpp', + 'rpi/agc.cpp', + 'rpi/agc_channel.cpp', + 'rpi/alsc.cpp', + 'rpi/awb.cpp', + 'rpi/black_level.cpp', + 'rpi/cac.cpp', + 'rpi/ccm.cpp', + 'rpi/contrast.cpp', + 'rpi/denoise.cpp', + 'rpi/dpc.cpp', + 'rpi/geq.cpp', + 'rpi/hdr.cpp', + 'rpi/lux.cpp', + 'rpi/noise.cpp', + 'rpi/saturation.cpp', + 'rpi/sdn.cpp', + 'rpi/sharpen.cpp', + 'rpi/tonemap.cpp', +]) + +rpi_ipa_controller_deps = [ + libcamera_private, +] + +rpi_ipa_controller_lib = static_library('rpi_ipa_controller', rpi_ipa_controller_sources, + dependencies : rpi_ipa_controller_deps) diff --git a/src/ipa/rpi/controller/metadata.h b/src/ipa/rpi/controller/metadata.h new file mode 100644 index 00000000..b4650d25 --- /dev/null +++ b/src/ipa/rpi/controller/metadata.h @@ -0,0 +1,127 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019-2021, Raspberry Pi Ltd + * + * general metadata class + */ +#pragma once + +/* A simple class for carrying arbitrary metadata, for example about an image. */ + +#include <any> +#include <map> +#include <mutex> +#include <string> + +#include <libcamera/base/thread_annotations.h> + +namespace RPiController { + +class LIBCAMERA_TSA_CAPABILITY("mutex") Metadata +{ +public: + Metadata() = default; + + Metadata(Metadata const &other) + { + std::scoped_lock otherLock(other.mutex_); + data_ = other.data_; + } + + Metadata(Metadata &&other) + { + std::scoped_lock otherLock(other.mutex_); + data_ = std::move(other.data_); + other.data_.clear(); + } + + template<typename T> + void set(std::string const &tag, T const &value) + { + std::scoped_lock lock(mutex_); + data_[tag] = value; + } + + template<typename T> + int get(std::string const &tag, T &value) const + { + std::scoped_lock lock(mutex_); + auto it = data_.find(tag); + if (it == data_.end()) + return -1; + value = std::any_cast<T>(it->second); + return 0; + } + + void clear() + { + std::scoped_lock lock(mutex_); + data_.clear(); + } + + Metadata &operator=(Metadata const &other) + { + std::scoped_lock lock(mutex_, other.mutex_); + data_ = other.data_; + return *this; + } + + Metadata &operator=(Metadata &&other) + { + std::scoped_lock lock(mutex_, other.mutex_); + data_ = std::move(other.data_); + other.data_.clear(); + return *this; + } + + void merge(Metadata &other) + { + std::scoped_lock lock(mutex_, other.mutex_); + data_.merge(other.data_); + } + + void mergeCopy(const Metadata &other) + { + std::scoped_lock lock(mutex_, other.mutex_); + /* + * If the metadata key exists, ignore this item and copy only + * unique key/value pairs. + */ + data_.insert(other.data_.begin(), other.data_.end()); + } + + template<typename T> + T *getLocked(std::string const &tag) + { + /* + * This allows in-place access to the Metadata contents, + * for which you should be holding the lock. + */ + auto it = data_.find(tag); + if (it == data_.end()) + return nullptr; + return std::any_cast<T>(&it->second); + } + + template<typename T> + void setLocked(std::string const &tag, T const &value) + { + /* Use this only if you're holding the lock yourself. */ + data_[tag] = value; + } + + /* + * Note: use of (lowercase) lock and unlock means you can create scoped + * locks with the standard lock classes. + * e.g. std::lock_guard<RPiController::Metadata> lock(metadata) + */ + void lock() LIBCAMERA_TSA_ACQUIRE() { mutex_.lock(); } + auto try_lock() LIBCAMERA_TSA_ACQUIRE() { return mutex_.try_lock(); } + void unlock() LIBCAMERA_TSA_RELEASE() { mutex_.unlock(); } + +private: + mutable std::mutex mutex_; + std::map<std::string, std::any> data_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/noise_status.h b/src/ipa/rpi/controller/noise_status.h new file mode 100644 index 00000000..1919da32 --- /dev/null +++ b/src/ipa/rpi/controller/noise_status.h @@ -0,0 +1,14 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * Noise control algorithm status + */ +#pragma once + +/* The "noise" algorithm stores an estimate of the noise profile for this image. */ + +struct NoiseStatus { + double noiseConstant; + double noiseSlope; +}; diff --git a/src/ipa/rpi/controller/pdaf_data.h b/src/ipa/rpi/controller/pdaf_data.h new file mode 100644 index 00000000..779b987d --- /dev/null +++ b/src/ipa/rpi/controller/pdaf_data.h @@ -0,0 +1,24 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022, Raspberry Pi Ltd + * + * PDAF Metadata + */ +#pragma once + +#include <stdint.h> + +#include "region_stats.h" + +namespace RPiController { + +struct PdafData { + /* Confidence, in arbitrary units */ + uint16_t conf; + /* Phase error, in s16 Q4 format (S.11.4) */ + int16_t phase; +}; + +using PdafRegions = RegionStats<PdafData>; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/pwl.cpp b/src/ipa/rpi/controller/pwl.cpp new file mode 100644 index 00000000..e3912376 --- /dev/null +++ b/src/ipa/rpi/controller/pwl.cpp @@ -0,0 +1,269 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * piecewise linear functions + */ + +#include <cassert> +#include <cmath> +#include <stdexcept> + +#include "pwl.h" + +using namespace RPiController; + +int Pwl::read(const libcamera::YamlObject ¶ms) +{ + if (!params.size() || params.size() % 2) + return -EINVAL; + + const auto &list = params.asList(); + + for (auto it = list.begin(); it != list.end(); it++) { + auto x = it->get<double>(); + if (!x) + return -EINVAL; + if (it != list.begin() && *x <= points_.back().x) + return -EINVAL; + + auto y = (++it)->get<double>(); + if (!y) + return -EINVAL; + + points_.push_back(Point(*x, *y)); + } + + return 0; +} + +void Pwl::append(double x, double y, const double eps) +{ + if (points_.empty() || points_.back().x + eps < x) + points_.push_back(Point(x, y)); +} + +void Pwl::prepend(double x, double y, const double eps) +{ + if (points_.empty() || points_.front().x - eps > x) + points_.insert(points_.begin(), Point(x, y)); +} + +Pwl::Interval Pwl::domain() const +{ + return Interval(points_[0].x, points_[points_.size() - 1].x); +} + +Pwl::Interval Pwl::range() const +{ + double lo = points_[0].y, hi = lo; + for (auto &p : points_) + lo = std::min(lo, p.y), hi = std::max(hi, p.y); + return Interval(lo, hi); +} + +bool Pwl::empty() const +{ + return points_.empty(); +} + +double Pwl::eval(double x, int *spanPtr, bool updateSpan) const +{ + int span = findSpan(x, spanPtr && *spanPtr != -1 ? *spanPtr : points_.size() / 2 - 1); + if (spanPtr && updateSpan) + *spanPtr = span; + return points_[span].y + + (x - points_[span].x) * (points_[span + 1].y - points_[span].y) / + (points_[span + 1].x - points_[span].x); +} + +int Pwl::findSpan(double x, int span) const +{ + /* + * Pwls are generally small, so linear search may well be faster than + * binary, though could review this if large PWls start turning up. + */ + int lastSpan = points_.size() - 2; + /* + * some algorithms may call us with span pointing directly at the last + * control point + */ + span = std::max(0, std::min(lastSpan, span)); + while (span < lastSpan && x >= points_[span + 1].x) + span++; + while (span && x < points_[span].x) + span--; + return span; +} + +Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span, + const double eps) const +{ + assert(span >= -1); + bool prevOffEnd = false; + for (span = span + 1; span < (int)points_.size() - 1; span++) { + Point spanVec = points_[span + 1] - points_[span]; + double t = ((xy - points_[span]) % spanVec) / spanVec.len2(); + if (t < -eps) /* off the start of this span */ + { + if (span == 0) { + perp = points_[span]; + return PerpType::Start; + } else if (prevOffEnd) { + perp = points_[span]; + return PerpType::Vertex; + } + } else if (t > 1 + eps) /* off the end of this span */ + { + if (span == (int)points_.size() - 2) { + perp = points_[span + 1]; + return PerpType::End; + } + prevOffEnd = true; + } else /* a true perpendicular */ + { + perp = points_[span] + spanVec * t; + return PerpType::Perpendicular; + } + } + return PerpType::None; +} + +Pwl Pwl::inverse(bool *trueInverse, const double eps) const +{ + bool appended = false, prepended = false, neither = false; + Pwl inverse; + + for (Point const &p : points_) { + if (inverse.empty()) + inverse.append(p.y, p.x, eps); + else if (std::abs(inverse.points_.back().x - p.y) <= eps || + std::abs(inverse.points_.front().x - p.y) <= eps) + /* do nothing */; + else if (p.y > inverse.points_.back().x) { + inverse.append(p.y, p.x, eps); + appended = true; + } else if (p.y < inverse.points_.front().x) { + inverse.prepend(p.y, p.x, eps); + prepended = true; + } else + neither = true; + } + + /* + * This is not a proper inverse if we found ourselves putting points + * onto both ends of the inverse, or if there were points that couldn't + * go on either. + */ + if (trueInverse) + *trueInverse = !(neither || (appended && prepended)); + + return inverse; +} + +Pwl Pwl::compose(Pwl const &other, const double eps) const +{ + double thisX = points_[0].x, thisY = points_[0].y; + int thisSpan = 0, otherSpan = other.findSpan(thisY, 0); + Pwl result({ { thisX, other.eval(thisY, &otherSpan, false) } }); + while (thisSpan != (int)points_.size() - 1) { + double dx = points_[thisSpan + 1].x - points_[thisSpan].x, + dy = points_[thisSpan + 1].y - points_[thisSpan].y; + if (std::abs(dy) > eps && + otherSpan + 1 < (int)other.points_.size() && + points_[thisSpan + 1].y >= + other.points_[otherSpan + 1].x + eps) { + /* + * next control point in result will be where this + * function's y reaches the next span in other + */ + thisX = points_[thisSpan].x + + (other.points_[otherSpan + 1].x - + points_[thisSpan].y) * + dx / dy; + thisY = other.points_[++otherSpan].x; + } else if (std::abs(dy) > eps && otherSpan > 0 && + points_[thisSpan + 1].y <= + other.points_[otherSpan - 1].x - eps) { + /* + * next control point in result will be where this + * function's y reaches the previous span in other + */ + thisX = points_[thisSpan].x + + (other.points_[otherSpan + 1].x - + points_[thisSpan].y) * + dx / dy; + thisY = other.points_[--otherSpan].x; + } else { + /* we stay in the same span in other */ + thisSpan++; + thisX = points_[thisSpan].x, + thisY = points_[thisSpan].y; + } + result.append(thisX, other.eval(thisY, &otherSpan, false), + eps); + } + return result; +} + +void Pwl::map(std::function<void(double x, double y)> f) const +{ + for (auto &pt : points_) + f(pt.x, pt.y); +} + +void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1, + std::function<void(double x, double y0, double y1)> f) +{ + int span0 = 0, span1 = 0; + double x = std::min(pwl0.points_[0].x, pwl1.points_[0].x); + f(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false)); + while (span0 < (int)pwl0.points_.size() - 1 || + span1 < (int)pwl1.points_.size() - 1) { + if (span0 == (int)pwl0.points_.size() - 1) + x = pwl1.points_[++span1].x; + else if (span1 == (int)pwl1.points_.size() - 1) + x = pwl0.points_[++span0].x; + else if (pwl0.points_[span0 + 1].x > pwl1.points_[span1 + 1].x) + x = pwl1.points_[++span1].x; + else + x = pwl0.points_[++span0].x; + f(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false)); + } +} + +Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1, + std::function<double(double x, double y0, double y1)> f, + const double eps) +{ + Pwl result; + map2(pwl0, pwl1, [&](double x, double y0, double y1) { + result.append(x, f(x, y0, y1), eps); + }); + return result; +} + +void Pwl::matchDomain(Interval const &domain, bool clip, const double eps) +{ + int span = 0; + prepend(domain.start, eval(clip ? points_[0].x : domain.start, &span), + eps); + span = points_.size() - 2; + append(domain.end, eval(clip ? points_.back().x : domain.end, &span), + eps); +} + +Pwl &Pwl::operator*=(double d) +{ + for (auto &pt : points_) + pt.y *= d; + return *this; +} + +void Pwl::debug(FILE *fp) const +{ + fprintf(fp, "Pwl {\n"); + for (auto &p : points_) + fprintf(fp, "\t(%g, %g)\n", p.x, p.y); + fprintf(fp, "}\n"); +} diff --git a/src/ipa/rpi/controller/pwl.h b/src/ipa/rpi/controller/pwl.h new file mode 100644 index 00000000..7d5e7e4d --- /dev/null +++ b/src/ipa/rpi/controller/pwl.h @@ -0,0 +1,127 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * piecewise linear functions interface + */ +#pragma once + +#include <functional> +#include <math.h> +#include <vector> + +#include "libcamera/internal/yaml_parser.h" + +namespace RPiController { + +class Pwl +{ +public: + struct Interval { + Interval(double _start, double _end) + : start(_start), end(_end) + { + } + double start, end; + bool contains(double value) + { + return value >= start && value <= end; + } + double clip(double value) + { + return value < start ? start + : (value > end ? end : value); + } + double len() const { return end - start; } + }; + struct Point { + Point() : x(0), y(0) {} + Point(double _x, double _y) + : x(_x), y(_y) {} + double x, y; + Point operator-(Point const &p) const + { + return Point(x - p.x, y - p.y); + } + Point operator+(Point const &p) const + { + return Point(x + p.x, y + p.y); + } + double operator%(Point const &p) const + { + return x * p.x + y * p.y; + } + Point operator*(double f) const { return Point(x * f, y * f); } + Point operator/(double f) const { return Point(x / f, y / f); } + double len2() const { return x * x + y * y; } + double len() const { return sqrt(len2()); } + }; + Pwl() {} + Pwl(std::vector<Point> const &points) : points_(points) {} + int read(const libcamera::YamlObject ¶ms); + void append(double x, double y, const double eps = 1e-6); + void prepend(double x, double y, const double eps = 1e-6); + Interval domain() const; + Interval range() const; + bool empty() const; + /* + * Evaluate Pwl, optionally supplying an initial guess for the + * "span". The "span" may be optionally be updated. If you want to know + * the "span" value but don't have an initial guess you can set it to + * -1. + */ + double eval(double x, int *spanPtr = nullptr, + bool updateSpan = true) const; + /* + * Find perpendicular closest to xy, starting from span+1 so you can + * call it repeatedly to check for multiple closest points (set span to + * -1 on the first call). Also returns "pseudo" perpendiculars; see + * PerpType enum. + */ + enum class PerpType { + None, /* no perpendicular found */ + Start, /* start of Pwl is closest point */ + End, /* end of Pwl is closest point */ + Vertex, /* vertex of Pwl is closest point */ + Perpendicular /* true perpendicular found */ + }; + PerpType invert(Point const &xy, Point &perp, int &span, + const double eps = 1e-6) const; + /* + * Compute the inverse function. Indicate if it is a proper (true) + * inverse, or only a best effort (e.g. input was non-monotonic). + */ + Pwl inverse(bool *trueInverse = nullptr, const double eps = 1e-6) const; + /* Compose two Pwls together, doing "this" first and "other" after. */ + Pwl compose(Pwl const &other, const double eps = 1e-6) const; + /* Apply function to (x,y) values at every control point. */ + void map(std::function<void(double x, double y)> f) const; + /* + * Apply function to (x, y0, y1) values wherever either Pwl has a + * control point. + */ + static void map2(Pwl const &pwl0, Pwl const &pwl1, + std::function<void(double x, double y0, double y1)> f); + /* + * Combine two Pwls, meaning we create a new Pwl where the y values are + * given by running f wherever either has a knot. + */ + static Pwl + combine(Pwl const &pwl0, Pwl const &pwl1, + std::function<double(double x, double y0, double y1)> f, + const double eps = 1e-6); + /* + * Make "this" match (at least) the given domain. Any extension my be + * clipped or linear. + */ + void matchDomain(Interval const &domain, bool clip = true, + const double eps = 1e-6); + Pwl &operator*=(double d); + void debug(FILE *fp = stdout) const; + +private: + int findSpan(double x, int span) const; + std::vector<Point> points_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/region_stats.h b/src/ipa/rpi/controller/region_stats.h new file mode 100644 index 00000000..c60f7d9a --- /dev/null +++ b/src/ipa/rpi/controller/region_stats.h @@ -0,0 +1,123 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022, Raspberry Pi Ltd + * + * Raspberry Pi region based statistics container + */ +#pragma once + +#include <array> +#include <stdint.h> +#include <vector> + +#include <libcamera/geometry.h> + +namespace RPiController { + +template<typename T> +class RegionStats +{ +public: + struct Region { + T val; + uint32_t counted; + uint32_t uncounted; + }; + + RegionStats() + : size_({}), numFloating_(0), default_({}) + { + } + + void init(const libcamera::Size &size, unsigned int numFloating = 0) + { + size_ = size; + numFloating_ = numFloating; + regions_.clear(); + regions_.resize(size_.width * size_.height + numFloating_); + } + + void init(unsigned int num) + { + size_ = libcamera::Size(num, 1); + numFloating_ = 0; + regions_.clear(); + regions_.resize(num); + } + + unsigned int numRegions() const + { + return size_.width * size_.height; + } + + unsigned int numFloatingRegions() const + { + return numFloating_; + } + + libcamera::Size size() const + { + return size_; + } + + void set(unsigned int index, const Region ®ion) + { + if (index >= numRegions()) + return; + set_(index, region); + } + + void set(const libcamera::Point &pos, const Region ®ion) + { + set(pos.y * size_.width + pos.x, region); + } + + void setFloating(unsigned int index, const Region ®ion) + { + if (index >= numFloatingRegions()) + return; + set(numRegions() + index, region); + } + + const Region &get(unsigned int index) const + { + if (index >= numRegions()) + return default_; + return get_(index); + } + + const Region &get(const libcamera::Point &pos) const + { + return get(pos.y * size_.width + pos.x); + } + + const Region &getFloating(unsigned int index) const + { + if (index >= numFloatingRegions()) + return default_; + return get_(numRegions() + index); + } + + typename std::vector<Region>::iterator begin() { return regions_.begin(); } + typename std::vector<Region>::iterator end() { return regions_.end(); } + typename std::vector<Region>::const_iterator begin() const { return regions_.begin(); } + typename std::vector<Region>::const_iterator end() const { return regions_.end(); } + +private: + void set_(unsigned int index, const Region ®ion) + { + regions_[index] = region; + } + + const Region &get_(unsigned int index) const + { + return regions_[index]; + } + + libcamera::Size size_; + unsigned int numFloating_; + std::vector<Region> regions_; + Region default_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/af.cpp b/src/ipa/rpi/controller/rpi/af.cpp new file mode 100644 index 00000000..c5fd8482 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/af.cpp @@ -0,0 +1,797 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022-2023, Raspberry Pi Ltd + * + * Autofocus control algorithm + */ + +#include "af.h" + +#include <iomanip> +#include <math.h> +#include <stdlib.h> + +#include <libcamera/base/log.h> + +#include <libcamera/control_ids.h> + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiAf) + +#define NAME "rpi.af" + +/* + * Default values for parameters. All may be overridden in the tuning file. + * Many of these values are sensor- or module-dependent; the defaults here + * assume IMX708 in a Raspberry Pi V3 camera with the standard lens. + * + * Here all focus values are in dioptres (1/m). They are converted to hardware + * units when written to status.lensSetting or returned from setLensPosition(). + * + * Gain and delay values are relative to the update rate, since much (not all) + * of the delay is in the sensor and (for CDAF) ISP, not the lens mechanism; + * but note that algorithms are updated at no more than 30 Hz. + */ + +Af::RangeDependentParams::RangeDependentParams() + : focusMin(0.0), + focusMax(12.0), + focusDefault(1.0) +{ +} + +Af::SpeedDependentParams::SpeedDependentParams() + : stepCoarse(1.0), + stepFine(0.25), + contrastRatio(0.75), + pdafGain(-0.02), + pdafSquelch(0.125), + maxSlew(2.0), + pdafFrames(20), + dropoutFrames(6), + stepFrames(4) +{ +} + +Af::CfgParams::CfgParams() + : confEpsilon(8), + confThresh(16), + confClip(512), + skipFrames(5), + map() +{ +} + +template<typename T> +static void readNumber(T &dest, const libcamera::YamlObject ¶ms, char const *name) +{ + auto value = params[name].get<T>(); + if (value) + dest = *value; + else + LOG(RPiAf, Warning) << "Missing parameter \"" << name << "\""; +} + +void Af::RangeDependentParams::read(const libcamera::YamlObject ¶ms) +{ + + readNumber<double>(focusMin, params, "min"); + readNumber<double>(focusMax, params, "max"); + readNumber<double>(focusDefault, params, "default"); +} + +void Af::SpeedDependentParams::read(const libcamera::YamlObject ¶ms) +{ + readNumber<double>(stepCoarse, params, "step_coarse"); + readNumber<double>(stepFine, params, "step_fine"); + readNumber<double>(contrastRatio, params, "contrast_ratio"); + readNumber<double>(pdafGain, params, "pdaf_gain"); + readNumber<double>(pdafSquelch, params, "pdaf_squelch"); + readNumber<double>(maxSlew, params, "max_slew"); + readNumber<uint32_t>(pdafFrames, params, "pdaf_frames"); + readNumber<uint32_t>(dropoutFrames, params, "dropout_frames"); + readNumber<uint32_t>(stepFrames, params, "step_frames"); +} + +int Af::CfgParams::read(const libcamera::YamlObject ¶ms) +{ + if (params.contains("ranges")) { + auto &rr = params["ranges"]; + + if (rr.contains("normal")) + ranges[AfRangeNormal].read(rr["normal"]); + else + LOG(RPiAf, Warning) << "Missing range \"normal\""; + + ranges[AfRangeMacro] = ranges[AfRangeNormal]; + if (rr.contains("macro")) + ranges[AfRangeMacro].read(rr["macro"]); + + ranges[AfRangeFull].focusMin = std::min(ranges[AfRangeNormal].focusMin, + ranges[AfRangeMacro].focusMin); + ranges[AfRangeFull].focusMax = std::max(ranges[AfRangeNormal].focusMax, + ranges[AfRangeMacro].focusMax); + ranges[AfRangeFull].focusDefault = ranges[AfRangeNormal].focusDefault; + if (rr.contains("full")) + ranges[AfRangeFull].read(rr["full"]); + } else + LOG(RPiAf, Warning) << "No ranges defined"; + + if (params.contains("speeds")) { + auto &ss = params["speeds"]; + + if (ss.contains("normal")) + speeds[AfSpeedNormal].read(ss["normal"]); + else + LOG(RPiAf, Warning) << "Missing speed \"normal\""; + + speeds[AfSpeedFast] = speeds[AfSpeedNormal]; + if (ss.contains("fast")) + speeds[AfSpeedFast].read(ss["fast"]); + } else + LOG(RPiAf, Warning) << "No speeds defined"; + + readNumber<uint32_t>(confEpsilon, params, "conf_epsilon"); + readNumber<uint32_t>(confThresh, params, "conf_thresh"); + readNumber<uint32_t>(confClip, params, "conf_clip"); + readNumber<uint32_t>(skipFrames, params, "skip_frames"); + + if (params.contains("map")) + map.read(params["map"]); + else + LOG(RPiAf, Warning) << "No map defined"; + + return 0; +} + +void Af::CfgParams::initialise() +{ + if (map.empty()) { + /* Default mapping from dioptres to hardware setting */ + static constexpr double DefaultMapX0 = 0.0; + static constexpr double DefaultMapY0 = 445.0; + static constexpr double DefaultMapX1 = 15.0; + static constexpr double DefaultMapY1 = 925.0; + + map.append(DefaultMapX0, DefaultMapY0); + map.append(DefaultMapX1, DefaultMapY1); + } +} + +/* Af Algorithm class */ + +static constexpr unsigned MaxWindows = 10; + +Af::Af(Controller *controller) + : AfAlgorithm(controller), + cfg_(), + range_(AfRangeNormal), + speed_(AfSpeedNormal), + mode_(AfAlgorithm::AfModeManual), + pauseFlag_(false), + statsRegion_(0, 0, 0, 0), + windows_(), + useWindows_(false), + phaseWeights_(), + contrastWeights_(), + scanState_(ScanState::Idle), + initted_(false), + ftarget_(-1.0), + fsmooth_(-1.0), + prevContrast_(0.0), + skipCount_(0), + stepCount_(0), + dropCount_(0), + scanMaxContrast_(0.0), + scanMinContrast_(1.0e9), + scanData_(), + reportState_(AfState::Idle) +{ + /* + * Reserve space for data, to reduce memory fragmentation. It's too early + * to query the size of the PDAF (from camera) and Contrast (from ISP) + * statistics, but these are plausible upper bounds. + */ + phaseWeights_.w.reserve(16 * 12); + contrastWeights_.w.reserve(getHardwareConfig().focusRegions.width * + getHardwareConfig().focusRegions.height); + scanData_.reserve(32); +} + +Af::~Af() +{ +} + +char const *Af::name() const +{ + return NAME; +} + +int Af::read(const libcamera::YamlObject ¶ms) +{ + return cfg_.read(params); +} + +void Af::initialise() +{ + cfg_.initialise(); +} + +void Af::switchMode(CameraMode const &cameraMode, [[maybe_unused]] Metadata *metadata) +{ + (void)metadata; + + /* Assume that PDAF and Focus stats grids cover the visible area */ + statsRegion_.x = (int)cameraMode.cropX; + statsRegion_.y = (int)cameraMode.cropY; + statsRegion_.width = (unsigned)(cameraMode.width * cameraMode.scaleX); + statsRegion_.height = (unsigned)(cameraMode.height * cameraMode.scaleY); + LOG(RPiAf, Debug) << "switchMode: statsRegion: " + << statsRegion_.x << ',' + << statsRegion_.y << ',' + << statsRegion_.width << ',' + << statsRegion_.height; + invalidateWeights(); + + if (scanState_ >= ScanState::Coarse && scanState_ < ScanState::Settle) { + /* + * If a scan was in progress, re-start it, as CDAF statistics + * may have changed. Though if the application is just about + * to take a still picture, this will not help... + */ + startProgrammedScan(); + } + skipCount_ = cfg_.skipFrames; +} + +void Af::computeWeights(RegionWeights *wgts, unsigned rows, unsigned cols) +{ + wgts->rows = rows; + wgts->cols = cols; + wgts->sum = 0; + wgts->w.resize(rows * cols); + std::fill(wgts->w.begin(), wgts->w.end(), 0); + + if (rows > 0 && cols > 0 && useWindows_ && + statsRegion_.height >= rows && statsRegion_.width >= cols) { + /* + * Here we just merge all of the given windows, weighted by area. + * \todo Perhaps a better approach might be to find the phase in each + * window and choose either the closest or the highest-confidence one? + * Ensure weights sum to less than (1<<16). 46080 is a "round number" + * below 65536, for better rounding when window size is a simple + * fraction of image dimensions. + */ + const unsigned maxCellWeight = 46080u / (MaxWindows * rows * cols); + const unsigned cellH = statsRegion_.height / rows; + const unsigned cellW = statsRegion_.width / cols; + const unsigned cellA = cellH * cellW; + + for (auto &w : windows_) { + for (unsigned r = 0; r < rows; ++r) { + int y0 = std::max(statsRegion_.y + (int)(cellH * r), w.y); + int y1 = std::min(statsRegion_.y + (int)(cellH * (r + 1)), + w.y + (int)(w.height)); + if (y0 >= y1) + continue; + y1 -= y0; + for (unsigned c = 0; c < cols; ++c) { + int x0 = std::max(statsRegion_.x + (int)(cellW * c), w.x); + int x1 = std::min(statsRegion_.x + (int)(cellW * (c + 1)), + w.x + (int)(w.width)); + if (x0 >= x1) + continue; + unsigned a = y1 * (x1 - x0); + a = (maxCellWeight * a + cellA - 1) / cellA; + wgts->w[r * cols + c] += a; + wgts->sum += a; + } + } + } + } + + if (wgts->sum == 0) { + /* Default AF window is the middle 1/2 width of the middle 1/3 height */ + for (unsigned r = rows / 3; r < rows - rows / 3; ++r) { + for (unsigned c = cols / 4; c < cols - cols / 4; ++c) { + wgts->w[r * cols + c] = 1; + wgts->sum += 1; + } + } + } +} + +void Af::invalidateWeights() +{ + phaseWeights_.sum = 0; + contrastWeights_.sum = 0; +} + +bool Af::getPhase(PdafRegions const ®ions, double &phase, double &conf) +{ + libcamera::Size size = regions.size(); + if (size.height != phaseWeights_.rows || size.width != phaseWeights_.cols || + phaseWeights_.sum == 0) { + LOG(RPiAf, Debug) << "Recompute Phase weights " << size.width << 'x' << size.height; + computeWeights(&phaseWeights_, size.height, size.width); + } + + uint32_t sumWc = 0; + int64_t sumWcp = 0; + for (unsigned i = 0; i < regions.numRegions(); ++i) { + unsigned w = phaseWeights_.w[i]; + if (w) { + const PdafData &data = regions.get(i).val; + unsigned c = data.conf; + if (c >= cfg_.confThresh) { + if (c > cfg_.confClip) + c = cfg_.confClip; + c -= (cfg_.confThresh >> 2); + sumWc += w * c; + c -= (cfg_.confThresh >> 2); + sumWcp += (int64_t)(w * c) * (int64_t)data.phase; + } + } + } + + if (0 < phaseWeights_.sum && phaseWeights_.sum <= sumWc) { + phase = (double)sumWcp / (double)sumWc; + conf = (double)sumWc / (double)phaseWeights_.sum; + return true; + } else { + phase = 0.0; + conf = 0.0; + return false; + } +} + +double Af::getContrast(const FocusRegions &focusStats) +{ + libcamera::Size size = focusStats.size(); + if (size.height != contrastWeights_.rows || + size.width != contrastWeights_.cols || contrastWeights_.sum == 0) { + LOG(RPiAf, Debug) << "Recompute Contrast weights " + << size.width << 'x' << size.height; + computeWeights(&contrastWeights_, size.height, size.width); + } + + uint64_t sumWc = 0; + for (unsigned i = 0; i < focusStats.numRegions(); ++i) + sumWc += contrastWeights_.w[i] * focusStats.get(i).val; + + return (contrastWeights_.sum > 0) ? ((double)sumWc / (double)contrastWeights_.sum) : 0.0; +} + +void Af::doPDAF(double phase, double conf) +{ + /* Apply loop gain */ + phase *= cfg_.speeds[speed_].pdafGain; + + if (mode_ == AfModeContinuous) { + /* + * PDAF in Continuous mode. Scale down lens movement when + * delta is small or confidence is low, to suppress wobble. + */ + phase *= conf / (conf + cfg_.confEpsilon); + if (std::abs(phase) < cfg_.speeds[speed_].pdafSquelch) { + double a = phase / cfg_.speeds[speed_].pdafSquelch; + phase *= a * a; + } + } else { + /* + * PDAF in triggered-auto mode. Allow early termination when + * phase delta is small; scale down lens movements towards + * the end of the sequence, to ensure a stable image. + */ + if (stepCount_ >= cfg_.speeds[speed_].stepFrames) { + if (std::abs(phase) < cfg_.speeds[speed_].pdafSquelch) + stepCount_ = cfg_.speeds[speed_].stepFrames; + } else + phase *= stepCount_ / cfg_.speeds[speed_].stepFrames; + } + + /* Apply slew rate limit. Report failure if out of bounds. */ + if (phase < -cfg_.speeds[speed_].maxSlew) { + phase = -cfg_.speeds[speed_].maxSlew; + reportState_ = (ftarget_ <= cfg_.ranges[range_].focusMin) ? AfState::Failed + : AfState::Scanning; + } else if (phase > cfg_.speeds[speed_].maxSlew) { + phase = cfg_.speeds[speed_].maxSlew; + reportState_ = (ftarget_ >= cfg_.ranges[range_].focusMax) ? AfState::Failed + : AfState::Scanning; + } else + reportState_ = AfState::Focused; + + ftarget_ = fsmooth_ + phase; +} + +bool Af::earlyTerminationByPhase(double phase) +{ + if (scanData_.size() > 0 && + scanData_[scanData_.size() - 1].conf >= cfg_.confEpsilon) { + double oldFocus = scanData_[scanData_.size() - 1].focus; + double oldPhase = scanData_[scanData_.size() - 1].phase; + + /* + * Check that the gradient is finite and has the expected sign; + * Interpolate/extrapolate the lens position for zero phase. + * Check that the extrapolation is well-conditioned. + */ + if ((ftarget_ - oldFocus) * (phase - oldPhase) > 0.0) { + double param = phase / (phase - oldPhase); + if (-3.0 <= param && param <= 3.5) { + ftarget_ += param * (oldFocus - ftarget_); + LOG(RPiAf, Debug) << "ETBP: param=" << param; + return true; + } + } + } + + return false; +} + +double Af::findPeak(unsigned i) const +{ + double f = scanData_[i].focus; + + if (i > 0 && i + 1 < scanData_.size()) { + double dropLo = scanData_[i].contrast - scanData_[i - 1].contrast; + double dropHi = scanData_[i].contrast - scanData_[i + 1].contrast; + if (0.0 <= dropLo && dropLo < dropHi) { + double param = 0.3125 * (1.0 - dropLo / dropHi) * (1.6 - dropLo / dropHi); + f += param * (scanData_[i - 1].focus - f); + } else if (0.0 <= dropHi && dropHi < dropLo) { + double param = 0.3125 * (1.0 - dropHi / dropLo) * (1.6 - dropHi / dropLo); + f += param * (scanData_[i + 1].focus - f); + } + } + + LOG(RPiAf, Debug) << "FindPeak: " << f; + return f; +} + +void Af::doScan(double contrast, double phase, double conf) +{ + /* Record lens position, contrast and phase values for the current scan */ + if (scanData_.empty() || contrast > scanMaxContrast_) { + scanMaxContrast_ = contrast; + scanMaxIndex_ = scanData_.size(); + } + if (contrast < scanMinContrast_) + scanMinContrast_ = contrast; + scanData_.emplace_back(ScanRecord{ ftarget_, contrast, phase, conf }); + + if (scanState_ == ScanState::Coarse) { + if (ftarget_ >= cfg_.ranges[range_].focusMax || + contrast < cfg_.speeds[speed_].contrastRatio * scanMaxContrast_) { + /* + * Finished course scan, or termination based on contrast. + * Jump to just after max contrast and start fine scan. + */ + ftarget_ = std::min(ftarget_, findPeak(scanMaxIndex_) + + 2.0 * cfg_.speeds[speed_].stepFine); + scanState_ = ScanState::Fine; + scanData_.clear(); + } else + ftarget_ += cfg_.speeds[speed_].stepCoarse; + } else { /* ScanState::Fine */ + if (ftarget_ <= cfg_.ranges[range_].focusMin || scanData_.size() >= 5 || + contrast < cfg_.speeds[speed_].contrastRatio * scanMaxContrast_) { + /* + * Finished fine scan, or termination based on contrast. + * Use quadratic peak-finding to find best contrast position. + */ + ftarget_ = findPeak(scanMaxIndex_); + scanState_ = ScanState::Settle; + } else + ftarget_ -= cfg_.speeds[speed_].stepFine; + } + + stepCount_ = (ftarget_ == fsmooth_) ? 0 : cfg_.speeds[speed_].stepFrames; +} + +void Af::doAF(double contrast, double phase, double conf) +{ + /* Skip frames at startup and after sensor mode change */ + if (skipCount_ > 0) { + LOG(RPiAf, Debug) << "SKIP"; + skipCount_--; + return; + } + + if (scanState_ == ScanState::Pdaf) { + /* + * Use PDAF closed-loop control whenever available, in both CAF + * mode and (for a limited number of iterations) when triggered. + * If PDAF fails (due to poor contrast, noise or large defocus), + * fall back to a CDAF-based scan. To avoid "nuisance" scans, + * scan only after a number of frames with low PDAF confidence. + */ + if (conf > (dropCount_ ? 1.0 : 0.25) * cfg_.confEpsilon) { + doPDAF(phase, conf); + if (stepCount_ > 0) + stepCount_--; + else if (mode_ != AfModeContinuous) + scanState_ = ScanState::Idle; + dropCount_ = 0; + } else if (++dropCount_ == cfg_.speeds[speed_].dropoutFrames) + startProgrammedScan(); + } else if (scanState_ >= ScanState::Coarse && fsmooth_ == ftarget_) { + /* + * Scanning sequence. This means PDAF has become unavailable. + * Allow a delay between steps for CDAF FoM statistics to be + * updated, and a "settling time" at the end of the sequence. + * [A coarse or fine scan can be abandoned if two PDAF samples + * allow direct interpolation of the zero-phase lens position.] + */ + if (stepCount_ > 0) + stepCount_--; + else if (scanState_ == ScanState::Settle) { + if (prevContrast_ >= cfg_.speeds[speed_].contrastRatio * scanMaxContrast_ && + scanMinContrast_ <= cfg_.speeds[speed_].contrastRatio * scanMaxContrast_) + reportState_ = AfState::Focused; + else + reportState_ = AfState::Failed; + if (mode_ == AfModeContinuous && !pauseFlag_ && + cfg_.speeds[speed_].dropoutFrames > 0) + scanState_ = ScanState::Pdaf; + else + scanState_ = ScanState::Idle; + scanData_.clear(); + } else if (conf >= cfg_.confEpsilon && earlyTerminationByPhase(phase)) { + scanState_ = ScanState::Settle; + stepCount_ = (mode_ == AfModeContinuous) ? 0 + : cfg_.speeds[speed_].stepFrames; + } else + doScan(contrast, phase, conf); + } +} + +void Af::updateLensPosition() +{ + if (scanState_ >= ScanState::Pdaf) { + ftarget_ = std::clamp(ftarget_, + cfg_.ranges[range_].focusMin, + cfg_.ranges[range_].focusMax); + } + + if (initted_) { + /* from a known lens position: apply slew rate limit */ + fsmooth_ = std::clamp(ftarget_, + fsmooth_ - cfg_.speeds[speed_].maxSlew, + fsmooth_ + cfg_.speeds[speed_].maxSlew); + } else { + /* from an unknown position: go straight to target, but add delay */ + fsmooth_ = ftarget_; + initted_ = true; + skipCount_ = cfg_.skipFrames; + } +} + +void Af::startAF() +{ + /* Use PDAF if the tuning file allows it; else CDAF. */ + if (cfg_.speeds[speed_].dropoutFrames > 0 && + (mode_ == AfModeContinuous || cfg_.speeds[speed_].pdafFrames > 0)) { + if (!initted_) { + ftarget_ = cfg_.ranges[range_].focusDefault; + updateLensPosition(); + } + stepCount_ = (mode_ == AfModeContinuous) ? 0 : cfg_.speeds[speed_].pdafFrames; + scanState_ = ScanState::Pdaf; + scanData_.clear(); + dropCount_ = 0; + reportState_ = AfState::Scanning; + } else + startProgrammedScan(); +} + +void Af::startProgrammedScan() +{ + ftarget_ = cfg_.ranges[range_].focusMin; + updateLensPosition(); + scanState_ = ScanState::Coarse; + scanMaxContrast_ = 0.0; + scanMinContrast_ = 1.0e9; + scanMaxIndex_ = 0; + scanData_.clear(); + stepCount_ = cfg_.speeds[speed_].stepFrames; + reportState_ = AfState::Scanning; +} + +void Af::goIdle() +{ + scanState_ = ScanState::Idle; + reportState_ = AfState::Idle; + scanData_.clear(); +} + +/* + * PDAF phase data are available in prepare(), but CDAF statistics are not + * available until process(). We are gambling on the availability of PDAF. + * To expedite feedback control using PDAF, issue the V4L2 lens control from + * prepare(). Conversely, during scans, we must allow an extra frame delay + * between steps, to retrieve CDAF statistics from the previous process() + * so we can terminate the scan early without having to change our minds. + */ + +void Af::prepare(Metadata *imageMetadata) +{ + /* Initialize for triggered scan or start of CAF mode */ + if (scanState_ == ScanState::Trigger) + startAF(); + + if (initted_) { + /* Get PDAF from the embedded metadata, and run AF algorithm core */ + PdafRegions regions; + double phase = 0.0, conf = 0.0; + double oldFt = ftarget_; + double oldFs = fsmooth_; + ScanState oldSs = scanState_; + uint32_t oldSt = stepCount_; + if (imageMetadata->get("pdaf.regions", regions) == 0) + getPhase(regions, phase, conf); + doAF(prevContrast_, phase, conf); + updateLensPosition(); + LOG(RPiAf, Debug) << std::fixed << std::setprecision(2) + << static_cast<unsigned int>(reportState_) + << " sst" << static_cast<unsigned int>(oldSs) + << "->" << static_cast<unsigned int>(scanState_) + << " stp" << oldSt << "->" << stepCount_ + << " ft" << oldFt << "->" << ftarget_ + << " fs" << oldFs << "->" << fsmooth_ + << " cont=" << (int)prevContrast_ + << " phase=" << (int)phase << " conf=" << (int)conf; + } + + /* Report status and produce new lens setting */ + AfStatus status; + if (pauseFlag_) + status.pauseState = (scanState_ == ScanState::Idle) ? AfPauseState::Paused + : AfPauseState::Pausing; + else + status.pauseState = AfPauseState::Running; + + if (mode_ == AfModeAuto && scanState_ != ScanState::Idle) + status.state = AfState::Scanning; + else + status.state = reportState_; + status.lensSetting = initted_ ? std::optional<int>(cfg_.map.eval(fsmooth_)) + : std::nullopt; + imageMetadata->set("af.status", status); +} + +void Af::process(StatisticsPtr &stats, [[maybe_unused]] Metadata *imageMetadata) +{ + (void)imageMetadata; + prevContrast_ = getContrast(stats->focusRegions); +} + +/* Controls */ + +void Af::setRange(AfRange r) +{ + LOG(RPiAf, Debug) << "setRange: " << (unsigned)r; + if (r < AfAlgorithm::AfRangeMax) + range_ = r; +} + +void Af::setSpeed(AfSpeed s) +{ + LOG(RPiAf, Debug) << "setSpeed: " << (unsigned)s; + if (s < AfAlgorithm::AfSpeedMax) { + if (scanState_ == ScanState::Pdaf && + cfg_.speeds[s].pdafFrames > cfg_.speeds[speed_].pdafFrames) + stepCount_ += cfg_.speeds[s].pdafFrames - cfg_.speeds[speed_].pdafFrames; + speed_ = s; + } +} + +void Af::setMetering(bool mode) +{ + if (useWindows_ != mode) { + useWindows_ = mode; + invalidateWeights(); + } +} + +void Af::setWindows(libcamera::Span<libcamera::Rectangle const> const &wins) +{ + windows_.clear(); + for (auto &w : wins) { + LOG(RPiAf, Debug) << "Window: " + << w.x << ", " + << w.y << ", " + << w.width << ", " + << w.height; + windows_.push_back(w); + if (windows_.size() >= MaxWindows) + break; + } + + if (useWindows_) + invalidateWeights(); +} + +bool Af::setLensPosition(double dioptres, int *hwpos) +{ + bool changed = false; + + if (mode_ == AfModeManual) { + LOG(RPiAf, Debug) << "setLensPosition: " << dioptres; + ftarget_ = cfg_.map.domain().clip(dioptres); + changed = !(initted_ && fsmooth_ == ftarget_); + updateLensPosition(); + } + + if (hwpos) + *hwpos = cfg_.map.eval(fsmooth_); + + return changed; +} + +std::optional<double> Af::getLensPosition() const +{ + /* + * \todo We ought to perform some precise timing here to determine + * the current lens position. + */ + return initted_ ? std::optional<double>(fsmooth_) : std::nullopt; +} + +void Af::cancelScan() +{ + LOG(RPiAf, Debug) << "cancelScan"; + if (mode_ == AfModeAuto) + goIdle(); +} + +void Af::triggerScan() +{ + LOG(RPiAf, Debug) << "triggerScan"; + if (mode_ == AfModeAuto && scanState_ == ScanState::Idle) + scanState_ = ScanState::Trigger; +} + +void Af::setMode(AfAlgorithm::AfMode mode) +{ + LOG(RPiAf, Debug) << "setMode: " << (unsigned)mode; + if (mode_ != mode) { + mode_ = mode; + pauseFlag_ = false; + if (mode == AfModeContinuous) + scanState_ = ScanState::Trigger; + else if (mode != AfModeAuto || scanState_ < ScanState::Coarse) + goIdle(); + } +} + +AfAlgorithm::AfMode Af::getMode() const +{ + return mode_; +} + +void Af::pause(AfAlgorithm::AfPause pause) +{ + LOG(RPiAf, Debug) << "pause: " << (unsigned)pause; + if (mode_ == AfModeContinuous) { + if (pause == AfPauseResume && pauseFlag_) { + pauseFlag_ = false; + if (scanState_ < ScanState::Coarse) + scanState_ = ScanState::Trigger; + } else if (pause != AfPauseResume && !pauseFlag_) { + pauseFlag_ = true; + if (pause == AfPauseImmediate || scanState_ < ScanState::Coarse) + goIdle(); + } + } +} + +// Register algorithm with the system. +static Algorithm *create(Controller *controller) +{ + return (Algorithm *)new Af(controller); +} +static RegisterAlgorithm reg(NAME, &create); diff --git a/src/ipa/rpi/controller/rpi/af.h b/src/ipa/rpi/controller/rpi/af.h new file mode 100644 index 00000000..2617e2ac --- /dev/null +++ b/src/ipa/rpi/controller/rpi/af.h @@ -0,0 +1,165 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022-2023, Raspberry Pi Ltd + * + * Autofocus control algorithm + */ +#pragma once + +#include "../af_algorithm.h" +#include "../af_status.h" +#include "../pdaf_data.h" +#include "../pwl.h" + +/* + * This algorithm implements a hybrid of CDAF and PDAF, favouring PDAF. + * + * Whenever PDAF is available, it is used in a continuous feedback loop. + * When triggered in auto mode, we simply enable AF for a limited number + * of frames (it may terminate early if the delta becomes small enough). + * + * When PDAF confidence is low (due e.g. to low contrast or extreme defocus) + * or PDAF data are absent, fall back to CDAF with a programmed scan pattern. + * A coarse and fine scan are performed, using ISP's CDAF focus FoM to + * estimate the lens position with peak contrast. This is slower due to + * extra latency in the ISP, and requires a settling time between steps. + * + * Some hysteresis is applied to the switch between PDAF and CDAF, to avoid + * "nuisance" scans. During each interval where PDAF is not working, only + * ONE scan will be performed; CAF cannot track objects using CDAF alone. + * + */ + +namespace RPiController { + +class Af : public AfAlgorithm +{ +public: + Af(Controller *controller = NULL); + ~Af(); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void initialise() override; + + /* IPA calls */ + void switchMode(CameraMode const &cameraMode, Metadata *metadata) override; + void prepare(Metadata *imageMetadata) override; + void process(StatisticsPtr &stats, Metadata *imageMetadata) override; + + /* controls */ + void setRange(AfRange range) override; + void setSpeed(AfSpeed speed) override; + void setMetering(bool use_windows) override; + void setWindows(libcamera::Span<libcamera::Rectangle const> const &wins) override; + void setMode(AfMode mode) override; + AfMode getMode() const override; + bool setLensPosition(double dioptres, int32_t *hwpos) override; + std::optional<double> getLensPosition() const override; + void triggerScan() override; + void cancelScan() override; + void pause(AfPause pause) override; + +private: + enum class ScanState { + Idle = 0, + Trigger, + Pdaf, + Coarse, + Fine, + Settle + }; + + struct RangeDependentParams { + double focusMin; /* lower (far) limit in dipotres */ + double focusMax; /* upper (near) limit in dioptres */ + double focusDefault; /* default setting ("hyperfocal") */ + + RangeDependentParams(); + void read(const libcamera::YamlObject ¶ms); + }; + + struct SpeedDependentParams { + double stepCoarse; /* used for scans */ + double stepFine; /* used for scans */ + double contrastRatio; /* used for scan termination and reporting */ + double pdafGain; /* coefficient for PDAF feedback loop */ + double pdafSquelch; /* PDAF stability parameter (device-specific) */ + double maxSlew; /* limit for lens movement per frame */ + uint32_t pdafFrames; /* number of iterations when triggered */ + uint32_t dropoutFrames; /* number of non-PDAF frames to switch to CDAF */ + uint32_t stepFrames; /* frames to skip in between steps of a scan */ + + SpeedDependentParams(); + void read(const libcamera::YamlObject ¶ms); + }; + + struct CfgParams { + RangeDependentParams ranges[AfRangeMax]; + SpeedDependentParams speeds[AfSpeedMax]; + uint32_t confEpsilon; /* PDAF hysteresis threshold (sensor-specific) */ + uint32_t confThresh; /* PDAF confidence cell min (sensor-specific) */ + uint32_t confClip; /* PDAF confidence cell max (sensor-specific) */ + uint32_t skipFrames; /* frames to skip at start or modeswitch */ + Pwl map; /* converts dioptres -> lens driver position */ + + CfgParams(); + int read(const libcamera::YamlObject ¶ms); + void initialise(); + }; + + struct ScanRecord { + double focus; + double contrast; + double phase; + double conf; + }; + + struct RegionWeights { + unsigned rows; + unsigned cols; + uint32_t sum; + std::vector<uint16_t> w; + + RegionWeights() + : rows(0), cols(0), sum(0), w() {} + }; + + void computeWeights(RegionWeights *wgts, unsigned rows, unsigned cols); + void invalidateWeights(); + bool getPhase(PdafRegions const ®ions, double &phase, double &conf); + double getContrast(const FocusRegions &focusStats); + void doPDAF(double phase, double conf); + bool earlyTerminationByPhase(double phase); + double findPeak(unsigned index) const; + void doScan(double contrast, double phase, double conf); + void doAF(double contrast, double phase, double conf); + void updateLensPosition(); + void startAF(); + void startProgrammedScan(); + void goIdle(); + + /* Configuration and settings */ + CfgParams cfg_; + AfRange range_; + AfSpeed speed_; + AfMode mode_; + bool pauseFlag_; + libcamera::Rectangle statsRegion_; + std::vector<libcamera::Rectangle> windows_; + bool useWindows_; + RegionWeights phaseWeights_; + RegionWeights contrastWeights_; + + /* Working state. */ + ScanState scanState_; + bool initted_; + double ftarget_, fsmooth_; + double prevContrast_; + unsigned skipCount_, stepCount_, dropCount_; + unsigned scanMaxIndex_; + double scanMaxContrast_, scanMinContrast_; + std::vector<ScanRecord> scanData_; + AfState reportState_; +}; + +} // namespace RPiController diff --git a/src/ipa/rpi/controller/rpi/agc.cpp b/src/ipa/rpi/controller/rpi/agc.cpp new file mode 100644 index 00000000..fcf7aec9 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/agc.cpp @@ -0,0 +1,338 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * AGC/AEC control algorithm + */ + +#include "agc.h" + +#include <libcamera/base/log.h> + +#include "../metadata.h" + +using namespace RPiController; +using namespace libcamera; +using libcamera::utils::Duration; +using namespace std::literals::chrono_literals; + +LOG_DEFINE_CATEGORY(RPiAgc) + +#define NAME "rpi.agc" + +Agc::Agc(Controller *controller) + : AgcAlgorithm(controller), + activeChannels_({ 0 }), index_(0) +{ +} + +char const *Agc::name() const +{ + return NAME; +} + +int Agc::read(const libcamera::YamlObject ¶ms) +{ + /* + * When there is only a single channel we can read the old style syntax. + * Otherwise we expect a "channels" keyword followed by a list of configurations. + */ + if (!params.contains("channels")) { + LOG(RPiAgc, Debug) << "Single channel only"; + channelTotalExposures_.resize(1, 0s); + channelData_.emplace_back(); + return channelData_.back().channel.read(params, getHardwareConfig()); + } + + const auto &channels = params["channels"].asList(); + for (auto ch = channels.begin(); ch != channels.end(); ch++) { + LOG(RPiAgc, Debug) << "Read AGC channel"; + channelData_.emplace_back(); + int ret = channelData_.back().channel.read(*ch, getHardwareConfig()); + if (ret) + return ret; + } + + LOG(RPiAgc, Debug) << "Read " << channelData_.size() << " channel(s)"; + if (channelData_.empty()) { + LOG(RPiAgc, Error) << "No AGC channels provided"; + return -1; + } + + channelTotalExposures_.resize(channelData_.size(), 0s); + + return 0; +} + +int Agc::checkChannel(unsigned int channelIndex) const +{ + if (channelIndex >= channelData_.size()) { + LOG(RPiAgc, Warning) << "AGC channel " << channelIndex << " not available"; + return -1; + } + + return 0; +} + +void Agc::disableAuto() +{ + LOG(RPiAgc, Debug) << "disableAuto"; + + /* All channels are enabled/disabled together. */ + for (auto &data : channelData_) + data.channel.disableAuto(); +} + +void Agc::enableAuto() +{ + LOG(RPiAgc, Debug) << "enableAuto"; + + /* All channels are enabled/disabled together. */ + for (auto &data : channelData_) + data.channel.enableAuto(); +} + +unsigned int Agc::getConvergenceFrames() const +{ + /* If there are n channels, it presumably takes n times as long to converge. */ + return channelData_[0].channel.getConvergenceFrames() * activeChannels_.size(); +} + +std::vector<double> const &Agc::getWeights() const +{ + /* + * In future the metering weights may be determined differently, making it + * difficult to associate different sets of weight with different channels. + * Therefore we shall impose a limitation, at least for now, that all + * channels will use the same weights. + */ + return channelData_[0].channel.getWeights(); +} + +void Agc::setEv(unsigned int channelIndex, double ev) +{ + if (checkChannel(channelIndex)) + return; + + LOG(RPiAgc, Debug) << "setEv " << ev << " for channel " << channelIndex; + channelData_[channelIndex].channel.setEv(ev); +} + +void Agc::setFlickerPeriod(Duration flickerPeriod) +{ + LOG(RPiAgc, Debug) << "setFlickerPeriod " << flickerPeriod; + + /* Flicker period will be the same across all channels. */ + for (auto &data : channelData_) + data.channel.setFlickerPeriod(flickerPeriod); +} + +void Agc::setMaxShutter(Duration maxShutter) +{ + /* Frame durations will be the same across all channels too. */ + for (auto &data : channelData_) + data.channel.setMaxShutter(maxShutter); +} + +void Agc::setFixedShutter(unsigned int channelIndex, Duration fixedShutter) +{ + if (checkChannel(channelIndex)) + return; + + LOG(RPiAgc, Debug) << "setFixedShutter " << fixedShutter + << " for channel " << channelIndex; + channelData_[channelIndex].channel.setFixedShutter(fixedShutter); +} + +void Agc::setFixedAnalogueGain(unsigned int channelIndex, double fixedAnalogueGain) +{ + if (checkChannel(channelIndex)) + return; + + LOG(RPiAgc, Debug) << "setFixedAnalogueGain " << fixedAnalogueGain + << " for channel " << channelIndex; + channelData_[channelIndex].channel.setFixedAnalogueGain(fixedAnalogueGain); +} + +void Agc::setMeteringMode(std::string const &meteringModeName) +{ + /* Metering modes will be the same across all channels too. */ + for (auto &data : channelData_) + data.channel.setMeteringMode(meteringModeName); +} + +void Agc::setExposureMode(std::string const &exposureModeName) +{ + LOG(RPiAgc, Debug) << "setExposureMode " << exposureModeName; + + /* Exposure mode will be the same across all channels. */ + for (auto &data : channelData_) + data.channel.setExposureMode(exposureModeName); +} + +void Agc::setConstraintMode(std::string const &constraintModeName) +{ + LOG(RPiAgc, Debug) << "setConstraintMode " << constraintModeName; + + /* Constraint mode will be the same across all channels. */ + for (auto &data : channelData_) + data.channel.setConstraintMode(constraintModeName); +} + +template<typename T> +std::ostream &operator<<(std::ostream &os, const std::vector<T> &v) +{ + os << "{"; + for (const auto &e : v) + os << " " << e; + os << " }"; + return os; +} + +void Agc::setActiveChannels(const std::vector<unsigned int> &activeChannels) +{ + if (activeChannels.empty()) { + LOG(RPiAgc, Warning) << "No active AGC channels supplied"; + return; + } + + for (auto index : activeChannels) + if (checkChannel(index)) + return; + + LOG(RPiAgc, Debug) << "setActiveChannels " << activeChannels; + activeChannels_ = activeChannels; + index_ = 0; +} + +void Agc::switchMode(CameraMode const &cameraMode, + Metadata *metadata) +{ + /* + * We run switchMode on every channel, and then we're going to start over + * with the first active channel again which means that this channel's + * status needs to be the one we leave in the metadata. + */ + AgcStatus status; + + for (unsigned int channelIndex = 0; channelIndex < channelData_.size(); channelIndex++) { + LOG(RPiAgc, Debug) << "switchMode for channel " << channelIndex; + channelData_[channelIndex].channel.switchMode(cameraMode, metadata); + if (channelIndex == activeChannels_[0]) + metadata->get("agc.status", status); + } + + status.channel = activeChannels_[0]; + metadata->set("agc.status", status); + index_ = 0; +} + +static void getDelayedChannelIndex(Metadata *metadata, const char *message, unsigned int &channelIndex) +{ + std::unique_lock<RPiController::Metadata> lock(*metadata); + AgcStatus *status = metadata->getLocked<AgcStatus>("agc.delayed_status"); + if (status) + channelIndex = status->channel; + else { + /* This does happen at startup, otherwise it would be a Warning or Error. */ + LOG(RPiAgc, Debug) << message; + } +} + +static libcamera::utils::Duration +setCurrentChannelIndexGetExposure(Metadata *metadata, const char *message, unsigned int channelIndex) +{ + std::unique_lock<RPiController::Metadata> lock(*metadata); + AgcStatus *status = metadata->getLocked<AgcStatus>("agc.status"); + libcamera::utils::Duration dur = 0s; + + if (status) { + status->channel = channelIndex; + dur = status->totalExposureValue; + } else { + /* This does happen at startup, otherwise it would be a Warning or Error. */ + LOG(RPiAgc, Debug) << message; + } + + return dur; +} + +void Agc::prepare(Metadata *imageMetadata) +{ + /* + * The DeviceStatus in the metadata should be correct for the image we + * are processing. The delayed status should tell us what channel this frame + * was from, so we will use that channel's prepare method. + * + * \todo To be honest, there's not much that's stateful in the prepare methods + * so we should perhaps re-evaluate whether prepare even needs to be done + * "per channel". + */ + unsigned int channelIndex = activeChannels_[0]; + getDelayedChannelIndex(imageMetadata, "prepare: no delayed status", channelIndex); + + LOG(RPiAgc, Debug) << "prepare for channel " << channelIndex; + channelData_[channelIndex].channel.prepare(imageMetadata); +} + +void Agc::process(StatisticsPtr &stats, Metadata *imageMetadata) +{ + /* + * We want to generate values for the next channel in round robin fashion + * (i.e. the channel at location index_ in the activeChannel list), even though + * the statistics we have will be for a different channel (which we find + * again from the delayed status). + */ + + /* Generate updated AGC values for channel for new channel that we are requesting. */ + unsigned int channelIndex = activeChannels_[index_]; + AgcChannelData &channelData = channelData_[channelIndex]; + /* The stats that arrived with this image correspond to the following channel. */ + unsigned int statsIndex = 0; + getDelayedChannelIndex(imageMetadata, "process: no delayed status for stats", statsIndex); + LOG(RPiAgc, Debug) << "process for channel " << channelIndex; + + /* + * We keep a cache of the most recent DeviceStatus and stats for each channel, + * so that we can invoke the next channel's process method with the most up to date + * values. + */ + LOG(RPiAgc, Debug) << "Save DeviceStatus and stats for channel " << statsIndex; + DeviceStatus deviceStatus; + if (imageMetadata->get<DeviceStatus>("device.status", deviceStatus) == 0) + channelData_[statsIndex].deviceStatus = deviceStatus; + else + /* Every frame should have a DeviceStatus. */ + LOG(RPiAgc, Error) << "process: no device status found"; + channelData_[statsIndex].statistics = stats; + + /* + * Finally fetch the most recent DeviceStatus and stats for the new channel, if both + * exist, and call process(). We must make the agc.status metadata record correctly + * which channel this is. + */ + StatisticsPtr *statsPtr = &stats; + if (channelData.statistics && channelData.deviceStatus) { + deviceStatus = *channelData.deviceStatus; + statsPtr = &channelData.statistics; + } else { + /* Can also happen when new channels start. */ + LOG(RPiAgc, Debug) << "process: channel " << channelIndex << " not seen yet"; + } + + channelData.channel.process(*statsPtr, deviceStatus, imageMetadata, channelTotalExposures_); + auto dur = setCurrentChannelIndexGetExposure(imageMetadata, "process: no AGC status found", + channelIndex); + if (dur) + channelTotalExposures_[channelIndex] = dur; + + /* And onto the next channel for the next call. */ + index_ = (index_ + 1) % activeChannels_.size(); +} + +/* Register algorithm with the system. */ +static Algorithm *create(Controller *controller) +{ + return (Algorithm *)new Agc(controller); +} +static RegisterAlgorithm reg(NAME, &create); diff --git a/src/ipa/rpi/controller/rpi/agc.h b/src/ipa/rpi/controller/rpi/agc.h new file mode 100644 index 00000000..5d056f02 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/agc.h @@ -0,0 +1,58 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * AGC/AEC control algorithm + */ +#pragma once + +#include <optional> +#include <string> +#include <vector> + +#include "../agc_algorithm.h" + +#include "agc_channel.h" + +namespace RPiController { + +struct AgcChannelData { + AgcChannel channel; + std::optional<DeviceStatus> deviceStatus; + StatisticsPtr statistics; +}; + +class Agc : public AgcAlgorithm +{ +public: + Agc(Controller *controller); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + unsigned int getConvergenceFrames() const override; + std::vector<double> const &getWeights() const override; + void setEv(unsigned int channel, double ev) override; + void setFlickerPeriod(libcamera::utils::Duration flickerPeriod) override; + void setMaxShutter(libcamera::utils::Duration maxShutter) override; + void setFixedShutter(unsigned int channelIndex, + libcamera::utils::Duration fixedShutter) override; + void setFixedAnalogueGain(unsigned int channelIndex, + double fixedAnalogueGain) override; + 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 switchMode(CameraMode const &cameraMode, Metadata *metadata) override; + void prepare(Metadata *imageMetadata) override; + void process(StatisticsPtr &stats, Metadata *imageMetadata) override; + void setActiveChannels(const std::vector<unsigned int> &activeChannels) override; + +private: + int checkChannel(unsigned int channel) const; + std::vector<AgcChannelData> channelData_; + std::vector<unsigned int> activeChannels_; + unsigned int index_; /* index into the activeChannels_ */ + AgcChannelTotalExposures channelTotalExposures_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/agc_channel.cpp b/src/ipa/rpi/controller/rpi/agc_channel.cpp new file mode 100644 index 00000000..a77ccec3 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/agc_channel.cpp @@ -0,0 +1,1022 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * AGC/AEC control algorithm + */ + +#include "agc_channel.h" + +#include <algorithm> +#include <tuple> + +#include <libcamera/base/log.h> + +#include "../awb_status.h" +#include "../device_status.h" +#include "../histogram.h" +#include "../lux_status.h" +#include "../metadata.h" + +using namespace RPiController; +using namespace libcamera; +using libcamera::utils::Duration; +using namespace std::literals::chrono_literals; + +LOG_DECLARE_CATEGORY(RPiAgc) + +int AgcMeteringMode::read(const libcamera::YamlObject ¶ms) +{ + const YamlObject &yamlWeights = params["weights"]; + + for (const auto &p : yamlWeights.asList()) { + auto value = p.get<double>(); + if (!value) + return -EINVAL; + weights.push_back(*value); + } + + return 0; +} + +static std::tuple<int, std::string> +readMeteringModes(std::map<std::string, AgcMeteringMode> &metering_modes, + const libcamera::YamlObject ¶ms) +{ + std::string first; + int ret; + + for (const auto &[key, value] : params.asDict()) { + AgcMeteringMode meteringMode; + ret = meteringMode.read(value); + if (ret) + return { ret, {} }; + + metering_modes[key] = std::move(meteringMode); + if (first.empty()) + first = key; + } + + return { 0, first }; +} + +int AgcExposureMode::read(const libcamera::YamlObject ¶ms) +{ + auto value = params["shutter"].getList<double>(); + if (!value) + return -EINVAL; + std::transform(value->begin(), value->end(), std::back_inserter(shutter), + [](double v) { return v * 1us; }); + + value = params["gain"].getList<double>(); + if (!value) + return -EINVAL; + gain = std::move(*value); + + if (shutter.size() < 2 || gain.size() < 2) { + LOG(RPiAgc, Error) + << "AgcExposureMode: must have at least two entries in exposure profile"; + return -EINVAL; + } + + if (shutter.size() != gain.size()) { + LOG(RPiAgc, Error) + << "AgcExposureMode: expect same number of exposure and gain entries in exposure profile"; + return -EINVAL; + } + + return 0; +} + +static std::tuple<int, std::string> +readExposureModes(std::map<std::string, AgcExposureMode> &exposureModes, + const libcamera::YamlObject ¶ms) +{ + std::string first; + int ret; + + for (const auto &[key, value] : params.asDict()) { + AgcExposureMode exposureMode; + ret = exposureMode.read(value); + if (ret) + return { ret, {} }; + + exposureModes[key] = std::move(exposureMode); + if (first.empty()) + first = key; + } + + return { 0, first }; +} + +int AgcConstraint::read(const libcamera::YamlObject ¶ms) +{ + std::string boundString = params["bound"].get<std::string>(""); + transform(boundString.begin(), boundString.end(), + boundString.begin(), ::toupper); + if (boundString != "UPPER" && boundString != "LOWER") { + LOG(RPiAgc, Error) << "AGC constraint type should be UPPER or LOWER"; + return -EINVAL; + } + bound = boundString == "UPPER" ? Bound::UPPER : Bound::LOWER; + + auto value = params["q_lo"].get<double>(); + if (!value) + return -EINVAL; + qLo = *value; + + value = params["q_hi"].get<double>(); + if (!value) + return -EINVAL; + qHi = *value; + + return yTarget.read(params["y_target"]); +} + +static std::tuple<int, AgcConstraintMode> +readConstraintMode(const libcamera::YamlObject ¶ms) +{ + AgcConstraintMode mode; + int ret; + + for (const auto &p : params.asList()) { + AgcConstraint constraint; + ret = constraint.read(p); + if (ret) + return { ret, {} }; + + mode.push_back(std::move(constraint)); + } + + return { 0, mode }; +} + +static std::tuple<int, std::string> +readConstraintModes(std::map<std::string, AgcConstraintMode> &constraintModes, + const libcamera::YamlObject ¶ms) +{ + std::string first; + int ret; + + for (const auto &[key, value] : params.asDict()) { + std::tie(ret, constraintModes[key]) = readConstraintMode(value); + if (ret) + return { ret, {} }; + + if (first.empty()) + first = key; + } + + return { 0, first }; +} + +int AgcChannelConstraint::read(const libcamera::YamlObject ¶ms) +{ + auto channelValue = params["channel"].get<unsigned int>(); + if (!channelValue) { + LOG(RPiAgc, Error) << "AGC channel constraint must have a channel"; + return -EINVAL; + } + channel = *channelValue; + + std::string boundString = params["bound"].get<std::string>(""); + transform(boundString.begin(), boundString.end(), + boundString.begin(), ::toupper); + if (boundString != "UPPER" && boundString != "LOWER") { + LOG(RPiAgc, Error) << "AGC channel constraint type should be UPPER or LOWER"; + return -EINVAL; + } + bound = boundString == "UPPER" ? Bound::UPPER : Bound::LOWER; + + auto factorValue = params["factor"].get<double>(); + if (!factorValue) { + LOG(RPiAgc, Error) << "AGC channel constraint must have a factor"; + return -EINVAL; + } + factor = *factorValue; + + return 0; +} + +static int readChannelConstraints(std::vector<AgcChannelConstraint> &channelConstraints, + const libcamera::YamlObject ¶ms) +{ + for (const auto &p : params.asList()) { + AgcChannelConstraint constraint; + int ret = constraint.read(p); + if (ret) + return ret; + + channelConstraints.push_back(constraint); + } + + return 0; +} + +int AgcConfig::read(const libcamera::YamlObject ¶ms) +{ + LOG(RPiAgc, Debug) << "AgcConfig"; + int ret; + + std::tie(ret, defaultMeteringMode) = + readMeteringModes(meteringModes, params["metering_modes"]); + if (ret) + return ret; + std::tie(ret, defaultExposureMode) = + readExposureModes(exposureModes, params["exposure_modes"]); + if (ret) + return ret; + std::tie(ret, defaultConstraintMode) = + readConstraintModes(constraintModes, params["constraint_modes"]); + if (ret) + return ret; + + if (params.contains("channel_constraints")) { + ret = readChannelConstraints(channelConstraints, params["channel_constraints"]); + if (ret) + return ret; + } + + ret = yTarget.read(params["y_target"]); + if (ret) + return ret; + + speed = params["speed"].get<double>(0.2); + startupFrames = params["startup_frames"].get<uint16_t>(10); + convergenceFrames = params["convergence_frames"].get<unsigned int>(6); + fastReduceThreshold = params["fast_reduce_threshold"].get<double>(0.4); + baseEv = params["base_ev"].get<double>(1.0); + + /* Start with quite a low value as ramping up is easier than ramping down. */ + defaultExposureTime = params["default_exposure_time"].get<double>(1000) * 1us; + defaultAnalogueGain = params["default_analogue_gain"].get<double>(1.0); + + stableRegion = params["stable_region"].get<double>(0.02); + + desaturate = params["desaturate"].get<int>(1); + + return 0; +} + +AgcChannel::ExposureValues::ExposureValues() + : shutter(0s), analogueGain(0), + totalExposure(0s), totalExposureNoDG(0s) +{ +} + +AgcChannel::AgcChannel() + : meteringMode_(nullptr), exposureMode_(nullptr), constraintMode_(nullptr), + frameCount_(0), lockCount_(0), + lastTargetExposure_(0s), ev_(1.0), flickerPeriod_(0s), + maxShutter_(0s), fixedShutter_(0s), fixedAnalogueGain_(0.0) +{ + /* Set AWB default values in case early frames have no updates in metadata. */ + awb_.gainR = 1.0; + awb_.gainG = 1.0; + awb_.gainB = 1.0; + + /* + * Setting status_.totalExposureValue_ to zero initially tells us + * it's not been calculated yet (i.e. Process hasn't yet run). + */ + status_ = {}; + status_.ev = ev_; +} + +int AgcChannel::read(const libcamera::YamlObject ¶ms, + const Controller::HardwareConfig &hardwareConfig) +{ + int ret = config_.read(params); + if (ret) + return ret; + + const Size &size = hardwareConfig.agcZoneWeights; + for (auto const &modes : config_.meteringModes) { + if (modes.second.weights.size() != size.width * size.height) { + LOG(RPiAgc, Error) << "AgcMeteringMode: Incorrect number of weights"; + return -EINVAL; + } + } + + /* + * Set the config's defaults (which are the first ones it read) as our + * current modes, until someone changes them. (they're all known to + * exist at this point) + */ + meteringModeName_ = config_.defaultMeteringMode; + meteringMode_ = &config_.meteringModes[meteringModeName_]; + exposureModeName_ = config_.defaultExposureMode; + exposureMode_ = &config_.exposureModes[exposureModeName_]; + constraintModeName_ = config_.defaultConstraintMode; + constraintMode_ = &config_.constraintModes[constraintModeName_]; + /* Set up the "last shutter/gain" values, in case AGC starts "disabled". */ + status_.shutterTime = config_.defaultExposureTime; + status_.analogueGain = config_.defaultAnalogueGain; + return 0; +} + +void AgcChannel::disableAuto() +{ + fixedShutter_ = status_.shutterTime; + fixedAnalogueGain_ = status_.analogueGain; +} + +void AgcChannel::enableAuto() +{ + fixedShutter_ = 0s; + fixedAnalogueGain_ = 0; +} + +unsigned int AgcChannel::getConvergenceFrames() const +{ + /* + * If shutter and gain have been explicitly set, there is no + * convergence to happen, so no need to drop any frames - return zero. + */ + if (fixedShutter_ && fixedAnalogueGain_) + return 0; + else + return config_.convergenceFrames; +} + +std::vector<double> const &AgcChannel::getWeights() const +{ + /* + * In case someone calls setMeteringMode and then this before the + * algorithm has run and updated the meteringMode_ pointer. + */ + auto it = config_.meteringModes.find(meteringModeName_); + if (it == config_.meteringModes.end()) + return meteringMode_->weights; + return it->second.weights; +} + +void AgcChannel::setEv(double ev) +{ + ev_ = ev; +} + +void AgcChannel::setFlickerPeriod(Duration flickerPeriod) +{ + flickerPeriod_ = flickerPeriod; +} + +void AgcChannel::setMaxShutter(Duration maxShutter) +{ + maxShutter_ = maxShutter; +} + +void AgcChannel::setFixedShutter(Duration fixedShutter) +{ + fixedShutter_ = fixedShutter; + /* Set this in case someone calls disableAuto() straight after. */ + status_.shutterTime = limitShutter(fixedShutter_); +} + +void AgcChannel::setFixedAnalogueGain(double fixedAnalogueGain) +{ + fixedAnalogueGain_ = fixedAnalogueGain; + /* Set this in case someone calls disableAuto() straight after. */ + status_.analogueGain = limitGain(fixedAnalogueGain); +} + +void AgcChannel::setMeteringMode(std::string const &meteringModeName) +{ + meteringModeName_ = meteringModeName; +} + +void AgcChannel::setExposureMode(std::string const &exposureModeName) +{ + exposureModeName_ = exposureModeName; +} + +void AgcChannel::setConstraintMode(std::string const &constraintModeName) +{ + constraintModeName_ = constraintModeName; +} + +void AgcChannel::switchMode(CameraMode const &cameraMode, + Metadata *metadata) +{ + /* AGC expects the mode sensitivity always to be non-zero. */ + ASSERT(cameraMode.sensitivity); + + housekeepConfig(); + + /* + * Store the mode in the local state. We must cache the sensitivity of + * of the previous mode for the calculations below. + */ + double lastSensitivity = mode_.sensitivity; + mode_ = cameraMode; + + Duration fixedShutter = limitShutter(fixedShutter_); + if (fixedShutter && fixedAnalogueGain_) { + /* We're going to reset the algorithm here with these fixed values. */ + fetchAwbStatus(metadata); + double minColourGain = std::min({ awb_.gainR, awb_.gainG, awb_.gainB, 1.0 }); + ASSERT(minColourGain != 0.0); + + /* This is the equivalent of computeTargetExposure and applyDigitalGain. */ + target_.totalExposureNoDG = fixedShutter_ * fixedAnalogueGain_; + target_.totalExposure = target_.totalExposureNoDG / minColourGain; + + /* Equivalent of filterExposure. This resets any "history". */ + filtered_ = target_; + + /* Equivalent of divideUpExposure. */ + filtered_.shutter = fixedShutter; + filtered_.analogueGain = fixedAnalogueGain_; + } else if (status_.totalExposureValue) { + /* + * On a mode switch, various things could happen: + * - the exposure profile might change + * - a fixed exposure or gain might be set + * - the new mode's sensitivity might be different + * We cope with the last of these by scaling the target values. After + * that we just need to re-divide the exposure/gain according to the + * current exposure profile, which takes care of everything else. + */ + + double ratio = lastSensitivity / cameraMode.sensitivity; + target_.totalExposureNoDG *= ratio; + target_.totalExposure *= ratio; + filtered_.totalExposureNoDG *= ratio; + filtered_.totalExposure *= ratio; + + divideUpExposure(); + } else { + /* + * We come through here on startup, when at least one of the shutter + * or gain has not been fixed. We must still write those values out so + * that they will be applied immediately. We supply some arbitrary defaults + * for any that weren't set. + */ + + /* Equivalent of divideUpExposure. */ + filtered_.shutter = fixedShutter ? fixedShutter : config_.defaultExposureTime; + filtered_.analogueGain = fixedAnalogueGain_ ? fixedAnalogueGain_ : config_.defaultAnalogueGain; + } + + writeAndFinish(metadata, false); +} + +void AgcChannel::prepare(Metadata *imageMetadata) +{ + Duration totalExposureValue = status_.totalExposureValue; + AgcStatus delayedStatus; + AgcPrepareStatus prepareStatus; + + /* Fetch the AWB status now because AWB also sets it in the prepare method. */ + fetchAwbStatus(imageMetadata); + + if (!imageMetadata->get("agc.delayed_status", delayedStatus)) + totalExposureValue = delayedStatus.totalExposureValue; + + prepareStatus.digitalGain = 1.0; + prepareStatus.locked = false; + + if (status_.totalExposureValue) { + /* Process has run, so we have meaningful values. */ + DeviceStatus deviceStatus; + if (imageMetadata->get("device.status", deviceStatus) == 0) { + Duration actualExposure = deviceStatus.shutterSpeed * + deviceStatus.analogueGain; + if (actualExposure) { + double digitalGain = totalExposureValue / actualExposure; + LOG(RPiAgc, Debug) << "Want total exposure " << totalExposureValue; + /* + * Never ask for a gain < 1.0, and also impose + * some upper limit. Make it customisable? + */ + prepareStatus.digitalGain = std::max(1.0, std::min(digitalGain, 4.0)); + LOG(RPiAgc, Debug) << "Actual exposure " << actualExposure; + LOG(RPiAgc, Debug) << "Use digitalGain " << prepareStatus.digitalGain; + LOG(RPiAgc, Debug) << "Effective exposure " + << actualExposure * prepareStatus.digitalGain; + /* Decide whether AEC/AGC has converged. */ + prepareStatus.locked = updateLockStatus(deviceStatus); + } + } else + LOG(RPiAgc, Warning) << "AgcChannel: no device metadata"; + imageMetadata->set("agc.prepare_status", prepareStatus); + } +} + +void AgcChannel::process(StatisticsPtr &stats, DeviceStatus const &deviceStatus, + Metadata *imageMetadata, + const AgcChannelTotalExposures &channelTotalExposures) +{ + frameCount_++; + /* + * First a little bit of housekeeping, fetching up-to-date settings and + * configuration, that kind of thing. + */ + housekeepConfig(); + /* Get the current exposure values for the frame that's just arrived. */ + fetchCurrentExposure(deviceStatus); + /* Compute the total gain we require relative to the current exposure. */ + double gain, targetY; + computeGain(stats, imageMetadata, gain, targetY); + /* Now compute the target (final) exposure which we think we want. */ + computeTargetExposure(gain); + /* The results have to be filtered so as not to change too rapidly. */ + filterExposure(); + /* + * We may be asked to limit the exposure using other channels. If another channel + * determines our upper bound we may want to know this later. + */ + bool channelBound = applyChannelConstraints(channelTotalExposures); + /* + * Some of the exposure has to be applied as digital gain, so work out + * what that is. It also tells us whether it's trying to desaturate the image + * more quickly, which can only happen when another channel is not limiting us. + */ + bool desaturate = applyDigitalGain(gain, targetY, channelBound); + /* + * The last thing is to divide up the exposure value into a shutter time + * and analogue gain, according to the current exposure mode. + */ + divideUpExposure(); + /* Finally advertise what we've done. */ + writeAndFinish(imageMetadata, desaturate); +} + +bool AgcChannel::updateLockStatus(DeviceStatus const &deviceStatus) +{ + const double errorFactor = 0.10; /* make these customisable? */ + const int maxLockCount = 5; + /* Reset "lock count" when we exceed this multiple of errorFactor */ + const double resetMargin = 1.5; + + /* Add 200us to the exposure time error to allow for line quantisation. */ + Duration exposureError = lastDeviceStatus_.shutterSpeed * errorFactor + 200us; + double gainError = lastDeviceStatus_.analogueGain * errorFactor; + Duration targetError = lastTargetExposure_ * errorFactor; + + /* + * Note that we don't know the exposure/gain limits of the sensor, so + * the values we keep requesting may be unachievable. For this reason + * we only insist that we're close to values in the past few frames. + */ + if (deviceStatus.shutterSpeed > lastDeviceStatus_.shutterSpeed - exposureError && + deviceStatus.shutterSpeed < lastDeviceStatus_.shutterSpeed + exposureError && + deviceStatus.analogueGain > lastDeviceStatus_.analogueGain - gainError && + deviceStatus.analogueGain < lastDeviceStatus_.analogueGain + gainError && + status_.targetExposureValue > lastTargetExposure_ - targetError && + status_.targetExposureValue < lastTargetExposure_ + targetError) + lockCount_ = std::min(lockCount_ + 1, maxLockCount); + else if (deviceStatus.shutterSpeed < lastDeviceStatus_.shutterSpeed - resetMargin * exposureError || + deviceStatus.shutterSpeed > lastDeviceStatus_.shutterSpeed + resetMargin * exposureError || + deviceStatus.analogueGain < lastDeviceStatus_.analogueGain - resetMargin * gainError || + deviceStatus.analogueGain > lastDeviceStatus_.analogueGain + resetMargin * gainError || + status_.targetExposureValue < lastTargetExposure_ - resetMargin * targetError || + status_.targetExposureValue > lastTargetExposure_ + resetMargin * targetError) + lockCount_ = 0; + + lastDeviceStatus_ = deviceStatus; + lastTargetExposure_ = status_.targetExposureValue; + + LOG(RPiAgc, Debug) << "Lock count updated to " << lockCount_; + return lockCount_ == maxLockCount; +} + +void AgcChannel::housekeepConfig() +{ + /* First fetch all the up-to-date settings, so no one else has to do it. */ + status_.ev = ev_; + status_.fixedShutter = limitShutter(fixedShutter_); + status_.fixedAnalogueGain = fixedAnalogueGain_; + status_.flickerPeriod = flickerPeriod_; + LOG(RPiAgc, Debug) << "ev " << status_.ev << " fixedShutter " + << status_.fixedShutter << " fixedAnalogueGain " + << status_.fixedAnalogueGain; + /* + * Make sure the "mode" pointers point to the up-to-date things, if + * they've changed. + */ + if (meteringModeName_ != status_.meteringMode) { + auto it = config_.meteringModes.find(meteringModeName_); + if (it == config_.meteringModes.end()) { + LOG(RPiAgc, Warning) << "No metering mode " << meteringModeName_; + meteringModeName_ = status_.meteringMode; + } else { + meteringMode_ = &it->second; + status_.meteringMode = meteringModeName_; + } + } + if (exposureModeName_ != status_.exposureMode) { + auto it = config_.exposureModes.find(exposureModeName_); + if (it == config_.exposureModes.end()) { + LOG(RPiAgc, Warning) << "No exposure profile " << exposureModeName_; + exposureModeName_ = status_.exposureMode; + } else { + exposureMode_ = &it->second; + status_.exposureMode = exposureModeName_; + } + } + if (constraintModeName_ != status_.constraintMode) { + auto it = config_.constraintModes.find(constraintModeName_); + if (it == config_.constraintModes.end()) { + LOG(RPiAgc, Warning) << "No constraint list " << constraintModeName_; + constraintModeName_ = status_.constraintMode; + } else { + constraintMode_ = &it->second; + status_.constraintMode = constraintModeName_; + } + } + LOG(RPiAgc, Debug) << "exposureMode " + << exposureModeName_ << " constraintMode " + << constraintModeName_ << " meteringMode " + << meteringModeName_; +} + +void AgcChannel::fetchCurrentExposure(DeviceStatus const &deviceStatus) +{ + current_.shutter = deviceStatus.shutterSpeed; + current_.analogueGain = deviceStatus.analogueGain; + current_.totalExposure = 0s; /* this value is unused */ + current_.totalExposureNoDG = current_.shutter * current_.analogueGain; +} + +void AgcChannel::fetchAwbStatus(Metadata *imageMetadata) +{ + if (imageMetadata->get("awb.status", awb_) != 0) + LOG(RPiAgc, Debug) << "No AWB status found"; +} + +static double computeInitialY(StatisticsPtr &stats, AwbStatus const &awb, + std::vector<double> &weights, double gain) +{ + constexpr uint64_t maxVal = 1 << Statistics::NormalisationFactorPow2; + + /* + * If we have no AGC region stats, but do have a a Y histogram, use that + * directly to caluclate the mean Y value of the image. + */ + if (!stats->agcRegions.numRegions() && stats->yHist.bins()) { + /* + * When the gain is applied to the histogram, anything below minBin + * will scale up directly with the gain, but anything above that + * will saturate into the top bin. + */ + auto &hist = stats->yHist; + double minBin = std::min(1.0, 1.0 / gain) * hist.bins(); + double binMean = hist.interBinMean(0.0, minBin); + double numUnsaturated = hist.cumulativeFreq(minBin); + /* This term is from all the pixels that won't saturate. */ + double ySum = binMean * gain * numUnsaturated; + /* And add the ones that will saturate. */ + ySum += (hist.total() - numUnsaturated) * hist.bins(); + return ySum / hist.total() / hist.bins(); + } + + ASSERT(weights.size() == stats->agcRegions.numRegions()); + + /* + * Note that the weights are applied by the IPA to the statistics directly, + * before they are given to us here. + */ + double rSum = 0, gSum = 0, bSum = 0, pixelSum = 0; + for (unsigned int i = 0; i < stats->agcRegions.numRegions(); i++) { + auto ®ion = stats->agcRegions.get(i); + rSum += std::min<double>(region.val.rSum * gain, (maxVal - 1) * region.counted); + gSum += std::min<double>(region.val.gSum * gain, (maxVal - 1) * region.counted); + bSum += std::min<double>(region.val.bSum * gain, (maxVal - 1) * region.counted); + pixelSum += region.counted; + } + if (pixelSum == 0.0) { + LOG(RPiAgc, Warning) << "computeInitialY: pixelSum is zero"; + return 0; + } + + double ySum; + /* Factor in the AWB correction if needed. */ + if (stats->agcStatsPos == Statistics::AgcStatsPos::PreWb) { + ySum = rSum * awb.gainR * .299 + + gSum * awb.gainG * .587 + + bSum * awb.gainB * .114; + } else + ySum = rSum * .299 + gSum * .587 + bSum * .114; + + return ySum / pixelSum / (1 << 16); +} + +/* + * We handle extra gain through EV by adjusting our Y targets. However, you + * simply can't monitor histograms once they get very close to (or beyond!) + * saturation, so we clamp the Y targets to this value. It does mean that EV + * increases don't necessarily do quite what you might expect in certain + * (contrived) cases. + */ + +static constexpr double EvGainYTargetLimit = 0.9; + +static double constraintComputeGain(AgcConstraint &c, const Histogram &h, double lux, + double evGain, double &targetY) +{ + targetY = c.yTarget.eval(c.yTarget.domain().clip(lux)); + targetY = std::min(EvGainYTargetLimit, targetY * evGain); + double iqm = h.interQuantileMean(c.qLo, c.qHi); + return (targetY * h.bins()) / iqm; +} + +void AgcChannel::computeGain(StatisticsPtr &statistics, Metadata *imageMetadata, + double &gain, double &targetY) +{ + struct LuxStatus lux = {}; + lux.lux = 400; /* default lux level to 400 in case no metadata found */ + if (imageMetadata->get("lux.status", lux) != 0) + LOG(RPiAgc, Warning) << "No lux level found"; + const Histogram &h = statistics->yHist; + double evGain = status_.ev * config_.baseEv; + /* + * The initial gain and target_Y come from some of the regions. After + * that we consider the histogram constraints. + */ + targetY = config_.yTarget.eval(config_.yTarget.domain().clip(lux.lux)); + targetY = std::min(EvGainYTargetLimit, targetY * evGain); + + /* + * Do this calculation a few times as brightness increase can be + * non-linear when there are saturated regions. + */ + gain = 1.0; + for (int i = 0; i < 8; i++) { + double initialY = computeInitialY(statistics, awb_, meteringMode_->weights, gain); + double extraGain = std::min(10.0, targetY / (initialY + .001)); + gain *= extraGain; + LOG(RPiAgc, Debug) << "Initial Y " << initialY << " target " << targetY + << " gives gain " << gain; + if (extraGain < 1.01) /* close enough */ + break; + } + + for (auto &c : *constraintMode_) { + double newTargetY; + double newGain = constraintComputeGain(c, h, lux.lux, evGain, newTargetY); + LOG(RPiAgc, Debug) << "Constraint has target_Y " + << newTargetY << " giving gain " << newGain; + if (c.bound == AgcConstraint::Bound::LOWER && newGain > gain) { + LOG(RPiAgc, Debug) << "Lower bound constraint adopted"; + gain = newGain; + targetY = newTargetY; + } else if (c.bound == AgcConstraint::Bound::UPPER && newGain < gain) { + LOG(RPiAgc, Debug) << "Upper bound constraint adopted"; + gain = newGain; + targetY = newTargetY; + } + } + LOG(RPiAgc, Debug) << "Final gain " << gain << " (target_Y " << targetY << " ev " + << status_.ev << " base_ev " << config_.baseEv + << ")"; +} + +void AgcChannel::computeTargetExposure(double gain) +{ + if (status_.fixedShutter && status_.fixedAnalogueGain) { + /* + * When ag and shutter are both fixed, we need to drive the + * total exposure so that we end up with a digital gain of at least + * 1/minColourGain. Otherwise we'd desaturate channels causing + * white to go cyan or magenta. + */ + double minColourGain = std::min({ awb_.gainR, awb_.gainG, awb_.gainB, 1.0 }); + ASSERT(minColourGain != 0.0); + target_.totalExposure = + status_.fixedShutter * status_.fixedAnalogueGain / minColourGain; + } else { + /* + * The statistics reflect the image without digital gain, so the final + * total exposure we're aiming for is: + */ + target_.totalExposure = current_.totalExposureNoDG * gain; + /* The final target exposure is also limited to what the exposure mode allows. */ + Duration maxShutter = status_.fixedShutter + ? status_.fixedShutter + : exposureMode_->shutter.back(); + maxShutter = limitShutter(maxShutter); + Duration maxTotalExposure = + maxShutter * + (status_.fixedAnalogueGain != 0.0 + ? status_.fixedAnalogueGain + : exposureMode_->gain.back()); + target_.totalExposure = std::min(target_.totalExposure, maxTotalExposure); + } + LOG(RPiAgc, Debug) << "Target totalExposure " << target_.totalExposure; +} + +bool AgcChannel::applyChannelConstraints(const AgcChannelTotalExposures &channelTotalExposures) +{ + bool channelBound = false; + LOG(RPiAgc, Debug) + << "Total exposure before channel constraints " << filtered_.totalExposure; + + for (const auto &constraint : config_.channelConstraints) { + LOG(RPiAgc, Debug) + << "Check constraint: channel " << constraint.channel << " bound " + << (constraint.bound == AgcChannelConstraint::Bound::UPPER ? "UPPER" : "LOWER") + << " factor " << constraint.factor; + if (constraint.channel >= channelTotalExposures.size() || + !channelTotalExposures[constraint.channel]) { + LOG(RPiAgc, Debug) << "no such channel or no exposure available- skipped"; + continue; + } + + libcamera::utils::Duration limitExposure = + channelTotalExposures[constraint.channel] * constraint.factor; + LOG(RPiAgc, Debug) << "Limit exposure " << limitExposure; + if ((constraint.bound == AgcChannelConstraint::Bound::UPPER && + filtered_.totalExposure > limitExposure) || + (constraint.bound == AgcChannelConstraint::Bound::LOWER && + filtered_.totalExposure < limitExposure)) { + filtered_.totalExposure = limitExposure; + LOG(RPiAgc, Debug) << "Constraint applies"; + channelBound = true; + } else + LOG(RPiAgc, Debug) << "Constraint does not apply"; + } + + LOG(RPiAgc, Debug) + << "Total exposure after channel constraints " << filtered_.totalExposure; + + return channelBound; +} + +bool AgcChannel::applyDigitalGain(double gain, double targetY, bool channelBound) +{ + double minColourGain = std::min({ awb_.gainR, awb_.gainG, awb_.gainB, 1.0 }); + ASSERT(minColourGain != 0.0); + double dg = 1.0 / minColourGain; + /* + * I think this pipeline subtracts black level and rescales before we + * get the stats, so no need to worry about it. + */ + LOG(RPiAgc, Debug) << "after AWB, target dg " << dg << " gain " << gain + << " target_Y " << targetY; + /* + * Finally, if we're trying to reduce exposure but the target_Y is + * "close" to 1.0, then the gain computed for that constraint will be + * only slightly less than one, because the measured Y can never be + * larger than 1.0. When this happens, demand a large digital gain so + * that the exposure can be reduced, de-saturating the image much more + * quickly (and we then approach the correct value more quickly from + * below). + */ + bool desaturate = false; + if (config_.desaturate) + desaturate = !channelBound && + targetY > config_.fastReduceThreshold && gain < sqrt(targetY); + if (desaturate) + dg /= config_.fastReduceThreshold; + LOG(RPiAgc, Debug) << "Digital gain " << dg << " desaturate? " << desaturate; + filtered_.totalExposureNoDG = filtered_.totalExposure / dg; + LOG(RPiAgc, Debug) << "Target totalExposureNoDG " << filtered_.totalExposureNoDG; + return desaturate; +} + +void AgcChannel::filterExposure() +{ + double speed = config_.speed; + double stableRegion = config_.stableRegion; + + /* + * AGC adapts instantly if both shutter and gain are directly specified + * or we're in the startup phase. + */ + if ((status_.fixedShutter && status_.fixedAnalogueGain) || + frameCount_ <= config_.startupFrames) + speed = 1.0; + if (!filtered_.totalExposure) { + filtered_.totalExposure = target_.totalExposure; + } else if (filtered_.totalExposure * (1.0 - stableRegion) < target_.totalExposure && + filtered_.totalExposure * (1.0 + stableRegion) > target_.totalExposure) { + /* Total exposure must change by more than this or we leave it alone. */ + } else { + /* + * If close to the result go faster, to save making so many + * micro-adjustments on the way. (Make this customisable?) + */ + if (filtered_.totalExposure < 1.2 * target_.totalExposure && + filtered_.totalExposure > 0.8 * target_.totalExposure) + speed = sqrt(speed); + filtered_.totalExposure = speed * target_.totalExposure + + filtered_.totalExposure * (1.0 - speed); + } + LOG(RPiAgc, Debug) << "After filtering, totalExposure " << filtered_.totalExposure + << " no dg " << filtered_.totalExposureNoDG; +} + +void AgcChannel::divideUpExposure() +{ + /* + * Sending the fixed shutter/gain cases through the same code may seem + * unnecessary, but it will make more sense when extend this to cover + * variable aperture. + */ + Duration exposureValue = filtered_.totalExposureNoDG; + Duration shutterTime; + double analogueGain; + shutterTime = status_.fixedShutter ? status_.fixedShutter + : exposureMode_->shutter[0]; + shutterTime = limitShutter(shutterTime); + analogueGain = status_.fixedAnalogueGain != 0.0 ? status_.fixedAnalogueGain + : exposureMode_->gain[0]; + analogueGain = limitGain(analogueGain); + if (shutterTime * analogueGain < exposureValue) { + for (unsigned int stage = 1; + stage < exposureMode_->gain.size(); stage++) { + if (!status_.fixedShutter) { + Duration stageShutter = + limitShutter(exposureMode_->shutter[stage]); + if (stageShutter * analogueGain >= exposureValue) { + shutterTime = exposureValue / analogueGain; + break; + } + shutterTime = stageShutter; + } + if (status_.fixedAnalogueGain == 0.0) { + if (exposureMode_->gain[stage] * shutterTime >= exposureValue) { + analogueGain = exposureValue / shutterTime; + break; + } + analogueGain = exposureMode_->gain[stage]; + analogueGain = limitGain(analogueGain); + } + } + } + LOG(RPiAgc, Debug) << "Divided up shutter and gain are " << shutterTime << " and " + << analogueGain; + /* + * Finally adjust shutter time for flicker avoidance (require both + * shutter and gain not to be fixed). + */ + if (!status_.fixedShutter && !status_.fixedAnalogueGain && + status_.flickerPeriod) { + int flickerPeriods = shutterTime / status_.flickerPeriod; + if (flickerPeriods) { + Duration newShutterTime = flickerPeriods * status_.flickerPeriod; + analogueGain *= shutterTime / newShutterTime; + /* + * We should still not allow the ag to go over the + * largest value in the exposure mode. Note that this + * may force more of the total exposure into the digital + * gain as a side-effect. + */ + analogueGain = std::min(analogueGain, exposureMode_->gain.back()); + analogueGain = limitGain(analogueGain); + shutterTime = newShutterTime; + } + LOG(RPiAgc, Debug) << "After flicker avoidance, shutter " + << shutterTime << " gain " << analogueGain; + } + filtered_.shutter = shutterTime; + filtered_.analogueGain = analogueGain; +} + +void AgcChannel::writeAndFinish(Metadata *imageMetadata, bool desaturate) +{ + status_.totalExposureValue = filtered_.totalExposure; + status_.targetExposureValue = desaturate ? 0s : target_.totalExposure; + status_.shutterTime = filtered_.shutter; + status_.analogueGain = filtered_.analogueGain; + /* + * Write to metadata as well, in case anyone wants to update the camera + * immediately. + */ + imageMetadata->set("agc.status", status_); + LOG(RPiAgc, Debug) << "Output written, total exposure requested is " + << filtered_.totalExposure; + LOG(RPiAgc, Debug) << "Camera exposure update: shutter time " << filtered_.shutter + << " analogue gain " << filtered_.analogueGain; +} + +Duration AgcChannel::limitShutter(Duration shutter) +{ + /* + * shutter == 0 is a special case for fixed shutter values, and must pass + * through unchanged + */ + if (!shutter) + return shutter; + + shutter = std::clamp(shutter, mode_.minShutter, maxShutter_); + return shutter; +} + +double AgcChannel::limitGain(double gain) const +{ + /* + * Only limit the lower bounds of the gain value to what the sensor limits. + * The upper bound on analogue gain will be made up with additional digital + * gain applied by the ISP. + * + * gain == 0.0 is a special case for fixed shutter values, and must pass + * through unchanged + */ + if (!gain) + return gain; + + gain = std::max(gain, mode_.minAnalogueGain); + return gain; +} diff --git a/src/ipa/rpi/controller/rpi/agc_channel.h b/src/ipa/rpi/controller/rpi/agc_channel.h new file mode 100644 index 00000000..99033e23 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/agc_channel.h @@ -0,0 +1,153 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * AGC/AEC control algorithm + */ +#pragma once + +#include <map> +#include <string> +#include <vector> + +#include <libcamera/base/utils.h> + +#include "../agc_status.h" +#include "../awb_status.h" +#include "../controller.h" +#include "../pwl.h" + +/* This is our implementation of AGC. */ + +namespace RPiController { + +using AgcChannelTotalExposures = std::vector<libcamera::utils::Duration>; + +struct AgcMeteringMode { + std::vector<double> weights; + int read(const libcamera::YamlObject ¶ms); +}; + +struct AgcExposureMode { + std::vector<libcamera::utils::Duration> shutter; + std::vector<double> gain; + int read(const libcamera::YamlObject ¶ms); +}; + +struct AgcConstraint { + enum class Bound { LOWER = 0, + UPPER = 1 }; + Bound bound; + double qLo; + double qHi; + Pwl yTarget; + int read(const libcamera::YamlObject ¶ms); +}; + +typedef std::vector<AgcConstraint> AgcConstraintMode; + +struct AgcChannelConstraint { + enum class Bound { LOWER = 0, + UPPER = 1 }; + Bound bound; + unsigned int channel; + double factor; + int read(const libcamera::YamlObject ¶ms); +}; + +struct AgcConfig { + int read(const libcamera::YamlObject ¶ms); + std::map<std::string, AgcMeteringMode> meteringModes; + std::map<std::string, AgcExposureMode> exposureModes; + std::map<std::string, AgcConstraintMode> constraintModes; + std::vector<AgcChannelConstraint> channelConstraints; + Pwl yTarget; + double speed; + uint16_t startupFrames; + unsigned int convergenceFrames; + double maxChange; + double minChange; + double fastReduceThreshold; + double speedUpThreshold; + std::string defaultMeteringMode; + std::string defaultExposureMode; + std::string defaultConstraintMode; + double baseEv; + libcamera::utils::Duration defaultExposureTime; + double defaultAnalogueGain; + double stableRegion; + bool desaturate; +}; + +class AgcChannel +{ +public: + AgcChannel(); + int read(const libcamera::YamlObject ¶ms, + const Controller::HardwareConfig &hardwareConfig); + unsigned int getConvergenceFrames() const; + std::vector<double> const &getWeights() const; + void setEv(double ev); + void setFlickerPeriod(libcamera::utils::Duration flickerPeriod); + void setMaxShutter(libcamera::utils::Duration maxShutter); + void setFixedShutter(libcamera::utils::Duration fixedShutter); + void setFixedAnalogueGain(double fixedAnalogueGain); + void setMeteringMode(std::string const &meteringModeName); + void setExposureMode(std::string const &exposureModeName); + void setConstraintMode(std::string const &contraintModeName); + void enableAuto(); + void disableAuto(); + void switchMode(CameraMode const &cameraMode, Metadata *metadata); + void prepare(Metadata *imageMetadata); + void process(StatisticsPtr &stats, DeviceStatus const &deviceStatus, Metadata *imageMetadata, + const AgcChannelTotalExposures &channelTotalExposures); + +private: + bool updateLockStatus(DeviceStatus const &deviceStatus); + AgcConfig config_; + void housekeepConfig(); + void fetchCurrentExposure(DeviceStatus const &deviceStatus); + void fetchAwbStatus(Metadata *imageMetadata); + void computeGain(StatisticsPtr &statistics, Metadata *imageMetadata, + double &gain, double &targetY); + void computeTargetExposure(double gain); + void filterExposure(); + bool applyChannelConstraints(const AgcChannelTotalExposures &channelTotalExposures); + bool applyDigitalGain(double gain, double targetY, bool channelBound); + void divideUpExposure(); + void writeAndFinish(Metadata *imageMetadata, bool desaturate); + libcamera::utils::Duration limitShutter(libcamera::utils::Duration shutter); + double limitGain(double gain) const; + AgcMeteringMode *meteringMode_; + AgcExposureMode *exposureMode_; + AgcConstraintMode *constraintMode_; + CameraMode mode_; + uint64_t frameCount_; + AwbStatus awb_; + struct ExposureValues { + ExposureValues(); + + libcamera::utils::Duration shutter; + double analogueGain; + libcamera::utils::Duration totalExposure; + libcamera::utils::Duration totalExposureNoDG; /* without digital gain */ + }; + ExposureValues current_; /* values for the current frame */ + ExposureValues target_; /* calculate the values we want here */ + ExposureValues filtered_; /* these values are filtered towards target */ + AgcStatus status_; + int lockCount_; + DeviceStatus lastDeviceStatus_; + libcamera::utils::Duration lastTargetExposure_; + /* Below here the "settings" that applications can change. */ + std::string meteringModeName_; + std::string exposureModeName_; + std::string constraintModeName_; + double ev_; + libcamera::utils::Duration flickerPeriod_; + libcamera::utils::Duration maxShutter_; + libcamera::utils::Duration fixedShutter_; + double fixedAnalogueGain_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/alsc.cpp b/src/ipa/rpi/controller/rpi/alsc.cpp new file mode 100644 index 00000000..67029fc3 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/alsc.cpp @@ -0,0 +1,867 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * ALSC (auto lens shading correction) control algorithm + */ + +#include <algorithm> +#include <functional> +#include <math.h> +#include <numeric> + +#include <libcamera/base/log.h> +#include <libcamera/base/span.h> + +#include "../awb_status.h" +#include "alsc.h" + +/* Raspberry Pi ALSC (Auto Lens Shading Correction) algorithm. */ + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiAlsc) + +#define NAME "rpi.alsc" + +static const double InsufficientData = -1.0; + +Alsc::Alsc(Controller *controller) + : Algorithm(controller) +{ + asyncAbort_ = asyncStart_ = asyncStarted_ = asyncFinished_ = false; + asyncThread_ = std::thread(std::bind(&Alsc::asyncFunc, this)); +} + +Alsc::~Alsc() +{ + { + std::lock_guard<std::mutex> lock(mutex_); + asyncAbort_ = true; + } + asyncSignal_.notify_one(); + asyncThread_.join(); +} + +char const *Alsc::name() const +{ + return NAME; +} + +static int generateLut(Array2D<double> &lut, const libcamera::YamlObject ¶ms) +{ + /* These must be signed ints for the co-ordinate calculations below. */ + int X = lut.dimensions().width, Y = lut.dimensions().height; + double cstrength = params["corner_strength"].get<double>(2.0); + if (cstrength <= 1.0) { + LOG(RPiAlsc, Error) << "corner_strength must be > 1.0"; + return -EINVAL; + } + + double asymmetry = params["asymmetry"].get<double>(1.0); + if (asymmetry < 0) { + LOG(RPiAlsc, Error) << "asymmetry must be >= 0"; + return -EINVAL; + } + + double f1 = cstrength - 1, f2 = 1 + sqrt(cstrength); + double R2 = X * Y / 4 * (1 + asymmetry * asymmetry); + int num = 0; + for (int y = 0; y < Y; y++) { + for (int x = 0; x < X; x++) { + double dy = y - Y / 2 + 0.5, + dx = (x - X / 2 + 0.5) * asymmetry; + double r2 = (dx * dx + dy * dy) / R2; + lut[num++] = + (f1 * r2 + f2) * (f1 * r2 + f2) / + (f2 * f2); /* this reproduces the cos^4 rule */ + } + } + return 0; +} + +static int readLut(Array2D<double> &lut, const libcamera::YamlObject ¶ms) +{ + if (params.size() != lut.size()) { + LOG(RPiAlsc, Error) << "Invalid number of entries in LSC table"; + return -EINVAL; + } + + int num = 0; + for (const auto &p : params.asList()) { + auto value = p.get<double>(); + if (!value) + return -EINVAL; + lut[num++] = *value; + } + + return 0; +} + +static int readCalibrations(std::vector<AlscCalibration> &calibrations, + const libcamera::YamlObject ¶ms, + std::string const &name, const Size &size) +{ + if (params.contains(name)) { + double lastCt = 0; + for (const auto &p : params[name].asList()) { + auto value = p["ct"].get<double>(); + if (!value) + return -EINVAL; + double ct = *value; + if (ct <= lastCt) { + LOG(RPiAlsc, Error) + << "Entries in " << name << " must be in increasing ct order"; + return -EINVAL; + } + AlscCalibration calibration; + calibration.ct = lastCt = ct; + + const libcamera::YamlObject &table = p["table"]; + if (table.size() != size.width * size.height) { + LOG(RPiAlsc, Error) + << "Incorrect number of values for ct " + << ct << " in " << name; + return -EINVAL; + } + + int num = 0; + calibration.table.resize(size); + for (const auto &elem : table.asList()) { + value = elem.get<double>(); + if (!value) + return -EINVAL; + calibration.table[num++] = *value; + } + + calibrations.push_back(std::move(calibration)); + LOG(RPiAlsc, Debug) + << "Read " << name << " calibration for ct " << ct; + } + } + return 0; +} + +int Alsc::read(const libcamera::YamlObject ¶ms) +{ + config_.tableSize = getHardwareConfig().awbRegions; + config_.framePeriod = params["frame_period"].get<uint16_t>(12); + config_.startupFrames = params["startup_frames"].get<uint16_t>(10); + config_.speed = params["speed"].get<double>(0.05); + double sigma = params["sigma"].get<double>(0.01); + config_.sigmaCr = params["sigma_Cr"].get<double>(sigma); + config_.sigmaCb = params["sigma_Cb"].get<double>(sigma); + config_.minCount = params["min_count"].get<double>(10.0); + config_.minG = params["min_G"].get<uint16_t>(50); + config_.omega = params["omega"].get<double>(1.3); + config_.nIter = params["n_iter"].get<uint32_t>(config_.tableSize.width + config_.tableSize.height); + config_.luminanceStrength = + params["luminance_strength"].get<double>(1.0); + + config_.luminanceLut.resize(config_.tableSize, 1.0); + int ret = 0; + + if (params.contains("corner_strength")) + ret = generateLut(config_.luminanceLut, params); + else if (params.contains("luminance_lut")) + ret = readLut(config_.luminanceLut, params["luminance_lut"]); + else + LOG(RPiAlsc, Warning) + << "no luminance table - assume unity everywhere"; + if (ret) + return ret; + + ret = readCalibrations(config_.calibrationsCr, params, "calibrations_Cr", + config_.tableSize); + if (ret) + return ret; + ret = readCalibrations(config_.calibrationsCb, params, "calibrations_Cb", + config_.tableSize); + if (ret) + return ret; + + config_.defaultCt = params["default_ct"].get<double>(4500.0); + config_.threshold = params["threshold"].get<double>(1e-3); + config_.lambdaBound = params["lambda_bound"].get<double>(0.05); + + return 0; +} + +static double getCt(Metadata *metadata, double defaultCt); +static void getCalTable(double ct, std::vector<AlscCalibration> const &calibrations, + Array2D<double> &calTable); +static void resampleCalTable(const Array2D<double> &calTableIn, CameraMode const &cameraMode, + Array2D<double> &calTableOut); +static void compensateLambdasForCal(const Array2D<double> &calTable, + const Array2D<double> &oldLambdas, + Array2D<double> &newLambdas); +static void addLuminanceToTables(std::array<Array2D<double>, 3> &results, + const Array2D<double> &lambdaR, double lambdaG, + const Array2D<double> &lambdaB, + const Array2D<double> &luminanceLut, + double luminanceStrength); + +void Alsc::initialise() +{ + frameCount2_ = frameCount_ = framePhase_ = 0; + firstTime_ = true; + ct_ = config_.defaultCt; + + const size_t XY = config_.tableSize.width * config_.tableSize.height; + + for (auto &r : syncResults_) + r.resize(config_.tableSize); + for (auto &r : prevSyncResults_) + r.resize(config_.tableSize); + for (auto &r : asyncResults_) + r.resize(config_.tableSize); + + luminanceTable_.resize(config_.tableSize); + asyncLambdaR_.resize(config_.tableSize); + asyncLambdaB_.resize(config_.tableSize); + /* The lambdas are initialised in the SwitchMode. */ + lambdaR_.resize(config_.tableSize); + lambdaB_.resize(config_.tableSize); + + /* Temporaries for the computations, but sensible to allocate this up-front! */ + for (auto &c : tmpC_) + c.resize(config_.tableSize); + for (auto &m : tmpM_) + m.resize(XY); +} + +void Alsc::waitForAysncThread() +{ + if (asyncStarted_) { + asyncStarted_ = false; + std::unique_lock<std::mutex> lock(mutex_); + syncSignal_.wait(lock, [&] { + return asyncFinished_; + }); + asyncFinished_ = false; + } +} + +static bool compareModes(CameraMode const &cm0, CameraMode const &cm1) +{ + /* + * Return true if the modes crop from the sensor significantly differently, + * or if the user transform has changed. + */ + if (cm0.transform != cm1.transform) + return true; + int leftDiff = abs(cm0.cropX - cm1.cropX); + int topDiff = abs(cm0.cropY - cm1.cropY); + int rightDiff = fabs(cm0.cropX + cm0.scaleX * cm0.width - + cm1.cropX - cm1.scaleX * cm1.width); + int bottomDiff = fabs(cm0.cropY + cm0.scaleY * cm0.height - + cm1.cropY - cm1.scaleY * cm1.height); + /* + * These thresholds are a rather arbitrary amount chosen to trigger + * when carrying on with the previously calculated tables might be + * worse than regenerating them (but without the adaptive algorithm). + */ + int thresholdX = cm0.sensorWidth >> 4; + int thresholdY = cm0.sensorHeight >> 4; + return leftDiff > thresholdX || rightDiff > thresholdX || + topDiff > thresholdY || bottomDiff > thresholdY; +} + +void Alsc::switchMode(CameraMode const &cameraMode, + [[maybe_unused]] Metadata *metadata) +{ + /* + * We're going to start over with the tables if there's any "significant" + * change. + */ + bool resetTables = firstTime_ || compareModes(cameraMode_, cameraMode); + + /* Believe the colour temperature from the AWB, if there is one. */ + ct_ = getCt(metadata, ct_); + + /* Ensure the other thread isn't running while we do this. */ + waitForAysncThread(); + + cameraMode_ = cameraMode; + + /* + * We must resample the luminance table like we do the others, but it's + * fixed so we can simply do it up front here. + */ + resampleCalTable(config_.luminanceLut, cameraMode_, luminanceTable_); + + if (resetTables) { + /* + * Upon every "table reset", arrange for something sensible to be + * generated. Construct the tables for the previous recorded colour + * temperature. In order to start over from scratch we initialise + * the lambdas, but the rest of this code then echoes the code in + * doAlsc, without the adaptive algorithm. + */ + std::fill(lambdaR_.begin(), lambdaR_.end(), 1.0); + std::fill(lambdaB_.begin(), lambdaB_.end(), 1.0); + Array2D<double> &calTableR = tmpC_[0], &calTableB = tmpC_[1], &calTableTmp = tmpC_[2]; + getCalTable(ct_, config_.calibrationsCr, calTableTmp); + resampleCalTable(calTableTmp, cameraMode_, calTableR); + getCalTable(ct_, config_.calibrationsCb, calTableTmp); + resampleCalTable(calTableTmp, cameraMode_, calTableB); + compensateLambdasForCal(calTableR, lambdaR_, asyncLambdaR_); + compensateLambdasForCal(calTableB, lambdaB_, asyncLambdaB_); + addLuminanceToTables(syncResults_, asyncLambdaR_, 1.0, asyncLambdaB_, + luminanceTable_, config_.luminanceStrength); + prevSyncResults_ = syncResults_; + framePhase_ = config_.framePeriod; /* run the algo again asap */ + firstTime_ = false; + } +} + +void Alsc::fetchAsyncResults() +{ + LOG(RPiAlsc, Debug) << "Fetch ALSC results"; + asyncFinished_ = false; + asyncStarted_ = false; + syncResults_ = asyncResults_; +} + +double getCt(Metadata *metadata, double defaultCt) +{ + AwbStatus awbStatus; + awbStatus.temperatureK = defaultCt; /* in case nothing found */ + if (metadata->get("awb.status", awbStatus) != 0) + LOG(RPiAlsc, Debug) << "no AWB results found, using " + << awbStatus.temperatureK; + else + LOG(RPiAlsc, Debug) << "AWB results found, using " + << awbStatus.temperatureK; + return awbStatus.temperatureK; +} + +static void copyStats(RgbyRegions ®ions, StatisticsPtr &stats, + std::array<Array2D<double>, 3> &prevSyncResults) +{ + if (!regions.numRegions()) + regions.init(stats->awbRegions.size()); + + const std::vector<double> &rTable = prevSyncResults[0].data(); //status.r; + const std::vector<double> &gTable = prevSyncResults[1].data(); //status.g; + const std::vector<double> &bTable = prevSyncResults[2].data(); //status.b; + for (unsigned int i = 0; i < stats->awbRegions.numRegions(); i++) { + auto r = stats->awbRegions.get(i); + if (stats->colourStatsPos == Statistics::ColourStatsPos::PostLsc) { + r.val.rSum = static_cast<uint64_t>(r.val.rSum / rTable[i]); + r.val.gSum = static_cast<uint64_t>(r.val.gSum / gTable[i]); + r.val.bSum = static_cast<uint64_t>(r.val.bSum / bTable[i]); + } + regions.set(i, r); + } +} + +void Alsc::restartAsync(StatisticsPtr &stats, Metadata *imageMetadata) +{ + LOG(RPiAlsc, Debug) << "Starting ALSC calculation"; + /* + * Get the current colour temperature. It's all we need from the + * metadata. Default to the last CT value (which could be the default). + */ + ct_ = getCt(imageMetadata, ct_); + /* + * We have to copy the statistics here, dividing out our best guess of + * the LSC table that the pipeline applied to them which we get from + * prevSyncResults_. + */ + copyStats(statistics_, stats, prevSyncResults_); + framePhase_ = 0; + asyncStarted_ = true; + { + std::lock_guard<std::mutex> lock(mutex_); + asyncStart_ = true; + } + asyncSignal_.notify_one(); +} + +void Alsc::prepare(Metadata *imageMetadata) +{ + /* + * Count frames since we started, and since we last poked the async + * thread. + */ + if (frameCount_ < (int)config_.startupFrames) + frameCount_++; + double speed = frameCount_ < (int)config_.startupFrames + ? 1.0 + : config_.speed; + LOG(RPiAlsc, Debug) + << "frame count " << frameCount_ << " speed " << speed; + { + std::unique_lock<std::mutex> lock(mutex_); + if (asyncStarted_ && asyncFinished_) + fetchAsyncResults(); + } + /* Apply IIR filter to results and program into the pipeline. */ + for (unsigned int j = 0; j < syncResults_.size(); j++) { + for (unsigned int i = 0; i < syncResults_[j].size(); i++) + prevSyncResults_[j][i] = speed * syncResults_[j][i] + (1.0 - speed) * prevSyncResults_[j][i]; + } + /* Put output values into status metadata. */ + AlscStatus status; + status.r = prevSyncResults_[0].data(); + status.g = prevSyncResults_[1].data(); + status.b = prevSyncResults_[2].data(); + imageMetadata->set("alsc.status", status); + /* + * Put the results in the global metadata as well. This will be used by + * AWB to factor in the colour shading correction. + */ + getGlobalMetadata().set("alsc.status", status); +} + +void Alsc::process(StatisticsPtr &stats, Metadata *imageMetadata) +{ + /* + * Count frames since we started, and since we last poked the async + * thread. + */ + if (framePhase_ < (int)config_.framePeriod) + framePhase_++; + if (frameCount2_ < (int)config_.startupFrames) + frameCount2_++; + LOG(RPiAlsc, Debug) << "frame_phase " << framePhase_; + if (framePhase_ >= (int)config_.framePeriod || + frameCount2_ < (int)config_.startupFrames) { + if (asyncStarted_ == false) + restartAsync(stats, imageMetadata); + } +} + +void Alsc::asyncFunc() +{ + while (true) { + { + std::unique_lock<std::mutex> lock(mutex_); + asyncSignal_.wait(lock, [&] { + return asyncStart_ || asyncAbort_; + }); + asyncStart_ = false; + if (asyncAbort_) + break; + } + doAlsc(); + { + std::lock_guard<std::mutex> lock(mutex_); + asyncFinished_ = true; + } + syncSignal_.notify_one(); + } +} + +void getCalTable(double ct, std::vector<AlscCalibration> const &calibrations, + Array2D<double> &calTable) +{ + if (calibrations.empty()) { + std::fill(calTable.begin(), calTable.end(), 1.0); + LOG(RPiAlsc, Debug) << "no calibrations found"; + } else if (ct <= calibrations.front().ct) { + calTable = calibrations.front().table; + LOG(RPiAlsc, Debug) << "using calibration for " + << calibrations.front().ct; + } else if (ct >= calibrations.back().ct) { + calTable = calibrations.back().table; + LOG(RPiAlsc, Debug) << "using calibration for " + << calibrations.back().ct; + } else { + int idx = 0; + while (ct > calibrations[idx + 1].ct) + idx++; + double ct0 = calibrations[idx].ct, ct1 = calibrations[idx + 1].ct; + LOG(RPiAlsc, Debug) + << "ct is " << ct << ", interpolating between " + << ct0 << " and " << ct1; + for (unsigned int i = 0; i < calTable.size(); i++) + calTable[i] = + (calibrations[idx].table[i] * (ct1 - ct) + + calibrations[idx + 1].table[i] * (ct - ct0)) / + (ct1 - ct0); + } +} + +void resampleCalTable(const Array2D<double> &calTableIn, + CameraMode const &cameraMode, + Array2D<double> &calTableOut) +{ + int X = calTableIn.dimensions().width; + int Y = calTableIn.dimensions().height; + + /* + * Precalculate and cache the x sampling locations and phases to save + * recomputing them on every row. + */ + int xLo[X], xHi[X]; + double xf[X]; + double scaleX = cameraMode.sensorWidth / + (cameraMode.width * cameraMode.scaleX); + double xOff = cameraMode.cropX / (double)cameraMode.sensorWidth; + double x = .5 / scaleX + xOff * X - .5; + double xInc = 1 / scaleX; + for (int i = 0; i < X; i++, x += xInc) { + xLo[i] = floor(x); + xf[i] = x - xLo[i]; + xHi[i] = std::min(xLo[i] + 1, X - 1); + xLo[i] = std::max(xLo[i], 0); + if (!!(cameraMode.transform & libcamera::Transform::HFlip)) { + xLo[i] = X - 1 - xLo[i]; + xHi[i] = X - 1 - xHi[i]; + } + } + /* Now march over the output table generating the new values. */ + double scaleY = cameraMode.sensorHeight / + (cameraMode.height * cameraMode.scaleY); + double yOff = cameraMode.cropY / (double)cameraMode.sensorHeight; + double y = .5 / scaleY + yOff * Y - .5; + double yInc = 1 / scaleY; + for (int j = 0; j < Y; j++, y += yInc) { + int yLo = floor(y); + double yf = y - yLo; + int yHi = std::min(yLo + 1, Y - 1); + yLo = std::max(yLo, 0); + if (!!(cameraMode.transform & libcamera::Transform::VFlip)) { + yLo = Y - 1 - yLo; + yHi = Y - 1 - yHi; + } + double const *rowAbove = calTableIn.ptr() + X * yLo; + double const *rowBelow = calTableIn.ptr() + X * yHi; + double *out = calTableOut.ptr() + X * j; + for (int i = 0; i < X; 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]; + *(out++) = above * (1 - yf) + below * yf; + } + } +} + +/* Calculate chrominance statistics (R/G and B/G) for each region. */ +static void calculateCrCb(const RgbyRegions &awbRegion, Array2D<double> &cr, + Array2D<double> &cb, uint32_t minCount, uint16_t minG) +{ + for (unsigned int i = 0; i < cr.size(); i++) { + auto s = awbRegion.get(i); + + /* Do not return unreliable, or zero, colour ratio statistics. */ + if (s.counted <= minCount || s.val.gSum / s.counted <= minG || + s.val.rSum / s.counted <= minG || s.val.bSum / s.counted <= minG) { + cr[i] = cb[i] = InsufficientData; + continue; + } + + cr[i] = s.val.rSum / (double)s.val.gSum; + cb[i] = s.val.bSum / (double)s.val.gSum; + } +} + +static void applyCalTable(const Array2D<double> &calTable, Array2D<double> &C) +{ + for (unsigned int i = 0; i < C.size(); i++) + if (C[i] != InsufficientData) + C[i] *= calTable[i]; +} + +void compensateLambdasForCal(const Array2D<double> &calTable, + const Array2D<double> &oldLambdas, + Array2D<double> &newLambdas) +{ + double minNewLambda = std::numeric_limits<double>::max(); + for (unsigned int i = 0; i < newLambdas.size(); i++) { + newLambdas[i] = oldLambdas[i] * calTable[i]; + minNewLambda = std::min(minNewLambda, newLambdas[i]); + } + for (unsigned int i = 0; i < newLambdas.size(); i++) + newLambdas[i] /= minNewLambda; +} + +[[maybe_unused]] static void printCalTable(const Array2D<double> &C) +{ + const Size &size = C.dimensions(); + printf("table: [\n"); + for (unsigned int j = 0; j < size.height; j++) { + for (unsigned int i = 0; i < size.width; i++) { + printf("%5.3f", 1.0 / C[j * size.width + i]); + if (i != size.width - 1 || j != size.height - 1) + printf(","); + } + printf("\n"); + } + printf("]\n"); +} + +/* + * Compute weight out of 1.0 which reflects how similar we wish to make the + * colours of these two regions. + */ +static double computeWeight(double Ci, double Cj, double sigma) +{ + if (Ci == InsufficientData || Cj == InsufficientData) + return 0; + double diff = (Ci - Cj) / sigma; + return exp(-diff * diff / 2); +} + +/* Compute all weights. */ +static void computeW(const Array2D<double> &C, double sigma, + SparseArray<double> &W) +{ + size_t XY = C.size(); + size_t X = C.dimensions().width; + + for (unsigned int i = 0; i < XY; i++) { + /* Start with neighbour above and go clockwise. */ + W[i][0] = i >= X ? computeWeight(C[i], C[i - X], sigma) : 0; + W[i][1] = i % X < X - 1 ? computeWeight(C[i], C[i + 1], sigma) : 0; + W[i][2] = i < XY - X ? computeWeight(C[i], C[i + X], sigma) : 0; + W[i][3] = i % X ? computeWeight(C[i], C[i - 1], sigma) : 0; + } +} + +/* Compute M, the large but sparse matrix such that M * lambdas = 0. */ +static void constructM(const Array2D<double> &C, + const SparseArray<double> &W, + SparseArray<double> &M) +{ + size_t XY = C.size(); + size_t X = C.dimensions().width; + + double epsilon = 0.001; + for (unsigned int i = 0; i < XY; i++) { + /* + * Note how, if C[i] == INSUFFICIENT_DATA, the weights will all + * be zero so the equation is still set up correctly. + */ + int m = !!(i >= X) + !!(i % X < X - 1) + !!(i < XY - X) + + !!(i % X); /* total number of neighbours */ + /* we'll divide the diagonal out straight away */ + double diagonal = (epsilon + W[i][0] + W[i][1] + W[i][2] + W[i][3]) * C[i]; + M[i][0] = i >= X ? (W[i][0] * C[i - X] + epsilon / m * C[i]) / diagonal : 0; + M[i][1] = i % X < X - 1 ? (W[i][1] * C[i + 1] + epsilon / m * C[i]) / diagonal : 0; + M[i][2] = i < XY - X ? (W[i][2] * C[i + X] + epsilon / m * C[i]) / diagonal : 0; + M[i][3] = i % X ? (W[i][3] * C[i - 1] + epsilon / m * C[i]) / diagonal : 0; + } +} + +/* + * In the compute_lambda_ functions, note that the matrix coefficients for the + * left/right neighbours are zero down the left/right edges, so we don't need + * need to test the i value to exclude them. + */ +static double computeLambdaBottom(int i, const SparseArray<double> &M, + Array2D<double> &lambda) +{ + return M[i][1] * lambda[i + 1] + M[i][2] * lambda[i + lambda.dimensions().width] + + M[i][3] * lambda[i - 1]; +} +static double computeLambdaBottomStart(int i, const SparseArray<double> &M, + Array2D<double> &lambda) +{ + return M[i][1] * lambda[i + 1] + M[i][2] * lambda[i + lambda.dimensions().width]; +} +static double computeLambdaInterior(int i, const SparseArray<double> &M, + Array2D<double> &lambda) +{ + return M[i][0] * lambda[i - lambda.dimensions().width] + M[i][1] * lambda[i + 1] + + M[i][2] * lambda[i + lambda.dimensions().width] + M[i][3] * lambda[i - 1]; +} +static double computeLambdaTop(int i, const SparseArray<double> &M, + Array2D<double> &lambda) +{ + return M[i][0] * lambda[i - lambda.dimensions().width] + M[i][1] * lambda[i + 1] + + M[i][3] * lambda[i - 1]; +} +static double computeLambdaTopEnd(int i, const SparseArray<double> &M, + Array2D<double> &lambda) +{ + return M[i][0] * lambda[i - lambda.dimensions().width] + M[i][3] * lambda[i - 1]; +} + +/* Gauss-Seidel iteration with over-relaxation. */ +static double gaussSeidel2Sor(const SparseArray<double> &M, double omega, + Array2D<double> &lambda, double lambdaBound) +{ + int XY = lambda.size(); + int X = lambda.dimensions().width; + const double min = 1 - lambdaBound, max = 1 + lambdaBound; + Array2D<double> oldLambda = lambda; + int i; + lambda[0] = computeLambdaBottomStart(0, M, lambda); + lambda[0] = std::clamp(lambda[0], min, max); + for (i = 1; i < X; i++) { + lambda[i] = computeLambdaBottom(i, M, lambda); + lambda[i] = std::clamp(lambda[i], min, max); + } + for (; i < XY - X; i++) { + lambda[i] = computeLambdaInterior(i, M, lambda); + lambda[i] = std::clamp(lambda[i], min, max); + } + for (; i < XY - 1; i++) { + lambda[i] = computeLambdaTop(i, M, lambda); + lambda[i] = std::clamp(lambda[i], min, max); + } + lambda[i] = computeLambdaTopEnd(i, M, lambda); + lambda[i] = std::clamp(lambda[i], min, max); + /* + * Also solve the system from bottom to top, to help spread the updates + * better. + */ + lambda[i] = computeLambdaTopEnd(i, M, lambda); + lambda[i] = std::clamp(lambda[i], min, max); + for (i = XY - 2; i >= XY - X; i--) { + lambda[i] = computeLambdaTop(i, M, lambda); + lambda[i] = std::clamp(lambda[i], min, max); + } + for (; i >= X; i--) { + lambda[i] = computeLambdaInterior(i, M, lambda); + lambda[i] = std::clamp(lambda[i], min, max); + } + for (; i >= 1; i--) { + lambda[i] = computeLambdaBottom(i, M, lambda); + lambda[i] = std::clamp(lambda[i], min, max); + } + lambda[0] = computeLambdaBottomStart(0, M, lambda); + lambda[0] = std::clamp(lambda[0], min, max); + double maxDiff = 0; + for (i = 0; i < XY; i++) { + lambda[i] = oldLambda[i] + (lambda[i] - oldLambda[i]) * omega; + if (fabs(lambda[i] - oldLambda[i]) > fabs(maxDiff)) + maxDiff = lambda[i] - oldLambda[i]; + } + return maxDiff; +} + +/* Normalise the values so that the smallest value is 1. */ +static void normalise(Array2D<double> &results) +{ + double minval = *std::min_element(results.begin(), results.end()); + std::for_each(results.begin(), results.end(), + [minval](double val) { return val / minval; }); +} + +/* Rescale the values so that the average value is 1. */ +static void reaverage(Array2D<double> &data) +{ + double sum = std::accumulate(data.begin(), data.end(), 0.0); + double ratio = 1 / (sum / data.size()); + std::for_each(data.begin(), data.end(), + [ratio](double val) { return val * ratio; }); +} + +static void runMatrixIterations(const Array2D<double> &C, + Array2D<double> &lambda, + const SparseArray<double> &W, + SparseArray<double> &M, double omega, + unsigned int nIter, double threshold, double lambdaBound) +{ + constructM(C, W, M); + double lastMaxDiff = std::numeric_limits<double>::max(); + for (unsigned int i = 0; i < nIter; i++) { + double maxDiff = fabs(gaussSeidel2Sor(M, omega, lambda, lambdaBound)); + if (maxDiff < threshold) { + LOG(RPiAlsc, Debug) + << "Stop after " << i + 1 << " iterations"; + break; + } + /* + * this happens very occasionally (so make a note), though + * doesn't seem to matter + */ + if (maxDiff > lastMaxDiff) + LOG(RPiAlsc, Debug) + << "Iteration " << i << ": maxDiff gone up " + << lastMaxDiff << " to " << maxDiff; + lastMaxDiff = maxDiff; + } + /* We're going to normalise the lambdas so the total average is 1. */ + reaverage(lambda); +} + +static void addLuminanceRb(Array2D<double> &result, const Array2D<double> &lambda, + const Array2D<double> &luminanceLut, + double luminanceStrength) +{ + for (unsigned int i = 0; i < result.size(); i++) + result[i] = lambda[i] * ((luminanceLut[i] - 1) * luminanceStrength + 1); +} + +static void addLuminanceG(Array2D<double> &result, double lambda, + const Array2D<double> &luminanceLut, + double luminanceStrength) +{ + for (unsigned int i = 0; i < result.size(); i++) + result[i] = lambda * ((luminanceLut[i] - 1) * luminanceStrength + 1); +} + +void addLuminanceToTables(std::array<Array2D<double>, 3> &results, + const Array2D<double> &lambdaR, + double lambdaG, const Array2D<double> &lambdaB, + const Array2D<double> &luminanceLut, + double luminanceStrength) +{ + addLuminanceRb(results[0], lambdaR, luminanceLut, luminanceStrength); + addLuminanceG(results[1], lambdaG, luminanceLut, luminanceStrength); + addLuminanceRb(results[2], lambdaB, luminanceLut, luminanceStrength); + for (auto &r : results) + normalise(r); +} + +void Alsc::doAlsc() +{ + Array2D<double> &cr = tmpC_[0], &cb = tmpC_[1], &calTableR = tmpC_[2], + &calTableB = tmpC_[3], &calTableTmp = tmpC_[4]; + SparseArray<double> &wr = tmpM_[0], &wb = tmpM_[1], &M = tmpM_[2]; + + /* + * Calculate our R/B ("Cr"/"Cb") colour statistics, and assess which are + * usable. + */ + calculateCrCb(statistics_, cr, cb, config_.minCount, config_.minG); + /* + * Fetch the new calibrations (if any) for this CT. Resample them in + * case the camera mode is not full-frame. + */ + getCalTable(ct_, config_.calibrationsCr, calTableTmp); + resampleCalTable(calTableTmp, cameraMode_, calTableR); + getCalTable(ct_, config_.calibrationsCb, calTableTmp); + resampleCalTable(calTableTmp, cameraMode_, calTableB); + /* + * You could print out the cal tables for this image here, if you're + * tuning the algorithm... + * Apply any calibration to the statistics, so the adaptive algorithm + * makes only the extra adjustments. + */ + applyCalTable(calTableR, cr); + applyCalTable(calTableB, cb); + /* Compute weights between zones. */ + computeW(cr, config_.sigmaCr, wr); + computeW(cb, config_.sigmaCb, wb); + /* Run Gauss-Seidel iterations over the resulting matrix, for R and B. */ + runMatrixIterations(cr, lambdaR_, wr, M, config_.omega, config_.nIter, + config_.threshold, config_.lambdaBound); + runMatrixIterations(cb, lambdaB_, wb, M, config_.omega, config_.nIter, + config_.threshold, config_.lambdaBound); + /* + * Fold the calibrated gains into our final lambda values. (Note that on + * the next run, we re-start with the lambda values that don't have the + * calibration gains included.) + */ + compensateLambdasForCal(calTableR, lambdaR_, asyncLambdaR_); + compensateLambdasForCal(calTableB, lambdaB_, asyncLambdaB_); + /* Fold in the luminance table at the appropriate strength. */ + addLuminanceToTables(asyncResults_, asyncLambdaR_, 1.0, + asyncLambdaB_, luminanceTable_, + config_.luminanceStrength); +} + +/* Register algorithm with the system. */ +static Algorithm *create(Controller *controller) +{ + return (Algorithm *)new Alsc(controller); +} +static RegisterAlgorithm reg(NAME, &create); diff --git a/src/ipa/rpi/controller/rpi/alsc.h b/src/ipa/rpi/controller/rpi/alsc.h new file mode 100644 index 00000000..31087982 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/alsc.h @@ -0,0 +1,174 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * ALSC (auto lens shading correction) control algorithm + */ +#pragma once + +#include <array> +#include <mutex> +#include <condition_variable> +#include <thread> +#include <vector> + +#include <libcamera/geometry.h> + +#include "../algorithm.h" +#include "../alsc_status.h" +#include "../statistics.h" + +namespace RPiController { + +/* Algorithm to generate automagic LSC (Lens Shading Correction) tables. */ + +/* + * The Array2D class is a very thin wrapper round std::vector so that it can + * be used in exactly the same way in the code but carries its correct width + * and height ("dimensions") with it. + */ + +template<typename T> +class Array2D +{ +public: + using Size = libcamera::Size; + + const Size &dimensions() const { return dimensions_; } + + size_t size() const { return data_.size(); } + + const std::vector<T> &data() const { return data_; } + + void resize(const Size &dims) + { + dimensions_ = dims; + data_.resize(dims.width * dims.height); + } + + void resize(const Size &dims, const T &value) + { + resize(dims); + std::fill(data_.begin(), data_.end(), value); + } + + T &operator[](int index) { return data_[index]; } + + const T &operator[](int index) const { return data_[index]; } + + T *ptr() { return data_.data(); } + + const T *ptr() const { return data_.data(); } + + auto begin() { return data_.begin(); } + auto end() { return data_.end(); } + +private: + Size dimensions_; + std::vector<T> data_; +}; + +/* + * We'll use the term SparseArray for the large sparse matrices that are + * XY tall but have only 4 non-zero elements on each row. + */ + +template<typename T> +using SparseArray = std::vector<std::array<T, 4>>; + +struct AlscCalibration { + double ct; + Array2D<double> table; +}; + +struct AlscConfig { + /* Only repeat the ALSC calculation every "this many" frames */ + uint16_t framePeriod; + /* number of initial frames for which speed taken as 1.0 (maximum) */ + uint16_t startupFrames; + /* IIR filter speed applied to algorithm results */ + double speed; + double sigmaCr; + double sigmaCb; + double minCount; + uint16_t minG; + double omega; + uint32_t nIter; + Array2D<double> luminanceLut; + double luminanceStrength; + std::vector<AlscCalibration> calibrationsCr; + std::vector<AlscCalibration> calibrationsCb; + double defaultCt; /* colour temperature if no metadata found */ + double threshold; /* iteration termination threshold */ + double lambdaBound; /* upper/lower bound for lambda from a value of 1 */ + libcamera::Size tableSize; +}; + +class Alsc : public Algorithm +{ +public: + Alsc(Controller *controller = NULL); + ~Alsc(); + char const *name() const override; + void initialise() override; + void switchMode(CameraMode const &cameraMode, Metadata *metadata) override; + int read(const libcamera::YamlObject ¶ms) override; + void prepare(Metadata *imageMetadata) override; + void process(StatisticsPtr &stats, Metadata *imageMetadata) override; + +private: + /* configuration is read-only, and available to both threads */ + AlscConfig config_; + bool firstTime_; + CameraMode cameraMode_; + Array2D<double> luminanceTable_; + std::thread asyncThread_; + void asyncFunc(); /* asynchronous thread function */ + std::mutex mutex_; + /* condvar for async thread to wait on */ + std::condition_variable asyncSignal_; + /* condvar for synchronous thread to wait on */ + std::condition_variable syncSignal_; + /* for sync thread to check if async thread finished (requires mutex) */ + bool asyncFinished_; + /* for async thread to check if it's been told to run (requires mutex) */ + bool asyncStart_; + /* for async thread to check if it's been told to quit (requires mutex) */ + bool asyncAbort_; + + /* + * The following are only for the synchronous thread to use: + * for sync thread to note its has asked async thread to run + */ + bool asyncStarted_; + /* counts up to framePeriod before restarting the async thread */ + int framePhase_; + /* counts up to startupFrames */ + int frameCount_; + /* counts up to startupFrames for Process function */ + int frameCount2_; + std::array<Array2D<double>, 3> syncResults_; + std::array<Array2D<double>, 3> prevSyncResults_; + void waitForAysncThread(); + /* + * The following are for the asynchronous thread to use, though the main + * thread can set/reset them if the async thread is known to be idle: + */ + void restartAsync(StatisticsPtr &stats, Metadata *imageMetadata); + /* copy out the results from the async thread so that it can be restarted */ + void fetchAsyncResults(); + double ct_; + RgbyRegions statistics_; + std::array<Array2D<double>, 3> asyncResults_; + Array2D<double> asyncLambdaR_; + Array2D<double> asyncLambdaB_; + void doAlsc(); + Array2D<double> lambdaR_; + Array2D<double> lambdaB_; + + /* Temporaries for the computations */ + std::array<Array2D<double>, 5> tmpC_; + std::array<SparseArray<double>, 3> tmpM_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/awb.cpp b/src/ipa/rpi/controller/rpi/awb.cpp new file mode 100644 index 00000000..abe5906e --- /dev/null +++ b/src/ipa/rpi/controller/rpi/awb.cpp @@ -0,0 +1,751 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * AWB control algorithm + */ + +#include <assert.h> +#include <functional> + +#include <libcamera/base/log.h> + +#include "../lux_status.h" + +#include "alsc_status.h" +#include "awb.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiAwb) + +#define NAME "rpi.awb" + +/* + * todo - the locking in this algorithm needs some tidying up as has been done + * elsewhere (ALSC and AGC). + */ + +int AwbMode::read(const libcamera::YamlObject ¶ms) +{ + auto value = params["lo"].get<double>(); + if (!value) + return -EINVAL; + ctLo = *value; + + value = params["hi"].get<double>(); + if (!value) + return -EINVAL; + ctHi = *value; + + return 0; +} + +int AwbPrior::read(const libcamera::YamlObject ¶ms) +{ + auto value = params["lux"].get<double>(); + if (!value) + return -EINVAL; + lux = *value; + + return prior.read(params["prior"]); +} + +static int readCtCurve(Pwl &ctR, Pwl &ctB, const libcamera::YamlObject ¶ms) +{ + if (params.size() % 3) { + LOG(RPiAwb, Error) << "AwbConfig: incomplete CT curve entry"; + return -EINVAL; + } + + if (params.size() < 6) { + LOG(RPiAwb, Error) << "AwbConfig: insufficient points in CT curve"; + return -EINVAL; + } + + const auto &list = params.asList(); + + for (auto it = list.begin(); it != list.end(); it++) { + auto value = it->get<double>(); + if (!value) + return -EINVAL; + double ct = *value; + + assert(it == list.begin() || ct != ctR.domain().end); + + value = (++it)->get<double>(); + if (!value) + return -EINVAL; + ctR.append(ct, *value); + + value = (++it)->get<double>(); + if (!value) + return -EINVAL; + ctB.append(ct, *value); + } + + return 0; +} + +int AwbConfig::read(const libcamera::YamlObject ¶ms) +{ + int ret; + + bayes = params["bayes"].get<int>(1); + framePeriod = params["frame_period"].get<uint16_t>(10); + startupFrames = params["startup_frames"].get<uint16_t>(10); + convergenceFrames = params["convergence_frames"].get<unsigned int>(3); + speed = params["speed"].get<double>(0.05); + + if (params.contains("ct_curve")) { + ret = readCtCurve(ctR, ctB, params["ct_curve"]); + if (ret) + return ret; + /* We will want the inverse functions of these too. */ + ctRInverse = ctR.inverse(); + ctBInverse = ctB.inverse(); + } + + if (params.contains("priors")) { + for (const auto &p : params["priors"].asList()) { + AwbPrior prior; + ret = prior.read(p); + if (ret) + return ret; + if (!priors.empty() && prior.lux <= priors.back().lux) { + LOG(RPiAwb, Error) << "AwbConfig: Prior must be ordered in increasing lux value"; + return -EINVAL; + } + priors.push_back(prior); + } + if (priors.empty()) { + LOG(RPiAwb, Error) << "AwbConfig: no AWB priors configured"; + return ret; + } + } + if (params.contains("modes")) { + for (const auto &[key, value] : params["modes"].asDict()) { + ret = modes[key].read(value); + if (ret) + return ret; + if (defaultMode == nullptr) + defaultMode = &modes[key]; + } + if (defaultMode == nullptr) { + LOG(RPiAwb, Error) << "AwbConfig: no AWB modes configured"; + return -EINVAL; + } + } + + minPixels = params["min_pixels"].get<double>(16.0); + minG = params["min_G"].get<uint16_t>(32); + minRegions = params["min_regions"].get<uint32_t>(10); + deltaLimit = params["delta_limit"].get<double>(0.2); + coarseStep = params["coarse_step"].get<double>(0.2); + transversePos = params["transverse_pos"].get<double>(0.01); + transverseNeg = params["transverse_neg"].get<double>(0.01); + if (transversePos <= 0 || transverseNeg <= 0) { + LOG(RPiAwb, Error) << "AwbConfig: transverse_pos/neg must be > 0"; + return -EINVAL; + } + + sensitivityR = params["sensitivity_r"].get<double>(1.0); + sensitivityB = params["sensitivity_b"].get<double>(1.0); + + if (bayes) { + if (ctR.empty() || ctB.empty() || priors.empty() || + defaultMode == nullptr) { + LOG(RPiAwb, Warning) + << "Bayesian AWB mis-configured - switch to Grey method"; + bayes = false; + } + } + fast = params[fast].get<int>(bayes); /* default to fast for Bayesian, otherwise slow */ + whitepointR = params["whitepoint_r"].get<double>(0.0); + whitepointB = params["whitepoint_b"].get<double>(0.0); + if (bayes == false) + sensitivityR = sensitivityB = 1.0; /* nor do sensitivities make any sense */ + return 0; +} + +Awb::Awb(Controller *controller) + : AwbAlgorithm(controller) +{ + asyncAbort_ = asyncStart_ = asyncStarted_ = asyncFinished_ = false; + mode_ = nullptr; + manualR_ = manualB_ = 0.0; + asyncThread_ = std::thread(std::bind(&Awb::asyncFunc, this)); +} + +Awb::~Awb() +{ + { + std::lock_guard<std::mutex> lock(mutex_); + asyncAbort_ = true; + } + asyncSignal_.notify_one(); + asyncThread_.join(); +} + +char const *Awb::name() const +{ + return NAME; +} + +int Awb::read(const libcamera::YamlObject ¶ms) +{ + return config_.read(params); +} + +void Awb::initialise() +{ + frameCount_ = framePhase_ = 0; + /* + * Put something sane into the status that we are filtering towards, + * just in case the first few frames don't have anything meaningful in + * them. + */ + if (!config_.ctR.empty() && !config_.ctB.empty()) { + syncResults_.temperatureK = config_.ctR.domain().clip(4000); + syncResults_.gainR = 1.0 / config_.ctR.eval(syncResults_.temperatureK); + syncResults_.gainG = 1.0; + syncResults_.gainB = 1.0 / config_.ctB.eval(syncResults_.temperatureK); + } else { + /* random values just to stop the world blowing up */ + syncResults_.temperatureK = 4500; + syncResults_.gainR = syncResults_.gainG = syncResults_.gainB = 1.0; + } + prevSyncResults_ = syncResults_; + asyncResults_ = syncResults_; +} + +void Awb::initialValues(double &gainR, double &gainB) +{ + gainR = syncResults_.gainR; + gainB = syncResults_.gainB; +} + +void Awb::disableAuto() +{ + /* Freeze the most recent values, and treat them as manual gains */ + manualR_ = syncResults_.gainR = prevSyncResults_.gainR; + manualB_ = syncResults_.gainB = prevSyncResults_.gainB; + syncResults_.gainG = prevSyncResults_.gainG; + syncResults_.temperatureK = prevSyncResults_.temperatureK; +} + +void Awb::enableAuto() +{ + manualR_ = 0.0; + manualB_ = 0.0; +} + +unsigned int Awb::getConvergenceFrames() const +{ + /* + * If not in auto mode, there is no convergence + * to happen, so no need to drop any frames - return zero. + */ + if (!isAutoEnabled()) + return 0; + else + return config_.convergenceFrames; +} + +void Awb::setMode(std::string const &modeName) +{ + modeName_ = modeName; +} + +void Awb::setManualGains(double manualR, double manualB) +{ + /* If any of these are 0.0, we swich back to auto. */ + manualR_ = manualR; + manualB_ = manualB; + /* + * If not in auto mode, set these values into the syncResults which + * means that Prepare() will adopt them immediately. + */ + if (!isAutoEnabled()) { + syncResults_.gainR = prevSyncResults_.gainR = manualR_; + syncResults_.gainG = prevSyncResults_.gainG = 1.0; + syncResults_.gainB = prevSyncResults_.gainB = manualB_; + if (config_.bayes) { + /* Also estimate the best corresponding colour temperature from the curves. */ + double ctR = config_.ctRInverse.eval(config_.ctRInverse.domain().clip(1 / manualR_)); + double ctB = config_.ctBInverse.eval(config_.ctBInverse.domain().clip(1 / manualB_)); + prevSyncResults_.temperatureK = (ctR + ctB) / 2; + syncResults_.temperatureK = prevSyncResults_.temperatureK; + } + } +} + +void Awb::switchMode([[maybe_unused]] CameraMode const &cameraMode, + Metadata *metadata) +{ + /* Let other algorithms know the current white balance values. */ + metadata->set("awb.status", prevSyncResults_); +} + +bool Awb::isAutoEnabled() const +{ + return manualR_ == 0.0 || manualB_ == 0.0; +} + +void Awb::fetchAsyncResults() +{ + LOG(RPiAwb, Debug) << "Fetch AWB results"; + asyncFinished_ = false; + asyncStarted_ = false; + /* + * It's possible manual gains could be set even while the async + * thread was running, so only copy the results if still in auto mode. + */ + if (isAutoEnabled()) + syncResults_ = asyncResults_; +} + +void Awb::restartAsync(StatisticsPtr &stats, double lux) +{ + LOG(RPiAwb, Debug) << "Starting AWB calculation"; + /* this makes a new reference which belongs to the asynchronous thread */ + statistics_ = stats; + /* store the mode as it could technically change */ + auto m = config_.modes.find(modeName_); + mode_ = m != config_.modes.end() + ? &m->second + : (mode_ == nullptr ? config_.defaultMode : mode_); + lux_ = lux; + framePhase_ = 0; + asyncStarted_ = true; + size_t len = modeName_.copy(asyncResults_.mode, + sizeof(asyncResults_.mode) - 1); + asyncResults_.mode[len] = '\0'; + { + std::lock_guard<std::mutex> lock(mutex_); + asyncStart_ = true; + } + asyncSignal_.notify_one(); +} + +void Awb::prepare(Metadata *imageMetadata) +{ + if (frameCount_ < (int)config_.startupFrames) + frameCount_++; + double speed = frameCount_ < (int)config_.startupFrames + ? 1.0 + : config_.speed; + LOG(RPiAwb, Debug) + << "frame_count " << frameCount_ << " speed " << speed; + { + std::unique_lock<std::mutex> lock(mutex_); + if (asyncStarted_ && asyncFinished_) + fetchAsyncResults(); + } + /* Finally apply IIR filter to results and put into metadata. */ + memcpy(prevSyncResults_.mode, syncResults_.mode, + sizeof(prevSyncResults_.mode)); + prevSyncResults_.temperatureK = speed * syncResults_.temperatureK + + (1.0 - speed) * prevSyncResults_.temperatureK; + prevSyncResults_.gainR = speed * syncResults_.gainR + + (1.0 - speed) * prevSyncResults_.gainR; + prevSyncResults_.gainG = speed * syncResults_.gainG + + (1.0 - speed) * prevSyncResults_.gainG; + prevSyncResults_.gainB = speed * syncResults_.gainB + + (1.0 - speed) * prevSyncResults_.gainB; + imageMetadata->set("awb.status", prevSyncResults_); + LOG(RPiAwb, Debug) + << "Using AWB gains r " << prevSyncResults_.gainR << " g " + << prevSyncResults_.gainG << " b " + << prevSyncResults_.gainB; +} + +void Awb::process(StatisticsPtr &stats, Metadata *imageMetadata) +{ + /* Count frames since we last poked the async thread. */ + if (framePhase_ < (int)config_.framePeriod) + framePhase_++; + LOG(RPiAwb, Debug) << "frame_phase " << framePhase_; + /* We do not restart the async thread if we're not in auto mode. */ + if (isAutoEnabled() && + (framePhase_ >= (int)config_.framePeriod || + frameCount_ < (int)config_.startupFrames)) { + /* Update any settings and any image metadata that we need. */ + struct LuxStatus luxStatus = {}; + luxStatus.lux = 400; /* in case no metadata */ + if (imageMetadata->get("lux.status", luxStatus) != 0) + LOG(RPiAwb, Debug) << "No lux metadata found"; + LOG(RPiAwb, Debug) << "Awb lux value is " << luxStatus.lux; + + if (asyncStarted_ == false) + restartAsync(stats, luxStatus.lux); + } +} + +void Awb::asyncFunc() +{ + while (true) { + { + std::unique_lock<std::mutex> lock(mutex_); + asyncSignal_.wait(lock, [&] { + return asyncStart_ || asyncAbort_; + }); + asyncStart_ = false; + if (asyncAbort_) + break; + } + doAwb(); + { + std::lock_guard<std::mutex> lock(mutex_); + asyncFinished_ = true; + } + syncSignal_.notify_one(); + } +} + +static void generateStats(std::vector<Awb::RGB> &zones, + StatisticsPtr &stats, double minPixels, + double minG, Metadata &globalMetadata) +{ + std::scoped_lock<RPiController::Metadata> l(globalMetadata); + + for (unsigned int i = 0; i < stats->awbRegions.numRegions(); i++) { + Awb::RGB zone; + auto ®ion = stats->awbRegions.get(i); + if (region.counted >= minPixels) { + zone.G = region.val.gSum / region.counted; + if (zone.G < minG) + continue; + zone.R = region.val.rSum / region.counted; + zone.B = region.val.bSum / region.counted; + /* Factor in the ALSC applied colour shading correction if required. */ + const AlscStatus *alscStatus = globalMetadata.getLocked<AlscStatus>("alsc.status"); + if (stats->colourStatsPos == Statistics::ColourStatsPos::PreLsc && alscStatus) { + zone.R *= alscStatus->r[i]; + zone.G *= alscStatus->g[i]; + zone.B *= alscStatus->b[i]; + } + zones.push_back(zone); + } + } +} + +void Awb::prepareStats() +{ + zones_.clear(); + /* + * LSC has already been applied to the stats in this pipeline, so stop + * any LSC compensation. We also ignore config_.fast in this version. + */ + generateStats(zones_, statistics_, config_.minPixels, + config_.minG, getGlobalMetadata()); + /* + * apply sensitivities, so values appear to come from our "canonical" + * sensor. + */ + for (auto &zone : zones_) { + zone.R *= config_.sensitivityR; + zone.B *= config_.sensitivityB; + } +} + +double Awb::computeDelta2Sum(double gainR, double gainB) +{ + /* + * Compute the sum of the squared colour error (non-greyness) as it + * appears in the log likelihood equation. + */ + double delta2Sum = 0; + for (auto &z : zones_) { + double deltaR = gainR * z.R - 1 - config_.whitepointR; + double deltaB = gainB * z.B - 1 - config_.whitepointB; + double delta2 = deltaR * deltaR + deltaB * deltaB; + /* LOG(RPiAwb, Debug) << "deltaR " << deltaR << " deltaB " << deltaB << " delta2 " << delta2; */ + delta2 = std::min(delta2, config_.deltaLimit); + delta2Sum += delta2; + } + return delta2Sum; +} + +Pwl Awb::interpolatePrior() +{ + /* + * Interpolate the prior log likelihood function for our current lux + * value. + */ + if (lux_ <= config_.priors.front().lux) + return config_.priors.front().prior; + else if (lux_ >= config_.priors.back().lux) + return config_.priors.back().prior; + else { + int idx = 0; + /* find which two we lie between */ + while (config_.priors[idx + 1].lux < lux_) + idx++; + double lux0 = config_.priors[idx].lux, + lux1 = config_.priors[idx + 1].lux; + return Pwl::combine(config_.priors[idx].prior, + config_.priors[idx + 1].prior, + [&](double /*x*/, double y0, double y1) { + return y0 + (y1 - y0) * + (lux_ - lux0) / (lux1 - lux0); + }); + } +} + +static double interpolateQuadatric(Pwl::Point const &a, Pwl::Point const &b, + Pwl::Point const &c) +{ + /* + * Given 3 points on a curve, find the extremum of the function in that + * interval by fitting a quadratic. + */ + const double eps = 1e-3; + Pwl::Point ca = c - a, ba = b - a; + double denominator = 2 * (ba.y * ca.x - ca.y * ba.x); + if (abs(denominator) > eps) { + double numerator = ba.y * ca.x * ca.x - ca.y * ba.x * ba.x; + double result = numerator / denominator + a.x; + return std::max(a.x, std::min(c.x, result)); + } + /* has degenerated to straight line segment */ + return a.y < c.y - eps ? a.x : (c.y < a.y - eps ? c.x : b.x); +} + +double Awb::coarseSearch(Pwl const &prior) +{ + points_.clear(); /* assume doesn't deallocate memory */ + size_t bestPoint = 0; + double t = mode_->ctLo; + int spanR = 0, spanB = 0; + /* Step down the CT curve evaluating log likelihood. */ + while (true) { + double r = config_.ctR.eval(t, &spanR); + double b = config_.ctB.eval(t, &spanB); + double gainR = 1 / r, gainB = 1 / b; + double delta2Sum = computeDelta2Sum(gainR, gainB); + double priorLogLikelihood = prior.eval(prior.domain().clip(t)); + double finalLogLikelihood = delta2Sum - priorLogLikelihood; + LOG(RPiAwb, Debug) + << "t: " << t << " gain R " << gainR << " gain B " + << gainB << " delta2_sum " << delta2Sum + << " prior " << priorLogLikelihood << " final " + << finalLogLikelihood; + points_.push_back(Pwl::Point(t, finalLogLikelihood)); + if (points_.back().y < points_[bestPoint].y) + bestPoint = points_.size() - 1; + if (t == mode_->ctHi) + break; + /* for even steps along the r/b curve scale them by the current t */ + t = std::min(t + t / 10 * config_.coarseStep, mode_->ctHi); + } + t = points_[bestPoint].x; + LOG(RPiAwb, Debug) << "Coarse search found CT " << t; + /* + * We have the best point of the search, but refine it with a quadratic + * interpolation around its neighbours. + */ + if (points_.size() > 2) { + unsigned long bp = std::min(bestPoint, points_.size() - 2); + bestPoint = std::max(1UL, bp); + t = interpolateQuadatric(points_[bestPoint - 1], + points_[bestPoint], + points_[bestPoint + 1]); + LOG(RPiAwb, Debug) + << "After quadratic refinement, coarse search has CT " + << t; + } + return t; +} + +void Awb::fineSearch(double &t, double &r, double &b, Pwl const &prior) +{ + int spanR = -1, spanB = -1; + config_.ctR.eval(t, &spanR); + config_.ctB.eval(t, &spanB); + double step = t / 10 * config_.coarseStep * 0.1; + int nsteps = 5; + double rDiff = config_.ctR.eval(t + nsteps * step, &spanR) - + config_.ctR.eval(t - nsteps * step, &spanR); + double bDiff = config_.ctB.eval(t + nsteps * step, &spanB) - + config_.ctB.eval(t - nsteps * step, &spanB); + Pwl::Point transverse(bDiff, -rDiff); + if (transverse.len2() < 1e-6) + return; + /* + * unit vector orthogonal to the b vs. r function (pointing outwards + * with r and b increasing) + */ + transverse = transverse / transverse.len(); + double bestLogLikelihood = 0, bestT = 0, bestR = 0, bestB = 0; + double transverseRange = config_.transverseNeg + config_.transversePos; + const int maxNumDeltas = 12; + /* a transverse step approximately every 0.01 r/b units */ + int numDeltas = floor(transverseRange * 100 + 0.5) + 1; + numDeltas = numDeltas < 3 ? 3 : (numDeltas > maxNumDeltas ? maxNumDeltas : numDeltas); + /* + * 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 = + prior.eval(prior.domain().clip(tTest)); + double rCurve = config_.ctR.eval(tTest, &spanR); + double bCurve = config_.ctB.eval(tTest, &spanB); + /* x will be distance off the curve, y the log likelihood there */ + Pwl::Point points[maxNumDeltas]; + int bestPoint = 0; + /* Take some measurements transversely *off* the CT curve. */ + for (int j = 0; j < numDeltas; j++) { + points[j].x = -config_.transverseNeg + + (transverseRange * j) / (numDeltas - 1); + Pwl::Point rbTest = Pwl::Point(rCurve, bCurve) + + transverse * points[j].x; + double rTest = rbTest.x, bTest = rbTest.y; + double gainR = 1 / rTest, gainB = 1 / bTest; + double delta2Sum = computeDelta2Sum(gainR, gainB); + points[j].y = delta2Sum - priorLogLikelihood; + LOG(RPiAwb, Debug) + << "At t " << tTest << " r " << rTest << " b " + << bTest << ": " << points[j].y; + if (points[j].y < points[bestPoint].y) + bestPoint = j; + } + /* + * We have NUM_DELTAS points transversely across the CT curve, + * now let's do a quadratic interpolation for the best result. + */ + bestPoint = std::max(1, std::min(bestPoint, numDeltas - 2)); + Pwl::Point rbTest = Pwl::Point(rCurve, bCurve) + + transverse * interpolateQuadatric(points[bestPoint - 1], + points[bestPoint], + points[bestPoint + 1]); + double rTest = rbTest.x, bTest = rbTest.y; + double gainR = 1 / rTest, gainB = 1 / bTest; + double delta2Sum = computeDelta2Sum(gainR, gainB); + double finalLogLikelihood = delta2Sum - priorLogLikelihood; + LOG(RPiAwb, Debug) + << "Finally " + << tTest << " r " << rTest << " b " << bTest << ": " + << finalLogLikelihood + << (finalLogLikelihood < bestLogLikelihood ? " BEST" : ""); + if (bestT == 0 || finalLogLikelihood < bestLogLikelihood) + bestLogLikelihood = finalLogLikelihood, + bestT = tTest, bestR = rTest, bestB = bTest; + } + t = bestT, r = bestR, b = bestB; + LOG(RPiAwb, Debug) + << "Fine search found t " << t << " r " << r << " b " << b; +} + +void Awb::awbBayes() +{ + /* + * May as well divide out G to save computeDelta2Sum from doing it over + * and over. + */ + for (auto &z : zones_) + z.R = z.R / (z.G + 1), z.B = z.B / (z.G + 1); + /* + * Get the current prior, and scale according to how many zones are + * valid... not entirely sure about this. + */ + Pwl prior = interpolatePrior(); + prior *= zones_.size() / (double)(statistics_->awbRegions.numRegions()); + prior.map([](double x, double y) { + LOG(RPiAwb, Debug) << "(" << x << "," << y << ")"; + }); + double t = coarseSearch(prior); + double r = config_.ctR.eval(t); + double b = config_.ctB.eval(t); + LOG(RPiAwb, Debug) + << "After coarse search: r " << r << " b " << b << " (gains r " + << 1 / r << " b " << 1 / b << ")"; + /* + * 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 transverely 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); + LOG(RPiAwb, Debug) + << "After fine search: r " << r << " b " << b << " (gains r " + << 1 / r << " b " << 1 / b << ")"; + /* + * Write results out for the main thread to pick up. Remember to adjust + * the gains from the ones that the "canonical sensor" would require to + * the ones needed by *this* sensor. + */ + asyncResults_.temperatureK = t; + asyncResults_.gainR = 1.0 / r * config_.sensitivityR; + asyncResults_.gainG = 1.0; + asyncResults_.gainB = 1.0 / b * config_.sensitivityB; +} + +void Awb::awbGrey() +{ + LOG(RPiAwb, Debug) << "Grey world AWB"; + /* + * Make a separate list of the derivatives for each of red and blue, so + * that we can sort them to exclude the extreme gains. We could + * consider some variations, such as normalising all the zones first, or + * doing an L2 average etc. + */ + std::vector<RGB> &derivsR(zones_); + std::vector<RGB> derivsB(derivsR); + std::sort(derivsR.begin(), derivsR.end(), + [](RGB const &a, RGB const &b) { + return a.G * b.R < b.G * a.R; + }); + std::sort(derivsB.begin(), derivsB.end(), + [](RGB const &a, RGB const &b) { + return a.G * b.B < b.G * a.B; + }); + /* Average the middle half of the values. */ + int discard = derivsR.size() / 4; + RGB sumR(0, 0, 0), sumB(0, 0, 0); + for (auto ri = derivsR.begin() + discard, + bi = derivsB.begin() + discard; + ri != derivsR.end() - discard; ri++, bi++) + sumR += *ri, sumB += *bi; + double gainR = sumR.G / (sumR.R + 1), + gainB = sumB.G / (sumB.B + 1); + asyncResults_.temperatureK = 4500; /* don't know what it is */ + asyncResults_.gainR = gainR; + asyncResults_.gainG = 1.0; + asyncResults_.gainB = gainB; +} + +void Awb::doAwb() +{ + prepareStats(); + LOG(RPiAwb, Debug) << "Valid zones: " << zones_.size(); + if (zones_.size() > config_.minRegions) { + if (config_.bayes) + awbBayes(); + else + awbGrey(); + LOG(RPiAwb, Debug) + << "CT found is " + << asyncResults_.temperatureK + << " with gains r " << asyncResults_.gainR + << " and b " << asyncResults_.gainB; + } + /* + * we're done with these; we may as well relinquish our hold on the + * pointer. + */ + statistics_.reset(); +} + +/* Register algorithm with the system. */ +static Algorithm *create(Controller *controller) +{ + return (Algorithm *)new Awb(controller); +} +static RegisterAlgorithm reg(NAME, &create); diff --git a/src/ipa/rpi/controller/rpi/awb.h b/src/ipa/rpi/controller/rpi/awb.h new file mode 100644 index 00000000..499b4519 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/awb.h @@ -0,0 +1,192 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * AWB control algorithm + */ +#pragma once + +#include <mutex> +#include <condition_variable> +#include <thread> + +#include "../awb_algorithm.h" +#include "../pwl.h" +#include "../awb_status.h" +#include "../statistics.h" + +namespace RPiController { + +/* Control algorithm to perform AWB calculations. */ + +struct AwbMode { + int read(const libcamera::YamlObject ¶ms); + double ctLo; /* low CT value for search */ + double ctHi; /* high CT value for search */ +}; + +struct AwbPrior { + int read(const libcamera::YamlObject ¶ms); + double lux; /* lux level */ + Pwl prior; /* maps CT to prior log likelihood for this lux level */ +}; + +struct AwbConfig { + AwbConfig() : defaultMode(nullptr) {} + int read(const libcamera::YamlObject ¶ms); + /* Only repeat the AWB calculation every "this many" frames */ + uint16_t framePeriod; + /* number of initial frames for which speed taken as 1.0 (maximum) */ + uint16_t startupFrames; + unsigned int convergenceFrames; /* approx number of frames to converge */ + double speed; /* IIR filter speed applied to algorithm results */ + bool fast; /* "fast" mode uses a 16x16 rather than 32x32 grid */ + Pwl ctR; /* function maps CT to r (= R/G) */ + Pwl ctB; /* function maps CT to b (= B/G) */ + Pwl ctRInverse; /* inverse of ctR */ + Pwl ctBInverse; /* inverse of ctB */ + /* table of illuminant priors at different lux levels */ + std::vector<AwbPrior> priors; + /* AWB "modes" (determines the search range) */ + std::map<std::string, AwbMode> modes; + AwbMode *defaultMode; /* mode used if no mode selected */ + /* + * minimum proportion of pixels counted within AWB region for it to be + * "useful" + */ + double minPixels; + /* minimum G value of those pixels, to be regarded a "useful" */ + uint16_t minG; + /* + * number of AWB regions that must be "useful" in order to do the AWB + * calculation + */ + uint32_t minRegions; + /* clamp on colour error term (so as not to penalise non-grey excessively) */ + double deltaLimit; + /* step size control in coarse search */ + double coarseStep; + /* how far to wander off CT curve towards "more purple" */ + double transversePos; + /* how far to wander off CT curve towards "more green" */ + double transverseNeg; + /* + * red sensitivity ratio (set to canonical sensor's R/G divided by this + * sensor's R/G) + */ + double sensitivityR; + /* + * blue sensitivity ratio (set to canonical sensor's B/G divided by this + * sensor's B/G) + */ + double sensitivityB; + /* The whitepoint (which we normally "aim" for) can be moved. */ + double whitepointR; + double whitepointB; + bool bayes; /* use Bayesian algorithm */ +}; + +class Awb : public AwbAlgorithm +{ +public: + Awb(Controller *controller = NULL); + ~Awb(); + char const *name() const override; + void initialise() override; + int read(const libcamera::YamlObject ¶ms) override; + unsigned int getConvergenceFrames() const override; + void initialValues(double &gainR, double &gainB) override; + void setMode(std::string const &name) override; + void setManualGains(double manualR, double manualB) override; + void enableAuto() override; + void disableAuto() override; + void switchMode(CameraMode const &cameraMode, Metadata *metadata) override; + void prepare(Metadata *imageMetadata) override; + void process(StatisticsPtr &stats, Metadata *imageMetadata) override; + struct RGB { + RGB(double r = 0, double g = 0, double b = 0) + : R(r), G(g), B(b) + { + } + double R, G, B; + RGB &operator+=(RGB const &other) + { + R += other.R, G += other.G, B += other.B; + return *this; + } + }; + +private: + bool isAutoEnabled() const; + /* configuration is read-only, and available to both threads */ + AwbConfig config_; + std::thread asyncThread_; + void asyncFunc(); /* asynchronous thread function */ + std::mutex mutex_; + /* condvar for async thread to wait on */ + std::condition_variable asyncSignal_; + /* condvar for synchronous thread to wait on */ + std::condition_variable syncSignal_; + /* for sync thread to check if async thread finished (requires mutex) */ + bool asyncFinished_; + /* for async thread to check if it's been told to run (requires mutex) */ + bool asyncStart_; + /* for async thread to check if it's been told to quit (requires mutex) */ + bool asyncAbort_; + + /* + * The following are only for the synchronous thread to use: + * for sync thread to note its has asked async thread to run + */ + bool asyncStarted_; + /* counts up to framePeriod before restarting the async thread */ + int framePhase_; + int frameCount_; /* counts up to startup_frames */ + AwbStatus syncResults_; + AwbStatus prevSyncResults_; + std::string modeName_; + /* + * The following are for the asynchronous thread to use, though the main + * thread can set/reset them if the async thread is known to be idle: + */ + void restartAsync(StatisticsPtr &stats, double lux); + /* copy out the results from the async thread so that it can be restarted */ + void fetchAsyncResults(); + StatisticsPtr statistics_; + AwbMode *mode_; + double lux_; + AwbStatus asyncResults_; + void doAwb(); + void awbBayes(); + void awbGrey(); + void prepareStats(); + double computeDelta2Sum(double gainR, double gainB); + Pwl interpolatePrior(); + double coarseSearch(Pwl const &prior); + void fineSearch(double &t, double &r, double &b, Pwl const &prior); + std::vector<RGB> zones_; + std::vector<Pwl::Point> points_; + /* manual r setting */ + double manualR_; + /* manual b setting */ + double manualB_; +}; + +static inline Awb::RGB operator+(Awb::RGB const &a, Awb::RGB const &b) +{ + return Awb::RGB(a.R + b.R, a.G + b.G, a.B + b.B); +} +static inline Awb::RGB operator-(Awb::RGB const &a, Awb::RGB const &b) +{ + return Awb::RGB(a.R - b.R, a.G - b.G, a.B - b.B); +} +static inline Awb::RGB operator*(double d, Awb::RGB const &rgb) +{ + return Awb::RGB(d * rgb.R, d * rgb.G, d * rgb.B); +} +static inline Awb::RGB operator*(Awb::RGB const &rgb, double d) +{ + return d * rgb; +} + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/black_level.cpp b/src/ipa/rpi/controller/rpi/black_level.cpp new file mode 100644 index 00000000..ea991df9 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/black_level.cpp @@ -0,0 +1,74 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * black level control algorithm + */ + +#include <math.h> +#include <stdint.h> + +#include <libcamera/base/log.h> + +#include "../black_level_status.h" + +#include "black_level.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiBlackLevel) + +#define NAME "rpi.black_level" + +BlackLevel::BlackLevel(Controller *controller) + : BlackLevelAlgorithm(controller) +{ +} + +char const *BlackLevel::name() const +{ + return NAME; +} + +int BlackLevel::read(const libcamera::YamlObject ¶ms) +{ + /* 64 in 10 bits scaled to 16 bits */ + uint16_t blackLevel = params["black_level"].get<uint16_t>(4096); + blackLevelR_ = params["black_level_r"].get<uint16_t>(blackLevel); + blackLevelG_ = params["black_level_g"].get<uint16_t>(blackLevel); + blackLevelB_ = params["black_level_b"].get<uint16_t>(blackLevel); + LOG(RPiBlackLevel, Debug) + << " Read black levels red " << blackLevelR_ + << " green " << blackLevelG_ + << " blue " << blackLevelB_; + return 0; +} + +void BlackLevel::initialValues(uint16_t &blackLevelR, uint16_t &blackLevelG, + uint16_t &blackLevelB) +{ + blackLevelR = blackLevelR_; + blackLevelG = blackLevelG_; + blackLevelB = blackLevelB_; +} + +void BlackLevel::prepare(Metadata *imageMetadata) +{ + /* + * Possibly we should think about doing this in a switchMode or + * something? + */ + struct BlackLevelStatus status; + status.blackLevelR = blackLevelR_; + status.blackLevelG = blackLevelG_; + status.blackLevelB = blackLevelB_; + imageMetadata->set("black_level.status", status); +} + +/* Register algorithm with the system. */ +static Algorithm *create(Controller *controller) +{ + return new BlackLevel(controller); +} +static RegisterAlgorithm reg(NAME, &create); diff --git a/src/ipa/rpi/controller/rpi/black_level.h b/src/ipa/rpi/controller/rpi/black_level.h new file mode 100644 index 00000000..f50729db --- /dev/null +++ b/src/ipa/rpi/controller/rpi/black_level.h @@ -0,0 +1,32 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * black level control algorithm + */ +#pragma once + +#include "../black_level_algorithm.h" +#include "../black_level_status.h" + +/* This is our implementation of the "black level algorithm". */ + +namespace RPiController { + +class BlackLevel : public BlackLevelAlgorithm +{ +public: + BlackLevel(Controller *controller); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void initialValues(uint16_t &blackLevelR, uint16_t &blackLevelG, + uint16_t &blackLevelB) override; + void prepare(Metadata *imageMetadata) override; + +private: + double blackLevelR_; + double blackLevelG_; + double blackLevelB_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/cac.cpp b/src/ipa/rpi/controller/rpi/cac.cpp new file mode 100644 index 00000000..17779ad5 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/cac.cpp @@ -0,0 +1,107 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023 Raspberry Pi Ltd + * + * Chromatic Aberration Correction algorithm + */ +#include "cac.h" + +#include <libcamera/base/log.h> + +#include "cac_status.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiCac) + +#define NAME "rpi.cac" + +Cac::Cac(Controller *controller) + : Algorithm(controller) +{ +} + +char const *Cac::name() const +{ + return NAME; +} + +static bool arrayToSet(const libcamera::YamlObject ¶ms, std::vector<double> &inputArray, const Size &size) +{ + int num = 0; + int max_num = (size.width + 1) * (size.height + 1); + inputArray.resize(max_num); + + for (const auto &p : params.asList()) { + if (num == max_num) + return false; + inputArray[num++] = p.get<double>(0); + } + + return num == max_num; +} + +static void setStrength(std::vector<double> &inputArray, std::vector<double> &outputArray, + double strengthFactor) +{ + int num = 0; + for (const auto &p : inputArray) { + outputArray[num++] = p * strengthFactor; + } +} + +int Cac::read(const libcamera::YamlObject ¶ms) +{ + config_.enabled = params.contains("lut_rx") && params.contains("lut_ry") && + params.contains("lut_bx") && params.contains("lut_by"); + if (!config_.enabled) + return 0; + + const Size &size = getHardwareConfig().cacRegions; + + if (!arrayToSet(params["lut_rx"], config_.lutRx, size)) { + LOG(RPiCac, Error) << "Bad CAC lut_rx table"; + return -EINVAL; + } + + if (!arrayToSet(params["lut_ry"], config_.lutRy, size)) { + LOG(RPiCac, Error) << "Bad CAC lut_ry table"; + return -EINVAL; + } + + if (!arrayToSet(params["lut_bx"], config_.lutBx, size)) { + LOG(RPiCac, Error) << "Bad CAC lut_bx table"; + return -EINVAL; + } + + if (!arrayToSet(params["lut_by"], config_.lutBy, size)) { + LOG(RPiCac, Error) << "Bad CAC lut_by table"; + return -EINVAL; + } + + double strength = params["strength"].get<double>(1); + cacStatus_.lutRx = config_.lutRx; + cacStatus_.lutRy = config_.lutRy; + cacStatus_.lutBx = config_.lutBx; + cacStatus_.lutBy = config_.lutBy; + setStrength(config_.lutRx, cacStatus_.lutRx, strength); + setStrength(config_.lutBx, cacStatus_.lutBx, strength); + setStrength(config_.lutRy, cacStatus_.lutRy, strength); + setStrength(config_.lutBy, cacStatus_.lutBy, strength); + + return 0; +} + +void Cac::prepare(Metadata *imageMetadata) +{ + if (config_.enabled) + imageMetadata->set("cac.status", cacStatus_); +} + +// Register algorithm with the system. +static Algorithm *Create(Controller *controller) +{ + return (Algorithm *)new Cac(controller); +} +static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/rpi/controller/rpi/cac.h b/src/ipa/rpi/controller/rpi/cac.h new file mode 100644 index 00000000..a7b14c00 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/cac.h @@ -0,0 +1,35 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * cac.hpp - CAC control algorithm + */ +#pragma once + +#include "algorithm.h" +#include "cac_status.h" + +namespace RPiController { + +struct CacConfig { + bool enabled; + std::vector<double> lutRx; + std::vector<double> lutRy; + std::vector<double> lutBx; + std::vector<double> lutBy; +}; + +class Cac : public Algorithm +{ +public: + Cac(Controller *controller = NULL); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void prepare(Metadata *imageMetadata) override; + +private: + CacConfig config_; + CacStatus cacStatus_; +}; + +} // namespace RPiController diff --git a/src/ipa/rpi/controller/rpi/ccm.cpp b/src/ipa/rpi/controller/rpi/ccm.cpp new file mode 100644 index 00000000..c5588029 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/ccm.cpp @@ -0,0 +1,199 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * CCM (colour correction matrix) control algorithm + */ + +#include <libcamera/base/log.h> + +#include "../awb_status.h" +#include "../ccm_status.h" +#include "../lux_status.h" +#include "../metadata.h" + +#include "ccm.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiCcm) + +/* + * This algorithm selects a CCM (Colour Correction Matrix) according to the + * colour temperature estimated by AWB (interpolating between known matricies as + * necessary). Additionally the amount of colour saturation can be controlled + * both according to the current estimated lux level and according to a + * saturation setting that is exposed to applications. + */ + +#define NAME "rpi.ccm" + +Matrix::Matrix() +{ + memset(m, 0, sizeof(m)); +} +Matrix::Matrix(double m0, double m1, double m2, double m3, double m4, double m5, + double m6, double m7, double m8) +{ + m[0][0] = m0, m[0][1] = m1, m[0][2] = m2, m[1][0] = m3, m[1][1] = m4, + m[1][2] = m5, m[2][0] = m6, m[2][1] = m7, m[2][2] = m8; +} +int Matrix::read(const libcamera::YamlObject ¶ms) +{ + double *ptr = (double *)m; + + if (params.size() != 9) { + LOG(RPiCcm, Error) << "Wrong number of values in CCM"; + return -EINVAL; + } + + for (const auto ¶m : params.asList()) { + auto value = param.get<double>(); + if (!value) + return -EINVAL; + *ptr++ = *value; + } + + return 0; +} + +Ccm::Ccm(Controller *controller) + : CcmAlgorithm(controller), saturation_(1.0) {} + +char const *Ccm::name() const +{ + return NAME; +} + +int Ccm::read(const libcamera::YamlObject ¶ms) +{ + int ret; + + if (params.contains("saturation")) { + ret = config_.saturation.read(params["saturation"]); + if (ret) + return ret; + } + + for (auto &p : params["ccms"].asList()) { + auto value = p["ct"].get<double>(); + if (!value) + return -EINVAL; + + CtCcm ctCcm; + ctCcm.ct = *value; + ret = ctCcm.ccm.read(p["ccm"]); + if (ret) + return ret; + + if (!config_.ccms.empty() && ctCcm.ct <= config_.ccms.back().ct) { + LOG(RPiCcm, Error) + << "CCM not in increasing colour temperature order"; + return -EINVAL; + } + + config_.ccms.push_back(std::move(ctCcm)); + } + + if (config_.ccms.empty()) { + LOG(RPiCcm, Error) << "No CCMs specified"; + return -EINVAL; + } + + return 0; +} + +void Ccm::setSaturation(double saturation) +{ + saturation_ = saturation; +} + +void Ccm::initialise() +{ +} + +template<typename T> +static bool getLocked(Metadata *metadata, std::string const &tag, T &value) +{ + T *ptr = metadata->getLocked<T>(tag); + if (ptr == nullptr) + return false; + value = *ptr; + return true; +} + +Matrix calculateCcm(std::vector<CtCcm> const &ccms, double ct) +{ + if (ct <= ccms.front().ct) + return ccms.front().ccm; + else if (ct >= ccms.back().ct) + return ccms.back().ccm; + else { + int i = 0; + for (; ct > ccms[i].ct; i++) + ; + double lambda = + (ct - ccms[i - 1].ct) / (ccms[i].ct - ccms[i - 1].ct); + return lambda * ccms[i].ccm + (1.0 - lambda) * ccms[i - 1].ccm; + } +} + +Matrix applySaturation(Matrix const &ccm, double saturation) +{ + Matrix RGB2Y(0.299, 0.587, 0.114, -0.169, -0.331, 0.500, 0.500, -0.419, + -0.081); + Matrix Y2RGB(1.000, 0.000, 1.402, 1.000, -0.345, -0.714, 1.000, 1.771, + 0.000); + Matrix S(1, 0, 0, 0, saturation, 0, 0, 0, saturation); + return Y2RGB * S * RGB2Y * ccm; +} + +void Ccm::prepare(Metadata *imageMetadata) +{ + bool awbOk = false, luxOk = false; + struct AwbStatus awb = {}; + awb.temperatureK = 4000; /* in case no metadata */ + struct LuxStatus lux = {}; + lux.lux = 400; /* in case no metadata */ + { + /* grab mutex just once to get everything */ + std::lock_guard<Metadata> lock(*imageMetadata); + awbOk = getLocked(imageMetadata, "awb.status", awb); + luxOk = getLocked(imageMetadata, "lux.status", lux); + } + if (!awbOk) + LOG(RPiCcm, Warning) << "no colour temperature found"; + if (!luxOk) + LOG(RPiCcm, Warning) << "no lux value found"; + Matrix ccm = calculateCcm(config_.ccms, awb.temperatureK); + double saturation = saturation_; + struct CcmStatus ccmStatus; + ccmStatus.saturation = saturation; + if (!config_.saturation.empty()) + saturation *= config_.saturation.eval( + config_.saturation.domain().clip(lux.lux)); + ccm = applySaturation(ccm, saturation); + for (int j = 0; j < 3; j++) + for (int i = 0; i < 3; i++) + ccmStatus.matrix[j * 3 + i] = + std::max(-8.0, std::min(7.9999, ccm.m[j][i])); + LOG(RPiCcm, Debug) + << "colour temperature " << awb.temperatureK << "K"; + LOG(RPiCcm, Debug) + << "CCM: " << ccmStatus.matrix[0] << " " << ccmStatus.matrix[1] + << " " << ccmStatus.matrix[2] << " " + << ccmStatus.matrix[3] << " " << ccmStatus.matrix[4] + << " " << ccmStatus.matrix[5] << " " + << ccmStatus.matrix[6] << " " << ccmStatus.matrix[7] + << " " << ccmStatus.matrix[8]; + imageMetadata->set("ccm.status", ccmStatus); +} + +/* Register algorithm with the system. */ +static Algorithm *create(Controller *controller) +{ + return (Algorithm *)new Ccm(controller); + ; +} +static RegisterAlgorithm reg(NAME, &create); diff --git a/src/ipa/raspberrypi/controller/rpi/ccm.hpp b/src/ipa/rpi/controller/rpi/ccm.h index 330ed51f..b3abeddf 100644 --- a/src/ipa/raspberrypi/controller/rpi/ccm.hpp +++ b/src/ipa/rpi/controller/rpi/ccm.h @@ -1,26 +1,26 @@ /* SPDX-License-Identifier: BSD-2-Clause */ /* - * Copyright (C) 2019, Raspberry Pi (Trading) Limited + * Copyright (C) 2019, Raspberry Pi Ltd * - * ccm.hpp - CCM (colour correction matrix) control algorithm + * CCM (colour correction matrix) control algorithm */ #pragma once #include <vector> -#include "../ccm_algorithm.hpp" -#include "../pwl.hpp" +#include "../ccm_algorithm.h" +#include "../pwl.h" namespace RPiController { -// Algorithm to calculate colour matrix. Should be placed after AWB. +/* Algorithm to calculate colour matrix. Should be placed after AWB. */ struct Matrix { Matrix(double m0, double m1, double m2, double m3, double m4, double m5, double m6, double m7, double m8); Matrix(); double m[3][3]; - void Read(boost::property_tree::ptree const ¶ms); + int read(const libcamera::YamlObject ¶ms); }; static inline Matrix operator*(double d, Matrix const &m) { @@ -61,15 +61,15 @@ class Ccm : public CcmAlgorithm { public: Ccm(Controller *controller = NULL); - char const *Name() const override; - void Read(boost::property_tree::ptree const ¶ms) override; - void SetSaturation(double saturation) override; - void Initialise() override; - void Prepare(Metadata *image_metadata) override; + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void setSaturation(double saturation) override; + void initialise() override; + void prepare(Metadata *imageMetadata) override; private: CcmConfig config_; double saturation_; }; -} // namespace RPiController +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/contrast.cpp b/src/ipa/rpi/controller/rpi/contrast.cpp new file mode 100644 index 00000000..9eef792d --- /dev/null +++ b/src/ipa/rpi/controller/rpi/contrast.cpp @@ -0,0 +1,192 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * contrast (gamma) control algorithm + */ +#include <stdint.h> + +#include <libcamera/base/log.h> + +#include "../contrast_status.h" +#include "../histogram.h" + +#include "contrast.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiContrast) + +/* + * This is a very simple control algorithm which simply retrieves the results of + * AGC and AWB via their "status" metadata, and applies digital gain to the + * colour channels in accordance with those instructions. We take care never to + * apply less than unity gains, as that would cause fully saturated pixels to go + * off-white. + */ + +#define NAME "rpi.contrast" + +Contrast::Contrast(Controller *controller) + : ContrastAlgorithm(controller), brightness_(0.0), contrast_(1.0) +{ +} + +char const *Contrast::name() const +{ + return NAME; +} + +int Contrast::read(const libcamera::YamlObject ¶ms) +{ + // enable adaptive enhancement by default + config_.ceEnable = params["ce_enable"].get<int>(1); + ceEnable_ = config_.ceEnable; + // the point near the bottom of the histogram to move + config_.loHistogram = params["lo_histogram"].get<double>(0.01); + // where in the range to try and move it to + config_.loLevel = params["lo_level"].get<double>(0.015); + // but don't move by more than this + config_.loMax = params["lo_max"].get<double>(500); + // equivalent values for the top of the histogram... + config_.hiHistogram = params["hi_histogram"].get<double>(0.95); + config_.hiLevel = params["hi_level"].get<double>(0.95); + config_.hiMax = params["hi_max"].get<double>(2000); + return config_.gammaCurve.read(params["gamma_curve"]); +} + +void Contrast::setBrightness(double brightness) +{ + brightness_ = brightness; +} + +void Contrast::setContrast(double contrast) +{ + contrast_ = contrast; +} + +void Contrast::enableCe(bool enable) +{ + ceEnable_ = enable; +} + +void Contrast::restoreCe() +{ + ceEnable_ = config_.ceEnable; +} + +void Contrast::initialise() +{ + /* + * Fill in some default values as Prepare will run before Process gets + * called. + */ + status_.brightness = brightness_; + status_.contrast = contrast_; + status_.gammaCurve = config_.gammaCurve; +} + +void Contrast::prepare(Metadata *imageMetadata) +{ + imageMetadata->set("contrast.status", status_); +} + +Pwl computeStretchCurve(Histogram const &histogram, + ContrastConfig const &config) +{ + Pwl enhance; + enhance.append(0, 0); + /* + * If the start of the histogram is rather empty, try to pull it down a + * bit. + */ + double histLo = histogram.quantile(config.loHistogram) * + (65536 / histogram.bins()); + double levelLo = config.loLevel * 65536; + LOG(RPiContrast, Debug) + << "Move histogram point " << histLo << " to " << levelLo; + histLo = std::max(levelLo, + std::min(65535.0, std::min(histLo, levelLo + config.loMax))); + LOG(RPiContrast, Debug) + << "Final values " << histLo << " -> " << levelLo; + enhance.append(histLo, levelLo); + /* + * Keep the mid-point (median) in the same place, though, to limit the + * apparent amount of global brightness shift. + */ + double mid = histogram.quantile(0.5) * (65536 / histogram.bins()); + enhance.append(mid, mid); + + /* + * If the top to the histogram is empty, try to pull the pixel values + * there up. + */ + double histHi = histogram.quantile(config.hiHistogram) * + (65536 / histogram.bins()); + double levelHi = config.hiLevel * 65536; + LOG(RPiContrast, Debug) + << "Move histogram point " << histHi << " to " << levelHi; + histHi = std::min(levelHi, + std::max(0.0, std::max(histHi, levelHi - config.hiMax))); + LOG(RPiContrast, Debug) + << "Final values " << histHi << " -> " << levelHi; + enhance.append(histHi, levelHi); + enhance.append(65535, 65535); + return enhance; +} + +Pwl applyManualContrast(Pwl const &gammaCurve, double brightness, + double contrast) +{ + Pwl newGammaCurve; + LOG(RPiContrast, Debug) + << "Manual brightness " << brightness << " contrast " << contrast; + gammaCurve.map([&](double x, double y) { + newGammaCurve.append( + x, std::max(0.0, std::min(65535.0, + (y - 32768) * contrast + + 32768 + brightness))); + }); + return newGammaCurve; +} + +void Contrast::process(StatisticsPtr &stats, + [[maybe_unused]] Metadata *imageMetadata) +{ + Histogram &histogram = stats->yHist; + /* + * We look at the histogram and adjust the gamma curve in the following + * ways: 1. Adjust the gamma curve so as to pull the start of the + * histogram down, and possibly push the end up. + */ + Pwl gammaCurve = config_.gammaCurve; + if (ceEnable_) { + if (config_.loMax != 0 || config_.hiMax != 0) + gammaCurve = computeStretchCurve(histogram, config_).compose(gammaCurve); + /* + * We could apply other adjustments (e.g. partial equalisation) + * based on the histogram...? + */ + } + /* + * 2. Finally apply any manually selected brightness/contrast + * adjustment. + */ + if (brightness_ != 0 || contrast_ != 1.0) + gammaCurve = applyManualContrast(gammaCurve, brightness_, contrast_); + /* + * And fill in the status for output. Use more points towards the bottom + * of the curve. + */ + status_.brightness = brightness_; + status_.contrast = contrast_; + status_.gammaCurve = std::move(gammaCurve); +} + +/* Register algorithm with the system. */ +static Algorithm *create(Controller *controller) +{ + return (Algorithm *)new Contrast(controller); +} +static RegisterAlgorithm reg(NAME, &create); diff --git a/src/ipa/rpi/controller/rpi/contrast.h b/src/ipa/rpi/controller/rpi/contrast.h new file mode 100644 index 00000000..a9d9bbc9 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/contrast.h @@ -0,0 +1,54 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * contrast (gamma) control algorithm + */ +#pragma once + +#include <mutex> + +#include "../contrast_algorithm.h" +#include "../pwl.h" + +namespace RPiController { + +/* + * Back End algorithm to appaly correct digital gain. Should be placed after + * Back End AWB. + */ + +struct ContrastConfig { + bool ceEnable; + double loHistogram; + double loLevel; + double loMax; + double hiHistogram; + double hiLevel; + double hiMax; + Pwl gammaCurve; +}; + +class Contrast : public ContrastAlgorithm +{ +public: + Contrast(Controller *controller = NULL); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void setBrightness(double brightness) override; + void setContrast(double contrast) override; + void enableCe(bool enable) override; + void restoreCe() override; + void initialise() override; + void prepare(Metadata *imageMetadata) override; + void process(StatisticsPtr &stats, Metadata *imageMetadata) override; + +private: + ContrastConfig config_; + double brightness_; + double contrast_; + ContrastStatus status_; + double ceEnable_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/denoise.cpp b/src/ipa/rpi/controller/rpi/denoise.cpp new file mode 100644 index 00000000..ba851658 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/denoise.cpp @@ -0,0 +1,198 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022 Raspberry Pi Ltd + * + * Denoise (spatial, colour, temporal) control algorithm + */ +#include "denoise.h" + +#include <libcamera/base/log.h> + +#include "denoise_status.h" +#include "noise_status.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiDenoise) + +// Calculate settings for the denoise blocks using the noise profile in +// the image metadata. + +#define NAME "rpi.denoise" + +int DenoiseConfig::read(const libcamera::YamlObject ¶ms) +{ + sdnEnable = params.contains("sdn"); + if (sdnEnable) { + auto &sdnParams = params["sdn"]; + sdnDeviation = sdnParams["deviation"].get<double>(3.2); + sdnStrength = sdnParams["strength"].get<double>(0.25); + sdnDeviation2 = sdnParams["deviation2"].get<double>(sdnDeviation); + sdnDeviationNoTdn = sdnParams["deviation_no_tdn"].get<double>(sdnDeviation); + sdnStrengthNoTdn = sdnParams["strength_no_tdn"].get<double>(sdnStrength); + sdnTdnBackoff = sdnParams["backoff"].get<double>(0.75); + } + + cdnEnable = params.contains("cdn"); + if (cdnEnable) { + auto &cdnParams = params["cdn"]; + cdnDeviation = cdnParams["deviation"].get<double>(120); + cdnStrength = cdnParams["strength"].get<double>(0.2); + } + + tdnEnable = params.contains("tdn"); + if (tdnEnable) { + auto &tdnParams = params["tdn"]; + tdnDeviation = tdnParams["deviation"].get<double>(0.5); + tdnThreshold = tdnParams["threshold"].get<double>(0.75); + } else if (sdnEnable) { + /* + * If SDN is enabled but TDN isn't, overwrite all the SDN settings + * with the "no TDN" versions. This makes it easier to enable or + * disable TDN in the tuning file without editing all the other + * parameters. + */ + sdnDeviation = sdnDeviation2 = sdnDeviationNoTdn; + sdnStrength = sdnStrengthNoTdn; + } + + return 0; +} + +Denoise::Denoise(Controller *controller) + : DenoiseAlgorithm(controller), mode_(DenoiseMode::ColourHighQuality) +{ +} + +char const *Denoise::name() const +{ + return NAME; +} + +int Denoise::read(const libcamera::YamlObject ¶ms) +{ + if (!params.contains("normal")) { + configs_["normal"].read(params); + currentConfig_ = &configs_["normal"]; + + return 0; + } + + for (const auto &[key, value] : params.asDict()) { + if (configs_[key].read(value)) { + LOG(RPiDenoise, Error) << "Failed to read denoise config " << key; + return -EINVAL; + } + } + + auto it = configs_.find("normal"); + if (it == configs_.end()) { + LOG(RPiDenoise, Error) << "No normal denoise settings found"; + return -EINVAL; + } + currentConfig_ = &it->second; + + return 0; +} + +void Denoise::initialise() +{ +} + +void Denoise::switchMode([[maybe_unused]] CameraMode const &cameraMode, + [[maybe_unused]] Metadata *metadata) +{ + /* A mode switch effectively resets temporal denoise and it has to start over. */ + currentSdnDeviation_ = currentConfig_->sdnDeviationNoTdn; + currentSdnStrength_ = currentConfig_->sdnStrengthNoTdn; + currentSdnDeviation2_ = currentConfig_->sdnDeviationNoTdn; +} + +void Denoise::prepare(Metadata *imageMetadata) +{ + struct NoiseStatus noiseStatus = {}; + noiseStatus.noiseSlope = 3.0; // in case no metadata + if (imageMetadata->get("noise.status", noiseStatus) != 0) + LOG(RPiDenoise, Warning) << "no noise profile found"; + + LOG(RPiDenoise, Debug) + << "Noise profile: constant " << noiseStatus.noiseConstant + << " slope " << noiseStatus.noiseSlope; + + if (mode_ == DenoiseMode::Off) + return; + + if (currentConfig_->sdnEnable) { + struct SdnStatus sdn; + sdn.noiseConstant = noiseStatus.noiseConstant * currentSdnDeviation_; + sdn.noiseSlope = noiseStatus.noiseSlope * currentSdnDeviation_; + sdn.noiseConstant2 = noiseStatus.noiseConstant * currentConfig_->sdnDeviation2; + sdn.noiseSlope2 = noiseStatus.noiseSlope * currentSdnDeviation2_; + sdn.strength = currentSdnStrength_; + imageMetadata->set("sdn.status", sdn); + LOG(RPiDenoise, Debug) + << "const " << sdn.noiseConstant + << " slope " << sdn.noiseSlope + << " str " << sdn.strength + << " const2 " << sdn.noiseConstant2 + << " slope2 " << sdn.noiseSlope2; + + /* For the next frame, we back off the SDN parameters as TDN ramps up. */ + double f = currentConfig_->sdnTdnBackoff; + currentSdnDeviation_ = f * currentSdnDeviation_ + (1 - f) * currentConfig_->sdnDeviation; + currentSdnStrength_ = f * currentSdnStrength_ + (1 - f) * currentConfig_->sdnStrength; + currentSdnDeviation2_ = f * currentSdnDeviation2_ + (1 - f) * currentConfig_->sdnDeviation2; + } + + if (currentConfig_->tdnEnable) { + struct TdnStatus tdn; + tdn.noiseConstant = noiseStatus.noiseConstant * currentConfig_->tdnDeviation; + tdn.noiseSlope = noiseStatus.noiseSlope * currentConfig_->tdnDeviation; + tdn.threshold = currentConfig_->tdnThreshold; + imageMetadata->set("tdn.status", tdn); + LOG(RPiDenoise, Debug) + << "programmed tdn threshold " << tdn.threshold + << " constant " << tdn.noiseConstant + << " slope " << tdn.noiseSlope; + } + + if (currentConfig_->cdnEnable && mode_ != DenoiseMode::ColourOff) { + struct CdnStatus cdn; + cdn.threshold = currentConfig_->cdnDeviation * noiseStatus.noiseSlope + noiseStatus.noiseConstant; + cdn.strength = currentConfig_->cdnStrength; + imageMetadata->set("cdn.status", cdn); + LOG(RPiDenoise, Debug) + << "programmed cdn threshold " << cdn.threshold + << " strength " << cdn.strength; + } +} + +void Denoise::setMode(DenoiseMode mode) +{ + // We only distinguish between off and all other modes. + mode_ = mode; +} + +void Denoise::setConfig(std::string const &name) +{ + auto it = configs_.find(name); + if (it == configs_.end()) { + /* + * Some platforms may have no need for different denoise settings, so we only issue + * a warning if there clearly are several configurations. + */ + if (configs_.size() > 1) + LOG(RPiDenoise, Warning) << "No denoise config found for " << name; + else + LOG(RPiDenoise, Debug) << "No denoise config found for " << name; + } else + currentConfig_ = &it->second; +} + +// Register algorithm with the system. +static Algorithm *Create(Controller *controller) +{ + return (Algorithm *)new Denoise(controller); +} +static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/rpi/controller/rpi/denoise.h b/src/ipa/rpi/controller/rpi/denoise.h new file mode 100644 index 00000000..92ff4f93 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/denoise.h @@ -0,0 +1,59 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022, Raspberry Pi Ltd + * + * denoise.hpp - Denoise (spatial, colour, temporal) control algorithm + */ +#pragma once + +#include <map> +#include <string> + +#include "algorithm.h" +#include "denoise_algorithm.h" + +namespace RPiController { + +// Algorithm to calculate correct denoise settings. + +struct DenoiseConfig { + double sdnDeviation; + double sdnStrength; + double sdnDeviation2; + double sdnDeviationNoTdn; + double sdnStrengthNoTdn; + double sdnTdnBackoff; + double cdnDeviation; + double cdnStrength; + double tdnDeviation; + double tdnThreshold; + bool tdnEnable; + bool sdnEnable; + bool cdnEnable; + int read(const libcamera::YamlObject ¶ms); +}; + +class Denoise : public DenoiseAlgorithm +{ +public: + Denoise(Controller *controller); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void initialise() override; + void switchMode(CameraMode const &cameraMode, Metadata *metadata) override; + void prepare(Metadata *imageMetadata) override; + void setMode(DenoiseMode mode) override; + void setConfig(std::string const &name) override; + +private: + std::map<std::string, DenoiseConfig> configs_; + DenoiseConfig *currentConfig_; + DenoiseMode mode_; + + /* SDN parameters attenuate over time if TDN is running. */ + double currentSdnDeviation_; + double currentSdnStrength_; + double currentSdnDeviation2_; +}; + +} // namespace RPiController diff --git a/src/ipa/rpi/controller/rpi/dpc.cpp b/src/ipa/rpi/controller/rpi/dpc.cpp new file mode 100644 index 00000000..8aac03f7 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/dpc.cpp @@ -0,0 +1,59 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * DPC (defective pixel correction) control algorithm + */ + +#include <libcamera/base/log.h> + +#include "dpc.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiDpc) + +/* + * We use the lux status so that we can apply stronger settings in darkness (if + * necessary). + */ + +#define NAME "rpi.dpc" + +Dpc::Dpc(Controller *controller) + : Algorithm(controller) +{ +} + +char const *Dpc::name() const +{ + return NAME; +} + +int Dpc::read(const libcamera::YamlObject ¶ms) +{ + config_.strength = params["strength"].get<int>(1); + if (config_.strength < 0 || config_.strength > 2) { + LOG(RPiDpc, Error) << "Bad strength value"; + return -EINVAL; + } + + return 0; +} + +void Dpc::prepare(Metadata *imageMetadata) +{ + DpcStatus dpcStatus = {}; + /* Should we vary this with lux level or analogue gain? TBD. */ + dpcStatus.strength = config_.strength; + LOG(RPiDpc, Debug) << "strength " << dpcStatus.strength; + imageMetadata->set("dpc.status", dpcStatus); +} + +/* Register algorithm with the system. */ +static Algorithm *create(Controller *controller) +{ + return (Algorithm *)new Dpc(controller); +} +static RegisterAlgorithm reg(NAME, &create); diff --git a/src/ipa/rpi/controller/rpi/dpc.h b/src/ipa/rpi/controller/rpi/dpc.h new file mode 100644 index 00000000..9cefb06d --- /dev/null +++ b/src/ipa/rpi/controller/rpi/dpc.h @@ -0,0 +1,32 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * DPC (defective pixel correction) control algorithm + */ +#pragma once + +#include "../algorithm.h" +#include "../dpc_status.h" + +namespace RPiController { + +/* Back End algorithm to apply appropriate GEQ settings. */ + +struct DpcConfig { + int strength; +}; + +class Dpc : public Algorithm +{ +public: + Dpc(Controller *controller); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void prepare(Metadata *imageMetadata) override; + +private: + DpcConfig config_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/raspberrypi/controller/rpi/focus.hpp b/src/ipa/rpi/controller/rpi/focus.h index 131b1d0f..ee014be9 100644 --- a/src/ipa/raspberrypi/controller/rpi/focus.hpp +++ b/src/ipa/rpi/controller/rpi/focus.h @@ -1,13 +1,13 @@ /* SPDX-License-Identifier: BSD-2-Clause */ /* - * Copyright (C) 2020, Raspberry Pi (Trading) Limited + * Copyright (C) 2020, Raspberry Pi Ltd * - * focus.hpp - focus algorithm + * focus algorithm */ #pragma once -#include "../algorithm.hpp" -#include "../metadata.hpp" +#include "../algorithm.h" +#include "../metadata.h" /* * The "focus" algorithm. All it does it print out a version of the @@ -21,8 +21,8 @@ class Focus : public Algorithm { public: Focus(Controller *controller); - char const *Name() const override; - void Process(StatisticsPtr &stats, Metadata *image_metadata) override; + char const *name() const override; + void process(StatisticsPtr &stats, Metadata *imageMetadata) override; }; } /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/geq.cpp b/src/ipa/rpi/controller/rpi/geq.cpp new file mode 100644 index 00000000..fb539d1f --- /dev/null +++ b/src/ipa/rpi/controller/rpi/geq.cpp @@ -0,0 +1,89 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * GEQ (green equalisation) control algorithm + */ + +#include <libcamera/base/log.h> + +#include "../device_status.h" +#include "../lux_status.h" +#include "../pwl.h" + +#include "geq.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiGeq) + +/* + * We use the lux status so that we can apply stronger settings in darkness (if + * necessary). + */ + +#define NAME "rpi.geq" + +Geq::Geq(Controller *controller) + : Algorithm(controller) +{ +} + +char const *Geq::name() const +{ + return NAME; +} + +int Geq::read(const libcamera::YamlObject ¶ms) +{ + config_.offset = params["offset"].get<uint16_t>(0); + config_.slope = params["slope"].get<double>(0.0); + if (config_.slope < 0.0 || config_.slope >= 1.0) { + LOG(RPiGeq, Error) << "Bad slope value"; + return -EINVAL; + } + + if (params.contains("strength")) { + int ret = config_.strength.read(params["strength"]); + if (ret) + return ret; + } + + return 0; +} + +void Geq::prepare(Metadata *imageMetadata) +{ + LuxStatus luxStatus = {}; + luxStatus.lux = 400; + if (imageMetadata->get("lux.status", luxStatus)) + LOG(RPiGeq, Warning) << "no lux data found"; + DeviceStatus deviceStatus; + deviceStatus.analogueGain = 1.0; /* in case not found */ + if (imageMetadata->get("device.status", deviceStatus)) + LOG(RPiGeq, Warning) + << "no device metadata - use analogue gain of 1x"; + GeqStatus geqStatus = {}; + double strength = config_.strength.empty() + ? 1.0 + : config_.strength.eval(config_.strength.domain().clip(luxStatus.lux)); + strength *= deviceStatus.analogueGain; + double offset = config_.offset * strength; + double slope = config_.slope * strength; + geqStatus.offset = std::min(65535.0, std::max(0.0, offset)); + geqStatus.slope = std::min(.99999, std::max(0.0, slope)); + LOG(RPiGeq, Debug) + << "offset " << geqStatus.offset << " slope " + << geqStatus.slope << " (analogue gain " + << deviceStatus.analogueGain << " lux " + << luxStatus.lux << ")"; + imageMetadata->set("geq.status", geqStatus); +} + +/* Register algorithm with the system. */ +static Algorithm *create(Controller *controller) +{ + return (Algorithm *)new Geq(controller); +} +static RegisterAlgorithm reg(NAME, &create); diff --git a/src/ipa/rpi/controller/rpi/geq.h b/src/ipa/rpi/controller/rpi/geq.h new file mode 100644 index 00000000..2c8400c2 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/geq.h @@ -0,0 +1,34 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * GEQ (green equalisation) control algorithm + */ +#pragma once + +#include "../algorithm.h" +#include "../geq_status.h" + +namespace RPiController { + +/* Back End algorithm to apply appropriate GEQ settings. */ + +struct GeqConfig { + uint16_t offset; + double slope; + Pwl strength; /* lux to strength factor */ +}; + +class Geq : public Algorithm +{ +public: + Geq(Controller *controller); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void prepare(Metadata *imageMetadata) override; + +private: + GeqConfig config_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/hdr.cpp b/src/ipa/rpi/controller/rpi/hdr.cpp new file mode 100644 index 00000000..34cf360e --- /dev/null +++ b/src/ipa/rpi/controller/rpi/hdr.cpp @@ -0,0 +1,417 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023 Raspberry Pi Ltd + * + * HDR control algorithm + */ + +#include "hdr.h" + +#include <cmath> + +#include <libcamera/base/log.h> + +#include "../agc_status.h" +#include "../alsc_status.h" +#include "../stitch_status.h" +#include "../tonemap_status.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiHdr) + +#define NAME "rpi.hdr" + +void HdrConfig::read(const libcamera::YamlObject ¶ms, const std::string &modeName) +{ + name = modeName; + + if (!params.contains("cadence")) + LOG(RPiHdr, Fatal) << "No cadence for HDR mode " << name; + cadence = params["cadence"].getList<unsigned int>().value(); + if (cadence.empty()) + LOG(RPiHdr, Fatal) << "Empty cadence in HDR mode " << name; + + /* + * In the JSON file it's easier to use the channel name as the key, but + * for us it's convenient to swap them over. + */ + for (const auto &[k, v] : params["channel_map"].asDict()) + channelMap[v.get<unsigned int>().value()] = k; + + /* Lens shading related parameters. */ + if (params.contains("spatial_gain_curve")) { + spatialGainCurve.read(params["spatial_gain_curve"]); + } else if (params.contains("spatial_gain")) { + double spatialGain = params["spatial_gain"].get<double>(2.0); + spatialGainCurve.append(0.0, spatialGain); + spatialGainCurve.append(0.01, spatialGain); + spatialGainCurve.append(0.06, 1.0); /* maybe make this programmable? */ + spatialGainCurve.append(1.0, 1.0); + } + + diffusion = params["diffusion"].get<unsigned int>(3); + /* Clip to an arbitrary limit just to stop typos from killing the system! */ + const unsigned int MAX_DIFFUSION = 15; + if (diffusion > MAX_DIFFUSION) { + diffusion = MAX_DIFFUSION; + LOG(RPiHdr, Warning) << "Diffusion value clipped to " << MAX_DIFFUSION; + } + + /* Read any tonemap parameters. */ + tonemapEnable = params["tonemap_enable"].get<int>(0); + detailConstant = params["detail_constant"].get<uint16_t>(0); + detailSlope = params["detail_slope"].get<double>(0.0); + iirStrength = params["iir_strength"].get<double>(8.0); + strength = params["strength"].get<double>(1.5); + if (tonemapEnable) + tonemap.read(params["tonemap"]); + speed = params["speed"].get<double>(1.0); + if (params.contains("hi_quantile_targets")) { + hiQuantileTargets = params["hi_quantile_targets"].getList<double>().value(); + if (hiQuantileTargets.empty() || hiQuantileTargets.size() % 2) + LOG(RPiHdr, Fatal) << "hi_quantile_targets much be even and non-empty"; + } else + hiQuantileTargets = { 0.95, 0.65, 0.5, 0.28, 0.3, 0.25 }; + hiQuantileMaxGain = params["hi_quantile_max_gain"].get<double>(1.6); + if (params.contains("quantile_targets")) { + quantileTargets = params["quantile_targets"].getList<double>().value(); + if (quantileTargets.empty() || quantileTargets.size() % 2) + LOG(RPiHdr, Fatal) << "quantile_targets much be even and non-empty"; + } else + quantileTargets = { 0.2, 0.03, 1.0, 0.15 }; + powerMin = params["power_min"].get<double>(0.65); + powerMax = params["power_max"].get<double>(1.0); + if (params.contains("contrast_adjustments")) { + contrastAdjustments = params["contrast_adjustments"].getList<double>().value(); + } else + contrastAdjustments = { 0.5, 0.75 }; + + /* Read any stitch parameters. */ + stitchEnable = params["stitch_enable"].get<int>(0); + thresholdLo = params["threshold_lo"].get<uint16_t>(50000); + motionThreshold = params["motion_threshold"].get<double>(0.005); + diffPower = params["diff_power"].get<uint8_t>(13); + if (diffPower > 15) + LOG(RPiHdr, Fatal) << "Bad diff_power value in HDR mode " << name; +} + +Hdr::Hdr(Controller *controller) + : HdrAlgorithm(controller) +{ + regions_ = controller->getHardwareConfig().awbRegions; + numRegions_ = regions_.width * regions_.height; + gains_[0].resize(numRegions_, 1.0); + gains_[1].resize(numRegions_, 1.0); +} + +char const *Hdr::name() const +{ + return NAME; +} + +int Hdr::read(const libcamera::YamlObject ¶ms) +{ + /* Make an "HDR off" mode by default so that tuning files don't have to. */ + HdrConfig &offMode = config_["Off"]; + offMode.name = "Off"; + offMode.cadence = { 0 }; + offMode.channelMap[0] = "None"; + status_.mode = offMode.name; + delayedStatus_.mode = offMode.name; + + /* + * But we still allow the tuning file to override the "Off" mode if it wants. + * For example, maybe an application will make channel 0 be the "short" + * channel, in order to apply other AGC controls to it. + */ + for (const auto &[key, value] : params.asDict()) + config_[key].read(value, key); + + return 0; +} + +int Hdr::setMode(std::string const &mode) +{ + /* Always validate the mode, so it can be used later without checking. */ + auto it = config_.find(mode); + if (it == config_.end()) { + LOG(RPiHdr, Warning) << "No such HDR mode " << mode; + return -1; + } + + status_.mode = it->second.name; + + return 0; +} + +std::vector<unsigned int> Hdr::getChannels() const +{ + return config_.at(status_.mode).cadence; +} + +void Hdr::updateAgcStatus(Metadata *metadata) +{ + std::scoped_lock lock(*metadata); + AgcStatus *agcStatus = metadata->getLocked<AgcStatus>("agc.status"); + if (agcStatus) { + HdrConfig &hdrConfig = config_[status_.mode]; + auto it = hdrConfig.channelMap.find(agcStatus->channel); + if (it != hdrConfig.channelMap.end()) { + status_.channel = it->second; + agcStatus->hdr = status_; + } else + LOG(RPiHdr, Warning) << "Channel " << agcStatus->channel + << " not found in mode " << status_.mode; + } else + LOG(RPiHdr, Warning) << "No agc.status found"; +} + +void Hdr::switchMode([[maybe_unused]] CameraMode const &cameraMode, Metadata *metadata) +{ + updateAgcStatus(metadata); + delayedStatus_ = status_; +} + +void Hdr::prepare(Metadata *imageMetadata) +{ + AgcStatus agcStatus; + if (!imageMetadata->get<AgcStatus>("agc.delayed_status", agcStatus)) + delayedStatus_ = agcStatus.hdr; + + auto it = config_.find(delayedStatus_.mode); + if (it == config_.end()) { + /* Shouldn't be possible. There would be nothing we could do. */ + LOG(RPiHdr, Warning) << "Unexpected HDR mode " << delayedStatus_.mode; + return; + } + + HdrConfig &config = it->second; + if (config.spatialGainCurve.empty()) + return; + + AlscStatus alscStatus{}; /* some compilers seem to require the braces */ + if (imageMetadata->get<AlscStatus>("alsc.status", alscStatus)) { + LOG(RPiHdr, Warning) << "No ALSC status"; + return; + } + + /* The final gains ended up in the odd or even array, according to diffusion. */ + std::vector<double> &gains = gains_[config.diffusion & 1]; + for (unsigned int i = 0; i < numRegions_; i++) { + alscStatus.r[i] *= gains[i]; + alscStatus.g[i] *= gains[i]; + alscStatus.b[i] *= gains[i]; + } + imageMetadata->set("alsc.status", alscStatus); +} + +bool Hdr::updateTonemap([[maybe_unused]] StatisticsPtr &stats, HdrConfig &config) +{ + /* When there's a change of HDR mode we start over with a new tonemap curve. */ + if (delayedStatus_.mode != previousMode_) { + previousMode_ = delayedStatus_.mode; + tonemap_ = Pwl(); + } + + /* No tonemapping. No need to output a tonemap.status. */ + if (!config.tonemapEnable) + return false; + + /* If an explicit tonemap was given, use it. */ + if (!config.tonemap.empty()) { + tonemap_ = config.tonemap; + return true; + } + + /* + * We wouldn't update the tonemap on short frames when in multi-exposure mode. But + * we still need to output the most recent tonemap. Possibly we should make the + * config indicate the channels for which we should update the tonemap? + */ + if (delayedStatus_.mode == "MultiExposure" && delayedStatus_.channel != "short") + return true; + + /* + * Create a tonemap dynamically. We have three ingredients. + * + * 1. We have a list of "hi quantiles" and "targets". We use these to judge if + * the image does seem to be reasonably saturated. If it isn't, we calculate + * a gain that we will feed as a linear factor into the tonemap generation. + * This prevents unsaturated images from beoming quite so "flat". + * + * 2. We have a list of quantile/target pairs for the bottom of the histogram. + * We use these to calculate how much gain we must apply to the bottom of the + * tonemap. We apply this gain as a power curve so as not to blow out the top + * end. + * + * 3. Finally, when we generate the tonemap, we have some contrast adjustments + * for the bottom because we know that power curves can start quite steeply and + * cause a washed-out look. + */ + + /* Compute the linear gain from the headroom for saturation at the top. */ + double gain = 10; /* arbitrary, but hiQuantileMaxGain will clamp it later */ + for (unsigned int i = 0; i < config.hiQuantileTargets.size(); i += 2) { + double quantile = config.hiQuantileTargets[i]; + double target = config.hiQuantileTargets[i + 1]; + double value = stats->yHist.interQuantileMean(quantile, 1.0) / 1024.0; + double newGain = target / (value + 0.01); + gain = std::min(gain, newGain); + } + gain = std::clamp(gain, 1.0, config.hiQuantileMaxGain); + + /* Compute the power curve from the amount of gain needed at the bottom. */ + double min_power = 2; /* arbitrary, but config.powerMax will clamp it later */ + for (unsigned int i = 0; i < config.quantileTargets.size(); i += 2) { + double quantile = config.quantileTargets[i]; + double target = config.quantileTargets[i + 1]; + double value = stats->yHist.interQuantileMean(0, quantile) / 1024.0; + value = std::min(value * gain, 1.0); + double power = log(target + 1e-6) / log(value + 1e-6); + min_power = std::min(min_power, power); + } + double power = std::clamp(min_power, config.powerMin, config.powerMax); + + /* Generate the tonemap, including the contrast adjustment factors. */ + Pwl tonemap; + tonemap.append(0, 0); + for (unsigned int i = 0; i <= 6; i++) { + double x = 1 << (i + 9); /* x loops from 512 to 32768 inclusive */ + double y = pow(std::min(x * gain, 65535.0) / 65536.0, power) * 65536; + if (i < config.contrastAdjustments.size()) + y *= config.contrastAdjustments[i]; + if (!tonemap_.empty()) + y = y * config.speed + tonemap_.eval(x) * (1 - config.speed); + tonemap.append(x, y); + } + tonemap.append(65535, 65535); + tonemap_ = tonemap; + + return true; +} + +static void averageGains(std::vector<double> &src, std::vector<double> &dst, const Size &size) +{ +#define IDX(y, x) ((y)*size.width + (x)) + unsigned int lastCol = size.width - 1; /* index of last column */ + unsigned int preLastCol = lastCol - 1; /* and the column before that */ + unsigned int lastRow = size.height - 1; /* index of last row */ + unsigned int preLastRow = lastRow - 1; /* and the row before that */ + + /* Corners first. */ + dst[IDX(0, 0)] = (src[IDX(0, 0)] + src[IDX(0, 1)] + src[IDX(1, 0)]) / 3; + dst[IDX(0, lastCol)] = (src[IDX(0, lastCol)] + src[IDX(0, preLastCol)] + src[IDX(1, lastCol)]) / 3; + dst[IDX(lastRow, 0)] = (src[IDX(lastRow, 0)] + src[IDX(lastRow, 1)] + src[IDX(preLastRow, 0)]) / 3; + dst[IDX(lastRow, lastCol)] = (src[IDX(lastRow, lastCol)] + src[IDX(lastRow, preLastCol)] + + src[IDX(preLastRow, lastCol)]) / + 3; + + /* Now the edges. */ + for (unsigned int i = 1; i < lastCol; i++) { + dst[IDX(0, i)] = (src[IDX(0, i - 1)] + src[IDX(0, i)] + src[IDX(0, i + 1)] + src[IDX(1, i)]) / 4; + dst[IDX(lastRow, i)] = (src[IDX(lastRow, i - 1)] + src[IDX(lastRow, i)] + + src[IDX(lastRow, i + 1)] + src[IDX(preLastRow, i)]) / + 4; + } + + for (unsigned int i = 1; i < lastRow; i++) { + dst[IDX(i, 0)] = (src[IDX(i - 1, 0)] + src[IDX(i, 0)] + src[IDX(i + 1, 0)] + src[IDX(i, 1)]) / 4; + dst[IDX(i, 31)] = (src[IDX(i - 1, lastCol)] + src[IDX(i, lastCol)] + + src[IDX(i + 1, lastCol)] + src[IDX(i, preLastCol)]) / + 4; + } + + /* Finally the interior. */ + for (unsigned int j = 1; j < lastRow; j++) { + for (unsigned int i = 1; i < lastCol; i++) { + dst[IDX(j, i)] = (src[IDX(j - 1, i)] + src[IDX(j, i - 1)] + src[IDX(j, i)] + + src[IDX(j, i + 1)] + src[IDX(j + 1, i)]) / + 5; + } + } +} + +void Hdr::updateGains(StatisticsPtr &stats, HdrConfig &config) +{ + if (config.spatialGainCurve.empty()) + return; + + /* When alternating exposures, only compute these gains for the short frame. */ + if (delayedStatus_.mode == "MultiExposure" && delayedStatus_.channel != "short") + return; + + for (unsigned int i = 0; i < numRegions_; i++) { + auto ®ion = stats->awbRegions.get(i); + unsigned int counted = region.counted; + counted += (counted == 0); /* avoid div by zero */ + double r = region.val.rSum / counted; + double g = region.val.gSum / counted; + double b = region.val.bSum / counted; + double brightness = std::max({ r, g, b }) / 65535; + gains_[0][i] = config.spatialGainCurve.eval(brightness); + } + + /* Ping-pong between the two gains_ buffers. */ + for (unsigned int i = 0; i < config.diffusion; i++) + averageGains(gains_[i & 1], gains_[(i & 1) ^ 1], regions_); +} + +void Hdr::process(StatisticsPtr &stats, Metadata *imageMetadata) +{ + /* Note what HDR channel this frame will be once it comes back to us. */ + updateAgcStatus(imageMetadata); + + /* + * Now figure out what HDR channel this frame is. It should be available in the + * agc.delayed_status, unless this is an early frame after a mode switch, in which + * case delayedStatus_ should be right. + */ + AgcStatus agcStatus; + if (!imageMetadata->get<AgcStatus>("agc.delayed_status", agcStatus)) + delayedStatus_ = agcStatus.hdr; + + auto it = config_.find(delayedStatus_.mode); + if (it == config_.end()) { + /* Shouldn't be possible. There would be nothing we could do. */ + LOG(RPiHdr, Warning) << "Unexpected HDR mode " << delayedStatus_.mode; + return; + } + + HdrConfig &config = it->second; + + /* Update the spatially varying gains. They get written in prepare(). */ + updateGains(stats, config); + + if (updateTonemap(stats, config)) { + /* Add tonemap.status metadata. */ + TonemapStatus tonemapStatus; + + tonemapStatus.detailConstant = config.detailConstant; + tonemapStatus.detailSlope = config.detailSlope; + tonemapStatus.iirStrength = config.iirStrength; + tonemapStatus.strength = config.strength; + tonemapStatus.tonemap = tonemap_; + + imageMetadata->set("tonemap.status", tonemapStatus); + } + + if (config.stitchEnable) { + /* Add stitch.status metadata. */ + StitchStatus stitchStatus; + + stitchStatus.diffPower = config.diffPower; + stitchStatus.motionThreshold = config.motionThreshold; + stitchStatus.thresholdLo = config.thresholdLo; + + imageMetadata->set("stitch.status", stitchStatus); + } +} + +/* Register algorithm with the system. */ +static Algorithm *create(Controller *controller) +{ + return (Algorithm *)new Hdr(controller); +} +static RegisterAlgorithm reg(NAME, &create); diff --git a/src/ipa/rpi/controller/rpi/hdr.h b/src/ipa/rpi/controller/rpi/hdr.h new file mode 100644 index 00000000..9b7327f8 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/hdr.h @@ -0,0 +1,84 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023, Raspberry Pi Ltd + * + * HDR control algorithm + */ +#pragma once + +#include <map> +#include <string> +#include <vector> + +#include <libcamera/geometry.h> + +#include "../hdr_algorithm.h" +#include "../hdr_status.h" +#include "../pwl.h" + +/* This is our implementation of an HDR algorithm. */ + +namespace RPiController { + +struct HdrConfig { + std::string name; + std::vector<unsigned int> cadence; + std::map<unsigned int, std::string> channelMap; + + /* Lens shading related parameters. */ + Pwl spatialGainCurve; /* Brightness to gain curve for different image regions. */ + unsigned int diffusion; /* How much to diffuse the gain spatially. */ + + /* Tonemap related parameters. */ + bool tonemapEnable; + uint16_t detailConstant; + double detailSlope; + double iirStrength; + double strength; + Pwl tonemap; + /* These relate to adaptive tonemap calculation. */ + double speed; + std::vector<double> hiQuantileTargets; /* quantiles to check for unsaturated images */ + double hiQuantileMaxGain; /* the max gain we'll apply when unsaturated */ + std::vector<double> quantileTargets; /* target values for histogram quantiles */ + double powerMin; /* minimum tonemap power */ + double powerMax; /* maximum tonemap power */ + std::vector<double> contrastAdjustments; /* any contrast adjustment factors */ + + /* Stitch related parameters. */ + bool stitchEnable; + uint16_t thresholdLo; + uint8_t diffPower; + double motionThreshold; + + void read(const libcamera::YamlObject ¶ms, const std::string &name); +}; + +class Hdr : public HdrAlgorithm +{ +public: + Hdr(Controller *controller); + char const *name() const override; + void switchMode(CameraMode const &cameraMode, Metadata *metadata) override; + int read(const libcamera::YamlObject ¶ms) override; + void prepare(Metadata *imageMetadata) override; + void process(StatisticsPtr &stats, Metadata *imageMetadata) override; + int setMode(std::string const &mode) override; + std::vector<unsigned int> getChannels() const override; + +private: + void updateAgcStatus(Metadata *metadata); + void updateGains(StatisticsPtr &stats, HdrConfig &config); + bool updateTonemap(StatisticsPtr &stats, HdrConfig &config); + + std::map<std::string, HdrConfig> config_; + HdrStatus status_; /* track the current HDR mode and channel */ + HdrStatus delayedStatus_; /* track the delayed HDR mode and channel */ + std::string previousMode_; + Pwl tonemap_; + libcamera::Size regions_; /* stats regions */ + unsigned int numRegions_; /* total number of stats regions */ + std::vector<double> gains_[2]; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/lux.cpp b/src/ipa/rpi/controller/rpi/lux.cpp new file mode 100644 index 00000000..7b31faab --- /dev/null +++ b/src/ipa/rpi/controller/rpi/lux.cpp @@ -0,0 +1,115 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * Lux control algorithm + */ +#include <math.h> + +#include <libcamera/base/log.h> + +#include "../device_status.h" + +#include "lux.h" + +using namespace RPiController; +using namespace libcamera; +using namespace std::literals::chrono_literals; + +LOG_DEFINE_CATEGORY(RPiLux) + +#define NAME "rpi.lux" + +Lux::Lux(Controller *controller) + : Algorithm(controller) +{ + /* + * Put in some defaults as there will be no meaningful values until + * Process has run. + */ + status_.aperture = 1.0; + status_.lux = 400; +} + +char const *Lux::name() const +{ + return NAME; +} + +int Lux::read(const libcamera::YamlObject ¶ms) +{ + auto value = params["reference_shutter_speed"].get<double>(); + if (!value) + return -EINVAL; + referenceShutterSpeed_ = *value * 1.0us; + + value = params["reference_gain"].get<double>(); + if (!value) + return -EINVAL; + referenceGain_ = *value; + + referenceAperture_ = params["reference_aperture"].get<double>(1.0); + + value = params["reference_Y"].get<double>(); + if (!value) + return -EINVAL; + referenceY_ = *value; + + value = params["reference_lux"].get<double>(); + if (!value) + return -EINVAL; + referenceLux_ = *value; + + currentAperture_ = referenceAperture_; + return 0; +} + +void Lux::setCurrentAperture(double aperture) +{ + currentAperture_ = aperture; +} + +void Lux::prepare(Metadata *imageMetadata) +{ + std::unique_lock<std::mutex> lock(mutex_); + imageMetadata->set("lux.status", status_); +} + +void Lux::process(StatisticsPtr &stats, Metadata *imageMetadata) +{ + DeviceStatus deviceStatus; + if (imageMetadata->get("device.status", deviceStatus) == 0) { + double currentGain = deviceStatus.analogueGain; + double currentAperture = deviceStatus.aperture.value_or(currentAperture_); + double currentY = stats->yHist.interQuantileMean(0, 1); + double gainRatio = referenceGain_ / currentGain; + double shutterSpeedRatio = + referenceShutterSpeed_ / deviceStatus.shutterSpeed; + double apertureRatio = referenceAperture_ / currentAperture; + double yRatio = currentY * (65536 / stats->yHist.bins()) / referenceY_; + double estimatedLux = shutterSpeedRatio * gainRatio * + apertureRatio * apertureRatio * + yRatio * referenceLux_; + LuxStatus status; + status.lux = estimatedLux; + status.aperture = currentAperture; + LOG(RPiLux, Debug) << ": estimated lux " << estimatedLux; + { + std::unique_lock<std::mutex> lock(mutex_); + status_ = status; + } + /* + * Overwrite the metadata here as well, so that downstream + * algorithms get the latest value. + */ + imageMetadata->set("lux.status", status); + } else + LOG(RPiLux, Warning) << ": no device metadata"; +} + +/* Register algorithm with the system. */ +static Algorithm *create(Controller *controller) +{ + return (Algorithm *)new Lux(controller); +} +static RegisterAlgorithm reg(NAME, &create); diff --git a/src/ipa/rpi/controller/rpi/lux.h b/src/ipa/rpi/controller/rpi/lux.h new file mode 100644 index 00000000..89f441fc --- /dev/null +++ b/src/ipa/rpi/controller/rpi/lux.h @@ -0,0 +1,45 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * Lux control algorithm + */ +#pragma once + +#include <mutex> + +#include <libcamera/base/utils.h> + +#include "../lux_status.h" +#include "../algorithm.h" + +/* This is our implementation of the "lux control algorithm". */ + +namespace RPiController { + +class Lux : public Algorithm +{ +public: + Lux(Controller *controller); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void prepare(Metadata *imageMetadata) override; + void process(StatisticsPtr &stats, Metadata *imageMetadata) override; + void setCurrentAperture(double aperture); + +private: + /* + * These values define the conditions of the reference image, against + * which we compare the new image. + */ + libcamera::utils::Duration referenceShutterSpeed_; + double referenceGain_; + double referenceAperture_; /* units of 1/f */ + double referenceY_; /* out of 65536 */ + double referenceLux_; + double currentAperture_; + LuxStatus status_; + std::mutex mutex_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/noise.cpp b/src/ipa/rpi/controller/rpi/noise.cpp new file mode 100644 index 00000000..3f1c62cf --- /dev/null +++ b/src/ipa/rpi/controller/rpi/noise.cpp @@ -0,0 +1,89 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * Noise control algorithm + */ + +#include <math.h> + +#include <libcamera/base/log.h> + +#include "../device_status.h" +#include "../noise_status.h" + +#include "noise.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiNoise) + +#define NAME "rpi.noise" + +Noise::Noise(Controller *controller) + : Algorithm(controller), modeFactor_(1.0) +{ +} + +char const *Noise::name() const +{ + return NAME; +} + +void Noise::switchMode(CameraMode const &cameraMode, + [[maybe_unused]] Metadata *metadata) +{ + /* + * For example, we would expect a 2x2 binned mode to have a "noise + * factor" of sqrt(2x2) = 2. (can't be less than one, right?) + */ + modeFactor_ = std::max(1.0, cameraMode.noiseFactor); +} + +int Noise::read(const libcamera::YamlObject ¶ms) +{ + auto value = params["reference_constant"].get<double>(); + if (!value) + return -EINVAL; + referenceConstant_ = *value; + + value = params["reference_slope"].get<double>(); + if (!value) + return -EINVAL; + referenceSlope_ = *value; + + return 0; +} + +void Noise::prepare(Metadata *imageMetadata) +{ + struct DeviceStatus deviceStatus; + deviceStatus.analogueGain = 1.0; /* keep compiler calm */ + if (imageMetadata->get("device.status", deviceStatus) == 0) { + /* + * There is a slight question as to exactly how the noise + * profile, specifically the constant part of it, scales. For + * now we assume it all scales the same, and we'll revisit this + * if it proves substantially wrong. NOTE: we may also want to + * make some adjustments based on the camera mode (such as + * binning), if we knew how to discover it... + */ + double factor = sqrt(deviceStatus.analogueGain) / modeFactor_; + struct NoiseStatus status; + status.noiseConstant = referenceConstant_ * factor; + status.noiseSlope = referenceSlope_ * factor; + imageMetadata->set("noise.status", status); + LOG(RPiNoise, Debug) + << "constant " << status.noiseConstant + << " slope " << status.noiseSlope; + } else + LOG(RPiNoise, Warning) << " no metadata"; +} + +/* Register algorithm with the system. */ +static Algorithm *create(Controller *controller) +{ + return new Noise(controller); +} +static RegisterAlgorithm reg(NAME, &create); diff --git a/src/ipa/rpi/controller/rpi/noise.h b/src/ipa/rpi/controller/rpi/noise.h new file mode 100644 index 00000000..6deae1f0 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/noise.h @@ -0,0 +1,32 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * Noise control algorithm + */ +#pragma once + +#include "../algorithm.h" +#include "../noise_status.h" + +/* This is our implementation of the "noise algorithm". */ + +namespace RPiController { + +class Noise : public Algorithm +{ +public: + Noise(Controller *controller); + char const *name() const override; + void switchMode(CameraMode const &cameraMode, Metadata *metadata) override; + int read(const libcamera::YamlObject ¶ms) override; + void prepare(Metadata *imageMetadata) override; + +private: + /* the noise profile for analogue gain of 1.0 */ + double referenceConstant_; + double referenceSlope_; + double modeFactor_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/saturation.cpp b/src/ipa/rpi/controller/rpi/saturation.cpp new file mode 100644 index 00000000..b83c5887 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/saturation.cpp @@ -0,0 +1,57 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022 Raspberry Pi Ltd + * + * Saturation control algorithm + */ +#include "saturation.h" + +#include <libcamera/base/log.h> + +#include "saturation_status.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiSaturation) + +#define NAME "rpi.saturation" + +Saturation::Saturation(Controller *controller) + : Algorithm(controller) +{ +} + +char const *Saturation::name() const +{ + return NAME; +} + +int Saturation::read(const libcamera::YamlObject ¶ms) +{ + config_.shiftR = params["shift_r"].get<uint8_t>(0); + config_.shiftG = params["shift_g"].get<uint8_t>(0); + config_.shiftB = params["shift_b"].get<uint8_t>(0); + return 0; +} + +void Saturation::initialise() +{ +} + +void Saturation::prepare(Metadata *imageMetadata) +{ + SaturationStatus saturation; + + saturation.shiftR = config_.shiftR; + saturation.shiftG = config_.shiftG; + saturation.shiftB = config_.shiftB; + imageMetadata->set("saturation.status", saturation); +} + +// Register algorithm with the system. +static Algorithm *Create(Controller *controller) +{ + return (Algorithm *)new Saturation(controller); +} +static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/rpi/controller/rpi/saturation.h b/src/ipa/rpi/controller/rpi/saturation.h new file mode 100644 index 00000000..97da412a --- /dev/null +++ b/src/ipa/rpi/controller/rpi/saturation.h @@ -0,0 +1,32 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022, Raspberry Pi Ltd + * + * saturation.hpp - Saturation control algorithm + */ +#pragma once + +#include "algorithm.h" + +namespace RPiController { + +struct SaturationConfig { + uint8_t shiftR; + uint8_t shiftG; + uint8_t shiftB; +}; + +class Saturation : public Algorithm +{ +public: + Saturation(Controller *controller = NULL); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void initialise() override; + void prepare(Metadata *imageMetadata) override; + +private: + SaturationConfig config_; +}; + +} // namespace RPiController diff --git a/src/ipa/rpi/controller/rpi/sdn.cpp b/src/ipa/rpi/controller/rpi/sdn.cpp new file mode 100644 index 00000000..619178a8 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/sdn.cpp @@ -0,0 +1,83 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019-2021, Raspberry Pi Ltd + * + * SDN (spatial denoise) control algorithm + */ + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +#include "../denoise_status.h" +#include "../noise_status.h" + +#include "sdn.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiSdn) + +/* + * Calculate settings for the spatial denoise block using the noise profile in + * the image metadata. + */ + +#define NAME "rpi.sdn" + +Sdn::Sdn(Controller *controller) + : DenoiseAlgorithm(controller), mode_(DenoiseMode::ColourOff) +{ +} + +char const *Sdn::name() const +{ + return NAME; +} + +int Sdn::read(const libcamera::YamlObject ¶ms) +{ + LOG(RPiSdn, Warning) + << "Using legacy SDN tuning - please consider moving SDN inside rpi.denoise"; + deviation_ = params["deviation"].get<double>(3.2); + strength_ = params["strength"].get<double>(0.75); + return 0; +} + +void Sdn::initialise() +{ +} + +void Sdn::prepare(Metadata *imageMetadata) +{ + struct NoiseStatus noiseStatus = {}; + noiseStatus.noiseSlope = 3.0; /* in case no metadata */ + if (imageMetadata->get("noise.status", noiseStatus) != 0) + LOG(RPiSdn, Warning) << "no noise profile found"; + LOG(RPiSdn, Debug) + << "Noise profile: constant " << noiseStatus.noiseConstant + << " slope " << noiseStatus.noiseSlope; + struct DenoiseStatus status; + status.noiseConstant = noiseStatus.noiseConstant * deviation_; + status.noiseSlope = noiseStatus.noiseSlope * deviation_; + status.strength = strength_; + status.mode = utils::to_underlying(mode_); + imageMetadata->set("denoise.status", status); + LOG(RPiSdn, Debug) + << "programmed constant " << status.noiseConstant + << " slope " << status.noiseSlope + << " strength " << status.strength; +} + +void Sdn::setMode(DenoiseMode mode) +{ + /* We only distinguish between off and all other modes. */ + mode_ = mode; +} + +/* Register algorithm with the system. */ +static Algorithm *create(Controller *controller) +{ + return (Algorithm *)new Sdn(controller); +} +static RegisterAlgorithm reg(NAME, &create); diff --git a/src/ipa/rpi/controller/rpi/sdn.h b/src/ipa/rpi/controller/rpi/sdn.h new file mode 100644 index 00000000..cb226de8 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/sdn.h @@ -0,0 +1,32 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * SDN (spatial denoise) control algorithm + */ +#pragma once + +#include "../algorithm.h" +#include "../denoise_algorithm.h" + +namespace RPiController { + +/* Algorithm to calculate correct spatial denoise (SDN) settings. */ + +class Sdn : public DenoiseAlgorithm +{ +public: + Sdn(Controller *controller = NULL); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void initialise() override; + void prepare(Metadata *imageMetadata) override; + void setMode(DenoiseMode mode) override; + +private: + double deviation_; + double strength_; + DenoiseMode mode_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/sharpen.cpp b/src/ipa/rpi/controller/rpi/sharpen.cpp new file mode 100644 index 00000000..39537f4a --- /dev/null +++ b/src/ipa/rpi/controller/rpi/sharpen.cpp @@ -0,0 +1,92 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * sharpening control algorithm + */ + +#include <math.h> + +#include <libcamera/base/log.h> + +#include "../sharpen_status.h" + +#include "sharpen.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiSharpen) + +#define NAME "rpi.sharpen" + +Sharpen::Sharpen(Controller *controller) + : SharpenAlgorithm(controller), userStrength_(1.0) +{ +} + +char const *Sharpen::name() const +{ + return NAME; +} + +void Sharpen::switchMode(CameraMode const &cameraMode, + [[maybe_unused]] Metadata *metadata) +{ + /* can't be less than one, right? */ + modeFactor_ = std::max(1.0, cameraMode.noiseFactor); +} + +int Sharpen::read(const libcamera::YamlObject ¶ms) +{ + threshold_ = params["threshold"].get<double>(1.0); + strength_ = params["strength"].get<double>(1.0); + limit_ = params["limit"].get<double>(1.0); + LOG(RPiSharpen, Debug) + << "Read threshold " << threshold_ + << " strength " << strength_ + << " limit " << limit_; + return 0; +} + +void Sharpen::setStrength(double strength) +{ + /* + * Note that this function is how an application sets the overall + * sharpening "strength". We call this the "user strength" field + * as there already is a strength_ field - being an internal gain + * parameter that gets passed to the ISP control code. Negative + * values are not allowed - coerce them to zero (no sharpening). + */ + userStrength_ = std::max(0.0, strength); +} + +void Sharpen::prepare(Metadata *imageMetadata) +{ + /* + * The userStrength_ affects the algorithm's internal gain directly, but + * we adjust the limit and threshold less aggressively. Using a sqrt + * function is an arbitrary but gentle way of accomplishing this. + */ + double userStrengthSqrt = sqrt(userStrength_); + struct SharpenStatus status; + /* + * Binned modes seem to need the sharpening toned down with this + * pipeline, thus we use the modeFactor_ here. Also avoid + * divide-by-zero with the userStrengthSqrt. + */ + status.threshold = threshold_ * modeFactor_ / + std::max(0.01, userStrengthSqrt); + status.strength = strength_ / modeFactor_ * userStrength_; + status.limit = limit_ / modeFactor_ * userStrengthSqrt; + /* Finally, report any application-supplied parameters that were used. */ + status.userStrength = userStrength_; + imageMetadata->set("sharpen.status", status); +} + +/* Register algorithm with the system. */ +static Algorithm *create(Controller *controller) +{ + return new Sharpen(controller); +} +static RegisterAlgorithm reg(NAME, &create); diff --git a/src/ipa/rpi/controller/rpi/sharpen.h b/src/ipa/rpi/controller/rpi/sharpen.h new file mode 100644 index 00000000..96ccd609 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/sharpen.h @@ -0,0 +1,34 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * sharpening control algorithm + */ +#pragma once + +#include "../sharpen_algorithm.h" +#include "../sharpen_status.h" + +/* This is our implementation of the "sharpen algorithm". */ + +namespace RPiController { + +class Sharpen : public SharpenAlgorithm +{ +public: + Sharpen(Controller *controller); + char const *name() const override; + void switchMode(CameraMode const &cameraMode, Metadata *metadata) override; + int read(const libcamera::YamlObject ¶ms) override; + void setStrength(double strength) override; + void prepare(Metadata *imageMetadata) override; + +private: + double threshold_; + double strength_; + double limit_; + double modeFactor_; + double userStrength_; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/rpi/tonemap.cpp b/src/ipa/rpi/controller/rpi/tonemap.cpp new file mode 100644 index 00000000..0426e972 --- /dev/null +++ b/src/ipa/rpi/controller/rpi/tonemap.cpp @@ -0,0 +1,61 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022 Raspberry Pi Ltd + * + * Tonemap control algorithm + */ +#include "tonemap.h" + +#include <libcamera/base/log.h> + +#include "tonemap_status.h" + +using namespace RPiController; +using namespace libcamera; + +LOG_DEFINE_CATEGORY(RPiTonemap) + +#define NAME "rpi.tonemap" + +Tonemap::Tonemap(Controller *controller) + : Algorithm(controller) +{ +} + +char const *Tonemap::name() const +{ + return NAME; +} + +int Tonemap::read(const libcamera::YamlObject ¶ms) +{ + config_.detailConstant = params["detail_constant"].get<uint16_t>(0); + config_.detailSlope = params["detail_slope"].get<double>(0.1); + config_.iirStrength = params["iir_strength"].get<double>(1.0); + config_.strength = params["strength"].get<double>(1.0); + config_.tonemap.read(params["tone_curve"]); + return 0; +} + +void Tonemap::initialise() +{ +} + +void Tonemap::prepare(Metadata *imageMetadata) +{ + TonemapStatus tonemapStatus; + + tonemapStatus.detailConstant = config_.detailConstant; + tonemapStatus.detailSlope = config_.detailSlope; + tonemapStatus.iirStrength = config_.iirStrength; + tonemapStatus.strength = config_.strength; + tonemapStatus.tonemap = config_.tonemap; + imageMetadata->set("tonemap.status", tonemapStatus); +} + +// Register algorithm with the system. +static Algorithm *Create(Controller *controller) +{ + return (Algorithm *)new Tonemap(controller); +} +static RegisterAlgorithm reg(NAME, &Create); diff --git a/src/ipa/rpi/controller/rpi/tonemap.h b/src/ipa/rpi/controller/rpi/tonemap.h new file mode 100644 index 00000000..f25aa47f --- /dev/null +++ b/src/ipa/rpi/controller/rpi/tonemap.h @@ -0,0 +1,35 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022, Raspberry Pi Ltd + * + * tonemap.hpp - Tonemap control algorithm + */ +#pragma once + +#include "algorithm.h" +#include "pwl.h" + +namespace RPiController { + +struct TonemapConfig { + uint16_t detailConstant; + double detailSlope; + double iirStrength; + double strength; + Pwl tonemap; +}; + +class Tonemap : public Algorithm +{ +public: + Tonemap(Controller *controller = NULL); + char const *name() const override; + int read(const libcamera::YamlObject ¶ms) override; + void initialise() override; + void prepare(Metadata *imageMetadata) override; + +private: + TonemapConfig config_; +}; + +} // namespace RPiController diff --git a/src/ipa/rpi/controller/saturation_status.h b/src/ipa/rpi/controller/saturation_status.h new file mode 100644 index 00000000..c7fadc99 --- /dev/null +++ b/src/ipa/rpi/controller/saturation_status.h @@ -0,0 +1,13 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022 Raspberry Pi Ltd + * + * Saturation control algorithm status + */ +#pragma once + +struct SaturationStatus { + uint8_t shiftR; + uint8_t shiftG; + uint8_t shiftB; +}; diff --git a/src/ipa/rpi/controller/sharpen_algorithm.h b/src/ipa/rpi/controller/sharpen_algorithm.h new file mode 100644 index 00000000..abd82cb2 --- /dev/null +++ b/src/ipa/rpi/controller/sharpen_algorithm.h @@ -0,0 +1,21 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2020, Raspberry Pi Ltd + * + * sharpness control algorithm interface + */ +#pragma once + +#include "algorithm.h" + +namespace RPiController { + +class SharpenAlgorithm : public Algorithm +{ +public: + SharpenAlgorithm(Controller *controller) : Algorithm(controller) {} + /* A sharpness control algorithm must provide the following: */ + virtual void setStrength(double strength) = 0; +}; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/sharpen_status.h b/src/ipa/rpi/controller/sharpen_status.h new file mode 100644 index 00000000..74910199 --- /dev/null +++ b/src/ipa/rpi/controller/sharpen_status.h @@ -0,0 +1,20 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019, Raspberry Pi Ltd + * + * Sharpen control algorithm status + */ +#pragma once + +/* The "sharpen" algorithm stores the strength to use. */ + +struct SharpenStatus { + /* controls the smallest level of detail (or noise!) that sharpening will pick up */ + double threshold; + /* the rate at which the sharpening response ramps once above the threshold */ + double strength; + /* upper limit of the allowed sharpening response */ + double limit; + /* The sharpening strength requested by the user or application. */ + double userStrength; +}; diff --git a/src/ipa/rpi/controller/statistics.h b/src/ipa/rpi/controller/statistics.h new file mode 100644 index 00000000..cbd81161 --- /dev/null +++ b/src/ipa/rpi/controller/statistics.h @@ -0,0 +1,78 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022, Raspberry Pi Ltd + * + * Raspberry Pi generic statistics structure + */ +#pragma once + +#include <memory> +#include <stdint.h> +#include <vector> + +#include "histogram.h" +#include "region_stats.h" + +namespace RPiController { + +struct RgbySums { + RgbySums(uint64_t _rSum = 0, uint64_t _gSum = 0, uint64_t _bSum = 0, uint64_t _ySum = 0) + : rSum(_rSum), gSum(_gSum), bSum(_bSum), ySum(_ySum) + { + } + uint64_t rSum; + uint64_t gSum; + uint64_t bSum; + uint64_t ySum; +}; + +using RgbyRegions = RegionStats<RgbySums>; +using FocusRegions = RegionStats<uint64_t>; + +struct Statistics { + /* + * All region based statistics are normalised to 16-bits, giving a + * maximum value of (1 << NormalisationFactorPow2) - 1. + */ + static constexpr unsigned int NormalisationFactorPow2 = 16; + + /* + * Positioning of the AGC statistics gathering in the pipeline: + * Pre-WB correction or post-WB correction. + * Assume this is post-LSC. + */ + enum class AgcStatsPos { PreWb, PostWb }; + const AgcStatsPos agcStatsPos; + + /* + * Positioning of the AWB/ALSC statistics gathering in the pipeline: + * Pre-LSC or post-LSC. + */ + enum class ColourStatsPos { PreLsc, PostLsc }; + const ColourStatsPos colourStatsPos; + + Statistics(AgcStatsPos a, ColourStatsPos c) + : agcStatsPos(a), colourStatsPos(c) + { + } + + /* Histogram statistics. Not all histograms may be populated! */ + Histogram rHist; + Histogram gHist; + Histogram bHist; + Histogram yHist; + + /* Row sums for flicker avoidance. */ + std::vector<RgbySums> rowSums; + + /* Region based colour sums. */ + RgbyRegions agcRegions; + RgbyRegions awbRegions; + + /* Region based focus FoM. */ + FocusRegions focusRegions; +}; + +using StatisticsPtr = std::shared_ptr<Statistics>; + +} /* namespace RPiController */ diff --git a/src/ipa/rpi/controller/stitch_status.h b/src/ipa/rpi/controller/stitch_status.h new file mode 100644 index 00000000..7812f3e3 --- /dev/null +++ b/src/ipa/rpi/controller/stitch_status.h @@ -0,0 +1,17 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2023 Raspberry Pi Ltd + * + * stitch control algorithm status + */ +#pragma once + +/* + * Parameters for the stitch block. + */ + +struct StitchStatus { + uint16_t thresholdLo; + uint8_t diffPower; + double motionThreshold; +}; diff --git a/src/ipa/rpi/controller/tonemap_status.h b/src/ipa/rpi/controller/tonemap_status.h new file mode 100644 index 00000000..41a7bf2f --- /dev/null +++ b/src/ipa/rpi/controller/tonemap_status.h @@ -0,0 +1,17 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2022 Raspberry Pi Ltd + * + * Tonemap control algorithm status + */ +#pragma once + +#include "pwl.h" + +struct TonemapStatus { + uint16_t detailConstant; + double detailSlope; + double iirStrength; + double strength; + RPiController::Pwl tonemap; +}; diff --git a/src/ipa/rpi/meson.build b/src/ipa/rpi/meson.build new file mode 100644 index 00000000..4811c76f --- /dev/null +++ b/src/ipa/rpi/meson.build @@ -0,0 +1,14 @@ +# SPDX-License-Identifier: CC0-1.0 + +subdir('cam_helper') +subdir('common') +subdir('controller') + +foreach pipeline : pipelines + pipeline = pipeline.split('/') + if pipeline.length() < 2 or pipeline[0] != 'rpi' + continue + endif + + subdir(pipeline[1]) +endforeach diff --git a/src/ipa/rpi/vc4/data/imx219.json b/src/ipa/rpi/vc4/data/imx219.json new file mode 100644 index 00000000..a020b12f --- /dev/null +++ b/src/ipa/rpi/vc4/data/imx219.json @@ -0,0 +1,695 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 27685, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 998, + "reference_Y": 12744 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 3.67 + } + }, + { + "rpi.geq": + { + "offset": 204, + "slope": 0.01633 + } + }, + { + "rpi.sdn": { } + }, + { + "rpi.awb": + { + "priors": [ + { + "lux": 0, + "prior": + [ + 2000, 1.0, + 3000, 0.0, + 13000, 0.0 + ] + }, + { + "lux": 800, + "prior": + [ + 2000, 0.0, + 6000, 2.0, + 13000, 2.0 + ] + }, + { + "lux": 1500, + "prior": + [ + 2000, 0.0, + 4000, 1.0, + 6000, 6.0, + 6500, 7.0, + 7000, 1.0, + 13000, 1.0 + ] + } + ], + "modes": + { + "auto": + { + "lo": 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\ No newline at end of file diff --git a/src/ipa/raspberrypi/data/meson.build b/src/ipa/rpi/vc4/data/meson.build index 211811cf..afbf875a 100644 --- a/src/ipa/raspberrypi/data/meson.build +++ b/src/ipa/rpi/vc4/data/meson.build @@ -5,16 +5,24 @@ conf_files = files([ 'imx219_noir.json', 'imx290.json', 'imx296.json', + 'imx296_mono.json', 'imx378.json', 'imx477.json', 'imx477_noir.json', + 'imx477_scientific.json', 'imx519.json', + 'imx708.json', + 'imx708_noir.json', + 'imx708_wide.json', + 'imx708_wide_noir.json', 'ov5647.json', 'ov5647_noir.json', - 'ov9281.json', + 'ov64a40.json', + 'ov9281_mono.json', 'se327m12.json', 'uncalibrated.json', ]) install_data(conf_files, - install_dir : ipa_data_dir / 'raspberrypi') + install_dir : ipa_data_dir / 'rpi' / 'vc4', + install_tag : 'runtime') diff --git a/src/ipa/rpi/vc4/data/ov5647.json b/src/ipa/rpi/vc4/data/ov5647.json new file mode 100644 index 00000000..40c6059c --- /dev/null +++ b/src/ipa/rpi/vc4/data/ov5647.json @@ -0,0 +1,696 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 1024 + } + }, + { + "rpi.dpc": { } + }, + { + "rpi.lux": + { + "reference_shutter_speed": 21663, + "reference_gain": 1.0, + "reference_aperture": 1.0, + "reference_lux": 987, + "reference_Y": 8961 + } + }, + { + "rpi.noise": + { + "reference_constant": 0, + "reference_slope": 4.25 + } + }, + { + "rpi.geq": + { + "offset": 401, + "slope": 0.05619 + } + }, + { + "rpi.sdn": { } + }, + { + "rpi.awb": + { + "priors": [ + { + "lux": 0, + "prior": + [ + 2000, 1.0, + 3000, 0.0, + 13000, 0.0 + ] + }, + { + "lux": 800, + "prior": + [ + 2000, 0.0, + 6000, 2.0, + 13000, 2.0 + ] + }, + { + "lux": 1500, + "prior": + [ + 2000, 0.0, + 4000, 1.0, + 6000, 6.0, + 6500, 7.0, + 7000, 1.0, + 13000, 1.0 + ] + } + ], + "modes": + { + "auto": + { + "lo": 2500, + "hi": 8000 + }, + "incandescent": + { + "lo": 2500, + "hi": 3000 + }, + "tungsten": + { + "lo": 3000, + "hi": 3500 + }, + "fluorescent": + { + "lo": 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-0.55129, 1.83241, -0.28111, + 0.11649, -0.93195, 1.81546 + ] + }, + { + "ct": 4600, + "ccm": + [ + 1.47082, -0.18523, -0.28559, + -0.48923, 1.95126, -0.46203, + 0.07951, -0.83987, 1.76036 + ] + }, + { + "ct": 5800, + "ccm": + [ + 1.57294, -0.36229, -0.21065, + -0.42272, 1.80305, -0.38032, + 0.03671, -0.66862, 1.63191 + ] + }, + { + "ct": 8100, + "ccm": + [ + 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/vc4/data/uncalibrated.json b/src/ipa/rpi/vc4/data/uncalibrated.json new file mode 100644 index 00000000..cdc56b32 --- /dev/null +++ b/src/ipa/rpi/vc4/data/uncalibrated.json @@ -0,0 +1,131 @@ +{ + "version": 2.0, + "target": "bcm2835", + "algorithms": [ + { + "rpi.black_level": + { + "black_level": 4096 + } + }, + { + "rpi.awb": + { + "use_derivatives": 0, + "bayes": 0 + } + }, + { + "rpi.agc": + { + "metering_modes": + { + "centre-weighted": + { + "weights": + [ + 4, 4, 4, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 + ] + } + }, + "exposure_modes": + { + "normal": + { + "shutter": [ 100, 15000, 30000, 60000, 120000 ], + "gain": [ 1.0, 2.0, 3.0, 4.0, 6.0 ] + }, + "short": + { + "shutter": [ 100, 5000, 10000, 20000, 30000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ] + }, + "long": + { + "shutter": [ 1000, 30000, 60000, 90000, 120000 ], + "gain": [ 1.0, 2.0, 4.0, 6.0, 12.0 ] + } + }, + "constraint_modes": + { + "normal": [ + { + "bound": "LOWER", + "q_lo": 0.98, + "q_hi": 1.0, + "y_target": + [ + 0, 0.4, + 1000, 0.4 + ] + } + ] + }, + "y_target": + [ + 0, 0.16, + 1000, 0.165, + 10000, 0.17 + ] + } + }, + { + "rpi.ccm": + { + "ccms": [ + { + "ct": 4000, + "ccm": + [ + 2.0, -1.0, 0.0, + -0.5, 2.0, -0.5, + 0, -1.0, 2.0 + ] + } + ] + } + }, + { + "rpi.contrast": + { + "ce_enable": 0, + "gamma_curve": + [ + 0, 0, + 1024, 5040, + 2048, 9338, + 3072, 12356, + 4096, 15312, + 5120, 18051, + 6144, 20790, + 7168, 23193, + 8192, 25744, + 9216, 27942, + 10240, 30035, + 11264, 32005, + 12288, 33975, + 13312, 35815, + 14336, 37600, + 15360, 39168, + 16384, 40642, + 18432, 43379, + 20480, 45749, + 22528, 47753, + 24576, 49621, + 26624, 51253, + 28672, 52698, + 30720, 53796, + 32768, 54876, + 36864, 57012, + 40960, 58656, + 45056, 59954, + 49152, 61183, + 53248, 62355, + 57344, 63419, + 61440, 64476, + 65535, 65535 + ] + } + } + ] +}
\ No newline at end of file diff --git a/src/ipa/rpi/vc4/meson.build b/src/ipa/rpi/vc4/meson.build new file mode 100644 index 00000000..590e9197 --- /dev/null +++ b/src/ipa/rpi/vc4/meson.build @@ -0,0 +1,48 @@ +# SPDX-License-Identifier: CC0-1.0 + +ipa_name = 'ipa_rpi_vc4' + +vc4_ipa_deps = [ + libcamera_private, + libatomic, +] + +vc4_ipa_libs = [ + rpi_ipa_cam_helper_lib, + rpi_ipa_common_lib, + rpi_ipa_controller_lib +] + +vc4_ipa_includes = [ + ipa_includes, + libipa_includes, +] + +vc4_ipa_sources = files([ + 'vc4.cpp', +]) + +vc4_ipa_includes += include_directories('..') + +mod = shared_module(ipa_name, + [vc4_ipa_sources, libcamera_generated_ipa_headers], + name_prefix : '', + include_directories : vc4_ipa_includes, + dependencies : vc4_ipa_deps, + link_with : libipa, + link_whole : vc4_ipa_libs, + install : true, + install_dir : ipa_install_dir) + +if ipa_sign_module + custom_target(ipa_name + '.so.sign', + input : mod, + output : ipa_name + '.so.sign', + command : [ipa_sign, ipa_priv_key, '@INPUT@', '@OUTPUT@'], + install : false, + build_by_default : true) +endif + +subdir('data') + +ipa_names += ipa_name diff --git a/src/ipa/rpi/vc4/vc4.cpp b/src/ipa/rpi/vc4/vc4.cpp new file mode 100644 index 00000000..ba43e474 --- /dev/null +++ b/src/ipa/rpi/vc4/vc4.cpp @@ -0,0 +1,597 @@ +/* SPDX-License-Identifier: BSD-2-Clause */ +/* + * Copyright (C) 2019-2021, Raspberry Pi Ltd + * + * Raspberry Pi VC4/BCM2835 ISP IPA. + */ + +#include <string.h> +#include <sys/mman.h> + +#include <linux/bcm2835-isp.h> + +#include <libcamera/base/log.h> +#include <libcamera/base/span.h> +#include <libcamera/control_ids.h> +#include <libcamera/ipa/ipa_module_info.h> + +#include "common/ipa_base.h" +#include "controller/af_status.h" +#include "controller/agc_algorithm.h" +#include "controller/alsc_status.h" +#include "controller/awb_status.h" +#include "controller/black_level_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/lux_status.h" +#include "controller/noise_status.h" +#include "controller/sharpen_status.h" + +namespace libcamera { + +LOG_DECLARE_CATEGORY(IPARPI) + +namespace ipa::RPi { + +class IpaVc4 final : public IpaBase +{ +public: + IpaVc4() + : IpaBase(), lsTable_(nullptr) + { + } + + ~IpaVc4() + { + if (lsTable_) + munmap(lsTable_, MaxLsGridSize); + } + +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; + bool validateIspControls(); + + void applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls); + void applyDG(const struct AgcPrepareStatus *dgStatus, ControlList &ctrls); + void applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls); + void applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, ControlList &ctrls); + void applyGamma(const struct ContrastStatus *contrastStatus, ControlList &ctrls); + void applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls); + void applyDenoise(const struct DenoiseStatus *denoiseStatus, ControlList &ctrls); + void applySharpen(const struct SharpenStatus *sharpenStatus, ControlList &ctrls); + void applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls); + void applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls); + void applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls); + void resampleTable(uint16_t dest[], const std::vector<double> &src, int destW, int destH); + + /* VC4 ISP controls. */ + ControlInfoMap ispCtrls_; + + /* LS table allocation passed in from the pipeline handler. */ + SharedFD lsTableHandle_; + void *lsTable_; +}; + +int32_t IpaVc4::platformInit([[maybe_unused]] const InitParams ¶ms, [[maybe_unused]] InitResult *result) +{ + const std::string &target = controller_.getTarget(); + + if (target != "bcm2835") { + LOG(IPARPI, Error) + << "Tuning data file target returned \"" << target << "\"" + << ", expected \"bcm2835\""; + return -EINVAL; + } + + return 0; +} + +int32_t IpaVc4::platformStart([[maybe_unused]] const ControlList &controls, + [[maybe_unused]] StartResult *result) +{ + return 0; +} + +int32_t IpaVc4::platformConfigure(const ConfigParams ¶ms, [[maybe_unused]] ConfigResult *result) +{ + ispCtrls_ = params.ispControls; + if (!validateIspControls()) { + LOG(IPARPI, Error) << "ISP control validation failed."; + return -1; + } + + /* Store the lens shading table pointer and handle if available. */ + if (params.lsTableHandle.isValid()) { + /* Remove any previous table, if there was one. */ + if (lsTable_) { + munmap(lsTable_, MaxLsGridSize); + lsTable_ = nullptr; + } + + /* Map the LS table buffer into user space. */ + lsTableHandle_ = std::move(params.lsTableHandle); + if (lsTableHandle_.isValid()) { + lsTable_ = mmap(nullptr, MaxLsGridSize, PROT_READ | PROT_WRITE, + MAP_SHARED, lsTableHandle_.get(), 0); + + if (lsTable_ == MAP_FAILED) { + LOG(IPARPI, Error) << "dmaHeap mmap failure for LS table."; + lsTable_ = nullptr; + } + } + } + + return 0; +} + +void IpaVc4::platformPrepareIsp([[maybe_unused]] const PrepareParams ¶ms, + RPiController::Metadata &rpiMetadata) +{ + ControlList ctrls(ispCtrls_); + + /* Lock the metadata buffer to avoid constant locks/unlocks. */ + std::unique_lock<RPiController::Metadata> lock(rpiMetadata); + + AwbStatus *awbStatus = rpiMetadata.getLocked<AwbStatus>("awb.status"); + if (awbStatus) + applyAWB(awbStatus, ctrls); + + CcmStatus *ccmStatus = rpiMetadata.getLocked<CcmStatus>("ccm.status"); + if (ccmStatus) + applyCCM(ccmStatus, ctrls); + + AgcPrepareStatus *dgStatus = rpiMetadata.getLocked<AgcPrepareStatus>("agc.prepare_status"); + if (dgStatus) + applyDG(dgStatus, ctrls); + + AlscStatus *lsStatus = rpiMetadata.getLocked<AlscStatus>("alsc.status"); + if (lsStatus) + applyLS(lsStatus, ctrls); + + ContrastStatus *contrastStatus = rpiMetadata.getLocked<ContrastStatus>("contrast.status"); + if (contrastStatus) + applyGamma(contrastStatus, ctrls); + + BlackLevelStatus *blackLevelStatus = rpiMetadata.getLocked<BlackLevelStatus>("black_level.status"); + if (blackLevelStatus) + applyBlackLevel(blackLevelStatus, ctrls); + + GeqStatus *geqStatus = rpiMetadata.getLocked<GeqStatus>("geq.status"); + if (geqStatus) + applyGEQ(geqStatus, ctrls); + + DenoiseStatus *denoiseStatus = rpiMetadata.getLocked<DenoiseStatus>("denoise.status"); + if (denoiseStatus) + applyDenoise(denoiseStatus, ctrls); + + SharpenStatus *sharpenStatus = rpiMetadata.getLocked<SharpenStatus>("sharpen.status"); + if (sharpenStatus) + applySharpen(sharpenStatus, ctrls); + + DpcStatus *dpcStatus = rpiMetadata.getLocked<DpcStatus>("dpc.status"); + if (dpcStatus) + applyDPC(dpcStatus, ctrls); + + const AfStatus *afStatus = rpiMetadata.getLocked<AfStatus>("af.status"); + if (afStatus) { + ControlList lensctrls(lensCtrls_); + applyAF(afStatus, lensctrls); + if (!lensctrls.empty()) + setLensControls.emit(lensctrls); + } + + if (!ctrls.empty()) + setIspControls.emit(ctrls); +} + +RPiController::StatisticsPtr IpaVc4::platformProcessStats(Span<uint8_t> mem) +{ + using namespace RPiController; + + const bcm2835_isp_stats *stats = reinterpret_cast<bcm2835_isp_stats *>(mem.data()); + StatisticsPtr statistics = std::make_shared<Statistics>(Statistics::AgcStatsPos::PreWb, + Statistics::ColourStatsPos::PostLsc); + const Controller::HardwareConfig &hw = controller_.getHardwareConfig(); + unsigned int i; + + /* RGB histograms are not used, so do not populate them. */ + statistics->yHist = RPiController::Histogram(stats->hist[0].g_hist, + hw.numHistogramBins); + + /* All region sums are based on a 16-bit normalised pipeline bit-depth. */ + unsigned int scale = Statistics::NormalisationFactorPow2 - hw.pipelineWidth; + + statistics->awbRegions.init(hw.awbRegions); + for (i = 0; i < statistics->awbRegions.numRegions(); i++) + statistics->awbRegions.set(i, { { stats->awb_stats[i].r_sum << scale, + stats->awb_stats[i].g_sum << scale, + stats->awb_stats[i].b_sum << scale }, + stats->awb_stats[i].counted, + stats->awb_stats[i].notcounted }); + + RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( + controller_.getAlgorithm("agc")); + if (!agc) { + LOG(IPARPI, Debug) << "No AGC algorithm - not copying statistics"; + statistics->agcRegions.init(0); + } else { + statistics->agcRegions.init(hw.agcRegions); + const std::vector<double> &weights = agc->getWeights(); + for (i = 0; i < statistics->agcRegions.numRegions(); i++) { + uint64_t rSum = (stats->agc_stats[i].r_sum << scale) * weights[i]; + uint64_t gSum = (stats->agc_stats[i].g_sum << scale) * weights[i]; + uint64_t bSum = (stats->agc_stats[i].b_sum << scale) * weights[i]; + uint32_t counted = stats->agc_stats[i].counted * weights[i]; + uint32_t notcounted = stats->agc_stats[i].notcounted * weights[i]; + statistics->agcRegions.set(i, { { rSum, gSum, bSum }, + counted, + notcounted }); + } + } + + statistics->focusRegions.init(hw.focusRegions); + for (i = 0; i < statistics->focusRegions.numRegions(); i++) + statistics->focusRegions.set(i, { stats->focus_stats[i].contrast_val[1][1] / 1000, + stats->focus_stats[i].contrast_val_num[1][1], + stats->focus_stats[i].contrast_val_num[1][0] }); + + if (statsMetadataOutput_) { + Span<const uint8_t> statsSpan(reinterpret_cast<const uint8_t *>(stats), + sizeof(bcm2835_isp_stats)); + libcameraMetadata_.set(controls::rpi::Bcm2835StatsOutput, statsSpan); + } + + return statistics; +} + +void IpaVc4::handleControls(const ControlList &controls) +{ + static const std::map<int32_t, RPiController::DenoiseMode> DenoiseModeTable = { + { controls::draft::NoiseReductionModeOff, RPiController::DenoiseMode::Off }, + { controls::draft::NoiseReductionModeFast, RPiController::DenoiseMode::ColourFast }, + { controls::draft::NoiseReductionModeHighQuality, RPiController::DenoiseMode::ColourHighQuality }, + { controls::draft::NoiseReductionModeMinimal, RPiController::DenoiseMode::ColourOff }, + { controls::draft::NoiseReductionModeZSL, RPiController::DenoiseMode::ColourHighQuality }, + }; + + for (auto const &ctrl : controls) { + switch (ctrl.first) { + case controls::draft::NOISE_REDUCTION_MODE: { + RPiController::DenoiseAlgorithm *sdn = dynamic_cast<RPiController::DenoiseAlgorithm *>( + controller_.getAlgorithm("SDN")); + /* Some platforms may have a combined "denoise" algorithm instead. */ + if (!sdn) + sdn = dynamic_cast<RPiController::DenoiseAlgorithm *>( + controller_.getAlgorithm("denoise")); + if (!sdn) { + LOG(IPARPI, Warning) + << "Could not set NOISE_REDUCTION_MODE - no SDN algorithm"; + return; + } + + int32_t idx = ctrl.second.get<int32_t>(); + auto mode = DenoiseModeTable.find(idx); + if (mode != DenoiseModeTable.end()) + sdn->setMode(mode->second); + break; + } + } + } +} + +bool IpaVc4::validateIspControls() +{ + static const uint32_t ctrls[] = { + V4L2_CID_RED_BALANCE, + V4L2_CID_BLUE_BALANCE, + V4L2_CID_DIGITAL_GAIN, + V4L2_CID_USER_BCM2835_ISP_CC_MATRIX, + V4L2_CID_USER_BCM2835_ISP_GAMMA, + V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL, + V4L2_CID_USER_BCM2835_ISP_GEQ, + V4L2_CID_USER_BCM2835_ISP_DENOISE, + V4L2_CID_USER_BCM2835_ISP_SHARPEN, + V4L2_CID_USER_BCM2835_ISP_DPC, + V4L2_CID_USER_BCM2835_ISP_LENS_SHADING, + V4L2_CID_USER_BCM2835_ISP_CDN, + }; + + for (auto c : ctrls) { + if (ispCtrls_.find(c) == ispCtrls_.end()) { + LOG(IPARPI, Error) << "Unable to find ISP control " + << utils::hex(c); + return false; + } + } + + return true; +} + +void IpaVc4::applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls) +{ + LOG(IPARPI, Debug) << "Applying WB R: " << awbStatus->gainR << " B: " + << awbStatus->gainB; + + ctrls.set(V4L2_CID_RED_BALANCE, + static_cast<int32_t>(awbStatus->gainR * 1000)); + ctrls.set(V4L2_CID_BLUE_BALANCE, + static_cast<int32_t>(awbStatus->gainB * 1000)); +} + +void IpaVc4::applyDG(const struct AgcPrepareStatus *dgStatus, ControlList &ctrls) +{ + ctrls.set(V4L2_CID_DIGITAL_GAIN, + static_cast<int32_t>(dgStatus->digitalGain * 1000)); +} + +void IpaVc4::applyCCM(const struct CcmStatus *ccmStatus, ControlList &ctrls) +{ + bcm2835_isp_custom_ccm ccm; + + for (int i = 0; i < 9; i++) { + ccm.ccm.ccm[i / 3][i % 3].den = 1000; + ccm.ccm.ccm[i / 3][i % 3].num = 1000 * ccmStatus->matrix[i]; + } + + ccm.enabled = 1; + ccm.ccm.offsets[0] = ccm.ccm.offsets[1] = ccm.ccm.offsets[2] = 0; + + ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&ccm), + sizeof(ccm) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_CC_MATRIX, c); +} + +void IpaVc4::applyBlackLevel(const struct BlackLevelStatus *blackLevelStatus, ControlList &ctrls) +{ + bcm2835_isp_black_level blackLevel; + + blackLevel.enabled = 1; + blackLevel.black_level_r = blackLevelStatus->blackLevelR; + blackLevel.black_level_g = blackLevelStatus->blackLevelG; + blackLevel.black_level_b = blackLevelStatus->blackLevelB; + + ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&blackLevel), + sizeof(blackLevel) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_BLACK_LEVEL, c); +} + +void IpaVc4::applyGamma(const struct ContrastStatus *contrastStatus, ControlList &ctrls) +{ + const unsigned int numGammaPoints = controller_.getHardwareConfig().numGammaPoints; + struct bcm2835_isp_gamma gamma; + + for (unsigned int i = 0; i < numGammaPoints - 1; i++) { + int x = i < 16 ? i * 1024 + : (i < 24 ? (i - 16) * 2048 + 16384 + : (i - 24) * 4096 + 32768); + gamma.x[i] = x; + gamma.y[i] = std::min<uint16_t>(65535, contrastStatus->gammaCurve.eval(x)); + } + + gamma.x[numGammaPoints - 1] = 65535; + gamma.y[numGammaPoints - 1] = 65535; + gamma.enabled = 1; + + ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&gamma), + sizeof(gamma) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_GAMMA, c); +} + +void IpaVc4::applyGEQ(const struct GeqStatus *geqStatus, ControlList &ctrls) +{ + bcm2835_isp_geq geq; + + geq.enabled = 1; + geq.offset = geqStatus->offset; + geq.slope.den = 1000; + geq.slope.num = 1000 * geqStatus->slope; + + ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&geq), + sizeof(geq) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_GEQ, c); +} + +void IpaVc4::applyDenoise(const struct DenoiseStatus *denoiseStatus, ControlList &ctrls) +{ + using RPiController::DenoiseMode; + + bcm2835_isp_denoise denoise; + DenoiseMode mode = static_cast<DenoiseMode>(denoiseStatus->mode); + + denoise.enabled = mode != DenoiseMode::Off; + denoise.constant = denoiseStatus->noiseConstant; + denoise.slope.num = 1000 * denoiseStatus->noiseSlope; + denoise.slope.den = 1000; + denoise.strength.num = 1000 * denoiseStatus->strength; + denoise.strength.den = 1000; + + /* Set the CDN mode to match the SDN operating mode. */ + bcm2835_isp_cdn cdn; + switch (mode) { + case DenoiseMode::ColourFast: + cdn.enabled = 1; + cdn.mode = CDN_MODE_FAST; + break; + case DenoiseMode::ColourHighQuality: + cdn.enabled = 1; + cdn.mode = CDN_MODE_HIGH_QUALITY; + break; + default: + cdn.enabled = 0; + } + + ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&denoise), + sizeof(denoise) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_DENOISE, c); + + c = ControlValue(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&cdn), + sizeof(cdn) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_CDN, c); +} + +void IpaVc4::applySharpen(const struct SharpenStatus *sharpenStatus, ControlList &ctrls) +{ + bcm2835_isp_sharpen sharpen; + + sharpen.enabled = 1; + sharpen.threshold.num = 1000 * sharpenStatus->threshold; + sharpen.threshold.den = 1000; + sharpen.strength.num = 1000 * sharpenStatus->strength; + sharpen.strength.den = 1000; + sharpen.limit.num = 1000 * sharpenStatus->limit; + sharpen.limit.den = 1000; + + ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&sharpen), + sizeof(sharpen) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_SHARPEN, c); +} + +void IpaVc4::applyDPC(const struct DpcStatus *dpcStatus, ControlList &ctrls) +{ + bcm2835_isp_dpc dpc; + + dpc.enabled = 1; + dpc.strength = dpcStatus->strength; + + ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&dpc), + sizeof(dpc) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_DPC, c); +} + +void IpaVc4::applyLS(const struct AlscStatus *lsStatus, ControlList &ctrls) +{ + /* + * Program lens shading tables into pipeline. + * Choose smallest cell size that won't exceed 63x48 cells. + */ + const int cellSizes[] = { 16, 32, 64, 128, 256 }; + unsigned int numCells = std::size(cellSizes); + unsigned int i, w, h, cellSize; + for (i = 0; i < numCells; i++) { + cellSize = cellSizes[i]; + w = (mode_.width + cellSize - 1) / cellSize; + h = (mode_.height + cellSize - 1) / cellSize; + if (w < 64 && h <= 48) + break; + } + + if (i == numCells) { + LOG(IPARPI, Error) << "Cannot find cell size"; + return; + } + + /* We're going to supply corner sampled tables, 16 bit samples. */ + w++, h++; + bcm2835_isp_lens_shading ls = { + .enabled = 1, + .grid_cell_size = cellSize, + .grid_width = w, + .grid_stride = w, + .grid_height = h, + /* .dmabuf will be filled in by pipeline handler. */ + .dmabuf = 0, + .ref_transform = 0, + .corner_sampled = 1, + .gain_format = GAIN_FORMAT_U4P10 + }; + + if (!lsTable_ || w * h * 4 * sizeof(uint16_t) > MaxLsGridSize) { + LOG(IPARPI, Error) << "Do not have a correctly allocate lens shading table!"; + return; + } + + if (lsStatus) { + /* Format will be u4.10 */ + uint16_t *grid = static_cast<uint16_t *>(lsTable_); + + resampleTable(grid, lsStatus->r, w, h); + resampleTable(grid + w * h, lsStatus->g, w, h); + memcpy(grid + 2 * w * h, grid + w * h, w * h * sizeof(uint16_t)); + resampleTable(grid + 3 * w * h, lsStatus->b, w, h); + } + + ControlValue c(Span<const uint8_t>{ reinterpret_cast<uint8_t *>(&ls), + sizeof(ls) }); + ctrls.set(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING, c); +} + +void IpaVc4::applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls) +{ + if (afStatus->lensSetting) { + ControlValue v(afStatus->lensSetting.value()); + lensCtrls.set(V4L2_CID_FOCUS_ABSOLUTE, v); + } +} + +/* + * Resamples a 16x12 table with central sampling to destW x destH with corner + * sampling. + */ +void IpaVc4::resampleTable(uint16_t dest[], const std::vector<double> &src, + int destW, int destH) +{ + /* + * Precalculate and cache the x sampling locations and phases to + * save recomputing them on every row. + */ + assert(destW > 1 && destH > 1 && destW <= 64); + int xLo[64], xHi[64]; + double xf[64]; + double x = -0.5, xInc = 16.0 / (destW - 1); + for (int i = 0; i < destW; i++, x += xInc) { + xLo[i] = floor(x); + xf[i] = x - xLo[i]; + xHi[i] = xLo[i] < 15 ? xLo[i] + 1 : 15; + xLo[i] = xLo[i] > 0 ? xLo[i] : 0; + } + + /* Now march over the output table generating the new values. */ + double y = -0.5, yInc = 12.0 / (destH - 1); + for (int j = 0; j < destH; j++, y += yInc) { + int yLo = floor(y); + double yf = y - yLo; + int yHi = yLo < 11 ? yLo + 1 : 11; + yLo = yLo > 0 ? yLo : 0; + double const *rowAbove = src.data() + yLo * 16; + double const *rowBelow = src.data() + yHi * 16; + for (int i = 0; i < destW; i++) { + double above = rowAbove[xLo[i]] * (1 - xf[i]) + rowAbove[xHi[i]] * xf[i]; + double below = rowBelow[xLo[i]] * (1 - xf[i]) + rowBelow[xHi[i]] * xf[i]; + int result = floor(1024 * (above * (1 - yf) + below * yf) + .5); + *(dest++) = result > 16383 ? 16383 : result; /* want u4.10 */ + } + } +} + +} /* namespace ipa::RPi */ + +/* + * External IPA module interface + */ +extern "C" { +const struct IPAModuleInfo ipaModuleInfo = { + IPA_MODULE_API_VERSION, + 1, + "rpi/vc4", + "rpi/vc4", +}; + +IPAInterface *ipaCreate() +{ + return new ipa::RPi::IpaVc4(); +} + +} /* extern "C" */ + +} /* namespace libcamera */ diff --git a/src/ipa/simple/black_level.cpp b/src/ipa/simple/black_level.cpp new file mode 100644 index 00000000..53b4c040 --- /dev/null +++ b/src/ipa/simple/black_level.cpp @@ -0,0 +1,88 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * black level handling + */ + +#include "black_level.h" + +#include <numeric> + +#include <libcamera/base/log.h> + +namespace libcamera { + +LOG_DEFINE_CATEGORY(IPASoftBL) + +/** + * \class BlackLevel + * \brief Object providing black point level for software ISP + * + * Black level can be provided in hardware tuning files or, if no tuning file is + * available for the given hardware, guessed automatically, with less accuracy. + * As tuning files are not yet implemented for software ISP, BlackLevel + * currently provides only guessed black levels. + * + * This class serves for tracking black level as a property of the underlying + * hardware, not as means of enhancing a particular scene or image. + * + * The class is supposed to be instantiated for the given camera stream. + * The black level can be retrieved using BlackLevel::get() method. It is + * initially 0 and may change when updated using BlackLevel::update() method. + */ + +BlackLevel::BlackLevel() + : blackLevel_(255), blackLevelSet_(false) +{ +} + +/** + * \brief Return the current black level + * + * \return The black level, in the range from 0 (minimum) to 255 (maximum). + * If the black level couldn't be determined yet, return 0. + */ +unsigned int BlackLevel::get() const +{ + return blackLevelSet_ ? blackLevel_ : 0; +} + +/** + * \brief Update black level from the provided histogram + * \param[in] yHistogram The histogram to be used for updating black level + * + * The black level is property of the given hardware, not image. It is updated + * only if it has not been yet set or if it is lower than the lowest value seen + * so far. + */ +void BlackLevel::update(SwIspStats::Histogram &yHistogram) +{ + /* + * The constant is selected to be "good enough", not overly conservative or + * aggressive. There is no magic about the given value. + */ + constexpr float ignoredPercentage_ = 0.02; + const unsigned int total = + std::accumulate(begin(yHistogram), end(yHistogram), 0); + const unsigned int pixelThreshold = ignoredPercentage_ * total; + const unsigned int histogramRatio = 256 / SwIspStats::kYHistogramSize; + const unsigned int currentBlackIdx = blackLevel_ / histogramRatio; + + for (unsigned int i = 0, seen = 0; + i < currentBlackIdx && i < SwIspStats::kYHistogramSize; + i++) { + seen += yHistogram[i]; + if (seen >= pixelThreshold) { + blackLevel_ = i * histogramRatio; + blackLevelSet_ = true; + LOG(IPASoftBL, Debug) + << "Auto-set black level: " + << i << "/" << SwIspStats::kYHistogramSize + << " (" << 100 * (seen - yHistogram[i]) / total << "% below, " + << 100 * seen / total << "% at or below)"; + break; + } + }; +} +} /* namespace libcamera */ diff --git a/src/ipa/simple/black_level.h b/src/ipa/simple/black_level.h new file mode 100644 index 00000000..25094217 --- /dev/null +++ b/src/ipa/simple/black_level.h @@ -0,0 +1,28 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Red Hat Inc. + * + * black level handling + */ + +#pragma once + +#include <array> + +#include "libcamera/internal/software_isp/swisp_stats.h" + +namespace libcamera { + +class BlackLevel +{ +public: + BlackLevel(); + unsigned int get() const; + void update(SwIspStats::Histogram &yHistogram); + +private: + unsigned int blackLevel_; + bool blackLevelSet_; +}; + +} /* namespace libcamera */ diff --git a/src/ipa/simple/data/meson.build b/src/ipa/simple/data/meson.build new file mode 100644 index 00000000..92795ee4 --- /dev/null +++ b/src/ipa/simple/data/meson.build @@ -0,0 +1,10 @@ +# SPDX-License-Identifier: CC0-1.0 + +conf_files = files([ + 'uncalibrated.yaml', +]) + +# The install_dir must match the name from the IPAModuleInfo +install_data(conf_files, + install_dir : ipa_data_dir / 'simple', + install_tag : 'runtime') diff --git a/src/ipa/simple/data/uncalibrated.yaml b/src/ipa/simple/data/uncalibrated.yaml new file mode 100644 index 00000000..ff981a1a --- /dev/null +++ b/src/ipa/simple/data/uncalibrated.yaml @@ -0,0 +1,5 @@ +# SPDX-License-Identifier: CC0-1.0 +%YAML 1.1 +--- +version: 1 +... diff --git a/src/ipa/simple/meson.build b/src/ipa/simple/meson.build new file mode 100644 index 00000000..44b5f1d7 --- /dev/null +++ b/src/ipa/simple/meson.build @@ -0,0 +1,30 @@ +# SPDX-License-Identifier: CC0-1.0 + +ipa_name = 'ipa_soft_simple' + +soft_simple_sources = files([ + 'soft_simple.cpp', + 'black_level.cpp', +]) + +mod = shared_module(ipa_name, + [soft_simple_sources, libcamera_generated_ipa_headers], + name_prefix : '', + include_directories : [ipa_includes, libipa_includes], + dependencies : libcamera_private, + link_with : libipa, + install : true, + install_dir : ipa_install_dir) + +if ipa_sign_module + custom_target(ipa_name + '.so.sign', + input : mod, + output : ipa_name + '.so.sign', + command : [ipa_sign, ipa_priv_key, '@INPUT@', '@OUTPUT@'], + install : false, + build_by_default : true) +endif + +subdir('data') + +ipa_names += ipa_name diff --git a/src/ipa/simple/soft_simple.cpp b/src/ipa/simple/soft_simple.cpp new file mode 100644 index 00000000..a5bb2bbf --- /dev/null +++ b/src/ipa/simple/soft_simple.cpp @@ -0,0 +1,403 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2023, Linaro Ltd + * + * Simple Software Image Processing Algorithm module + */ + +#include <sys/mman.h> + +#include <linux/v4l2-controls.h> + +#include <libcamera/base/file.h> +#include <libcamera/base/log.h> +#include <libcamera/base/shared_fd.h> + +#include <libcamera/control_ids.h> +#include <libcamera/controls.h> + +#include <libcamera/ipa/ipa_interface.h> +#include <libcamera/ipa/ipa_module_info.h> +#include <libcamera/ipa/soft_ipa_interface.h> + +#include "libcamera/internal/software_isp/debayer_params.h" +#include "libcamera/internal/software_isp/swisp_stats.h" +#include "libcamera/internal/yaml_parser.h" + +#include "libipa/camera_sensor_helper.h" + +#include "black_level.h" + +namespace libcamera { +LOG_DEFINE_CATEGORY(IPASoft) + +namespace ipa::soft { + +/* + * The number of bins to use for the optimal exposure calculations. + */ +static constexpr unsigned int kExposureBinsCount = 5; + +/* + * The exposure is optimal when the mean sample value of the histogram is + * in the middle of the range. + */ +static constexpr float kExposureOptimal = kExposureBinsCount / 2.0; + +/* + * The below value implements the hysteresis for the exposure adjustment. + * It is small enough to have the exposure close to the optimal, and is big + * enough to prevent the exposure from wobbling around the optimal value. + */ +static constexpr float kExposureSatisfactory = 0.2; + +class IPASoftSimple : public ipa::soft::IPASoftInterface +{ +public: + IPASoftSimple() + : params_(nullptr), stats_(nullptr), blackLevel_(BlackLevel()), + ignoreUpdates_(0) + { + } + + ~IPASoftSimple(); + + int init(const IPASettings &settings, + const SharedFD &fdStats, + const SharedFD &fdParams, + const ControlInfoMap &sensorInfoMap) override; + int configure(const ControlInfoMap &sensorInfoMap) override; + + int start() override; + void stop() override; + + void processStats(const ControlList &sensorControls) override; + +private: + void updateExposure(double exposureMSV); + + DebayerParams *params_; + SwIspStats *stats_; + std::unique_ptr<CameraSensorHelper> camHelper_; + ControlInfoMap sensorInfoMap_; + BlackLevel blackLevel_; + + int32_t exposureMin_, exposureMax_; + int32_t exposure_; + double againMin_, againMax_, againMinStep_; + double again_; + unsigned int ignoreUpdates_; +}; + +IPASoftSimple::~IPASoftSimple() +{ + if (stats_) + munmap(stats_, sizeof(SwIspStats)); + if (params_) + munmap(params_, sizeof(DebayerParams)); +} + +int IPASoftSimple::init(const IPASettings &settings, + const SharedFD &fdStats, + const SharedFD &fdParams, + const ControlInfoMap &sensorInfoMap) +{ + camHelper_ = CameraSensorHelperFactoryBase::create(settings.sensorModel); + if (!camHelper_) { + LOG(IPASoft, Warning) + << "Failed to create camera sensor helper for " + << settings.sensorModel; + } + + /* Load the tuning data file */ + File file(settings.configurationFile); + if (!file.open(File::OpenModeFlag::ReadOnly)) { + int ret = file.error(); + LOG(IPASoft, Error) + << "Failed to open configuration file " + << settings.configurationFile << ": " << strerror(-ret); + return ret; + } + + std::unique_ptr<libcamera::YamlObject> data = YamlParser::parse(file); + if (!data) + return -EINVAL; + + /* \todo Use the IPA configuration file for real. */ + unsigned int version = (*data)["version"].get<uint32_t>(0); + LOG(IPASoft, Debug) << "Tuning file version " << version; + + params_ = nullptr; + stats_ = nullptr; + + if (!fdStats.isValid()) { + LOG(IPASoft, Error) << "Invalid Statistics handle"; + return -ENODEV; + } + + if (!fdParams.isValid()) { + LOG(IPASoft, Error) << "Invalid Parameters handle"; + return -ENODEV; + } + + { + void *mem = mmap(nullptr, sizeof(DebayerParams), PROT_WRITE, + MAP_SHARED, fdParams.get(), 0); + if (mem == MAP_FAILED) { + LOG(IPASoft, Error) << "Unable to map Parameters"; + return -errno; + } + + params_ = static_cast<DebayerParams *>(mem); + } + + { + void *mem = mmap(nullptr, sizeof(SwIspStats), PROT_READ, + MAP_SHARED, fdStats.get(), 0); + if (mem == MAP_FAILED) { + LOG(IPASoft, Error) << "Unable to map Statistics"; + return -errno; + } + + stats_ = static_cast<SwIspStats *>(mem); + } + + /* + * Check if the sensor driver supports the controls required by the + * Soft IPA. + * 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()) { + LOG(IPASoft, Error) << "Don't have exposure control"; + return -EINVAL; + } + + if (sensorInfoMap.find(V4L2_CID_ANALOGUE_GAIN) == sensorInfoMap.end()) { + LOG(IPASoft, Error) << "Don't have gain control"; + return -EINVAL; + } + + return 0; +} + +int IPASoftSimple::configure(const ControlInfoMap &sensorInfoMap) +{ + sensorInfoMap_ = sensorInfoMap; + + const ControlInfo &exposureInfo = sensorInfoMap_.find(V4L2_CID_EXPOSURE)->second; + const ControlInfo &gainInfo = sensorInfoMap_.find(V4L2_CID_ANALOGUE_GAIN)->second; + + exposureMin_ = exposureInfo.min().get<int32_t>(); + exposureMax_ = exposureInfo.max().get<int32_t>(); + if (!exposureMin_) { + LOG(IPASoft, Warning) << "Minimum exposure is zero, that can't be linear"; + exposureMin_ = 1; + } + + int32_t againMin = gainInfo.min().get<int32_t>(); + int32_t againMax = gainInfo.max().get<int32_t>(); + + if (camHelper_) { + againMin_ = camHelper_->gain(againMin); + againMax_ = camHelper_->gain(againMax); + againMinStep_ = (againMax_ - againMin_) / 100.0; + } else { + /* + * The camera sensor gain (g) is usually not equal to the value written + * into the gain register (x). But the way how the AGC algorithm changes + * the gain value to make the total exposure closer to the optimum + * assumes that g(x) is not too far from linear function. If the minimal + * gain is 0, the g(x) is likely to be far from the linear, like + * g(x) = a / (b * x + c). To avoid unexpected changes to the gain by + * the AGC algorithm (abrupt near one edge, and very small near the + * other) we limit the range of the gain values used. + */ + againMax_ = againMax; + if (!againMin) { + LOG(IPASoft, Warning) + << "Minimum gain is zero, that can't be linear"; + againMin_ = std::min(100, againMin / 2 + againMax / 2); + } + againMinStep_ = 1.0; + } + + LOG(IPASoft, Info) << "Exposure " << exposureMin_ << "-" << exposureMax_ + << ", gain " << againMin_ << "-" << againMax_ + << " (" << againMinStep_ << ")"; + + return 0; +} + +int IPASoftSimple::start() +{ + return 0; +} + +void IPASoftSimple::stop() +{ +} + +void IPASoftSimple::processStats(const ControlList &sensorControls) +{ + /* + * Calculate red and blue gains for AWB. + * Clamp max gain at 4.0, this also avoids 0 division. + */ + if (stats_->sumR_ <= stats_->sumG_ / 4) + params_->gainR = 1024; + else + params_->gainR = 256 * stats_->sumG_ / stats_->sumR_; + + if (stats_->sumB_ <= stats_->sumG_ / 4) + params_->gainB = 1024; + else + params_->gainB = 256 * stats_->sumG_ / stats_->sumB_; + + /* Green gain and gamma values are fixed */ + params_->gainG = 256; + params_->gamma = 0.5; + + if (ignoreUpdates_ > 0) + blackLevel_.update(stats_->yHistogram); + params_->blackLevel = blackLevel_.get(); + + setIspParams.emit(); + + /* \todo Switch to the libipa/algorithm.h API someday. */ + + /* + * AE / AGC, use 2 frames delay to make sure that the exposure and + * the gain set have applied to the camera sensor. + * \todo This could be handled better with DelayedControls. + */ + if (ignoreUpdates_ > 0) { + --ignoreUpdates_; + return; + } + + /* + * Calculate Mean Sample Value (MSV) according to formula from: + * https://www.araa.asn.au/acra/acra2007/papers/paper84final.pdf + */ + const unsigned int blackLevelHistIdx = + params_->blackLevel / (256 / SwIspStats::kYHistogramSize); + const unsigned int histogramSize = + SwIspStats::kYHistogramSize - blackLevelHistIdx; + const unsigned int yHistValsPerBin = histogramSize / kExposureBinsCount; + const unsigned int yHistValsPerBinMod = + histogramSize / (histogramSize % kExposureBinsCount + 1); + int exposureBins[kExposureBinsCount] = {}; + unsigned int denom = 0; + unsigned int num = 0; + + for (unsigned int i = 0; i < histogramSize; i++) { + unsigned int idx = (i - (i / yHistValsPerBinMod)) / yHistValsPerBin; + exposureBins[idx] += stats_->yHistogram[blackLevelHistIdx + i]; + } + + for (unsigned int i = 0; i < kExposureBinsCount; i++) { + LOG(IPASoft, Debug) << i << ": " << exposureBins[i]; + denom += exposureBins[i]; + num += exposureBins[i] * (i + 1); + } + + float exposureMSV = static_cast<float>(num) / denom; + + /* Sanity check */ + if (!sensorControls.contains(V4L2_CID_EXPOSURE) || + !sensorControls.contains(V4L2_CID_ANALOGUE_GAIN)) { + LOG(IPASoft, Error) << "Control(s) missing"; + return; + } + + exposure_ = sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>(); + int32_t again = sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>(); + again_ = camHelper_ ? camHelper_->gain(again) : again; + + updateExposure(exposureMSV); + + ControlList ctrls(sensorInfoMap_); + + ctrls.set(V4L2_CID_EXPOSURE, exposure_); + ctrls.set(V4L2_CID_ANALOGUE_GAIN, + static_cast<int32_t>(camHelper_ ? camHelper_->gainCode(again_) : again_)); + + ignoreUpdates_ = 2; + + setSensorControls.emit(ctrls); + + LOG(IPASoft, Debug) << "exposureMSV " << exposureMSV + << " exp " << exposure_ << " again " << again_ + << " gain R/B " << params_->gainR << "/" << params_->gainB + << " black level " << params_->blackLevel; +} + +void IPASoftSimple::updateExposure(double exposureMSV) +{ + /* + * kExpDenominator of 10 gives ~10% increment/decrement; + * kExpDenominator of 5 - about ~20% + */ + static constexpr uint8_t kExpDenominator = 10; + static constexpr uint8_t kExpNumeratorUp = kExpDenominator + 1; + static constexpr uint8_t kExpNumeratorDown = kExpDenominator - 1; + + double next; + + if (exposureMSV < kExposureOptimal - kExposureSatisfactory) { + next = exposure_ * kExpNumeratorUp / kExpDenominator; + if (next - exposure_ < 1) + exposure_ += 1; + else + exposure_ = next; + if (exposure_ >= exposureMax_) { + next = again_ * kExpNumeratorUp / kExpDenominator; + if (next - again_ < againMinStep_) + again_ += againMinStep_; + else + again_ = next; + } + } + + if (exposureMSV > kExposureOptimal + kExposureSatisfactory) { + if (exposure_ == exposureMax_ && again_ > againMin_) { + next = again_ * kExpNumeratorDown / kExpDenominator; + if (again_ - next < againMinStep_) + again_ -= againMinStep_; + else + again_ = next; + } else { + next = exposure_ * kExpNumeratorDown / kExpDenominator; + if (exposure_ - next < 1) + exposure_ -= 1; + else + exposure_ = next; + } + } + + exposure_ = std::clamp(exposure_, exposureMin_, exposureMax_); + again_ = std::clamp(again_, againMin_, againMax_); +} + +} /* namespace ipa::soft */ + +/* + * External IPA module interface + */ +extern "C" { +const struct IPAModuleInfo ipaModuleInfo = { + IPA_MODULE_API_VERSION, + 0, + "simple", + "simple", +}; + +IPAInterface *ipaCreate() +{ + return new ipa::soft::IPASoftSimple(); +} + +} /* extern "C" */ + +} /* namespace libcamera */ diff --git a/src/ipa/vimc/data/meson.build b/src/ipa/vimc/data/meson.build index 42ec651c..628d6a29 100644 --- a/src/ipa/vimc/data/meson.build +++ b/src/ipa/vimc/data/meson.build @@ -5,4 +5,5 @@ conf_files = files([ ]) install_data(conf_files, - install_dir : ipa_data_dir / 'vimc') + install_dir : ipa_data_dir / 'vimc', + install_tag : 'runtime') diff --git a/src/ipa/vimc/meson.build b/src/ipa/vimc/meson.build index ecbeee13..264a2d9a 100644 --- a/src/ipa/vimc/meson.build +++ b/src/ipa/vimc/meson.build @@ -21,3 +21,5 @@ if ipa_sign_module endif subdir('data') + +ipa_names += ipa_name diff --git a/src/ipa/vimc/vimc.cpp b/src/ipa/vimc/vimc.cpp index 85afb279..ebd63fa6 100644 --- a/src/ipa/vimc/vimc.cpp +++ b/src/ipa/vimc/vimc.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * ipa_vimc.cpp - Vimc Image Processing Algorithm module + * Vimc Image Processing Algorithm module */ #include <libcamera/ipa/vimc_ipa_interface.h> @@ -31,7 +31,10 @@ public: IPAVimc(); ~IPAVimc(); - int init(const IPASettings &settings) override; + int init(const IPASettings &settings, + const ipa::vimc::IPAOperationCode code, + const Flags<ipa::vimc::TestFlag> inFlags, + Flags<ipa::vimc::TestFlag> *outFlags) override; int start() override; void stop() override; @@ -66,7 +69,10 @@ IPAVimc::~IPAVimc() ::close(fd_); } -int IPAVimc::init(const IPASettings &settings) +int IPAVimc::init(const IPASettings &settings, + const ipa::vimc::IPAOperationCode code, + const Flags<ipa::vimc::TestFlag> inFlags, + Flags<ipa::vimc::TestFlag> *outFlags) { trace(ipa::vimc::IPAOperationInit); @@ -74,6 +80,15 @@ int IPAVimc::init(const IPASettings &settings) << "initializing vimc IPA with configuration file " << settings.configurationFile; + LOG(IPAVimc, Debug) << "Got opcode " << code; + + LOG(IPAVimc, Debug) + << "Flag 2 was " + << (inFlags & ipa::vimc::TestFlag::Flag2 ? "" : "not ") + << "set"; + + *outFlags |= ipa::vimc::TestFlag::Flag1; + File conf(settings.configurationFile); if (!conf.open(File::OpenModeFlag::ReadOnly)) { LOG(IPAVimc, Error) << "Failed to open configuration file"; @@ -142,7 +157,8 @@ void IPAVimc::fillParamsBuffer([[maybe_unused]] uint32_t frame, uint32_t bufferI return; } - paramsBufferReady.emit(bufferId); + Flags<ipa::vimc::TestFlag> flags; + paramsBufferReady.emit(bufferId, flags); } void IPAVimc::initTrace() @@ -152,7 +168,7 @@ void IPAVimc::initTrace() if (ret) return; - ret = ::open(ipa::vimc::VimcIPAFIFOPath.c_str(), O_WRONLY); + ret = ::open(ipa::vimc::VimcIPAFIFOPath.c_str(), O_WRONLY | O_CLOEXEC); if (ret < 0) { ret = errno; LOG(IPAVimc, Error) << "Failed to open vimc IPA test FIFO: " @@ -184,7 +200,7 @@ extern "C" { const struct IPAModuleInfo ipaModuleInfo = { IPA_MODULE_API_VERSION, 0, - "PipelineHandlerVimc", + "vimc", "vimc", }; diff --git a/src/libcamera/base/backtrace.cpp b/src/libcamera/base/backtrace.cpp index 483492c3..0b04629c 100644 --- a/src/libcamera/base/backtrace.cpp +++ b/src/libcamera/base/backtrace.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Ideas on Board Oy * - * backtrace.h - Call stack backtraces + * Call stack backtraces */ #include <libcamera/base/backtrace.h> @@ -191,10 +191,22 @@ __attribute__((__noinline__)) bool Backtrace::unwindTrace() { #if HAVE_UNWIND +/* + * unw_getcontext() for ARM32 is an inline assembly function using the stmia + * instruction to store SP and PC. This is considered by clang-11 as deprecated, + * and generates a warning. + */ +#ifdef __clang__ +#pragma clang diagnostic push +#pragma clang diagnostic ignored "-Winline-asm" +#endif unw_context_t uc; int ret = unw_getcontext(&uc); if (ret) return false; +#ifdef __clang__ +#pragma clang diagnostic pop +#endif unw_cursor_t cursor; ret = unw_init_local(&cursor, &uc); diff --git a/src/libcamera/base/bound_method.cpp b/src/libcamera/base/bound_method.cpp index 3ecec51c..322029a8 100644 --- a/src/libcamera/base/bound_method.cpp +++ b/src/libcamera/base/bound_method.cpp @@ -2,11 +2,12 @@ /* * Copyright (C) 2019, Google Inc. * - * bound_method.cpp - Method bind and invocation + * Method bind and invocation */ #include <libcamera/base/bound_method.h> #include <libcamera/base/message.h> +#include <libcamera/base/object.h> #include <libcamera/base/semaphore.h> #include <libcamera/base/thread.h> diff --git a/src/libcamera/base/class.cpp b/src/libcamera/base/class.cpp index 9c2d9f21..61998398 100644 --- a/src/libcamera/base/class.cpp +++ b/src/libcamera/base/class.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * class.cpp - Utilities and helpers for classes + * Utilities and helpers for classes */ #include <libcamera/base/class.h> diff --git a/src/libcamera/base/event_dispatcher.cpp b/src/libcamera/base/event_dispatcher.cpp index 4be89e81..5f4a5cb4 100644 --- a/src/libcamera/base/event_dispatcher.cpp +++ b/src/libcamera/base/event_dispatcher.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * event_dispatcher.cpp - Event dispatcher + * Event dispatcher */ #include <libcamera/base/event_dispatcher.h> diff --git a/src/libcamera/base/event_dispatcher_poll.cpp b/src/libcamera/base/event_dispatcher_poll.cpp index 7238a316..b737ca7a 100644 --- a/src/libcamera/base/event_dispatcher_poll.cpp +++ b/src/libcamera/base/event_dispatcher_poll.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * event_dispatcher_poll.cpp - Poll-based event dispatcher + * Poll-based event dispatcher */ #include <libcamera/base/event_dispatcher_poll.h> diff --git a/src/libcamera/base/event_notifier.cpp b/src/libcamera/base/event_notifier.cpp index fd93c087..495c281d 100644 --- a/src/libcamera/base/event_notifier.cpp +++ b/src/libcamera/base/event_notifier.cpp @@ -2,12 +2,13 @@ /* * Copyright (C) 2019, Google Inc. * - * event_notifier.cpp - File descriptor event notifier + * File descriptor event notifier */ #include <libcamera/base/event_notifier.h> #include <libcamera/base/event_dispatcher.h> +#include <libcamera/base/log.h> #include <libcamera/base/message.h> #include <libcamera/base/thread.h> @@ -20,6 +21,8 @@ namespace libcamera { +LOG_DECLARE_CATEGORY(Event) + /** * \class EventNotifier * \brief Notify of activity on a file descriptor @@ -104,6 +107,9 @@ EventNotifier::~EventNotifier() */ void EventNotifier::setEnabled(bool enable) { + if (!assertThreadBound("EventNotifier can't be enabled from another thread")) + return; + if (enabled_ == enable) return; diff --git a/src/libcamera/base/file.cpp b/src/libcamera/base/file.cpp index fb3e276d..2b83a517 100644 --- a/src/libcamera/base/file.cpp +++ b/src/libcamera/base/file.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * file.cpp - File I/O operations + * File I/O operations */ #include <libcamera/base/file.h> @@ -163,6 +163,9 @@ bool File::exists() const * attempt to create the file with initial permissions set to 0666 (modified by * the process' umask). * + * The file is opened with the O_CLOEXEC flag, and will be closed automatically + * when a new binary is executed with one of the exec(3) functions. + * * The error() status is updated. * * \return True on success, false otherwise @@ -178,7 +181,7 @@ bool File::open(File::OpenMode mode) if (mode & OpenModeFlag::WriteOnly) flags |= O_CREAT; - fd_ = UniqueFD(::open(name_.c_str(), flags, 0666)); + fd_ = UniqueFD(::open(name_.c_str(), flags | O_CLOEXEC, 0666)); if (!fd_.isValid()) { error_ = -errno; return false; diff --git a/src/libcamera/base/flags.cpp b/src/libcamera/base/flags.cpp index 3e4320ac..9981f2ed 100644 --- a/src/libcamera/base/flags.cpp +++ b/src/libcamera/base/flags.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * flags.cpp - Type-safe enum-based bitfields + * Type-safe enum-based bitfields */ #include <libcamera/base/flags.h> diff --git a/src/libcamera/base/log.cpp b/src/libcamera/base/log.cpp index 5c359a22..3a656b8f 100644 --- a/src/libcamera/base/log.cpp +++ b/src/libcamera/base/log.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2018, Google Inc. * - * log.cpp - Logging infrastructure + * Logging infrastructure */ #include <libcamera/base/log.h> @@ -21,6 +21,7 @@ #include <libcamera/logging.h> #include <libcamera/base/backtrace.h> +#include <libcamera/base/mutex.h> #include <libcamera/base/thread.h> #include <libcamera/base/utils.h> @@ -314,10 +315,11 @@ private: friend LogCategory; void registerCategory(LogCategory *category); + LogCategory *findCategory(const char *name) const; static bool destroyed_; - std::unordered_set<LogCategory *> categories_; + std::vector<LogCategory *> categories_; std::list<std::pair<std::string, LogSeverity>> levels_; std::shared_ptr<LogOutput> output_; @@ -568,7 +570,7 @@ void Logger::logSetLevel(const char *category, const char *level) return; for (LogCategory *c : categories_) { - if (!strcmp(c->name(), category)) { + if (c->name() == category) { c->setSeverity(severity); break; } @@ -707,12 +709,12 @@ 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. If a category with the same name - * already exists this function performs no operation. + * Log categories must have unique names. It is invalid to call this function + * if a log category with the same name already exists. */ void Logger::registerCategory(LogCategory *category) { - categories_.insert(category); + categories_.push_back(category); const std::string &name = category->name(); for (const std::pair<std::string, LogSeverity> &level : levels_) { @@ -737,6 +739,22 @@ void Logger::registerCategory(LogCategory *category) } /** + * \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; + } + + return nullptr; +} + +/** * \enum LogSeverity * Log message severity * \var LogDebug @@ -761,13 +779,35 @@ void Logger::registerCategory(LogCategory *category) */ /** + * \brief Create a new LogCategory or return an existing one + * \param[in] name Name of the log category + * + * Create and return a new LogCategory with the given name if such a category + * does not yet exist, or return the existing one. + * + * \return The pointer to the LogCategory + */ +LogCategory *LogCategory::create(const char *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; +} + +/** * \brief Construct a log category * \param[in] name The category name */ LogCategory::LogCategory(const char *name) : name_(name), severity_(LogSeverity::LogInfo) { - Logger::instance()->registerCategory(this); } /** @@ -804,7 +844,7 @@ void LogCategory::setSeverity(LogSeverity severity) */ const LogCategory &LogCategory::defaultCategory() { - static const LogCategory *category = new LogCategory("default"); + static const LogCategory *category = LogCategory::create("default"); return *category; } diff --git a/src/libcamera/base/meson.build b/src/libcamera/base/meson.build index 7030ad1f..7a7fd7e4 100644 --- a/src/libcamera/base/meson.build +++ b/src/libcamera/base/meson.build @@ -22,8 +22,8 @@ libcamera_base_sources = files([ 'utils.cpp', ]) -libdw = cc.find_library('libdw', required : false) -libunwind = cc.find_library('libunwind', required : false) +libdw = dependency('libdw', required : false) +libunwind = dependency('libunwind', required : false) if cc.has_header_symbol('execinfo.h', 'backtrace') config_h.set('HAVE_BACKTRACE', 1) @@ -38,9 +38,9 @@ if libunwind.found() endif libcamera_base_deps = [ - dependency('threads'), libatomic, libdw, + libthreads, libunwind, ] @@ -51,6 +51,7 @@ libcamera_base_args = [ '-DLIBCAMERA_BASE_PRIVATE' ] libcamera_base_lib = shared_library('libcamera-base', [libcamera_base_sources, libcamera_base_headers], version : libcamera_version, + soversion : libcamera_soversion, name_prefix : '', install : true, cpp_args : libcamera_base_args, diff --git a/src/libcamera/base/message.cpp b/src/libcamera/base/message.cpp index 2da2a7ed..098faac6 100644 --- a/src/libcamera/base/message.cpp +++ b/src/libcamera/base/message.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * message.cpp - Message queue support + * Message queue support */ #include <libcamera/base/message.h> diff --git a/src/libcamera/base/mutex.cpp b/src/libcamera/base/mutex.cpp index e34e8618..2a4542c4 100644 --- a/src/libcamera/base/mutex.cpp +++ b/src/libcamera/base/mutex.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * mutex.cpp - Mutex classes with clang thread safety annotation + * Mutex classes with clang thread safety annotation */ #include <libcamera/base/mutex.h> diff --git a/src/libcamera/base/object.cpp b/src/libcamera/base/object.cpp index 92cecd22..745d2565 100644 --- a/src/libcamera/base/object.cpp +++ b/src/libcamera/base/object.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * object.cpp - Base object + * Base object */ #include <libcamera/base/object.h> @@ -40,8 +40,9 @@ LOG_DEFINE_CATEGORY(Object) * Object class. * * Deleting an object from a thread other than the one the object is bound to is - * unsafe, unless the caller ensures that the object isn't processing any - * message concurrently. + * unsafe, unless the caller ensures that the object's thread is stopped and no + * parent or child of the object gets deleted concurrently. See + * Object::~Object() for more information. * * Object slots connected to signals will also run in the context of the * object's thread, regardless of whether the signal is emitted in the same or @@ -84,9 +85,20 @@ Object::Object(Object *parent) * Object instances shall be destroyed from the thread they are bound to, * otherwise undefined behaviour may occur. If deletion of an Object needs to * be scheduled from a different thread, deleteLater() shall be used. + * + * As an exception to this rule, Object instances may be deleted from a + * different thread if the thread the instance is bound to is stopped through + * the whole duration of the object's destruction, *and* the parent and children + * of the object do not get deleted concurrently. The caller is responsible for + * fulfilling those requirements. + * + * In all cases Object instances shall be deleted before the Thread they are + * bound to. */ Object::~Object() { + ASSERT(Thread::current() == thread_ || !thread_->isRunning()); + /* * Move signals to a private list to avoid concurrent iteration and * deletion of items from Signal::disconnect(). @@ -116,8 +128,9 @@ Object::~Object() * event loop that the object belongs to. This ensures the object is destroyed * from the right context, as required by the libcamera threading model. * - * If this function is called before the thread's event loop is started, the - * object will be deleted when the event loop starts. + * If this function is called before the thread's event loop is started or after + * it has stopped, the object will be deleted when the event loop (re)starts. If + * this never occurs, the object will be leaked. * * Deferred deletion can be used to control the destruction context with shared * pointers. An object managed with shared pointers is deleted when the last @@ -213,6 +226,35 @@ void Object::message(Message *msg) } /** + * \fn Object::assertThreadBound() + * \brief Check if the caller complies with thread-bound constraints + * \param[in] message The message to be printed on error + * + * This function verifies the calling constraints required by the \threadbound + * definition. It shall be called at the beginning of member functions of an + * Object subclass that are explicitly marked as thread-bound in their + * documentation. + * + * If the thread-bound constraints are not met, the function prints \a message + * as an error message. For debug builds, it additionally causes an assertion + * error. + * + * \todo Verify the thread-bound requirements for functions marked as + * thread-bound at the class level. + * + * \return True if the call is thread-bound compliant, false otherwise + */ +bool Object::assertThreadBound(const char *message) +{ + if (Thread::current() == thread_) + return true; + + LOG(Object, Error) << message; + ASSERT(false); + return false; +} + +/** * \fn R Object::invokeMethod() * \brief Invoke a method asynchronously on an Object instance * \param[in] func The object method to invoke @@ -259,11 +301,12 @@ void Object::message(Message *msg) * Moving an object that has a parent is not allowed, and causes undefined * behaviour. * - * \context This function is thread-bound. + * \context This function is \threadbound. */ void Object::moveToThread(Thread *thread) { - ASSERT(Thread::current() == thread_); + if (!assertThreadBound("Object can't be moved from another thread")) + return; if (thread_ == thread) return; diff --git a/src/libcamera/base/semaphore.cpp b/src/libcamera/base/semaphore.cpp index 4fe30293..862f3b31 100644 --- a/src/libcamera/base/semaphore.cpp +++ b/src/libcamera/base/semaphore.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * semaphore.cpp - General-purpose counting semaphore + * General-purpose counting semaphore */ #include <libcamera/base/semaphore.h> @@ -56,7 +56,9 @@ unsigned int Semaphore::available() void Semaphore::acquire(unsigned int n) { MutexLocker locker(mutex_); - cv_.wait(locker, [&] { return available_ >= n; }); + cv_.wait(locker, [&]() LIBCAMERA_TSA_REQUIRES(mutex_) { + return available_ >= n; + }); available_ -= n; } diff --git a/src/libcamera/base/shared_fd.cpp b/src/libcamera/base/shared_fd.cpp index c711cf57..7afc8ca5 100644 --- a/src/libcamera/base/shared_fd.cpp +++ b/src/libcamera/base/shared_fd.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * shared_fd.cpp - File descriptor wrapper with shared ownership + * File descriptor wrapper with shared ownership */ #include <libcamera/base/shared_fd.h> diff --git a/src/libcamera/base/signal.cpp b/src/libcamera/base/signal.cpp index a46386a0..b782e050 100644 --- a/src/libcamera/base/signal.cpp +++ b/src/libcamera/base/signal.cpp @@ -2,12 +2,13 @@ /* * Copyright (C) 2019, Google Inc. * - * signal.cpp - Signal & slot implementation + * Signal & slot implementation */ #include <libcamera/base/signal.h> #include <libcamera/base/mutex.h> +#include <libcamera/base/object.h> /** * \file base/signal.h @@ -74,7 +75,7 @@ SignalBase::SlotList SignalBase::slots() * * Signals and slots are a language construct aimed at communication between * objects through the observer pattern without the need for boilerplate code. - * See http://doc.qt.io/qt-5/signalsandslots.html for more information. + * See http://doc.qt.io/qt-6/signalsandslots.html for more information. * * Signals model events that can be observed from objects unrelated to the event * source. Slots are functions that are called in response to a signal. Signals diff --git a/src/libcamera/base/thread.cpp b/src/libcamera/base/thread.cpp index 6bda9d14..72733431 100644 --- a/src/libcamera/base/thread.cpp +++ b/src/libcamera/base/thread.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * thread.cpp - Thread support + * Thread support */ #include <libcamera/base/thread.h> @@ -18,6 +18,7 @@ #include <libcamera/base/log.h> #include <libcamera/base/message.h> #include <libcamera/base/mutex.h> +#include <libcamera/base/object.h> /** * \page thread Thread Support @@ -151,7 +152,7 @@ private: friend class ThreadMain; Thread *thread_; - bool running_; + bool running_ LIBCAMERA_TSA_GUARDED_BY(mutex_); pid_t tid_; Mutex mutex_; @@ -370,6 +371,12 @@ void Thread::run() void Thread::finishThread() { + /* + * Objects may have been scheduled for deletion right before the thread + * exited. Ensure they get deleted now, before the thread stops. + */ + dispatchMessages(Message::Type::DeferredDelete); + data_->mutex_.lock(); data_->running_ = false; data_->mutex_.unlock(); @@ -422,11 +429,15 @@ bool Thread::wait(utils::duration duration) { MutexLocker locker(data_->mutex_); + auto isRunning = ([&]() LIBCAMERA_TSA_REQUIRES(data_->mutex_) { + return !data_->running_; + }); + if (duration == utils::duration::max()) - data_->cv_.wait(locker, [&]() { return !data_->running_; }); + data_->cv_.wait(locker, isRunning); else hasFinished = data_->cv_.wait_for(locker, duration, - [&]() { return !data_->running_; }); + isRunning); } if (thread_.joinable()) diff --git a/src/libcamera/base/timer.cpp b/src/libcamera/base/timer.cpp index 74b060af..7b0f3725 100644 --- a/src/libcamera/base/timer.cpp +++ b/src/libcamera/base/timer.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * timer.cpp - Generic timer + * Generic timer */ #include <libcamera/base/timer.h> @@ -85,10 +85,8 @@ void Timer::start(std::chrono::milliseconds duration) */ void Timer::start(std::chrono::steady_clock::time_point deadline) { - if (Thread::current() != thread()) { - LOG(Timer, Error) << "Timer " << this << " << can't be started from another thread"; + if (!assertThreadBound("Timer can't be started from another thread")) return; - } deadline_ = deadline; @@ -114,13 +112,11 @@ void Timer::start(std::chrono::steady_clock::time_point deadline) */ void Timer::stop() { - if (!isRunning()) + if (!assertThreadBound("Timer can't be stopped from another thread")) return; - if (Thread::current() != thread()) { - LOG(Timer, Error) << "Timer " << this << " can't be stopped from another thread"; + if (!isRunning()) return; - } unregisterTimer(); } diff --git a/src/libcamera/base/unique_fd.cpp b/src/libcamera/base/unique_fd.cpp index 83d6919c..d0649e4d 100644 --- a/src/libcamera/base/unique_fd.cpp +++ b/src/libcamera/base/unique_fd.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * unique_fd.cpp - File descriptor wrapper that owns a file descriptor + * File descriptor wrapper that owns a file descriptor */ #include <libcamera/base/unique_fd.h> diff --git a/src/libcamera/base/utils.cpp b/src/libcamera/base/utils.cpp index 6a307940..ccb31063 100644 --- a/src/libcamera/base/utils.cpp +++ b/src/libcamera/base/utils.cpp @@ -2,12 +2,13 @@ /* * Copyright (C) 2019, Google Inc. * - * utils.cpp - Miscellaneous utility functions + * Miscellaneous utility functions */ #include <libcamera/base/utils.h> #include <iomanip> +#include <locale.h> #include <sstream> #include <stdlib.h> #include <string.h> @@ -463,6 +464,73 @@ std::string toAscii(const std::string &str) * \a b */ +#if HAVE_LOCALE_T + +namespace { + +/* + * RAII wrapper around locale_t instances, to support global locale instances + * without leaking memory. + */ +class Locale +{ +public: + Locale(const char *locale) + { + locale_ = newlocale(LC_ALL_MASK, locale, static_cast<locale_t>(0)); + } + + ~Locale() + { + freelocale(locale_); + } + + locale_t locale() { return locale_; } + +private: + locale_t locale_; +}; + +Locale cLocale("C"); + +} /* namespace */ + +#endif /* HAVE_LOCALE_T */ + +/** + * \brief Convert a string to a double independently of the current locale + * \param[in] nptr The string to convert + * \param[out] endptr Pointer to trailing portion of the string after conversion + * + * This function is a locale-independent version of the std::strtod() function. + * It behaves as the standard function, but uses the "C" locale instead of the + * current locale. + * + * \return The converted value, if any, or 0.0 if the conversion failed. + */ +double strtod(const char *__restrict nptr, char **__restrict endptr) +{ +#if HAVE_LOCALE_T + return strtod_l(nptr, endptr, cLocale.locale()); +#else + /* + * If the libc implementation doesn't provide locale object support, + * assume that strtod() is locale-independent. + */ + return ::strtod(nptr, endptr); +#endif +} + +/** + * \fn to_underlying(Enum e) + * \brief Convert an enumeration to its underlygin type + * \param[in] e Enumeration value to convert + * + * This function is equivalent to the C++23 std::to_underlying(). + * + * \return The value of e converted to its underlying type + */ + } /* namespace utils */ #ifndef __DOXYGEN__ diff --git a/src/libcamera/bayer_format.cpp b/src/libcamera/bayer_format.cpp index 4882707e..014f716d 100644 --- a/src/libcamera/bayer_format.cpp +++ b/src/libcamera/bayer_format.cpp @@ -1,8 +1,8 @@ /* SPDX-License-Identifier: LGPL-2.1-or-later */ /* - * Copyright (C) 2020, Raspberry Pi (Trading) Limited + * Copyright (C) 2020, Raspberry Pi Ltd * - * bayer_format.cpp - Class to represent Bayer formats + * Class to represent Bayer formats */ #include "libcamera/internal/bayer_format.h" @@ -61,6 +61,10 @@ namespace libcamera { * \brief Format uses MIPI CSI-2 style packing * \var BayerFormat::Packing::IPU3 * \brief Format uses IPU3 style packing + * \var BayerFormat::Packing::PISP1 + * \brief Format uses PISP mode 1 compression + * \var BayerFormat::Packing::PISP2 + * \brief Format uses PISP mode 2 compression */ namespace { @@ -140,6 +144,22 @@ const std::map<BayerFormat, Formats, BayerFormatComparator> bayerToFormat{ { formats::SGRBG12_CSI2P, V4L2PixelFormat(V4L2_PIX_FMT_SGRBG12P) } }, { { BayerFormat::RGGB, 12, BayerFormat::Packing::CSI2 }, { formats::SRGGB12_CSI2P, V4L2PixelFormat(V4L2_PIX_FMT_SRGGB12P) } }, + { { BayerFormat::BGGR, 14, BayerFormat::Packing::None }, + { formats::SBGGR14, V4L2PixelFormat(V4L2_PIX_FMT_SBGGR14) } }, + { { BayerFormat::GBRG, 14, BayerFormat::Packing::None }, + { formats::SGBRG14, V4L2PixelFormat(V4L2_PIX_FMT_SGBRG14) } }, + { { BayerFormat::GRBG, 14, BayerFormat::Packing::None }, + { formats::SGRBG14, V4L2PixelFormat(V4L2_PIX_FMT_SGRBG14) } }, + { { BayerFormat::RGGB, 14, BayerFormat::Packing::None }, + { formats::SRGGB14, V4L2PixelFormat(V4L2_PIX_FMT_SRGGB14) } }, + { { BayerFormat::BGGR, 14, BayerFormat::Packing::CSI2 }, + { formats::SBGGR14_CSI2P, V4L2PixelFormat(V4L2_PIX_FMT_SBGGR14P) } }, + { { BayerFormat::GBRG, 14, BayerFormat::Packing::CSI2 }, + { formats::SGBRG14_CSI2P, V4L2PixelFormat(V4L2_PIX_FMT_SGBRG14P) } }, + { { BayerFormat::GRBG, 14, BayerFormat::Packing::CSI2 }, + { formats::SGRBG14_CSI2P, V4L2PixelFormat(V4L2_PIX_FMT_SGRBG14P) } }, + { { BayerFormat::RGGB, 14, BayerFormat::Packing::CSI2 }, + { formats::SRGGB14_CSI2P, V4L2PixelFormat(V4L2_PIX_FMT_SRGGB14P) } }, { { BayerFormat::BGGR, 16, BayerFormat::Packing::None }, { formats::SBGGR16, V4L2PixelFormat(V4L2_PIX_FMT_SBGGR16) } }, { { BayerFormat::GBRG, 16, BayerFormat::Packing::None }, @@ -148,12 +168,26 @@ const std::map<BayerFormat, Formats, BayerFormatComparator> bayerToFormat{ { formats::SGRBG16, V4L2PixelFormat(V4L2_PIX_FMT_SGRBG16) } }, { { BayerFormat::RGGB, 16, BayerFormat::Packing::None }, { formats::SRGGB16, V4L2PixelFormat(V4L2_PIX_FMT_SRGGB16) } }, + { { BayerFormat::BGGR, 16, BayerFormat::Packing::PISP1 }, + { formats::BGGR_PISP_COMP1, V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_BGGR) } }, + { { BayerFormat::GBRG, 16, BayerFormat::Packing::PISP1 }, + { formats::GBRG_PISP_COMP1, V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_GBRG) } }, + { { BayerFormat::GRBG, 16, BayerFormat::Packing::PISP1 }, + { formats::GRBG_PISP_COMP1, V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_GRBG) } }, + { { BayerFormat::RGGB, 16, BayerFormat::Packing::PISP1 }, + { formats::RGGB_PISP_COMP1, V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_RGGB) } }, { { BayerFormat::MONO, 8, BayerFormat::Packing::None }, { formats::R8, V4L2PixelFormat(V4L2_PIX_FMT_GREY) } }, { { BayerFormat::MONO, 10, BayerFormat::Packing::None }, { formats::R10, V4L2PixelFormat(V4L2_PIX_FMT_Y10) } }, { { BayerFormat::MONO, 10, BayerFormat::Packing::CSI2 }, { formats::R10_CSI2P, V4L2PixelFormat(V4L2_PIX_FMT_Y10P) } }, + { { BayerFormat::MONO, 12, BayerFormat::Packing::None }, + { formats::R12, V4L2PixelFormat(V4L2_PIX_FMT_Y12) } }, + { { BayerFormat::MONO, 16, BayerFormat::Packing::None }, + { formats::R16, V4L2PixelFormat(V4L2_PIX_FMT_Y16) } }, + { { BayerFormat::MONO, 16, BayerFormat::Packing::PISP1 }, + { formats::MONO_PISP_COMP1, V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_MONO) } }, }; const std::unordered_map<unsigned int, BayerFormat> mbusCodeToBayer{ @@ -191,6 +225,8 @@ const std::unordered_map<unsigned int, BayerFormat> mbusCodeToBayer{ { MEDIA_BUS_FMT_SRGGB16_1X16, { BayerFormat::RGGB, 16, BayerFormat::Packing::None } }, { MEDIA_BUS_FMT_Y8_1X8, { BayerFormat::MONO, 8, BayerFormat::Packing::None } }, { MEDIA_BUS_FMT_Y10_1X10, { BayerFormat::MONO, 10, BayerFormat::Packing::None } }, + { MEDIA_BUS_FMT_Y12_1X12, { BayerFormat::MONO, 12, BayerFormat::Packing::None } }, + { MEDIA_BUS_FMT_Y16_1X16, { BayerFormat::MONO, 16, BayerFormat::Packing::None } }, }; } /* namespace */ @@ -281,6 +317,10 @@ std::ostream &operator<<(std::ostream &out, const BayerFormat &f) out << "-CSI2P"; else if (f.packing == BayerFormat::Packing::IPU3) out << "-IPU3P"; + else if (f.packing == BayerFormat::Packing::PISP1) + out << "-PISP1"; + else if (f.packing == BayerFormat::Packing::PISP2) + out << "-PISP2"; return out; } @@ -355,11 +395,14 @@ BayerFormat BayerFormat::fromPixelFormat(PixelFormat format) * \brief Apply a transform to this BayerFormat * \param[in] t The transform to apply * - * Appplying a transform to an image stored in a Bayer format affects the Bayer - * order. For example, performing a horizontal flip on the Bayer pattern - * RGGB causes the RG rows of pixels to become GR, and the GB rows to become BG. - * The transformed image would have a GRBG order. The bit depth and modifiers - * are not affected. + * Applying a transform to an image stored in a Bayer format affects the Bayer + * order. For example, performing a horizontal flip on the Bayer pattern RGGB + * causes the RG rows of pixels to become GR, and the GB rows to become BG. The + * transformed image would have a GRBG order. Performing a vertical flip on the + * Bayer pattern RGGB causes the GB rows to come before the RG ones and the + * transformed image would have GBRG order. Applying both vertical and + * horizontal flips on the Bayer patter RGGB results in transformed images with + * BGGR order. The bit depth and modifiers are not affected. * * Horizontal and vertical flips are applied before transpose. * @@ -374,8 +417,11 @@ BayerFormat BayerFormat::transform(Transform t) const /* * Observe that flipping bit 0 of the Order enum performs a horizontal - * mirror on the Bayer pattern (e.g. RGGB goes to GRBG). Similarly, - * flipping bit 1 performs a vertical mirror operation on it. Hence: + * mirror on the Bayer pattern (e.g. RG/GB goes to GR/BG). Similarly, + * flipping bit 1 performs a vertical mirror operation on it (e.g RG/GB + * goes to GB/RG). Applying both vertical and horizontal flips + * combines vertical and horizontal mirroring on the Bayer pattern + * (e.g. RG/GB goes to BG/GR). Hence: */ if (!!(t & Transform::HFlip)) result.order = static_cast<Order>(result.order ^ 1); diff --git a/src/libcamera/byte_stream_buffer.cpp b/src/libcamera/byte_stream_buffer.cpp index 881cd371..fba9a6f3 100644 --- a/src/libcamera/byte_stream_buffer.cpp +++ b/src/libcamera/byte_stream_buffer.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * byte_stream_buffer.cpp - Byte stream buffer + * Byte stream buffer */ #include "libcamera/internal/byte_stream_buffer.h" diff --git a/src/libcamera/camera.cpp b/src/libcamera/camera.cpp index 713543fd..67f34901 100644 --- a/src/libcamera/camera.cpp +++ b/src/libcamera/camera.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2018, Google Inc. * - * camera.cpp - Camera device + * Camera device */ #include <libcamera/camera.h> @@ -97,6 +97,16 @@ * implemented in the above order at the hardware level. The libcamera pipeline * handlers translate the pipeline model to the real hardware configuration. * + * \subsection camera-sensor-model Camera Sensor Model + * + * By default, libcamera configures the camera sensor automatically based on the + * configuration of the streams. Applications may instead specify a manual + * configuration for the camera sensor. This allows precise control of the frame + * geometry and frame rate delivered by the sensor. + * + * More details about the camera sensor model implemented by libcamera are + * available in the libcamera camera-sensor-model documentation page. + * * \subsection digital-zoom Digital Zoom * * Digital zoom is implemented as a combination of the cropping and scaling @@ -112,6 +122,127 @@ namespace libcamera { LOG_DECLARE_CATEGORY(Camera) /** + * \class SensorConfiguration + * \brief Camera sensor configuration + * + * The SensorConfiguration class collects parameters to control the operations + * of the camera sensor, according to the abstract camera sensor model + * implemented by libcamera. + * + * \todo Applications shall fully populate all fields of the + * CameraConfiguration::sensorConfig class members before validating the + * CameraConfiguration. If the SensorConfiguration is not fully populated, or if + * any of its parameters cannot be applied to the sensor in use, the + * CameraConfiguration validation process will fail and return + * CameraConfiguration::Status::Invalid. + * + * Applications that populate the SensorConfiguration class members are + * expected to be highly-specialized applications that know what sensor + * they are operating with and what parameters are valid for the sensor in use. + * + * A detailed description of the abstract camera sensor model implemented by + * libcamera and the description of its configuration parameters is available + * in the libcamera documentation camera-sensor-model file. + */ + +/** + * \var SensorConfiguration::bitDepth + * \brief The sensor image format bit depth + * + * The number of bits (resolution) used to represent a pixel sample. + */ + +/** + * \var SensorConfiguration::analogCrop + * \brief The analog crop rectangle + * + * The selected portion of the active pixel array used to produce the image + * frame. + */ + +/** + * \var SensorConfiguration::binning + * \brief Sensor binning configuration + * + * Refer to the camera-sensor-model documentation for an accurate description + * of the binning operations. Disabled by default. + */ + +/** + * \var SensorConfiguration::binX + * \brief Horizontal binning factor + * + * The horizontal binning factor. Default to 1. + */ + +/** + * \var SensorConfiguration::binY + * \brief Vertical binning factor + * + * The vertical binning factor. Default to 1. + */ + +/** + * \var SensorConfiguration::skipping + * \brief The sensor skipping configuration + * + * Refer to the camera-sensor-model documentation for an accurate description + * of the skipping operations. + * + * If no skipping is performed, all the structure fields should be + * set to 1. Disabled by default. + */ + +/** + * \var SensorConfiguration::xOddInc + * \brief Horizontal increment for odd rows. Default to 1. + */ + +/** + * \var SensorConfiguration::xEvenInc + * \brief Horizontal increment for even rows. Default to 1. + */ + +/** + * \var SensorConfiguration::yOddInc + * \brief Vertical increment for odd columns. Default to 1. + */ + +/** + * \var SensorConfiguration::yEvenInc + * \brief Vertical increment for even columns. Default to 1. + */ + +/** + * \var SensorConfiguration::outputSize + * \brief The frame output (visible) size + * + * The size of the data frame as received by the host processor. + */ + +/** + * \brief Check if the sensor configuration is valid + * + * A sensor configuration is valid if it's fully populated. + * + * \todo For now allow applications to populate the bitDepth and the outputSize + * only as skipping and binnings factors are initialized to 1 and the analog + * crop is ignored. + * + * \return True if the sensor configuration is valid, false otherwise + */ +bool SensorConfiguration::isValid() const +{ + if (bitDepth && binning.binX && binning.binY && + skipping.xOddInc && skipping.yOddInc && + skipping.xEvenInc && skipping.yEvenInc && + !outputSize.isNull()) + return true; + + return false; +} + +/** * \class CameraConfiguration * \brief Hold configuration for streams of the camera @@ -160,7 +291,7 @@ LOG_DECLARE_CATEGORY(Camera) * \brief Create an empty camera configuration */ CameraConfiguration::CameraConfiguration() - : transform(Transform::Identity), config_({}) + : orientation(Orientation::Rotate0), config_({}) { } @@ -184,12 +315,12 @@ void CameraConfiguration::addConfiguration(const StreamConfiguration &cfg) * This function adjusts the camera configuration to the closest valid * configuration and returns the validation status. * - * \todo: Define exactly when to return each status code. Should stream + * \todo Define exactly when to return each status code. Should stream * parameters set to 0 by the caller be adjusted without returning Adjusted ? * This would potentially be useful for applications but would get in the way * in Camera::configure(). Do we need an extra status code to signal this ? * - * \todo: Handle validation of buffers count when refactoring the buffers API. + * \todo Handle validation of buffers count when refactoring the buffers API. * * \return A CameraConfiguration::Status value that describes the validation * status. @@ -317,17 +448,6 @@ std::size_t CameraConfiguration::size() const return config_.size(); } -namespace { - -bool isRaw(const PixelFormat &pixFmt) -{ - const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt); - return info.isValid() && - info.colourEncoding == PixelFormatInfo::ColourEncodingRAW; -} - -} /* namespace */ - /** * \enum CameraConfiguration::ColorSpaceFlag * \brief Specify the behaviour of validateColorSpaces @@ -358,8 +478,8 @@ bool isRaw(const PixelFormat &pixFmt) * \return A CameraConfiguration::Status value that describes the validation * status. * \retval CameraConfigutation::Adjusted The configuration has been adjusted - * and is now valid. The color space of some or all of the streams may bave - * benn changed. The caller shall check the color spaces carefully. + * and is now valid. The color space of some or all of the streams may have + * been changed. The caller shall check the color spaces carefully. * \retval CameraConfiguration::Valid The configuration was already valid and * hasn't been adjusted. */ @@ -368,29 +488,33 @@ CameraConfiguration::Status CameraConfiguration::validateColorSpaces(ColorSpaceF Status status = Valid; /* - * Set all raw streams to the Raw color space, and make a note of the largest - * non-raw stream with a defined color space (if there is one). + * Set all raw streams to the Raw color space, and make a note of the + * largest non-raw stream with a defined color space (if there is one). */ - int index = -1; - for (auto [i, cfg] : utils::enumerate(config_)) { - if (isRaw(cfg.pixelFormat)) { - if (cfg.colorSpace != ColorSpace::Raw) { - cfg.colorSpace = ColorSpace::Raw; - status = Adjusted; - } - } else if (cfg.colorSpace && (index == -1 || cfg.size > config_[i].size)) { - index = i; + std::optional<ColorSpace> colorSpace; + Size size; + + for (StreamConfiguration &cfg : config_) { + if (!cfg.colorSpace) + continue; + + if (cfg.colorSpace->adjust(cfg.pixelFormat)) + status = Adjusted; + + if (cfg.colorSpace != ColorSpace::Raw && cfg.size > size) { + colorSpace = cfg.colorSpace; + size = cfg.size; } } - if (index < 0 || !(flags & ColorSpaceFlag::StreamsShareColorSpace)) + if (!colorSpace || !(flags & ColorSpaceFlag::StreamsShareColorSpace)) return status; /* Make all output color spaces the same, if requested. */ for (auto &cfg : config_) { - if (!isRaw(cfg.pixelFormat) && - cfg.colorSpace != config_[index].colorSpace) { - cfg.colorSpace = config_[index].colorSpace; + if (cfg.colorSpace != ColorSpace::Raw && + cfg.colorSpace != colorSpace) { + cfg.colorSpace = colorSpace; status = Adjusted; } } @@ -399,17 +523,35 @@ CameraConfiguration::Status CameraConfiguration::validateColorSpaces(ColorSpaceF } /** - * \var CameraConfiguration::transform - * \brief User-specified transform to be applied to the image + * \var CameraConfiguration::sensorConfig + * \brief The camera sensor configuration + * + * The sensorConfig member allows manual control of the configuration of the + * camera sensor. By default, if sensorConfig is not set, the camera will + * configure the sensor automatically based on the configuration of the streams. + * Applications can override this by manually specifying the full sensor + * configuration. + * + * Refer to the camera-sensor-model documentation and to the SensorConfiguration + * class documentation for details about the sensor configuration process. + * + * The camera sensor configuration applies to all streams produced by a camera + * from the same image source. + */ + +/** + * \var CameraConfiguration::orientation + * \brief The desired orientation of the images produced by the camera + * + * The orientation field is a user-specified 2D plane transformation that + * specifies how the application wants the camera images to be rotated in + * the memory buffers. * - * The transform is a user-specified 2D plane transform that will be applied - * to the camera images by the processing pipeline before being handed to - * the application. This is subsequent to any transform that is already - * required to fix up any platform-defined rotation. + * If the orientation requested by the application cannot be obtained, the + * camera will not rotate or flip the images, and the validate() function will + * Adjust this value to the native image orientation produced by the camera. * - * The usual 2D plane transforms are allowed here (horizontal/vertical - * flips, multiple of 90-degree rotations etc.), but the validate() function - * may adjust this field at its discretion if the selection is not supported. + * By default the orientation field is set to Orientation::Rotate0. */ /** @@ -497,7 +639,7 @@ Camera::Private::~Private() * facilitate debugging of internal request usage. * * The requestSequence_ tracks the number of requests queued to a camera - * over its lifetime. + * over a single capture session. */ static const char *const camera_state_names[] = { @@ -508,6 +650,11 @@ static const char *const camera_state_names[] = { "Running", }; +bool Camera::Private::isAcquired() const +{ + return state_.load(std::memory_order_acquire) != CameraAvailable; +} + bool Camera::Private::isRunning() const { return state_.load(std::memory_order_acquire) == CameraRunning; @@ -811,7 +958,7 @@ int Camera::exportFrameBuffers(Stream *stream, * not blocking, if the device has already been acquired (by the same or another * process) the -EBUSY error code is returned. * - * Acquiring a camera will limit usage of any other camera(s) provided by the + * Acquiring a camera may limit usage of any other camera(s) provided by the * same pipeline handler to the same instance of libcamera. The limit is in * effect until all cameras from the pipeline handler are released. Other * instances of libcamera can still list and examine the cameras but will fail @@ -839,7 +986,7 @@ int Camera::acquire() if (ret < 0) return ret == -EACCES ? -EBUSY : ret; - if (!d->pipe_->lock()) { + if (!d->pipe_->acquire()) { LOG(Camera, Info) << "Pipeline handler in use by another process"; return -EBUSY; @@ -873,7 +1020,8 @@ int Camera::release() if (ret < 0) return ret == -EACCES ? -EBUSY : ret; - d->pipe_->unlock(); + if (d->isAcquired()) + d->pipe_->release(this); d->setState(Private::CameraAvailable); @@ -937,10 +1085,9 @@ const std::set<Stream *> &Camera::streams() const * \context This function is \threadsafe. * * \return A CameraConfiguration if the requested roles can be satisfied, or a - * null pointer otherwise. The ownership of the returned configuration is - * passed to the caller. + * null pointer otherwise. */ -std::unique_ptr<CameraConfiguration> Camera::generateConfiguration(const StreamRoles &roles) +std::unique_ptr<CameraConfiguration> Camera::generateConfiguration(Span<const StreamRole> roles) { Private *const d = _d(); @@ -952,7 +1099,8 @@ std::unique_ptr<CameraConfiguration> Camera::generateConfiguration(const StreamR if (roles.size() > streams().size()) return nullptr; - CameraConfiguration *config = d->pipe_->generateConfiguration(this, roles); + std::unique_ptr<CameraConfiguration> config = + d->pipe_->generateConfiguration(this, roles); if (!config) { LOG(Camera, Debug) << "Pipeline handler failed to generate configuration"; @@ -969,10 +1117,16 @@ std::unique_ptr<CameraConfiguration> Camera::generateConfiguration(const StreamR LOG(Camera, Debug) << msg.str(); - return std::unique_ptr<CameraConfiguration>(config); + return config; } /** + * \fn std::unique_ptr<CameraConfiguration> \ + * Camera::generateConfiguration(std::initializer_list<StreamRole> roles) + * \overload + */ + +/** * \brief Configure the camera prior to capture * \param[in] config The camera configurations to setup * @@ -1127,6 +1281,11 @@ int Camera::queueRequest(Request *request) return -EXDEV; } + if (request->status() != Request::RequestPending) { + LOG(Camera, Error) << request->toString() << " is not valid"; + return -EINVAL; + } + /* * The camera state may change until the end of the function. No locking * is however needed as PipelineHandler::queueRequest() will handle @@ -1181,6 +1340,8 @@ int Camera::start(const ControlList *controls) LOG(Camera, Debug) << "Starting capture"; + ASSERT(d->requestSequence_ == 0); + ret = d->pipe_->invokeMethod(&PipelineHandler::start, ConnectionTypeBlocking, this, controls); if (ret) diff --git a/src/libcamera/camera_controls.cpp b/src/libcamera/camera_controls.cpp index cabdcf75..b672c7cf 100644 --- a/src/libcamera/camera_controls.cpp +++ b/src/libcamera/camera_controls.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * camera_controls.cpp - Camera controls + * Camera controls */ #include "libcamera/internal/camera_controls.h" diff --git a/src/libcamera/camera_lens.cpp b/src/libcamera/camera_lens.cpp index b3d48199..ccc2a6a6 100644 --- a/src/libcamera/camera_lens.cpp +++ b/src/libcamera/camera_lens.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * camera_lens.cpp - A camera lens + * A camera lens */ #include "libcamera/internal/camera_lens.h" diff --git a/src/libcamera/camera_manager.cpp b/src/libcamera/camera_manager.cpp index 70d73822..95a9e326 100644 --- a/src/libcamera/camera_manager.cpp +++ b/src/libcamera/camera_manager.cpp @@ -2,77 +2,38 @@ /* * Copyright (C) 2018, Google Inc. * - * camera_manager.h - Camera management + * Camera management */ -#include <libcamera/camera_manager.h> - -#include <map> - -#include <libcamera/camera.h> +#include "libcamera/internal/camera_manager.h" #include <libcamera/base/log.h> -#include <libcamera/base/mutex.h> -#include <libcamera/base/thread.h> #include <libcamera/base/utils.h> +#include <libcamera/camera.h> +#include <libcamera/property_ids.h> + +#include "libcamera/internal/camera.h" #include "libcamera/internal/device_enumerator.h" -#include "libcamera/internal/ipa_manager.h" #include "libcamera/internal/pipeline_handler.h" -#include "libcamera/internal/process.h" /** - * \file camera_manager.h + * \file libcamera/camera_manager.h * \brief The camera manager */ /** + * \file libcamera/internal/camera_manager.h + * \brief Internal camera manager support + */ + +/** * \brief Top-level libcamera namespace */ namespace libcamera { LOG_DEFINE_CATEGORY(Camera) -class CameraManager::Private : public Extensible::Private, public Thread -{ - LIBCAMERA_DECLARE_PUBLIC(CameraManager) - -public: - Private(); - - int start(); - void addCamera(std::shared_ptr<Camera> camera, - const std::vector<dev_t> &devnums); - void removeCamera(Camera *camera); - - /* - * This mutex protects - * - * - initialized_ and status_ during initialization - * - cameras_ and camerasByDevnum_ after initialization - */ - mutable Mutex mutex_; - std::vector<std::shared_ptr<Camera>> cameras_; - std::map<dev_t, std::weak_ptr<Camera>> camerasByDevnum_; - -protected: - void run() override; - -private: - int init(); - void createPipelineHandlers(); - void cleanup(); - - ConditionVariable cv_; - bool initialized_; - int status_; - - std::unique_ptr<DeviceEnumerator> enumerator_; - - IPAManager ipaManager_; - ProcessManager processManager_; -}; - CameraManager::Private::Private() : initialized_(false) { @@ -87,7 +48,9 @@ int CameraManager::Private::start() { MutexLocker locker(mutex_); - cv_.wait(locker, [&] { return initialized_; }); + cv_.wait(locker, [&]() LIBCAMERA_TSA_REQUIRES(mutex_) { + return initialized_; + }); status = status_; } @@ -129,23 +92,45 @@ int CameraManager::Private::init() return -ENODEV; createPipelineHandlers(); + enumerator_->devicesAdded.connect(this, &Private::createPipelineHandlers); return 0; } void CameraManager::Private::createPipelineHandlers() { - CameraManager *const o = LIBCAMERA_O_PTR(); - /* * \todo Try to read handlers and order from configuration - * file and only fallback on all handlers if there is no - * configuration file. + * file and only fallback on environment variable or all handlers, if + * there is no configuration file. */ - std::vector<PipelineHandlerFactory *> &factories = - PipelineHandlerFactory::factories(); + const char *pipesList = + utils::secure_getenv("LIBCAMERA_PIPELINES_MATCH_LIST"); + if (pipesList) { + /* + * When a list of preferred pipelines is defined, iterate + * through the ordered list to match the enumerated devices. + */ + for (const auto &pipeName : utils::split(pipesList, ",")) { + const PipelineHandlerFactoryBase *factory; + factory = PipelineHandlerFactoryBase::getFactoryByName(pipeName); + if (!factory) + continue; + + LOG(Camera, Debug) + << "Found listed pipeline handler '" + << pipeName << "'"; + pipelineFactoryMatch(factory); + } + + return; + } + + const std::vector<PipelineHandlerFactoryBase *> &factories = + PipelineHandlerFactoryBase::factories(); - for (PipelineHandlerFactory *factory : factories) { + /* Match all the registered pipeline handlers. */ + for (const PipelineHandlerFactoryBase *factory : factories) { LOG(Camera, Debug) << "Found registered pipeline handler '" << factory->name() << "'"; @@ -153,18 +138,24 @@ void CameraManager::Private::createPipelineHandlers() * Try each pipeline handler until it exhaust * all pipelines it can provide. */ - while (1) { - std::shared_ptr<PipelineHandler> pipe = factory->create(o); - if (!pipe->match(enumerator_.get())) - break; - - LOG(Camera, Debug) - << "Pipeline handler \"" << factory->name() - << "\" matched"; - } + pipelineFactoryMatch(factory); } +} - enumerator_->devicesAdded.connect(this, &Private::createPipelineHandlers); +void CameraManager::Private::pipelineFactoryMatch(const PipelineHandlerFactoryBase *factory) +{ + CameraManager *const o = LIBCAMERA_O_PTR(); + + /* Provide as many matching pipelines as possible. */ + while (1) { + std::shared_ptr<PipelineHandler> pipe = factory->create(o); + if (!pipe->match(enumerator_.get())) + break; + + LOG(Camera, Debug) + << "Pipeline handler \"" << factory->name() + << "\" matched"; + } } void CameraManager::Private::cleanup() @@ -178,18 +169,36 @@ void CameraManager::Private::cleanup() * process deletion requests from the thread's message queue as the event * loop is not in action here. */ - cameras_.clear(); + { + MutexLocker locker(mutex_); + cameras_.clear(); + } + dispatchMessages(Message::Type::DeferredDelete); enumerator_.reset(nullptr); } -void CameraManager::Private::addCamera(std::shared_ptr<Camera> camera, - const std::vector<dev_t> &devnums) +/** + * \brief Add a camera to the camera manager + * \param[in] camera The camera to be added + * + * This function is called by pipeline handlers to register the cameras they + * handle with the camera manager. Registered cameras are immediately made + * available to the system. + * + * Device numbers from the SystemDevices property are used by the V4L2 + * compatibility layer to map V4L2 device nodes to Camera instances. + * + * \context This function shall be called from the CameraManager thread. + */ +void CameraManager::Private::addCamera(std::shared_ptr<Camera> camera) { + ASSERT(Thread::current() == this); + MutexLocker locker(mutex_); - for (std::shared_ptr<Camera> c : cameras_) { + 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 '" @@ -201,17 +210,31 @@ void CameraManager::Private::addCamera(std::shared_ptr<Camera> camera, cameras_.push_back(std::move(camera)); unsigned int index = cameras_.size() - 1; - for (dev_t devnum : devnums) - camerasByDevnum_[devnum] = cameras_[index]; + + /* Report the addition to the public signal */ + CameraManager *const o = LIBCAMERA_O_PTR(); + o->cameraAdded.emit(cameras_[index]); } -void CameraManager::Private::removeCamera(Camera *camera) +/** + * \brief Remove a camera from the camera manager + * \param[in] camera The camera to be removed + * + * This function is called by pipeline handlers to unregister cameras from the + * camera manager. Unregistered cameras won't be reported anymore by the + * cameras() and get() calls, but references may still exist in applications. + * + * \context This function shall be called from the CameraManager thread. + */ +void CameraManager::Private::removeCamera(std::shared_ptr<Camera> camera) { + ASSERT(Thread::current() == this); + MutexLocker locker(mutex_); auto iter = std::find_if(cameras_.begin(), cameras_.end(), [camera](std::shared_ptr<Camera> &c) { - return c.get() == camera; + return c.get() == camera.get(); }); if (iter == cameras_.end()) return; @@ -219,14 +242,11 @@ void CameraManager::Private::removeCamera(Camera *camera) LOG(Camera, Debug) << "Unregistering camera '" << camera->id() << "'"; - auto iter_d = std::find_if(camerasByDevnum_.begin(), camerasByDevnum_.end(), - [camera](const std::pair<dev_t, std::weak_ptr<Camera>> &p) { - return p.second.lock().get() == camera; - }); - if (iter_d != camerasByDevnum_.end()) - camerasByDevnum_.erase(iter_d); - cameras_.erase(iter); + + /* Report the removal to the public signal */ + CameraManager *const o = LIBCAMERA_O_PTR(); + o->cameraRemoved.emit(camera); } /** @@ -363,35 +383,6 @@ std::shared_ptr<Camera> CameraManager::get(const std::string &id) } /** - * \brief Retrieve a camera based on device number - * \param[in] devnum Device number of camera to get - * - * This function is meant solely for the use of the V4L2 compatibility - * layer, to map device nodes to Camera instances. Applications shall - * not use it and shall instead retrieve cameras by name. - * - * Before calling this function the caller is responsible for ensuring that - * the camera manager is running. - * - * \context This function is \threadsafe. - * - * \return Shared pointer to Camera object, which is empty if the camera is - * not found - */ -std::shared_ptr<Camera> CameraManager::get(dev_t devnum) -{ - Private *const d = _d(); - - MutexLocker locker(d->mutex_); - - auto iter = d->camerasByDevnum_.find(devnum); - if (iter == d->camerasByDevnum_.end()) - return nullptr; - - return iter->second.lock(); -} - -/** * \var CameraManager::cameraAdded * \brief Notify of a new camera added to the system * @@ -420,51 +411,6 @@ std::shared_ptr<Camera> CameraManager::get(dev_t devnum) */ /** - * \brief Add a camera to the camera manager - * \param[in] camera The camera to be added - * \param[in] devnums The device numbers to associate with \a camera - * - * This function is called by pipeline handlers to register the cameras they - * handle with the camera manager. Registered cameras are immediately made - * available to the system. - * - * \a devnums are used by the V4L2 compatibility layer to map V4L2 device nodes - * to Camera instances. - * - * \context This function shall be called from the CameraManager thread. - */ -void CameraManager::addCamera(std::shared_ptr<Camera> camera, - const std::vector<dev_t> &devnums) -{ - Private *const d = _d(); - - ASSERT(Thread::current() == d); - - d->addCamera(camera, devnums); - cameraAdded.emit(camera); -} - -/** - * \brief Remove a camera from the camera manager - * \param[in] camera The camera to be removed - * - * This function is called by pipeline handlers to unregister cameras from the - * camera manager. Unregistered cameras won't be reported anymore by the - * cameras() and get() calls, but references may still exist in applications. - * - * \context This function shall be called from the CameraManager thread. - */ -void CameraManager::removeCamera(std::shared_ptr<Camera> camera) -{ - Private *const d = _d(); - - ASSERT(Thread::current() == d); - - d->removeCamera(camera.get()); - cameraRemoved.emit(camera); -} - -/** * \fn const std::string &CameraManager::version() * \brief Retrieve the libcamera version string * \context This function is \a threadsafe. diff --git a/src/libcamera/color_space.cpp b/src/libcamera/color_space.cpp index 895e5c8e..3d1c456c 100644 --- a/src/libcamera/color_space.cpp +++ b/src/libcamera/color_space.cpp @@ -1,8 +1,8 @@ /* SPDX-License-Identifier: LGPL-2.1-or-later */ /* - * Copyright (C) 2021, Raspberry Pi (Trading) Limited + * Copyright (C) 2021, Raspberry Pi Ltd * - * color_space.cpp - color spaces. + * color spaces. */ #include <libcamera/color_space.h> @@ -12,6 +12,11 @@ #include <map> #include <sstream> #include <utility> +#include <vector> + +#include <libcamera/base/utils.h> + +#include "libcamera/internal/formats.h" /** * \file color_space.h @@ -29,21 +34,33 @@ namespace libcamera { * (sometimes also referred to as the quantisation) of the color space. * * Certain combinations of these fields form well-known standard color - * spaces such as "JPEG" or "REC709". + * spaces such as "sRGB" or "Rec709". * * In the strictest sense a "color space" formally only refers to the * color primaries and white point. Here, however, the ColorSpace class * adopts the common broader usage that includes the transfer function, * Y'CbCr encoding method and quantisation. * - * For more information on the specific color spaces described here, please - * see: + * More information on color spaces is available in the V4L2 documentation, see + * in particular * * - <a href="https://www.kernel.org/doc/html/latest/userspace-api/media/v4l/colorspaces-details.html#col-srgb">sRGB</a> * - <a href="https://www.kernel.org/doc/html/latest/userspace-api/media/v4l/colorspaces-details.html#col-jpeg">JPEG</a> * - <a href="https://www.kernel.org/doc/html/latest/userspace-api/media/v4l/colorspaces-details.html#col-smpte-170m">SMPTE 170M</a> * - <a href="https://www.kernel.org/doc/html/latest/userspace-api/media/v4l/colorspaces-details.html#col-rec709">Rec.709</a> * - <a href="https://www.kernel.org/doc/html/latest/userspace-api/media/v4l/colorspaces-details.html#col-bt2020">Rec.2020</a> + * + * Note that there is no guarantee of a 1:1 mapping between color space names + * and definitions in libcamera and V4L2. Two notable differences are + * + * - The sRGB libcamera color space is defined for RGB formats only with no + * Y'CbCr encoding and a full quantization range, while the V4L2 SRGB color + * space has a Y'CbCr encoding and a limited quantization range. + * - The sYCC libcamera color space is called JPEG in V4L2 due to historical + * reasons. + * + * \todo Define the color space fully in the libcamera API to avoid referencing + * V4L2 */ /** @@ -118,11 +135,130 @@ namespace libcamera { */ /** + * \brief A constant representing a raw color space (from a sensor) + */ +const ColorSpace ColorSpace::Raw = { + Primaries::Raw, + TransferFunction::Linear, + YcbcrEncoding::None, + Range::Full +}; + +/** + * \brief A constant representing the sRGB color space (RGB formats only) + */ +const ColorSpace ColorSpace::Srgb = { + Primaries::Rec709, + TransferFunction::Srgb, + YcbcrEncoding::None, + Range::Full +}; + +/** + * \brief A constant representing the sYCC color space, typically used for + * encoding JPEG images + */ +const ColorSpace ColorSpace::Sycc = { + Primaries::Rec709, + TransferFunction::Srgb, + YcbcrEncoding::Rec601, + Range::Full +}; + +/** + * \brief A constant representing the SMPTE170M color space + */ +const ColorSpace ColorSpace::Smpte170m = { + Primaries::Smpte170m, + TransferFunction::Rec709, + YcbcrEncoding::Rec601, + Range::Limited +}; + +/** + * \brief A constant representing the Rec.709 color space + */ +const ColorSpace ColorSpace::Rec709 = { + Primaries::Rec709, + TransferFunction::Rec709, + YcbcrEncoding::Rec709, + Range::Limited +}; + +/** + * \brief A constant representing the Rec.2020 color space + */ +const ColorSpace ColorSpace::Rec2020 = { + Primaries::Rec2020, + TransferFunction::Rec709, + YcbcrEncoding::Rec2020, + Range::Limited +}; + +/** + * \var ColorSpace::primaries + * \brief The color primaries of this color space + */ + +/** + * \var ColorSpace::transferFunction + * \brief The transfer function used by this color space + */ + +/** + * \var ColorSpace::ycbcrEncoding + * \brief The Y'CbCr encoding used by this color space + */ + +/** + * \var ColorSpace::range + * \brief The pixel range used with by color space + */ + +namespace { + +const std::array<std::pair<ColorSpace, const char *>, 6> colorSpaceNames = { { + { ColorSpace::Raw, "RAW" }, + { ColorSpace::Srgb, "sRGB" }, + { ColorSpace::Sycc, "sYCC" }, + { ColorSpace::Smpte170m, "SMPTE170M" }, + { ColorSpace::Rec709, "Rec709" }, + { ColorSpace::Rec2020, "Rec2020" }, +} }; + +const std::map<ColorSpace::Primaries, std::string> primariesNames = { + { ColorSpace::Primaries::Raw, "RAW" }, + { ColorSpace::Primaries::Smpte170m, "SMPTE170M" }, + { ColorSpace::Primaries::Rec709, "Rec709" }, + { ColorSpace::Primaries::Rec2020, "Rec2020" }, +}; + +const std::map<ColorSpace::TransferFunction, std::string> transferNames = { + { ColorSpace::TransferFunction::Linear, "Linear" }, + { ColorSpace::TransferFunction::Srgb, "sRGB" }, + { ColorSpace::TransferFunction::Rec709, "Rec709" }, +}; + +const std::map<ColorSpace::YcbcrEncoding, std::string> encodingNames = { + { ColorSpace::YcbcrEncoding::None, "None" }, + { ColorSpace::YcbcrEncoding::Rec601, "Rec601" }, + { ColorSpace::YcbcrEncoding::Rec709, "Rec709" }, + { ColorSpace::YcbcrEncoding::Rec2020, "Rec2020" }, +}; + +const std::map<ColorSpace::Range, std::string> rangeNames = { + { ColorSpace::Range::Full, "Full" }, + { ColorSpace::Range::Limited, "Limited" }, +}; + +} /* namespace */ + +/** * \brief Assemble and return a readable string representation of the * ColorSpace * - * If the color space matches a standard ColorSpace (such as ColorSpace::Jpeg) - * then the short name of the color space ("JPEG") is returned. Otherwise + * If the color space matches a standard ColorSpace (such as ColorSpace::Sycc) + * then the short name of the color space ("sYCC") is returned. Otherwise * the four constituent parts of the ColorSpace are assembled into a longer * string. * @@ -132,14 +268,6 @@ std::string ColorSpace::toString() const { /* Print out a brief name only for standard color spaces. */ - static const std::array<std::pair<ColorSpace, const char *>, 6> colorSpaceNames = { { - { ColorSpace::Raw, "RAW" }, - { ColorSpace::Jpeg, "JPEG" }, - { ColorSpace::Srgb, "sRGB" }, - { ColorSpace::Smpte170m, "SMPTE170M" }, - { ColorSpace::Rec709, "Rec709" }, - { ColorSpace::Rec2020, "Rec2020" }, - } }; auto it = std::find_if(colorSpaceNames.begin(), colorSpaceNames.end(), [this](const auto &item) { return *this == item.first; @@ -149,28 +277,6 @@ std::string ColorSpace::toString() const /* Assemble a name made of the constituent fields. */ - static const std::map<Primaries, std::string> primariesNames = { - { Primaries::Raw, "RAW" }, - { Primaries::Smpte170m, "SMPTE170M" }, - { Primaries::Rec709, "Rec709" }, - { Primaries::Rec2020, "Rec2020" }, - }; - static const std::map<TransferFunction, std::string> transferNames = { - { TransferFunction::Linear, "Linear" }, - { TransferFunction::Srgb, "sRGB" }, - { TransferFunction::Rec709, "Rec709" }, - }; - static const std::map<YcbcrEncoding, std::string> encodingNames = { - { YcbcrEncoding::None, "None" }, - { YcbcrEncoding::Rec601, "Rec601" }, - { YcbcrEncoding::Rec709, "Rec709" }, - { YcbcrEncoding::Rec2020, "Rec2020" }, - }; - static const std::map<Range, std::string> rangeNames = { - { Range::Full, "Full" }, - { Range::Limited, "Limited" }, - }; - auto itPrimaries = primariesNames.find(primaries); std::string primariesName = itPrimaries == primariesNames.end() ? "Invalid" : itPrimaries->second; @@ -213,88 +319,185 @@ std::string ColorSpace::toString(const std::optional<ColorSpace> &colorSpace) } /** - * \var ColorSpace::primaries - * \brief The color primaries of this color space - */ - -/** - * \var ColorSpace::transferFunction - * \brief The transfer function used by this color space - */ - -/** - * \var ColorSpace::ycbcrEncoding - * \brief The Y'CbCr encoding used by this color space - */ - -/** - * \var ColorSpace::range - * \brief The pixel range used with by color space - */ - -/** - * \brief A constant representing a raw color space (from a sensor) - */ -const ColorSpace ColorSpace::Raw = { - Primaries::Raw, - TransferFunction::Linear, - YcbcrEncoding::None, - Range::Full -}; - -/** - * \brief A constant representing the JPEG color space used for - * encoding JPEG images - */ -const ColorSpace ColorSpace::Jpeg = { - Primaries::Rec709, - TransferFunction::Srgb, - YcbcrEncoding::Rec601, - Range::Full -}; - -/** - * \brief A constant representing the sRGB color space + * \brief Construct a color space from a string + * \param[in] str The string * - * This is identical to the JPEG color space except that the Y'CbCr - * range is limited rather than full. - */ -const ColorSpace ColorSpace::Srgb = { - Primaries::Rec709, - TransferFunction::Srgb, - YcbcrEncoding::Rec601, - Range::Limited -}; - -/** - * \brief A constant representing the SMPTE170M color space - */ -const ColorSpace ColorSpace::Smpte170m = { - Primaries::Smpte170m, - TransferFunction::Rec709, - YcbcrEncoding::Rec601, - Range::Limited -}; - -/** - * \brief A constant representing the Rec.709 color space + * The string \a str can contain the name of a well-known color space, or be + * made of the four color space components separated by a '/' character, ordered + * as + * + * \verbatim primaries '/' transferFunction '/' ycbcrEncoding '/' range \endverbatim + * + * Any failure to parse the string, either because it doesn't match the expected + * format, or because the one of the names isn't recognized, will cause this + * function to return std::nullopt. + * + * \return The ColorSpace corresponding to the string, or std::nullopt if the + * string doesn't describe a known color space */ -const ColorSpace ColorSpace::Rec709 = { - Primaries::Rec709, - TransferFunction::Rec709, - YcbcrEncoding::Rec709, - Range::Limited -}; +std::optional<ColorSpace> ColorSpace::fromString(const std::string &str) +{ + /* First search for a standard color space name match. */ + auto itColorSpace = std::find_if(colorSpaceNames.begin(), colorSpaceNames.end(), + [&str](const auto &item) { + return str == item.second; + }); + if (itColorSpace != colorSpaceNames.end()) + return itColorSpace->first; + + /* + * If not found, the string must contain the four color space + * components separated by a '/' character. + */ + const auto &split = utils::split(str, "/"); + std::vector<std::string> components{ split.begin(), split.end() }; + + if (components.size() != 4) + return std::nullopt; + + ColorSpace colorSpace = ColorSpace::Raw; + + /* Color primaries */ + auto itPrimaries = std::find_if(primariesNames.begin(), primariesNames.end(), + [&components](const auto &item) { + return components[0] == item.second; + }); + if (itPrimaries == primariesNames.end()) + return std::nullopt; + + colorSpace.primaries = itPrimaries->first; + + /* Transfer function */ + auto itTransfer = std::find_if(transferNames.begin(), transferNames.end(), + [&components](const auto &item) { + return components[1] == item.second; + }); + if (itTransfer == transferNames.end()) + return std::nullopt; + + colorSpace.transferFunction = itTransfer->first; + + /* YCbCr encoding */ + auto itEncoding = std::find_if(encodingNames.begin(), encodingNames.end(), + [&components](const auto &item) { + return components[2] == item.second; + }); + if (itEncoding == encodingNames.end()) + return std::nullopt; + + colorSpace.ycbcrEncoding = itEncoding->first; + + /* Quantization range */ + auto itRange = std::find_if(rangeNames.begin(), rangeNames.end(), + [&components](const auto &item) { + return components[3] == item.second; + }); + if (itRange == rangeNames.end()) + return std::nullopt; + + colorSpace.range = itRange->first; + + return colorSpace; +} /** - * \brief A constant representing the Rec.2020 color space + * \brief Adjust the color space to match a pixel format + * \param[in] format The pixel format + * + * Not all combinations of pixel formats and color spaces make sense. For + * instance, nobody uses a limited quantization range with raw Bayer formats, + * and the YcbcrEncoding::None encoding isn't valid for YUV formats. This + * function adjusts the ColorSpace to make it compatible with the given \a + * format, by applying the following rules: + * + * - The color space for RAW formats must be Raw. + * - The Y'CbCr encoding and quantization range for RGB formats must be + * YcbcrEncoding::None and Range::Full respectively. + * - The Y'CbCr encoding for YUV formats must not be YcbcrEncoding::None. The + * best encoding is in that case guessed based on the primaries and transfer + * function. + * + * \return True if the color space has been adjusted, or false if it was + * already compatible with the format and hasn't been changed */ -const ColorSpace ColorSpace::Rec2020 = { - Primaries::Rec2020, - TransferFunction::Rec709, - YcbcrEncoding::Rec2020, - Range::Limited -}; +bool ColorSpace::adjust(PixelFormat format) +{ + const PixelFormatInfo &info = PixelFormatInfo::info(format); + bool adjusted = false; + + switch (info.colourEncoding) { + case PixelFormatInfo::ColourEncodingRAW: + /* Raw formats must use the raw color space. */ + if (*this != ColorSpace::Raw) { + *this = ColorSpace::Raw; + adjusted = true; + } + break; + + case PixelFormatInfo::ColourEncodingRGB: + /* + * RGB formats can't have a Y'CbCr encoding, and must use full + * range quantization. + */ + if (ycbcrEncoding != YcbcrEncoding::None) { + ycbcrEncoding = YcbcrEncoding::None; + adjusted = true; + } + + if (range != Range::Full) { + range = Range::Full; + adjusted = true; + } + break; + + case PixelFormatInfo::ColourEncodingYUV: + if (ycbcrEncoding != YcbcrEncoding::None) + break; + + /* + * YUV formats must have a Y'CbCr encoding. Infer the most + * probable option from the transfer function and primaries. + */ + switch (transferFunction) { + case TransferFunction::Linear: + /* + * Linear YUV is not used in any standard color space, + * pick the widely supported and used Rec601 as default. + */ + ycbcrEncoding = YcbcrEncoding::Rec601; + break; + + case TransferFunction::Rec709: + switch (primaries) { + /* Raw should never happen. */ + case Primaries::Raw: + case Primaries::Smpte170m: + ycbcrEncoding = YcbcrEncoding::Rec601; + break; + case Primaries::Rec709: + ycbcrEncoding = YcbcrEncoding::Rec709; + break; + case Primaries::Rec2020: + ycbcrEncoding = YcbcrEncoding::Rec2020; + break; + } + break; + + case TransferFunction::Srgb: + /* + * Only the sYCC color space uses the sRGB transfer + * function, the corresponding encoding is Rec601. + */ + ycbcrEncoding = YcbcrEncoding::Rec601; + break; + } + + adjusted = true; + break; + } + + return adjusted; +} /** * \brief Compare color spaces for equality diff --git a/src/libcamera/control_ids.cpp.in b/src/libcamera/control_ids.cpp.in index 5fb1c2c3..d283c1c1 100644 --- a/src/libcamera/control_ids.cpp.in +++ b/src/libcamera/control_ids.cpp.in @@ -24,14 +24,7 @@ namespace controls { ${controls_doc} -/** - * \brief Namespace for libcamera draft controls - */ -namespace draft { - -${draft_controls_doc} - -} /* namespace draft */ +${vendor_controls_doc} #ifndef __DOXYGEN__ /* @@ -40,11 +33,8 @@ ${draft_controls_doc} */ ${controls_def} -namespace draft { - -${draft_controls_def} +${vendor_controls_def} -} /* namespace draft */ #endif /** diff --git a/src/libcamera/control_ids.yaml b/src/libcamera/control_ids_core.yaml index ecab3ae9..bf1f1a83 100644 --- a/src/libcamera/control_ids.yaml +++ b/src/libcamera/control_ids_core.yaml @@ -2,10 +2,11 @@ # # Copyright (C) 2019, Google Inc. # -%YAML 1.2 +%YAML 1.1 --- # Unless otherwise stated, all controls are bi-directional, i.e. they can be # set through Request::controls() and returned out through Request::metadata(). +vendor: libcamera controls: - AeEnable: type: bool @@ -156,6 +157,79 @@ controls: control of which features should be automatically adjusted shouldn't better be handled through a separate AE mode control. + - AeFlickerMode: + type: int32_t + description: | + Set the flicker mode, which determines whether, and how, the AGC/AEC + algorithm attempts to hide flicker effects caused by the duty cycle of + artificial lighting. + + Although implementation dependent, many algorithms for "flicker + avoidance" work by restricting this exposure time to integer multiples + of the cycle period, wherever possible. + + Implementations may not support all of the flicker modes listed below. + + By default the system will start in FlickerAuto mode if this is + supported, otherwise the flicker mode will be set to FlickerOff. + + enum: + - name: FlickerOff + value: 0 + description: No flicker avoidance is performed. + - name: FlickerManual + value: 1 + description: Manual flicker avoidance. + Suppress flicker effects caused by lighting running with a period + specified by the AeFlickerPeriod control. + \sa AeFlickerPeriod + - name: FlickerAuto + value: 2 + description: Automatic flicker period detection and avoidance. + The system will automatically determine the most likely value of + flicker period, and avoid flicker of this frequency. Once flicker + is being corrected, it is implementation dependent whether the + system is still able to detect a change in the flicker period. + \sa AeFlickerDetected + + - AeFlickerPeriod: + type: int32_t + description: Manual flicker period in microseconds. + This value sets the current flicker period to avoid. It is used when + AeFlickerMode is set to FlickerManual. + + To cancel 50Hz mains flicker, this should be set to 10000 (corresponding + to 100Hz), or 8333 (120Hz) for 60Hz mains. + + Setting the mode to FlickerManual when no AeFlickerPeriod has ever been + set means that no flicker cancellation occurs (until the value of this + control is updated). + + Switching to modes other than FlickerManual has no effect on the + value of the AeFlickerPeriod control. + + \sa AeFlickerMode + + - AeFlickerDetected: + type: int32_t + description: Flicker period detected in microseconds. + The value reported here indicates the currently detected flicker + period, or zero if no flicker at all is detected. + + When AeFlickerMode is set to FlickerAuto, there may be a period during + which the value reported here remains zero. Once a non-zero value is + reported, then this is the flicker period that has been detected and is + now being cancelled. + + In the case of 50Hz mains flicker, the value would be 10000 + (corresponding to 100Hz), or 8333 (120Hz) for 60Hz mains flicker. + + It is implementation dependent whether the system can continue to detect + flicker of different periods when another frequency is already being + cancelled. + + \sa AeFlickerMode + - Brightness: type: float description: | @@ -275,12 +349,12 @@ controls: type: int32_t description: | Reports a Figure of Merit (FoM) to indicate how in-focus the frame is. - A larger FocusFoM value indicates a more in-focus frame. This control - depends on the IPA to gather ISP statistics from the defined focus - region, and combine them in a suitable way to generate a FocusFoM value. - In this respect, it is not necessarily aimed at providing a way to - implement a focus algorithm by the application, rather an indication of - how in-focus a frame is. + A larger FocusFoM value indicates a more in-focus frame. This singular + value may be based on a combination of statistics gathered from + multiple focus regions within an image. The number of focus regions and + method of combination is platform dependent. In this respect, it is not + necessarily aimed at providing a way to implement a focus algorithm by + the application, rather an indication of how in-focus a frame is. - ColourCorrectionMatrix: type: float @@ -291,7 +365,7 @@ controls: transformation. The 3x3 matrix is stored in conventional reading order in an array of 9 floating point values. - size: [3x3] + size: [3,3] - ScalerCrop: type: Rectangle @@ -333,8 +407,8 @@ controls: - FrameDurationLimits: type: int64_t description: | - The minimum and maximum (in that order) frame duration, - expressed in microseconds. + The minimum and maximum (in that order) frame duration, expressed in + microseconds. When provided by applications, the control specifies the sensor frame duration interval the pipeline has to use. This limits the largest @@ -343,7 +417,7 @@ controls: the sensor will not be able to raise the exposure time above 33ms. A fixed frame duration is achieved by setting the minimum and maximum values to be the same. Setting both values to 0 reverts to using the - IPA provided defaults. + camera defaults. The maximum frame duration provides the absolute limit to the shutter speed computed by the AE algorithm and it overrides any exposure mode @@ -375,7 +449,7 @@ controls: range of reported temperatures is device dependent. The SensorTemperature control will only be returned in metadata if a - themal sensor is present. + thermal sensor is present. - SensorTimestamp: type: int64_t @@ -408,6 +482,13 @@ controls: LensPosition control. In this mode the AfState will always report AfStateIdle. + + If the camera is started in AfModeManual, it will move the focus + lens to the position specified by the LensPosition control. + + This mode is the recommended default value for the AfMode control. + External cameras (as reported by the Location property set to + CameraLocationExternal) may use a different default value. - name: AfModeAuto value: 1 description: | @@ -591,25 +672,27 @@ controls: AfModeManual, though the value is reported back unconditionally in all modes. - The units are a reciprocal distance scale like dioptres but normalised - for the hyperfocal distance. That is, for a lens with hyperfocal - distance H, and setting it to a focal distance D, the lens position LP, - which is generally a non-integer, is given by + This value, which is generally a non-integer, is the reciprocal of the + focal distance in metres, also known as dioptres. That is, to set a + focal distance D, the lens position LP is given by - \f$LP = \frac{H}{D}\f$ + \f$LP = \frac{1\mathrm{m}}{D}\f$ For example: 0 moves the lens to infinity. - 0.5 moves the lens to twice the hyperfocal distance. - 1 moves the lens to the hyperfocal position. - And larger values will focus the lens ever closer. + 0.5 moves the lens to focus on objects 2m away. + 2 moves the lens to focus on objects 50cm away. + And larger values will focus the lens closer. - \todo Define a property to report the Hyperforcal distance of calibrated - lenses. + The default value of the control should indicate a good general position + for the lens, often corresponding to the hyperfocal distance (the + closest position for which objects at infinity are still acceptably + sharp). The minimum will often be zero (meaning infinity), and the + maximum value defines the closest focus position. - \todo Define a property to report the maximum and minimum positions of - this lens. The minimum value will often be zero (meaning infinity). + \todo Define a property to report the Hyperfocal distance of calibrated + lenses. - AfState: type: int32_t @@ -692,253 +775,94 @@ controls: Continuous AF is paused. No further state changes or lens movements will occur until the AfPauseResume control is sent. - # ---------------------------------------------------------------------------- - # Draft controls section - - - AePrecaptureTrigger: + - HdrMode: type: int32_t - draft: true description: | - Control for AE metering trigger. Currently identical to - ANDROID_CONTROL_AE_PRECAPTURE_TRIGGER. + Control to set the mode to be used for High Dynamic Range (HDR) + imaging. HDR techniques typically include multiple exposure, image + fusion and tone mapping techniques to improve the dynamic range of the + resulting images. - Whether the camera device will trigger a precapture metering sequence - when it processes this request. - enum: - - name: AePrecaptureTriggerIdle - value: 0 - description: The trigger is idle. - - name: AePrecaptureTriggerStart - value: 1 - description: The pre-capture AE metering is started by the camera. - - name: AePrecaptureTriggerCancel - value: 2 - description: | - The camera will cancel any active or completed metering sequence. - The AE algorithm is reset to its initial state. + When using an HDR mode, images are captured with different sets of AGC + settings called HDR channels. Channels indicate in particular the type + of exposure (short, medium or long) used to capture the raw image, + before fusion. Each HDR image is tagged with the corresponding channel + using the HdrChannel control. - - NoiseReductionMode: - type: int32_t - draft: true - description: | - Control to select the noise reduction algorithm mode. Currently - identical to ANDROID_NOISE_REDUCTION_MODE. + \sa HdrChannel - Mode of operation for the noise reduction algorithm. enum: - - name: NoiseReductionModeOff + - name: HdrModeOff value: 0 - description: No noise reduction is applied - - name: NoiseReductionModeFast + description: | + HDR is disabled. Metadata for this frame will not include the + HdrChannel control. + - name: HdrModeMultiExposureUnmerged value: 1 description: | - Noise reduction is applied without reducing the frame rate. - - name: NoiseReductionModeHighQuality + Multiple exposures will be generated in an alternating fashion. + However, they will not be merged together and will be returned to + the application as they are. Each image will be tagged with the + correct HDR channel, indicating what kind of exposure it is. The + tag should be the same as in the HdrModeMultiExposure case. + + The expectation is that an application using this mode would merge + the frames to create HDR images for itself if it requires them. + - name: HdrModeMultiExposure value: 2 description: | - High quality noise reduction at the expense of frame rate. - - name: NoiseReductionModeMinimal + Multiple exposures will be generated and merged to create HDR + images. Each image will be tagged with the HDR channel (long, medium + or short) that arrived and which caused this image to be output. + + Systems that use two channels for HDR will return images tagged + alternately as the short and long channel. Systems that use three + channels for HDR will cycle through the short, medium and long + channel before repeating. + - name: HdrModeSingleExposure value: 3 description: | - Minimal noise reduction is applied without reducing the frame rate. - - name: NoiseReductionModeZSL - value: 4 - description: | - Noise reduction is applied at different levels to different streams. - - - ColorCorrectionAberrationMode: - type: int32_t - draft: true - description: | - Control to select the color correction aberration mode. Currently - identical to ANDROID_COLOR_CORRECTION_ABERRATION_MODE. - - Mode of operation for the chromatic aberration correction algorithm. - enum: - - name: ColorCorrectionAberrationOff - value: 0 - description: No aberration correction is applied. - - name: ColorCorrectionAberrationFast - value: 1 - description: Aberration correction will not slow down the frame rate. - - name: ColorCorrectionAberrationHighQuality - value: 2 - description: | - High quality aberration correction which might reduce the frame - rate. - - - AeState: - type: int32_t - draft: true - 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 + Multiple frames all at a single exposure will be used to create HDR + images. These images should be reported as all corresponding to the + HDR short channel. + - name: HdrModeNight 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 - draft: true - description: | - Control to report the current AWB algorithm state. Currently identical - to ANDROID_CONTROL_AWB_STATE. - - Current state of the AWB algorithm. - enum: - - name: AwbStateInactive - value: 0 - description: The AWB algorithm is inactive. - - name: AwbStateSearching - value: 1 - description: The AWB algorithm has not converged yet. - - name: AwbConverged - value: 2 - description: The AWB algorithm has converged. - - name: AwbLocked - value: 3 - description: The AWB algorithm is locked. - - - SensorRollingShutterSkew: - type: int64_t - draft: true - description: | - Control to report the time between the start of exposure of the first - row and the start of exposure of the last row. Currently identical to - ANDROID_SENSOR_ROLLING_SHUTTER_SKEW - - - LensShadingMapMode: - type: int32_t - draft: true - description: | - Control to report if the lens shading map is available. Currently - identical to ANDROID_STATISTICS_LENS_SHADING_MAP_MODE. - enum: - - name: LensShadingMapModeOff - value: 0 - description: No lens shading map mode is available. - - name: LensShadingMapModeOn - value: 1 - description: The lens shading map mode is available. - - - SceneFlicker: - type: int32_t - draft: true - description: | - Control to report the detected scene light frequency. Currently - identical to ANDROID_STATISTICS_SCENE_FLICKER. - enum: - - name: SceneFickerOff - value: 0 - description: No flickering detected. - - name: SceneFicker50Hz - value: 1 - description: 50Hz flickering detected. - - name: SceneFicker60Hz - value: 2 - description: 60Hz flickering detected. + Multiple frames will be combined to produce "night mode" images. It + is up to the implementation exactly which HDR channels it uses, and + the images will all be tagged accordingly with the correct HDR + channel information. - - PipelineDepth: + - HdrChannel: type: int32_t - draft: true description: | - Specifies the number of pipeline stages the frame went through from when - it was exposed to when the final completed result was available to the - framework. Always less than or equal to PipelineMaxDepth. Currently - identical to ANDROID_REQUEST_PIPELINE_DEPTH. + This value is reported back to the application so that it can discover + whether this capture corresponds to the short or long exposure image (or + any other image used by the HDR procedure). An application can monitor + the HDR channel to discover when the differently exposed images have + arrived. - The typical value for this control is 3 as a frame is first exposed, - captured and then processed in a single pass through the ISP. Any - additional processing step performed after the ISP pass (in example face - detection, additional format conversions etc) count as an additional - pipeline stage. + This metadata is only available when an HDR mode has been enabled. - - MaxLatency: - type: int32_t - draft: true - description: | - The maximum number of frames that can occur after a request (different - than the previous) has been submitted, and before the result's state - becomes synchronized. A value of -1 indicates unknown latency, and 0 - indicates per-frame control. Currently identical to - ANDROID_SYNC_MAX_LATENCY. + \sa HdrMode - - TestPatternMode: - type: int32_t - draft: true - description: | - Control to select the test pattern mode. Currently identical to - ANDROID_SENSOR_TEST_PATTERN_MODE. enum: - - name: TestPatternModeOff + - name: HdrChannelNone value: 0 description: | - No test pattern mode is used. The camera device returns frames from - the image sensor. - - name: TestPatternModeSolidColor + This image does not correspond to any of the captures used to create + an HDR image. + - name: HdrChannelShort value: 1 description: | - Each pixel in [R, G_even, G_odd, B] is replaced by its respective - color channel provided in test pattern data. - \todo Add control for test pattern data. - - name: TestPatternModeColorBars + This is a short exposure image. + - name: HdrChannelMedium value: 2 description: | - All pixel data is replaced with an 8-bar color pattern. The vertical - bars (left-to-right) are as follows; white, yellow, cyan, green, - magenta, red, blue and black. Each bar should take up 1/8 of the - sensor pixel array width. When this is not possible, the bar size - should be rounded down to the nearest integer and the pattern can - repeat on the right side. Each bar's height must always take up the - full sensor pixel array height. - - name: TestPatternModeColorBarsFadeToGray + This is a medium exposure image. + - name: HdrChannelLong value: 3 description: | - The test pattern is similar to TestPatternModeColorBars, - except that each bar should start at its specified color at the top - and fade to gray at the bottom. Furthermore each bar is further - subdevided into a left and right half. The left half should have a - smooth gradient, and the right half should have a quantized - gradient. In particular, the right half's should consist of blocks - of the same color for 1/16th active sensor pixel array width. The - least significant bits in the quantized gradient should be copied - from the most significant bits of the smooth gradient. The height of - each bar should always be a multiple of 128. When this is not the - case, the pattern should repeat at the bottom of the image. - - name: TestPatternModePn9 - value: 4 - description: | - All pixel data is replaced by a pseudo-random sequence generated - from a PN9 512-bit sequence (typically implemented in hardware with - a linear feedback shift register). The generator should be reset at - the beginning of each frame, and thus each subsequent raw frame with - this test pattern should be exactly the same as the last. - - name: TestPatternModeCustom1 - value: 256 - description: | - The first custom test pattern. All custom patterns that are - available only on this camera device are at least this numeric - value. All of the custom test patterns will be static (that is the - raw image must not vary from frame to frame). + This is a long exposure image. ... diff --git a/src/libcamera/control_ids_draft.yaml b/src/libcamera/control_ids_draft.yaml new file mode 100644 index 00000000..9bef5bf1 --- /dev/null +++ b/src/libcamera/control_ids_draft.yaml @@ -0,0 +1,230 @@ +# SPDX-License-Identifier: LGPL-2.1-or-later +# +# Copyright (C) 2019, Google Inc. +# +%YAML 1.1 +--- +# Unless otherwise stated, all controls are bi-directional, i.e. they can be +# set through Request::controls() and returned out through Request::metadata(). +vendor: draft +controls: + - AePrecaptureTrigger: + type: int32_t + description: | + Control for AE metering trigger. Currently identical to + ANDROID_CONTROL_AE_PRECAPTURE_TRIGGER. + + Whether the camera device will trigger a precapture metering sequence + when it processes this request. + enum: + - name: AePrecaptureTriggerIdle + value: 0 + description: The trigger is idle. + - name: AePrecaptureTriggerStart + value: 1 + description: The pre-capture AE metering is started by the camera. + - name: AePrecaptureTriggerCancel + value: 2 + description: | + The camera will cancel any active or completed metering sequence. + The AE algorithm is reset to its initial state. + + - NoiseReductionMode: + type: int32_t + description: | + Control to select the noise reduction algorithm mode. Currently + identical to ANDROID_NOISE_REDUCTION_MODE. + + Mode of operation for the noise reduction algorithm. + enum: + - name: NoiseReductionModeOff + value: 0 + description: No noise reduction is applied + - name: NoiseReductionModeFast + value: 1 + description: | + Noise reduction is applied without reducing the frame rate. + - name: NoiseReductionModeHighQuality + value: 2 + description: | + High quality noise reduction at the expense of frame rate. + - name: NoiseReductionModeMinimal + value: 3 + description: | + Minimal noise reduction is applied without reducing the frame rate. + - name: NoiseReductionModeZSL + value: 4 + description: | + Noise reduction is applied at different levels to different streams. + + - ColorCorrectionAberrationMode: + type: int32_t + description: | + Control to select the color correction aberration mode. Currently + identical to ANDROID_COLOR_CORRECTION_ABERRATION_MODE. + + Mode of operation for the chromatic aberration correction algorithm. + enum: + - name: ColorCorrectionAberrationOff + value: 0 + description: No aberration correction is applied. + - name: ColorCorrectionAberrationFast + value: 1 + description: Aberration correction will not slow down the frame rate. + - name: ColorCorrectionAberrationHighQuality + value: 2 + description: | + High quality aberration correction which might reduce the frame + rate. + + - AeState: + type: int32_t + 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 + description: | + Control to report the current AWB algorithm state. Currently identical + to ANDROID_CONTROL_AWB_STATE. + + Current state of the AWB algorithm. + enum: + - name: AwbStateInactive + value: 0 + description: The AWB algorithm is inactive. + - name: AwbStateSearching + value: 1 + description: The AWB algorithm has not converged yet. + - name: AwbConverged + value: 2 + description: The AWB algorithm has converged. + - name: AwbLocked + value: 3 + description: The AWB algorithm is locked. + + - SensorRollingShutterSkew: + type: int64_t + description: | + Control to report the time between the start of exposure of the first + row and the start of exposure of the last row. Currently identical to + ANDROID_SENSOR_ROLLING_SHUTTER_SKEW + + - LensShadingMapMode: + type: int32_t + description: | + Control to report if the lens shading map is available. Currently + identical to ANDROID_STATISTICS_LENS_SHADING_MAP_MODE. + enum: + - name: LensShadingMapModeOff + value: 0 + description: No lens shading map mode is available. + - name: LensShadingMapModeOn + value: 1 + description: The lens shading map mode is available. + + - PipelineDepth: + type: int32_t + description: | + Specifies the number of pipeline stages the frame went through from when + it was exposed to when the final completed result was available to the + framework. Always less than or equal to PipelineMaxDepth. Currently + identical to ANDROID_REQUEST_PIPELINE_DEPTH. + + The typical value for this control is 3 as a frame is first exposed, + captured and then processed in a single pass through the ISP. Any + additional processing step performed after the ISP pass (in example face + detection, additional format conversions etc) count as an additional + pipeline stage. + + - MaxLatency: + type: int32_t + description: | + The maximum number of frames that can occur after a request (different + than the previous) has been submitted, and before the result's state + becomes synchronized. A value of -1 indicates unknown latency, and 0 + indicates per-frame control. Currently identical to + ANDROID_SYNC_MAX_LATENCY. + + - TestPatternMode: + type: int32_t + description: | + Control to select the test pattern mode. Currently identical to + ANDROID_SENSOR_TEST_PATTERN_MODE. + enum: + - name: TestPatternModeOff + value: 0 + description: | + No test pattern mode is used. The camera device returns frames from + the image sensor. + - name: TestPatternModeSolidColor + value: 1 + description: | + Each pixel in [R, G_even, G_odd, B] is replaced by its respective + color channel provided in test pattern data. + \todo Add control for test pattern data. + - name: TestPatternModeColorBars + value: 2 + description: | + All pixel data is replaced with an 8-bar color pattern. The vertical + bars (left-to-right) are as follows; white, yellow, cyan, green, + magenta, red, blue and black. Each bar should take up 1/8 of the + sensor pixel array width. When this is not possible, the bar size + should be rounded down to the nearest integer and the pattern can + repeat on the right side. Each bar's height must always take up the + full sensor pixel array height. + - name: TestPatternModeColorBarsFadeToGray + value: 3 + description: | + The test pattern is similar to TestPatternModeColorBars, + except that each bar should start at its specified color at the top + and fade to gray at the bottom. Furthermore each bar is further + subdevided into a left and right half. The left half should have a + smooth gradient, and the right half should have a quantized + gradient. In particular, the right half's should consist of blocks + of the same color for 1/16th active sensor pixel array width. The + least significant bits in the quantized gradient should be copied + from the most significant bits of the smooth gradient. The height of + each bar should always be a multiple of 128. When this is not the + case, the pattern should repeat at the bottom of the image. + - name: TestPatternModePn9 + value: 4 + description: | + All pixel data is replaced by a pseudo-random sequence generated + from a PN9 512-bit sequence (typically implemented in hardware with + a linear feedback shift register). The generator should be reset at + the beginning of each frame, and thus each subsequent raw frame with + this test pattern should be exactly the same as the last. + - name: TestPatternModeCustom1 + value: 256 + description: | + The first custom test pattern. All custom patterns that are + available only on this camera device are at least this numeric + value. All of the custom test patterns will be static (that is the + raw image must not vary from frame to frame). + +... diff --git a/src/libcamera/control_ids_rpi.yaml b/src/libcamera/control_ids_rpi.yaml new file mode 100644 index 00000000..cb097f88 --- /dev/null +++ b/src/libcamera/control_ids_rpi.yaml @@ -0,0 +1,29 @@ +# SPDX-License-Identifier: LGPL-2.1-or-later +# +# Copyright (C) 2023, Raspberry Pi Ltd +# +%YAML 1.1 +--- +# Raspberry Pi (VC4 and PiSP) specific vendor controls +vendor: rpi +controls: + - StatsOutputEnable: + type: bool + description: | + Toggles the Raspberry Pi IPA to output a binary dump of the hardware + generated statistics through the Request metadata in the Bcm2835StatsOutput + control. + + \sa Bcm2835StatsOutput + + - Bcm2835StatsOutput: + type: uint8_t + size: [n] + description: | + Span of the BCM2835 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 include/linux/bcm2835-isp.h. + + \sa StatsOutputEnable + +... diff --git a/src/libcamera/control_ranges.yaml b/src/libcamera/control_ranges.yaml new file mode 100644 index 00000000..d42447d0 --- /dev/null +++ b/src/libcamera/control_ranges.yaml @@ -0,0 +1,18 @@ +# SPDX-License-Identifier: LGPL-2.1-or-later +# +# Copyright (C) 2023, Raspberry Pi Ltd +# +%YAML 1.1 +--- +# Specifies the control id ranges/offsets for core/draft libcamera and vendor +# controls and properties. +ranges: + # Core libcamera controls + libcamera: 0 + # Draft designated libcamera controls + draft: 10000 + # Raspberry Pi vendor controls + rpi: 20000 + # Next range starts at 30000 + +... diff --git a/src/libcamera/control_serializer.cpp b/src/libcamera/control_serializer.cpp index e87d2362..52fd714f 100644 --- a/src/libcamera/control_serializer.cpp +++ b/src/libcamera/control_serializer.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * control_serializer.cpp - Control (de)serializer + * Control (de)serializer */ #include "libcamera/internal/control_serializer.h" @@ -144,7 +144,7 @@ void ControlSerializer::reset() size_t ControlSerializer::binarySize(const ControlValue &value) { - return value.data().size_bytes(); + return sizeof(ControlType) + value.data().size_bytes(); } size_t ControlSerializer::binarySize(const ControlInfo &info) @@ -195,6 +195,8 @@ size_t ControlSerializer::binarySize(const ControlList &list) void ControlSerializer::store(const ControlValue &value, ByteStreamBuffer &buffer) { + const ControlType type = value.type(); + buffer.write(&type); buffer.write(value.data()); } @@ -379,11 +381,13 @@ int ControlSerializer::serialize(const ControlList &list, return 0; } -ControlValue ControlSerializer::loadControlValue(ControlType type, - ByteStreamBuffer &buffer, +ControlValue ControlSerializer::loadControlValue(ByteStreamBuffer &buffer, bool isArray, unsigned int count) { + ControlType type; + buffer.read(&type); + ControlValue value; value.reserve(type, isArray, count); @@ -392,15 +396,11 @@ ControlValue ControlSerializer::loadControlValue(ControlType type, return value; } -ControlInfo ControlSerializer::loadControlInfo(ControlType type, - ByteStreamBuffer &b) +ControlInfo ControlSerializer::loadControlInfo(ByteStreamBuffer &b) { - if (type == ControlTypeString) - type = ControlTypeInteger32; - - ControlValue min = loadControlValue(type, b); - ControlValue max = loadControlValue(type, b); - ControlValue def = loadControlValue(type, b); + ControlValue min = loadControlValue(b); + ControlValue max = loadControlValue(b); + ControlValue def = loadControlValue(b); return ControlInfo(min, max, def); } @@ -513,7 +513,7 @@ ControlInfoMap ControlSerializer::deserialize<ControlInfoMap>(ByteStreamBuffer & } /* Create and store the ControlInfo. */ - ctrls.emplace(controlId, loadControlInfo(type, values)); + ctrls.emplace(controlId, loadControlInfo(values)); } /* @@ -624,10 +624,8 @@ ControlList ControlSerializer::deserialize<ControlList>(ByteStreamBuffer &buffer return {}; } - ControlType type = static_cast<ControlType>(entry->type); ctrls.set(entry->id, - loadControlValue(type, values, entry->is_array, - entry->count)); + loadControlValue(values, entry->is_array, entry->count)); } return ctrls; diff --git a/src/libcamera/control_validator.cpp b/src/libcamera/control_validator.cpp index cf08b34a..93982cff 100644 --- a/src/libcamera/control_validator.cpp +++ b/src/libcamera/control_validator.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * control_validator.cpp - Control validator + * Control validator */ #include "libcamera/internal/control_validator.h" diff --git a/src/libcamera/controls.cpp b/src/libcamera/controls.cpp index 03ac6345..11d35321 100644 --- a/src/libcamera/controls.cpp +++ b/src/libcamera/controls.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * controls.cpp - Control handling + * Control handling */ #include <libcamera/controls.h> @@ -677,6 +677,9 @@ ControlInfoMap::ControlInfoMap(Map &&info, const ControlIdMap &idmap) bool ControlInfoMap::validate() { + if (!idmap_) + return false; + for (const auto &ctrl : *this) { const ControlId *id = ctrl.first; auto it = idmap_->find(id->id()); @@ -719,6 +722,8 @@ bool ControlInfoMap::validate() */ ControlInfoMap::mapped_type &ControlInfoMap::at(unsigned int id) { + ASSERT(idmap_); + return at(idmap_->at(id)); } @@ -729,6 +734,8 @@ ControlInfoMap::mapped_type &ControlInfoMap::at(unsigned int id) */ const ControlInfoMap::mapped_type &ControlInfoMap::at(unsigned int id) const { + ASSERT(idmap_); + return at(idmap_->at(id)); } @@ -739,6 +746,9 @@ const ControlInfoMap::mapped_type &ControlInfoMap::at(unsigned int id) const */ ControlInfoMap::size_type ControlInfoMap::count(unsigned int id) const { + if (!idmap_) + return 0; + /* * The ControlInfoMap and its idmap have a 1:1 mapping between their * entries, we can thus just count the matching entries in idmap to @@ -755,6 +765,9 @@ ControlInfoMap::size_type ControlInfoMap::count(unsigned int id) const */ ControlInfoMap::iterator ControlInfoMap::find(unsigned int id) { + if (!idmap_) + return end(); + auto iter = idmap_->find(id); if (iter == idmap_->end()) return end(); @@ -770,6 +783,9 @@ ControlInfoMap::iterator ControlInfoMap::find(unsigned int id) */ ControlInfoMap::const_iterator ControlInfoMap::find(unsigned int id) const { + if (!idmap_) + return end(); + auto iter = idmap_->find(id); if (iter == idmap_->end()) return end(); @@ -892,12 +908,26 @@ ControlList::ControlList(const ControlInfoMap &infoMap, */ /** + * \enum ControlList::MergePolicy + * \brief The policy used by the merge function + * + * \var ControlList::MergePolicy::KeepExisting + * \brief Existing controls in the target list are kept + * + * \var ControlList::MergePolicy::OverwriteExisting + * \brief Existing controls in the target list are updated + */ + +/** * \brief Merge the \a source into the ControlList * \param[in] source The ControlList to merge into this object + * \param[in] policy Controls if existing elements in *this shall be + * overwritten * * Merging two control lists copies elements from the \a source and inserts * them in *this. If the \a source contains elements whose key is already - * present in *this, then those elements are not overwritten. + * present in *this, then those elements are only overwritten if + * \a policy is MergePolicy::OverwriteExisting. * * Only control lists created from the same ControlIdMap or ControlInfoMap may * be merged. Attempting to do otherwise results in undefined behaviour. @@ -905,10 +935,10 @@ ControlList::ControlList(const ControlInfoMap &infoMap, * \todo Reimplement or implement an overloaded version which internally uses * std::unordered_map::merge() and accepts a non-const argument. */ -void ControlList::merge(const ControlList &source) +void ControlList::merge(const ControlList &source, MergePolicy policy) { /** - * \todo: ASSERT that the current and source ControlList are derived + * \todo ASSERT that the current and source ControlList are derived * from a compatible ControlIdMap, to prevent undefined behaviour due to * id collisions. * @@ -920,7 +950,7 @@ void ControlList::merge(const ControlList &source) */ for (const auto &ctrl : source) { - if (contains(ctrl.first)) { + if (policy == MergePolicy::KeepExisting && contains(ctrl.first)) { const ControlId *id = idmap_->at(ctrl.first); LOG(Controls, Warning) << "Control " << id->name() << " not overwritten"; @@ -933,17 +963,6 @@ void ControlList::merge(const ControlList &source) /** * \brief Check if the list contains a control with the specified \a id - * \param[in] id The control ID - * - * \return True if the list contains a matching control, false otherwise - */ -bool ControlList::contains(const ControlId &id) const -{ - return controls_.find(id.id()) != controls_.end(); -} - -/** - * \brief Check if the list contains a control with the specified \a id * \param[in] id The control numerical ID * * \return True if the list contains a matching control, false otherwise @@ -954,22 +973,20 @@ bool ControlList::contains(unsigned int id) const } /** - * \fn template<typename T> T ControlList::get(const Control<T> &ctrl) const + * \fn ControlList::get(const Control<T> &ctrl) const * \brief Get the value of control \a ctrl * \param[in] ctrl The control * - * The behaviour is undefined if the control \a ctrl is not present in the - * list. Use ControlList::contains() to test for the presence of a control in - * the list before retrieving its value. - * - * The control value type shall match the type T, otherwise the behaviour is - * undefined. + * Beside getting the value of a control, this function can also be used to + * check if a control is present in the ControlList by converting the returned + * std::optional<T> to bool (or calling its has_value() function). * - * \return The control value + * \return A std::optional<T> containing the control value, or std::nullopt if + * the control \a ctrl is not present in the list */ /** - * \fn template<typename T, typename V> void ControlList::set(const Control<T> &ctrl, const V &value) + * \fn ControlList::set(const Control<T> &ctrl, const V &value) * \brief Set the control \a ctrl value to \a value * \param[in] ctrl The control * \param[in] value The control value @@ -983,8 +1000,7 @@ bool ControlList::contains(unsigned int id) const */ /** - * \fn template<typename T, typename V> \ - * void ControlList::set(const Control<T> &ctrl, const std::initializer_list<V> &value) + * \fn ControlList::set(const Control<Span<T, Size>> &ctrl, const std::initializer_list<V> &value) * \copydoc ControlList::set(const Control<T> &ctrl, const V &value) */ diff --git a/src/libcamera/converter.cpp b/src/libcamera/converter.cpp new file mode 100644 index 00000000..d3d38c1b --- /dev/null +++ b/src/libcamera/converter.cpp @@ -0,0 +1,335 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright 2022 NXP + * + * Generic format converter interface + */ + +#include "libcamera/internal/converter.h" + +#include <algorithm> + +#include <libcamera/base/log.h> + +#include "libcamera/internal/media_device.h" + +/** + * \file internal/converter.h + * \brief Abstract converter + */ + +namespace libcamera { + +LOG_DEFINE_CATEGORY(Converter) + +/** + * \class Converter + * \brief Abstract Base Class for converter + * + * The Converter class is an Abstract Base Class defining the interfaces of + * converter implementations. + * + * Converters offer scaling and pixel format conversion services on an input + * stream. The converter can output multiple streams with individual conversion + * parameters from the same input stream. + */ + +/** + * \brief Construct a Converter instance + * \param[in] media The media device implementing the converter + * + * This searches for the entity implementing the data streaming function in the + * media graph entities and use its device node as the converter device node. + */ +Converter::Converter(MediaDevice *media) +{ + const std::vector<MediaEntity *> &entities = media->entities(); + auto it = std::find_if(entities.begin(), entities.end(), + [](MediaEntity *entity) { + return entity->function() == MEDIA_ENT_F_IO_V4L; + }); + if (it == entities.end()) { + LOG(Converter, Error) + << "No entity suitable for implementing a converter in " + << media->driver() << " entities list."; + return; + } + + deviceNode_ = (*it)->deviceNode(); +} + +Converter::~Converter() +{ +} + +/** + * \fn Converter::loadConfiguration() + * \brief Load converter configuration from file + * \param[in] filename The file name path + * + * Load converter dependent configuration parameters to apply on the hardware. + * + * \return 0 on success or a negative error code otherwise + */ + +/** + * \fn Converter::isValid() + * \brief Check if the converter configuration is valid + * \return True is the converter is valid, false otherwise + */ + +/** + * \fn Converter::formats() + * \brief Retrieve the list of supported pixel formats for an input pixel format + * \param[in] input Input pixel format to retrieve output pixel format list for + * \return The list of supported output pixel formats + */ + +/** + * \fn Converter::sizes() + * \brief Retrieve the range of minimum and maximum output sizes for an input size + * \param[in] input Input stream size to retrieve range for + * \return A range of output image sizes + */ + +/** + * \fn Converter::strideAndFrameSize() + * \brief Retrieve the output stride and frame size for an input configutation + * \param[in] pixelFormat Input stream pixel format + * \param[in] size Input stream size + * \return A tuple indicating the stride and frame size or an empty tuple on error + */ + +/** + * \fn Converter::configure() + * \brief Configure a set of output stream conversion from an input stream + * \param[in] inputCfg Input stream configuration + * \param[out] outputCfgs A list of output stream configurations + * \return 0 on success or a negative error code otherwise + */ + +/** + * \fn Converter::exportBuffers() + * \brief Export buffers from the converter device + * \param[in] output Output stream index exporting the buffers + * \param[in] count Number of buffers to allocate + * \param[out] buffers Vector to store allocated buffers + * + * This function operates similarly to V4L2VideoDevice::exportBuffers() on the + * output stream indicated by the \a output index. + * + * \return The number of allocated buffers on success or a negative error code + * otherwise + */ + +/** + * \fn Converter::start() + * \brief Start the converter streaming operation + * \return 0 on success or a negative error code otherwise + */ + +/** + * \fn Converter::stop() + * \brief Stop the converter streaming operation + */ + +/** + * \fn Converter::queueBuffers() + * \brief Queue buffers to converter device + * \param[in] input The frame buffer to apply the conversion + * \param[out] outputs The container holding the output stream indexes and + * their respective frame buffer outputs. + * + * This function queues the \a input frame buffer on the output streams of the + * \a outputs map key and retrieve the output frame buffer indicated by the + * buffer map value. + * + * \return 0 on success or a negative error code otherwise + */ + +/** + * \var Converter::inputBufferReady + * \brief A signal emitted when the input frame buffer completes + */ + +/** + * \var Converter::outputBufferReady + * \brief A signal emitted on each frame buffer completion of the output queue + */ + +/** + * \fn Converter::deviceNode() + * \brief The converter device node attribute accessor + * \return The converter device node string + */ + +/** + * \class ConverterFactoryBase + * \brief Base class for converter factories + * + * The ConverterFactoryBase class is the base of all specializations of the + * ConverterFactory class template. It implements the factory registration, + * maintains a registry of factories, and provides access to the registered + * factories. + */ + +/** + * \brief Construct a converter factory base + * \param[in] name Name of the converter class + * \param[in] compatibles Name aliases of the converter class + * + * Creating an instance of the factory base registers it with the global list of + * factories, accessible through the factories() function. + * + * The factory \a name is used as unique identifier. If the converter + * implementation fully relies on a generic framework, the name should be the + * same as the framework. Otherwise, if the implementation is specialized, the + * factory name should match the driver name implementing the function. + * + * The factory \a compatibles holds a list of driver names implementing a generic + * subsystem without any personalizations. + */ +ConverterFactoryBase::ConverterFactoryBase(const std::string name, std::initializer_list<std::string> compatibles) + : name_(name), compatibles_(compatibles) +{ + registerType(this); +} + +/** + * \fn ConverterFactoryBase::compatibles() + * \return The list of compatible name aliases of the converter + */ + +/** + * \brief Create an instance of the converter corresponding to the media device + * \param[in] media The media device to create the converter for + * + * The converter is created by matching the factory name or any of its + * compatible aliases with the media device driver name. + * + * \return A new instance of the converter subclass corresponding to the media + * device, or null if the media device driver name doesn't match anything + */ +std::unique_ptr<Converter> ConverterFactoryBase::create(MediaDevice *media) +{ + const std::vector<ConverterFactoryBase *> &factories = + ConverterFactoryBase::factories(); + + for (const ConverterFactoryBase *factory : factories) { + const std::vector<std::string> &compatibles = factory->compatibles(); + auto it = std::find(compatibles.begin(), compatibles.end(), media->driver()); + + if (it == compatibles.end() && media->driver() != factory->name_) + continue; + + LOG(Converter, Debug) + << "Creating converter from " + << factory->name_ << " factory with " + << (it == compatibles.end() ? "no" : media->driver()) << " alias."; + + std::unique_ptr<Converter> converter = factory->createInstance(media); + if (converter->isValid()) + return converter; + } + + return nullptr; +} + +/** + * \brief Add a converter factory to the registry + * \param[in] factory Factory to use to construct the converter class + * + * The caller is responsible to guarantee the uniqueness of the converter + * factory name. + */ +void ConverterFactoryBase::registerType(ConverterFactoryBase *factory) +{ + std::vector<ConverterFactoryBase *> &factories = + ConverterFactoryBase::factories(); + + factories.push_back(factory); +} + +/** + * \brief Retrieve the list of all converter factory names + * \return The list of all converter factory names + */ +std::vector<std::string> ConverterFactoryBase::names() +{ + std::vector<std::string> list; + + std::vector<ConverterFactoryBase *> &factories = + ConverterFactoryBase::factories(); + + for (ConverterFactoryBase *factory : factories) { + list.push_back(factory->name_); + for (auto alias : factory->compatibles()) + list.push_back(alias); + } + + return list; +} + +/** + * \brief Retrieve the list of all converter factories + * \return The list of converter factories + */ +std::vector<ConverterFactoryBase *> &ConverterFactoryBase::factories() +{ + /* + * The static factories map is defined inside the function to ensure + * it gets initialized on first use, without any dependency on link + * order. + */ + static std::vector<ConverterFactoryBase *> factories; + return factories; +} + +/** + * \var ConverterFactoryBase::name_ + * \brief The name of the factory + */ + +/** + * \var ConverterFactoryBase::compatibles_ + * \brief The list holding the factory compatibles + */ + +/** + * \class ConverterFactory + * \brief Registration of ConverterFactory classes and creation of instances + * \param _Converter The converter class type for this factory + * + * To facilitate discovery and instantiation of Converter classes, the + * ConverterFactory class implements auto-registration of converter helpers. + * Each Converter subclass shall register itself using the REGISTER_CONVERTER() + * macro, which will create a corresponding instance of a ConverterFactory + * subclass and register it with the static list of factories. + */ + +/** + * \fn ConverterFactory::ConverterFactory(const char *name, std::initializer_list<std::string> compatibles) + * \brief Construct a converter factory + * \details \copydetails ConverterFactoryBase::ConverterFactoryBase + */ + +/** + * \fn ConverterFactory::createInstance() const + * \brief Create an instance of the Converter corresponding to the factory + * \param[in] media Media device pointer + * \return A unique pointer to a newly constructed instance of the Converter + * subclass corresponding to the factory + */ + +/** + * \def REGISTER_CONVERTER + * \brief Register a converter with the Converter factory + * \param[in] name Converter name used to register the class + * \param[in] converter Class name of Converter derived class to register + * \param[in] compatibles List of compatible names + * + * Register a Converter subclass with the factory and make it available to try + * and match converters. + */ + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/simple/converter.cpp b/src/libcamera/converter/converter_v4l2_m2m.cpp index 77c44fc8..d8929fc5 100644 --- a/src/libcamera/pipeline/simple/converter.cpp +++ b/src/libcamera/converter/converter_v4l2_m2m.cpp @@ -1,11 +1,12 @@ /* SPDX-License-Identifier: LGPL-2.1-or-later */ /* * Copyright (C) 2020, Laurent Pinchart + * Copyright 2022 NXP * - * converter.cpp - Format converter for simple pipeline handler + * V4L2 M2M Format converter */ -#include "converter.h" +#include "libcamera/internal/converter/converter_v4l2_m2m.h" #include <algorithm> #include <limits.h> @@ -21,18 +22,23 @@ #include "libcamera/internal/media_device.h" #include "libcamera/internal/v4l2_videodevice.h" +/** + * \file internal/converter/converter_v4l2_m2m.h + * \brief V4L2 M2M based converter + */ + namespace libcamera { -LOG_DECLARE_CATEGORY(SimplePipeline) +LOG_DECLARE_CATEGORY(Converter) /* ----------------------------------------------------------------------------- - * SimpleConverter::Stream + * V4L2M2MConverter::Stream */ -SimpleConverter::Stream::Stream(SimpleConverter *converter, unsigned int index) +V4L2M2MConverter::Stream::Stream(V4L2M2MConverter *converter, unsigned int index) : converter_(converter), index_(index) { - m2m_ = std::make_unique<V4L2M2MDevice>(converter->deviceNode_); + m2m_ = std::make_unique<V4L2M2MDevice>(converter->deviceNode()); m2m_->output()->bufferReady.connect(this, &Stream::outputBufferReady); m2m_->capture()->bufferReady.connect(this, &Stream::captureBufferReady); @@ -42,11 +48,11 @@ SimpleConverter::Stream::Stream(SimpleConverter *converter, unsigned int index) m2m_.reset(); } -int SimpleConverter::Stream::configure(const StreamConfiguration &inputCfg, - const StreamConfiguration &outputCfg) +int V4L2M2MConverter::Stream::configure(const StreamConfiguration &inputCfg, + const StreamConfiguration &outputCfg) { V4L2PixelFormat videoFormat = - V4L2PixelFormat::fromPixelFormat(inputCfg.pixelFormat); + m2m_->output()->toV4L2PixelFormat(inputCfg.pixelFormat); V4L2DeviceFormat format; format.fourcc = videoFormat; @@ -56,14 +62,14 @@ int SimpleConverter::Stream::configure(const StreamConfiguration &inputCfg, int ret = m2m_->output()->setFormat(&format); if (ret < 0) { - LOG(SimplePipeline, Error) + LOG(Converter, Error) << "Failed to set input format: " << strerror(-ret); return ret; } if (format.fourcc != videoFormat || format.size != inputCfg.size || format.planes[0].bpl != inputCfg.stride) { - LOG(SimplePipeline, Error) + LOG(Converter, Error) << "Input format not supported (requested " << inputCfg.size << "-" << videoFormat << ", got " << format << ")"; @@ -71,20 +77,20 @@ int SimpleConverter::Stream::configure(const StreamConfiguration &inputCfg, } /* Set the pixel format and size on the output. */ - videoFormat = V4L2PixelFormat::fromPixelFormat(outputCfg.pixelFormat); + videoFormat = m2m_->capture()->toV4L2PixelFormat(outputCfg.pixelFormat); format = {}; format.fourcc = videoFormat; format.size = outputCfg.size; ret = m2m_->capture()->setFormat(&format); if (ret < 0) { - LOG(SimplePipeline, Error) + LOG(Converter, Error) << "Failed to set output format: " << strerror(-ret); return ret; } if (format.fourcc != videoFormat || format.size != outputCfg.size) { - LOG(SimplePipeline, Error) + LOG(Converter, Error) << "Output format not supported"; return -EINVAL; } @@ -95,13 +101,13 @@ int SimpleConverter::Stream::configure(const StreamConfiguration &inputCfg, return 0; } -int SimpleConverter::Stream::exportBuffers(unsigned int count, - std::vector<std::unique_ptr<FrameBuffer>> *buffers) +int V4L2M2MConverter::Stream::exportBuffers(unsigned int count, + std::vector<std::unique_ptr<FrameBuffer>> *buffers) { return m2m_->capture()->exportBuffers(count, buffers); } -int SimpleConverter::Stream::start() +int V4L2M2MConverter::Stream::start() { int ret = m2m_->output()->importBuffers(inputBufferCount_); if (ret < 0) @@ -128,7 +134,7 @@ int SimpleConverter::Stream::start() return 0; } -void SimpleConverter::Stream::stop() +void V4L2M2MConverter::Stream::stop() { m2m_->capture()->streamOff(); m2m_->output()->streamOff(); @@ -136,8 +142,7 @@ void SimpleConverter::Stream::stop() m2m_->output()->releaseBuffers(); } -int SimpleConverter::Stream::queueBuffers(FrameBuffer *input, - FrameBuffer *output) +int V4L2M2MConverter::Stream::queueBuffers(FrameBuffer *input, FrameBuffer *output) { int ret = m2m_->output()->queueBuffer(input); if (ret < 0) @@ -150,12 +155,12 @@ int SimpleConverter::Stream::queueBuffers(FrameBuffer *input, return 0; } -std::string SimpleConverter::Stream::logPrefix() const +std::string V4L2M2MConverter::Stream::logPrefix() const { return "stream" + std::to_string(index_); } -void SimpleConverter::Stream::outputBufferReady(FrameBuffer *buffer) +void V4L2M2MConverter::Stream::outputBufferReady(FrameBuffer *buffer) { auto it = converter_->queue_.find(buffer); if (it == converter_->queue_.end()) @@ -167,32 +172,34 @@ void SimpleConverter::Stream::outputBufferReady(FrameBuffer *buffer) } } -void SimpleConverter::Stream::captureBufferReady(FrameBuffer *buffer) +void V4L2M2MConverter::Stream::captureBufferReady(FrameBuffer *buffer) { converter_->outputBufferReady.emit(buffer); } /* ----------------------------------------------------------------------------- - * SimpleConverter + * V4L2M2MConverter */ -SimpleConverter::SimpleConverter(MediaDevice *media) +/** + * \class libcamera::V4L2M2MConverter + * \brief The V4L2 M2M converter implements the converter interface based on + * V4L2 M2M device. +*/ + +/** + * \fn V4L2M2MConverter::V4L2M2MConverter + * \brief Construct a V4L2M2MConverter instance + * \param[in] media The media device implementing the converter + */ + +V4L2M2MConverter::V4L2M2MConverter(MediaDevice *media) + : Converter(media) { - /* - * Locate the video node. There's no need to validate the pipeline - * further, the caller guarantees that this is a V4L2 mem2mem device. - */ - const std::vector<MediaEntity *> &entities = media->entities(); - auto it = std::find_if(entities.begin(), entities.end(), - [](MediaEntity *entity) { - return entity->function() == MEDIA_ENT_F_IO_V4L; - }); - if (it == entities.end()) + if (deviceNode().empty()) return; - deviceNode_ = (*it)->deviceNode(); - - m2m_ = std::make_unique<V4L2M2MDevice>(deviceNode_); + m2m_ = std::make_unique<V4L2M2MDevice>(deviceNode()); int ret = m2m_->open(); if (ret < 0) { m2m_.reset(); @@ -200,7 +207,21 @@ SimpleConverter::SimpleConverter(MediaDevice *media) } } -std::vector<PixelFormat> SimpleConverter::formats(PixelFormat input) +/** + * \fn libcamera::V4L2M2MConverter::loadConfiguration + * \details \copydetails libcamera::Converter::loadConfiguration + */ + +/** + * \fn libcamera::V4L2M2MConverter::isValid + * \details \copydetails libcamera::Converter::isValid + */ + +/** + * \fn libcamera::V4L2M2MConverter::formats + * \details \copydetails libcamera::Converter::formats + */ +std::vector<PixelFormat> V4L2M2MConverter::formats(PixelFormat input) { if (!m2m_) return {}; @@ -210,16 +231,22 @@ std::vector<PixelFormat> SimpleConverter::formats(PixelFormat input) * enumerate the conversion capabilities on its output (V4L2 capture). */ V4L2DeviceFormat v4l2Format; - v4l2Format.fourcc = V4L2PixelFormat::fromPixelFormat(input); + v4l2Format.fourcc = m2m_->output()->toV4L2PixelFormat(input); v4l2Format.size = { 1, 1 }; int ret = m2m_->output()->setFormat(&v4l2Format); if (ret < 0) { - LOG(SimplePipeline, Error) + LOG(Converter, Error) << "Failed to set format: " << strerror(-ret); return {}; } + if (v4l2Format.fourcc != m2m_->output()->toV4L2PixelFormat(input)) { + LOG(Converter, Debug) + << "Input format " << input << " not supported."; + return {}; + } + std::vector<PixelFormat> pixelFormats; for (const auto &format : m2m_->capture()->formats()) { @@ -231,7 +258,10 @@ std::vector<PixelFormat> SimpleConverter::formats(PixelFormat input) return pixelFormats; } -SizeRange SimpleConverter::sizes(const Size &input) +/** + * \copydoc libcamera::Converter::sizes + */ +SizeRange V4L2M2MConverter::sizes(const Size &input) { if (!m2m_) return {}; @@ -246,7 +276,7 @@ SizeRange SimpleConverter::sizes(const Size &input) int ret = m2m_->output()->setFormat(&format); if (ret < 0) { - LOG(SimplePipeline, Error) + LOG(Converter, Error) << "Failed to set format: " << strerror(-ret); return {}; } @@ -256,7 +286,7 @@ SizeRange SimpleConverter::sizes(const Size &input) format.size = { 1, 1 }; ret = m2m_->capture()->setFormat(&format); if (ret < 0) { - LOG(SimplePipeline, Error) + LOG(Converter, Error) << "Failed to set format: " << strerror(-ret); return {}; } @@ -266,7 +296,7 @@ SizeRange SimpleConverter::sizes(const Size &input) format.size = { UINT_MAX, UINT_MAX }; ret = m2m_->capture()->setFormat(&format); if (ret < 0) { - LOG(SimplePipeline, Error) + LOG(Converter, Error) << "Failed to set format: " << strerror(-ret); return {}; } @@ -276,12 +306,15 @@ SizeRange SimpleConverter::sizes(const Size &input) return sizes; } +/** + * \copydoc libcamera::Converter::strideAndFrameSize + */ std::tuple<unsigned int, unsigned int> -SimpleConverter::strideAndFrameSize(const PixelFormat &pixelFormat, - const Size &size) +V4L2M2MConverter::strideAndFrameSize(const PixelFormat &pixelFormat, + const Size &size) { V4L2DeviceFormat format; - format.fourcc = V4L2PixelFormat::fromPixelFormat(pixelFormat); + format.fourcc = m2m_->capture()->toV4L2PixelFormat(pixelFormat); format.size = size; int ret = m2m_->capture()->tryFormat(&format); @@ -291,8 +324,11 @@ SimpleConverter::strideAndFrameSize(const PixelFormat &pixelFormat, return std::make_tuple(format.planes[0].bpl, format.planes[0].size); } -int SimpleConverter::configure(const StreamConfiguration &inputCfg, - const std::vector<std::reference_wrapper<StreamConfiguration>> &outputCfgs) +/** + * \copydoc libcamera::Converter::configure + */ +int V4L2M2MConverter::configure(const StreamConfiguration &inputCfg, + const std::vector<std::reference_wrapper<StreamConfiguration>> &outputCfgs) { int ret = 0; @@ -303,7 +339,7 @@ int SimpleConverter::configure(const StreamConfiguration &inputCfg, Stream &stream = streams_.emplace_back(this, i); if (!stream.isValid()) { - LOG(SimplePipeline, Error) + LOG(Converter, Error) << "Failed to create stream " << i; ret = -EINVAL; break; @@ -322,8 +358,11 @@ int SimpleConverter::configure(const StreamConfiguration &inputCfg, return 0; } -int SimpleConverter::exportBuffers(unsigned int output, unsigned int count, - std::vector<std::unique_ptr<FrameBuffer>> *buffers) +/** + * \copydoc libcamera::Converter::exportBuffers + */ +int V4L2M2MConverter::exportBuffers(unsigned int output, unsigned int count, + std::vector<std::unique_ptr<FrameBuffer>> *buffers) { if (output >= streams_.size()) return -EINVAL; @@ -331,7 +370,10 @@ int SimpleConverter::exportBuffers(unsigned int output, unsigned int count, return streams_[output].exportBuffers(count, buffers); } -int SimpleConverter::start() +/** + * \copydoc libcamera::Converter::start + */ +int V4L2M2MConverter::start() { int ret; @@ -346,14 +388,20 @@ int SimpleConverter::start() return 0; } -void SimpleConverter::stop() +/** + * \copydoc libcamera::Converter::stop + */ +void V4L2M2MConverter::stop() { for (Stream &stream : utils::reverse(streams_)) stream.stop(); } -int SimpleConverter::queueBuffers(FrameBuffer *input, - const std::map<unsigned int, FrameBuffer *> &outputs) +/** + * \copydoc libcamera::Converter::queueBuffers + */ +int V4L2M2MConverter::queueBuffers(FrameBuffer *input, + const std::map<unsigned int, FrameBuffer *> &outputs) { unsigned int mask = 0; int ret; @@ -396,4 +444,11 @@ int SimpleConverter::queueBuffers(FrameBuffer *input, return 0; } +static std::initializer_list<std::string> compatibles = { + "mtk-mdp", + "pxp", +}; + +REGISTER_CONVERTER("v4l2_m2m", V4L2M2MConverter, compatibles) + } /* namespace libcamera */ diff --git a/src/libcamera/converter/meson.build b/src/libcamera/converter/meson.build new file mode 100644 index 00000000..2aa72fe4 --- /dev/null +++ b/src/libcamera/converter/meson.build @@ -0,0 +1,5 @@ +# SPDX-License-Identifier: CC0-1.0 + +libcamera_sources += files([ + 'converter_v4l2_m2m.cpp' +]) diff --git a/src/libcamera/delayed_controls.cpp b/src/libcamera/delayed_controls.cpp index 9667187e..94d0a575 100644 --- a/src/libcamera/delayed_controls.cpp +++ b/src/libcamera/delayed_controls.cpp @@ -1,8 +1,8 @@ /* SPDX-License-Identifier: LGPL-2.1-or-later */ /* - * Copyright (C) 2020, Raspberry Pi (Trading) Ltd. + * Copyright (C) 2020, Raspberry Pi Ltd * - * delayed_controls.h - Helper to deal with controls that take effect with a delay + * Helper to deal with controls that take effect with a delay */ #include "libcamera/internal/delayed_controls.h" @@ -115,8 +115,6 @@ DelayedControls::DelayedControls(V4L2Device *device, */ void DelayedControls::reset() { - running_ = false; - firstSequence_ = 0; queueCount_ = 1; writeCount_ = 0; @@ -204,8 +202,7 @@ bool DelayedControls::push(const ControlList &controls) */ ControlList DelayedControls::get(uint32_t sequence) { - uint32_t adjustedSeq = sequence - firstSequence_; - unsigned int index = std::max<int>(0, adjustedSeq - maxDelay_); + unsigned int index = std::max<int>(0, sequence - maxDelay_); ControlList out(device_->controls()); for (const auto &ctrl : values_) { @@ -236,11 +233,6 @@ void DelayedControls::applyControls(uint32_t sequence) { LOG(DelayedControls, Debug) << "frame " << sequence << " started"; - if (!running_) { - firstSequence_ = sequence; - running_ = true; - } - /* * Create control list peeking ahead in the value queue to ensure * values are set in time to satisfy the sensor delay. @@ -279,7 +271,7 @@ void DelayedControls::applyControls(uint32_t sequence) } } - writeCount_ = sequence - firstSequence_ + 1; + writeCount_ = sequence + 1; while (writeCount_ > queueCount_) { LOG(DelayedControls, Debug) diff --git a/src/libcamera/device_enumerator.cpp b/src/libcamera/device_enumerator.cpp index d1258050..ae17862f 100644 --- a/src/libcamera/device_enumerator.cpp +++ b/src/libcamera/device_enumerator.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2018, Google Inc. * - * device_enumerator.cpp - Enumeration and matching + * Enumeration and matching */ #include "libcamera/internal/device_enumerator.h" @@ -56,7 +56,7 @@ LOG_DEFINE_CATEGORY(DeviceEnumerator) * names can be added as match criteria. * * Pipeline handlers are recommended to add entities to DeviceMatch as - * appropriare to ensure that the media device they need can be uniquely + * appropriate to ensure that the media device they need can be uniquely * identified. This is useful when the corresponding kernel driver can produce * different graphs, for instance as a result of different driver versions or * hardware configurations, and not all those graphs are suitable for a pipeline @@ -101,8 +101,14 @@ bool DeviceMatch::match(const MediaDevice *device) const for (const MediaEntity *entity : device->entities()) { if (name == entity->name()) { - found = true; - break; + if (!entity->deviceNode().empty()) { + found = true; + break; + } else { + LOG(DeviceEnumerator, Debug) + << "Skip " << entity->name() + << ": no device node"; + } } } @@ -161,7 +167,7 @@ std::unique_ptr<DeviceEnumerator> DeviceEnumerator::create() DeviceEnumerator::~DeviceEnumerator() { - for (std::shared_ptr<MediaDevice> media : devices_) { + for (const std::shared_ptr<MediaDevice> &media : devices_) { if (media->busy()) LOG(DeviceEnumerator, Error) << "Removing media device " << media->deviceNode() diff --git a/src/libcamera/device_enumerator_sysfs.cpp b/src/libcamera/device_enumerator_sysfs.cpp index 686bb809..fc33ba52 100644 --- a/src/libcamera/device_enumerator_sysfs.cpp +++ b/src/libcamera/device_enumerator_sysfs.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * device_enumerator_sysfs.cpp - sysfs-based device enumerator + * sysfs-based device enumerator */ #include "libcamera/internal/device_enumerator_sysfs.h" diff --git a/src/libcamera/device_enumerator_udev.cpp b/src/libcamera/device_enumerator_udev.cpp index 5317afbd..01c70b6d 100644 --- a/src/libcamera/device_enumerator_udev.cpp +++ b/src/libcamera/device_enumerator_udev.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2018-2019, Google Inc. * - * device_enumerator_udev.cpp - udev-based device enumerator + * udev-based device enumerator */ #include "libcamera/internal/device_enumerator_udev.h" @@ -13,6 +13,7 @@ #include <list> #include <map> #include <string.h> +#include <string_view> #include <sys/ioctl.h> #include <sys/sysmacros.h> #include <unistd.h> @@ -315,6 +316,7 @@ int DeviceEnumeratorUdev::addV4L2Device(dev_t devnum) * enumerator. */ deps->deps_.erase(devnum); + devMap_.erase(it); if (deps->deps_.empty()) { LOG(DeviceEnumerator, Debug) @@ -330,18 +332,18 @@ int DeviceEnumeratorUdev::addV4L2Device(dev_t devnum) void DeviceEnumeratorUdev::udevNotify() { struct udev_device *dev = udev_monitor_receive_device(monitor_); - std::string action(udev_device_get_action(dev)); - std::string deviceNode(udev_device_get_devnode(dev)); + std::string_view action(udev_device_get_action(dev)); + std::string_view deviceNode(udev_device_get_devnode(dev)); LOG(DeviceEnumerator, Debug) - << action << " device " << udev_device_get_devnode(dev); + << action << " device " << deviceNode; if (action == "add") { addUdevDevice(dev); } else if (action == "remove") { const char *subsystem = udev_device_get_subsystem(dev); if (subsystem && !strcmp(subsystem, "media")) - removeDevice(deviceNode); + removeDevice(std::string(deviceNode)); } udev_device_unref(dev); diff --git a/src/libcamera/dma_heaps.cpp b/src/libcamera/dma_heaps.cpp new file mode 100644 index 00000000..d4cb880b --- /dev/null +++ b/src/libcamera/dma_heaps.cpp @@ -0,0 +1,165 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2020, Raspberry Pi Ltd + * + * Helper class for dma-heap allocations. + */ + +#include "libcamera/internal/dma_heaps.h" + +#include <array> +#include <fcntl.h> +#include <sys/ioctl.h> +#include <unistd.h> + +#include <linux/dma-buf.h> +#include <linux/dma-heap.h> + +#include <libcamera/base/log.h> + +/** + * \file dma_heaps.cpp + * \brief dma-heap allocator + */ + +namespace libcamera { + +/* + * /dev/dma_heap/linux,cma is the dma-heap allocator, which allows dmaheap-cma + * to only have to worry about importing. + * + * Annoyingly, should the cma heap size be specified on the kernel command line + * instead of DT, the heap gets named "reserved" instead. + */ + +#ifndef __DOXYGEN__ +struct DmaHeapInfo { + DmaHeap::DmaHeapFlag type; + const char *deviceNodeName; +}; +#endif + +static constexpr std::array<DmaHeapInfo, 3> heapInfos = { { + { DmaHeap::DmaHeapFlag::Cma, "/dev/dma_heap/linux,cma" }, + { DmaHeap::DmaHeapFlag::Cma, "/dev/dma_heap/reserved" }, + { DmaHeap::DmaHeapFlag::System, "/dev/dma_heap/system" }, +} }; + +LOG_DEFINE_CATEGORY(DmaHeap) + +/** + * \class DmaHeap + * \brief Helper class for dma-heap allocations + * + * DMA heaps are kernel devices that provide an API to allocate memory from + * different pools called "heaps", wrap each allocated piece of memory in a + * dmabuf object, and return the dmabuf file descriptor to userspace. Multiple + * heaps can be provided by the system, with different properties for the + * underlying memory. + * + * This class wraps a DMA heap selected at construction time, and exposes + * functions to manage memory allocation. + */ + +/** + * \enum DmaHeap::DmaHeapFlag + * \brief Type of the dma-heap + * \var DmaHeap::Cma + * \brief Allocate from a CMA dma-heap, providing physically-contiguous memory + * \var DmaHeap::System + * \brief Allocate from the system dma-heap, using the page allocator + */ + +/** + * \typedef DmaHeap::DmaHeapFlags + * \brief A bitwise combination of DmaHeap::DmaHeapFlag values + */ + +/** + * \brief Construct a DmaHeap of a given type + * \param[in] type The type(s) of the dma-heap(s) to allocate from + * + * The DMA heap type is selected with the \a type parameter, which defaults to + * the CMA heap. If no heap of the given type can be accessed, the constructed + * DmaHeap instance is invalid as indicated by the isValid() function. + * + * Multiple types can be selected by combining type flags, in which case the + * constructed DmaHeap will match one of the types. If the system provides + * multiple heaps that match the requested types, which heap is used is + * undefined. + */ +DmaHeap::DmaHeap(DmaHeapFlags type) +{ + for (const auto &info : heapInfos) { + if (!(type & info.type)) + continue; + + int ret = ::open(info.deviceNodeName, O_RDWR | O_CLOEXEC, 0); + if (ret < 0) { + ret = errno; + LOG(DmaHeap, Debug) + << "Failed to open " << info.deviceNodeName << ": " + << strerror(ret); + continue; + } + + LOG(DmaHeap, Debug) << "Using " << info.deviceNodeName; + dmaHeapHandle_ = UniqueFD(ret); + break; + } + + if (!dmaHeapHandle_.isValid()) + LOG(DmaHeap, Error) << "Could not open any dmaHeap device"; +} + +/** + * \brief Destroy the DmaHeap instance + */ +DmaHeap::~DmaHeap() = default; + +/** + * \fn DmaHeap::isValid() + * \brief Check if the DmaHeap instance is valid + * \return True if the DmaHeap is valid, false otherwise + */ + +/** + * \brief Allocate a dma-buf from the DmaHeap + * \param [in] name The name to set for the allocated buffer + * \param [in] size The size of the buffer to allocate + * + * Allocates a dma-buf with read/write access. + * + * If the allocation fails, return an invalid UniqueFD. + * + * \return The UniqueFD of the allocated buffer + */ +UniqueFD DmaHeap::alloc(const char *name, std::size_t size) +{ + int ret; + + if (!name) + return {}; + + struct dma_heap_allocation_data alloc = {}; + + alloc.len = size; + alloc.fd_flags = O_CLOEXEC | O_RDWR; + + ret = ::ioctl(dmaHeapHandle_.get(), DMA_HEAP_IOCTL_ALLOC, &alloc); + if (ret < 0) { + LOG(DmaHeap, Error) << "dmaHeap allocation failure for " << name; + return {}; + } + + UniqueFD allocFd(alloc.fd); + ret = ::ioctl(allocFd.get(), DMA_BUF_SET_NAME, name); + if (ret < 0) { + LOG(DmaHeap, Error) << "dmaHeap naming failure for " << name; + return {}; + } + + return allocFd; +} + +} /* namespace libcamera */ diff --git a/src/libcamera/fence.cpp b/src/libcamera/fence.cpp index 7b784778..634c74f8 100644 --- a/src/libcamera/fence.cpp +++ b/src/libcamera/fence.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * fence.cpp - Synchronization fence + * Synchronization fence */ #include "libcamera/fence.h" diff --git a/src/libcamera/formats.cpp b/src/libcamera/formats.cpp index 283ecb3d..cf41f2c2 100644 --- a/src/libcamera/formats.cpp +++ b/src/libcamera/formats.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * formats.cpp - libcamera image formats + * libcamera image formats */ #include "libcamera/internal/formats.h" @@ -33,7 +33,7 @@ LOG_DEFINE_CATEGORY(Formats) * used in pipeline handlers. * * \var PixelFormatInfo::name - * \brief The format name as a human-readable string, used as the test + * \brief The format name as a human-readable string, used as the text * representation of the PixelFormat * * \var PixelFormatInfo::format @@ -42,19 +42,16 @@ LOG_DEFINE_CATEGORY(Formats) * \var PixelFormatInfo::v4l2Formats * \brief The V4L2 pixel formats corresponding to the PixelFormat * - * Multiple V4L2 formats may exist for one PixelFormat when the format uses - * multiple planes, as V4L2 defines separate 4CCs for contiguous and separate - * planes formats. The two entries in the array store the contiguous and - * non-contiguous V4L2 formats respectively. If the PixelFormat isn't a - * multiplanar format, or if no corresponding non-contiguous V4L2 format - * exists, the second entry is invalid. + * Multiple V4L2 formats may exist for one PixelFormat, as V4L2 defines + * separate 4CCs for contiguous and non-contiguous versions of the same image + * format. * * \var PixelFormatInfo::bitsPerPixel * \brief The average number of bits per pixel * - * The number per pixel averages the total number of bits for all colour - * components over the whole image, excluding any padding bits or padding - * pixels. + * The number of bits per pixel averages the total number of bits for all + * colour components over the whole image, excluding any padding bits or + * padding pixels. * * For formats that store pixels with bit padding within words, only the * effective bits are taken into account. For instance, 12-bit Bayer data @@ -156,10 +153,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::RGB565, { .name = "RGB565", .format = formats::RGB565, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_RGB565), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_RGB565), }, .bitsPerPixel = 16, .colourEncoding = PixelFormatInfo::ColourEncodingRGB, .packed = false, @@ -169,10 +163,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::RGB565_BE, { .name = "RGB565_BE", .format = formats::RGB565_BE, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_RGB565X), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_RGB565X), }, .bitsPerPixel = 16, .colourEncoding = PixelFormatInfo::ColourEncodingRGB, .packed = false, @@ -182,10 +173,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::BGR888, { .name = "BGR888", .format = formats::BGR888, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_RGB24), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_RGB24), }, .bitsPerPixel = 24, .colourEncoding = PixelFormatInfo::ColourEncodingRGB, .packed = false, @@ -195,10 +183,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::RGB888, { .name = "RGB888", .format = formats::RGB888, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_BGR24), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_BGR24), }, .bitsPerPixel = 24, .colourEncoding = PixelFormatInfo::ColourEncodingRGB, .packed = false, @@ -208,10 +193,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::XRGB8888, { .name = "XRGB8888", .format = formats::XRGB8888, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_XBGR32), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_XBGR32), }, .bitsPerPixel = 32, .colourEncoding = PixelFormatInfo::ColourEncodingRGB, .packed = false, @@ -221,10 +203,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::XBGR8888, { .name = "XBGR8888", .format = formats::XBGR8888, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_RGBX32), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_RGBX32), }, .bitsPerPixel = 32, .colourEncoding = PixelFormatInfo::ColourEncodingRGB, .packed = false, @@ -234,10 +213,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::RGBX8888, { .name = "RGBX8888", .format = formats::RGBX8888, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_BGRX32), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_BGRX32), }, .bitsPerPixel = 32, .colourEncoding = PixelFormatInfo::ColourEncodingRGB, .packed = false, @@ -247,10 +223,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::BGRX8888, { .name = "BGRX8888", .format = formats::BGRX8888, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_XRGB32), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_XRGB32), }, .bitsPerPixel = 32, .colourEncoding = PixelFormatInfo::ColourEncodingRGB, .packed = false, @@ -260,10 +233,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::ABGR8888, { .name = "ABGR8888", .format = formats::ABGR8888, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_RGBA32), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_RGBA32), }, .bitsPerPixel = 32, .colourEncoding = PixelFormatInfo::ColourEncodingRGB, .packed = false, @@ -273,10 +243,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::ARGB8888, { .name = "ARGB8888", .format = formats::ARGB8888, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_ABGR32), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_ABGR32), }, .bitsPerPixel = 32, .colourEncoding = PixelFormatInfo::ColourEncodingRGB, .packed = false, @@ -286,10 +253,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::BGRA8888, { .name = "BGRA8888", .format = formats::BGRA8888, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_ARGB32), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_ARGB32), }, .bitsPerPixel = 32, .colourEncoding = PixelFormatInfo::ColourEncodingRGB, .packed = false, @@ -299,25 +263,39 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::RGBA8888, { .name = "RGBA8888", .format = formats::RGBA8888, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_BGRA32), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_BGRA32), }, .bitsPerPixel = 32, .colourEncoding = PixelFormatInfo::ColourEncodingRGB, .packed = false, .pixelsPerGroup = 1, .planes = {{ { 4, 1 }, { 0, 0 }, { 0, 0 } }}, } }, + { formats::BGR161616, { + .name = "BGR161616", + .format = formats::BGR161616, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_RGB48), }, + .bitsPerPixel = 48, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + .packed = false, + .pixelsPerGroup = 1, + .planes = {{ { 3, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, + { formats::RGB161616, { + .name = "RGB161616", + .format = formats::RGB161616, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_BGR48), }, + .bitsPerPixel = 48, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + .packed = false, + .pixelsPerGroup = 1, + .planes = {{ { 3, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, /* YUV packed formats. */ { formats::YUYV, { .name = "YUYV", .format = formats::YUYV, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_YUYV), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_YUYV), }, .bitsPerPixel = 16, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, .packed = false, @@ -327,10 +305,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::YVYU, { .name = "YVYU", .format = formats::YVYU, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_YVYU), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_YVYU), }, .bitsPerPixel = 16, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, .packed = false, @@ -340,10 +315,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::UYVY, { .name = "UYVY", .format = formats::UYVY, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_UYVY), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_UYVY), }, .bitsPerPixel = 16, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, .packed = false, @@ -353,24 +325,41 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::VYUY, { .name = "VYUY", .format = formats::VYUY, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_VYUY), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_VYUY), }, .bitsPerPixel = 16, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, .packed = false, .pixelsPerGroup = 2, .planes = {{ { 4, 1 }, { 0, 0 }, { 0, 0 } }}, } }, + { formats::AVUY8888, { + .name = "AVUY8888", + .format = formats::AVUY8888, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_YUVA32), }, + .bitsPerPixel = 32, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + .packed = false, + .pixelsPerGroup = 1, + .planes = {{ { 4, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, + { formats::XVUY8888, { + .name = "XVUY8888", + .format = formats::XVUY8888, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_YUVX32), }, + .bitsPerPixel = 32, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + .packed = false, + .pixelsPerGroup = 1, + .planes = {{ { 4, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, /* YUV planar formats. */ { formats::NV12, { .name = "NV12", .format = formats::NV12, .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_NV12), - .multi = V4L2PixelFormat(V4L2_PIX_FMT_NV12M), + V4L2PixelFormat(V4L2_PIX_FMT_NV12), + V4L2PixelFormat(V4L2_PIX_FMT_NV12M), }, .bitsPerPixel = 12, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, @@ -382,8 +371,8 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ .name = "NV21", .format = formats::NV21, .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_NV21), - .multi = V4L2PixelFormat(V4L2_PIX_FMT_NV21M), + V4L2PixelFormat(V4L2_PIX_FMT_NV21), + V4L2PixelFormat(V4L2_PIX_FMT_NV21M), }, .bitsPerPixel = 12, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, @@ -395,8 +384,8 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ .name = "NV16", .format = formats::NV16, .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_NV16), - .multi = V4L2PixelFormat(V4L2_PIX_FMT_NV16M), + V4L2PixelFormat(V4L2_PIX_FMT_NV16), + V4L2PixelFormat(V4L2_PIX_FMT_NV16M), }, .bitsPerPixel = 16, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, @@ -408,8 +397,8 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ .name = "NV61", .format = formats::NV61, .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_NV61), - .multi = V4L2PixelFormat(V4L2_PIX_FMT_NV61M), + V4L2PixelFormat(V4L2_PIX_FMT_NV61), + V4L2PixelFormat(V4L2_PIX_FMT_NV61M), }, .bitsPerPixel = 16, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, @@ -420,10 +409,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::NV24, { .name = "NV24", .format = formats::NV24, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_NV24), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_NV24), }, .bitsPerPixel = 24, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, .packed = false, @@ -433,10 +419,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::NV42, { .name = "NV42", .format = formats::NV42, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_NV42), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_NV42), }, .bitsPerPixel = 24, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, .packed = false, @@ -447,8 +430,8 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ .name = "YUV420", .format = formats::YUV420, .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_YUV420), - .multi = V4L2PixelFormat(V4L2_PIX_FMT_YUV420M), + V4L2PixelFormat(V4L2_PIX_FMT_YUV420), + V4L2PixelFormat(V4L2_PIX_FMT_YUV420M), }, .bitsPerPixel = 12, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, @@ -460,8 +443,8 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ .name = "YVU420", .format = formats::YVU420, .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_YVU420), - .multi = V4L2PixelFormat(V4L2_PIX_FMT_YVU420M), + V4L2PixelFormat(V4L2_PIX_FMT_YVU420), + V4L2PixelFormat(V4L2_PIX_FMT_YVU420M), }, .bitsPerPixel = 12, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, @@ -473,8 +456,8 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ .name = "YUV422", .format = formats::YUV422, .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_YUV422P), - .multi = V4L2PixelFormat(V4L2_PIX_FMT_YUV422M), + V4L2PixelFormat(V4L2_PIX_FMT_YUV422P), + V4L2PixelFormat(V4L2_PIX_FMT_YUV422M), }, .bitsPerPixel = 16, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, @@ -485,10 +468,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::YVU422, { .name = "YVU422", .format = formats::YVU422, - .v4l2Formats = { - .single = V4L2PixelFormat(), - .multi = V4L2PixelFormat(V4L2_PIX_FMT_YVU422M), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_YVU422M), }, .bitsPerPixel = 16, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, .packed = false, @@ -498,10 +478,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::YUV444, { .name = "YUV444", .format = formats::YUV444, - .v4l2Formats = { - .single = V4L2PixelFormat(), - .multi = V4L2PixelFormat(V4L2_PIX_FMT_YUV444M), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_YUV444M), }, .bitsPerPixel = 24, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, .packed = false, @@ -511,10 +488,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::YVU444, { .name = "YVU444", .format = formats::YVU444, - .v4l2Formats = { - .single = V4L2PixelFormat(), - .multi = V4L2PixelFormat(V4L2_PIX_FMT_YVU444M), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_YVU444M), }, .bitsPerPixel = 24, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, .packed = false, @@ -526,10 +500,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::R8, { .name = "R8", .format = formats::R8, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_GREY), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_GREY), }, .bitsPerPixel = 8, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, .packed = false, @@ -539,51 +510,59 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::R10, { .name = "R10", .format = formats::R10, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_Y10), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_Y10), }, .bitsPerPixel = 10, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, .packed = false, .pixelsPerGroup = 1, .planes = {{ { 2, 1 }, { 0, 0 }, { 0, 0 } }}, } }, + { formats::R10_CSI2P, { + .name = "R10_CSI2P", + .format = formats::R10_CSI2P, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_Y10P), }, + .bitsPerPixel = 10, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + .packed = true, + .pixelsPerGroup = 4, + .planes = {{ { 5, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, { formats::R12, { .name = "R12", .format = formats::R12, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_Y12), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_Y12), }, .bitsPerPixel = 12, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, .packed = false, .pixelsPerGroup = 1, .planes = {{ { 2, 1 }, { 0, 0 }, { 0, 0 } }}, } }, - { formats::R10_CSI2P, { - .name = "R10_CSI2P", - .format = formats::R10, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_Y10P), - .multi = V4L2PixelFormat(), - }, - .bitsPerPixel = 10, + { formats::R16, { + .name = "R16", + .format = formats::R16, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_Y16), }, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + .packed = false, + .pixelsPerGroup = 1, + .planes = {{ { 2, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, + { formats::MONO_PISP_COMP1, { + .name = "MONO_PISP_COMP1", + .format = formats::MONO_PISP_COMP1, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_MONO), }, + .bitsPerPixel = 8, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, .packed = true, - .pixelsPerGroup = 4, - .planes = {{ { 5, 1 }, { 0, 0 }, { 0, 0 } }}, + .pixelsPerGroup = 1, + .planes = {{ { 1, 1 }, { 0, 0 }, { 0, 0 } }}, } }, /* Bayer formats. */ { formats::SBGGR8, { .name = "SBGGR8", .format = formats::SBGGR8, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SBGGR8), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SBGGR8), }, .bitsPerPixel = 8, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = false, @@ -593,10 +572,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SGBRG8, { .name = "SGBRG8", .format = formats::SGBRG8, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SGBRG8), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SGBRG8), }, .bitsPerPixel = 8, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = false, @@ -606,10 +582,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SGRBG8, { .name = "SGRBG8", .format = formats::SGRBG8, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SGRBG8), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SGRBG8), }, .bitsPerPixel = 8, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = false, @@ -619,10 +592,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SRGGB8, { .name = "SRGGB8", .format = formats::SRGGB8, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SRGGB8), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SRGGB8), }, .bitsPerPixel = 8, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = false, @@ -632,10 +602,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SBGGR10, { .name = "SBGGR10", .format = formats::SBGGR10, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SBGGR10), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SBGGR10), }, .bitsPerPixel = 10, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = false, @@ -645,10 +612,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SGBRG10, { .name = "SGBRG10", .format = formats::SGBRG10, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SGBRG10), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SGBRG10), }, .bitsPerPixel = 10, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = false, @@ -658,10 +622,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SGRBG10, { .name = "SGRBG10", .format = formats::SGRBG10, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SGRBG10), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SGRBG10), }, .bitsPerPixel = 10, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = false, @@ -671,10 +632,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SRGGB10, { .name = "SRGGB10", .format = formats::SRGGB10, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SRGGB10), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SRGGB10), }, .bitsPerPixel = 10, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = false, @@ -684,10 +642,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SBGGR10_CSI2P, { .name = "SBGGR10_CSI2P", .format = formats::SBGGR10_CSI2P, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SBGGR10P), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SBGGR10P), }, .bitsPerPixel = 10, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = true, @@ -697,10 +652,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SGBRG10_CSI2P, { .name = "SGBRG10_CSI2P", .format = formats::SGBRG10_CSI2P, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SGBRG10P), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SGBRG10P), }, .bitsPerPixel = 10, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = true, @@ -710,10 +662,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SGRBG10_CSI2P, { .name = "SGRBG10_CSI2P", .format = formats::SGRBG10_CSI2P, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SGRBG10P), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SGRBG10P), }, .bitsPerPixel = 10, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = true, @@ -723,10 +672,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SRGGB10_CSI2P, { .name = "SRGGB10_CSI2P", .format = formats::SRGGB10_CSI2P, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SRGGB10P), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SRGGB10P), }, .bitsPerPixel = 10, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = true, @@ -736,10 +682,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SBGGR12, { .name = "SBGGR12", .format = formats::SBGGR12, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SBGGR12), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SBGGR12), }, .bitsPerPixel = 12, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = false, @@ -749,10 +692,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SGBRG12, { .name = "SGBRG12", .format = formats::SGBRG12, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SGBRG12), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SGBRG12), }, .bitsPerPixel = 12, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = false, @@ -762,10 +702,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SGRBG12, { .name = "SGRBG12", .format = formats::SGRBG12, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SGRBG12), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SGRBG12), }, .bitsPerPixel = 12, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = false, @@ -775,10 +712,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SRGGB12, { .name = "SRGGB12", .format = formats::SRGGB12, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SRGGB12), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SRGGB12), }, .bitsPerPixel = 12, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = false, @@ -788,10 +722,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SBGGR12_CSI2P, { .name = "SBGGR12_CSI2P", .format = formats::SBGGR12_CSI2P, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SBGGR12P), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SBGGR12P), }, .bitsPerPixel = 12, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = true, @@ -801,10 +732,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SGBRG12_CSI2P, { .name = "SGBRG12_CSI2P", .format = formats::SGBRG12_CSI2P, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SGBRG12P), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SGBRG12P), }, .bitsPerPixel = 12, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = true, @@ -814,10 +742,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SGRBG12_CSI2P, { .name = "SGRBG12_CSI2P", .format = formats::SGRBG12_CSI2P, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SGRBG12P), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SGRBG12P), }, .bitsPerPixel = 12, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = true, @@ -827,23 +752,97 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SRGGB12_CSI2P, { .name = "SRGGB12_CSI2P", .format = formats::SRGGB12_CSI2P, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SRGGB12P), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SRGGB12P), }, .bitsPerPixel = 12, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = true, .pixelsPerGroup = 2, .planes = {{ { 3, 1 }, { 0, 0 }, { 0, 0 } }}, } }, + { formats::SBGGR14, { + .name = "SBGGR14", + .format = formats::SBGGR14, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SBGGR14), }, + .bitsPerPixel = 14, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + .packed = false, + .pixelsPerGroup = 2, + .planes = {{ { 4, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, + { formats::SGBRG14, { + .name = "SGBRG14", + .format = formats::SGBRG14, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SGBRG14), }, + .bitsPerPixel = 14, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + .packed = false, + .pixelsPerGroup = 2, + .planes = {{ { 4, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, + { formats::SGRBG14, { + .name = "SGRBG14", + .format = formats::SGRBG14, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SGRBG14), }, + .bitsPerPixel = 14, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + .packed = false, + .pixelsPerGroup = 2, + .planes = {{ { 4, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, + { formats::SRGGB14, { + .name = "SRGGB14", + .format = formats::SRGGB14, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SRGGB14), }, + .bitsPerPixel = 14, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + .packed = false, + .pixelsPerGroup = 2, + .planes = {{ { 4, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, + { formats::SBGGR14_CSI2P, { + .name = "SBGGR14_CSI2P", + .format = formats::SBGGR14_CSI2P, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SBGGR14P), }, + .bitsPerPixel = 14, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + .packed = true, + .pixelsPerGroup = 4, + .planes = {{ { 7, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, + { formats::SGBRG14_CSI2P, { + .name = "SGBRG14_CSI2P", + .format = formats::SGBRG14_CSI2P, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SGBRG14P), }, + .bitsPerPixel = 14, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + .packed = true, + .pixelsPerGroup = 4, + .planes = {{ { 7, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, + { formats::SGRBG14_CSI2P, { + .name = "SGRBG14_CSI2P", + .format = formats::SGRBG14_CSI2P, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SGRBG14P), }, + .bitsPerPixel = 14, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + .packed = true, + .pixelsPerGroup = 4, + .planes = {{ { 7, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, + { formats::SRGGB14_CSI2P, { + .name = "SRGGB14_CSI2P", + .format = formats::SRGGB14_CSI2P, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SRGGB14P), }, + .bitsPerPixel = 14, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + .packed = true, + .pixelsPerGroup = 4, + .planes = {{ { 7, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, { formats::SBGGR16, { .name = "SBGGR16", .format = formats::SBGGR16, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SBGGR16), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SBGGR16), }, .bitsPerPixel = 16, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = false, @@ -853,10 +852,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SGBRG16, { .name = "SGBRG16", .format = formats::SGBRG16, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SGBRG16), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SGBRG16), }, .bitsPerPixel = 16, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = false, @@ -866,10 +862,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SGRBG16, { .name = "SGRBG16", .format = formats::SGRBG16, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SGRBG16), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SGRBG16), }, .bitsPerPixel = 16, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = false, @@ -879,10 +872,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SRGGB16, { .name = "SRGGB16", .format = formats::SRGGB16, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_SRGGB16), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_SRGGB16), }, .bitsPerPixel = 16, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = false, @@ -892,10 +882,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SBGGR10_IPU3, { .name = "SBGGR10_IPU3", .format = formats::SBGGR10_IPU3, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_IPU3_SBGGR10), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_IPU3_SBGGR10), }, .bitsPerPixel = 10, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = true, @@ -906,10 +893,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SGBRG10_IPU3, { .name = "SGBRG10_IPU3", .format = formats::SGBRG10_IPU3, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_IPU3_SGBRG10), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_IPU3_SGBRG10), }, .bitsPerPixel = 10, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = true, @@ -919,10 +903,7 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SGRBG10_IPU3, { .name = "SGRBG10_IPU3", .format = formats::SGRBG10_IPU3, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_IPU3_SGRBG10), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_IPU3_SGRBG10), }, .bitsPerPixel = 10, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = true, @@ -932,24 +913,60 @@ const std::map<PixelFormat, PixelFormatInfo> pixelFormatInfo{ { formats::SRGGB10_IPU3, { .name = "SRGGB10_IPU3", .format = formats::SRGGB10_IPU3, - .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_IPU3_SRGGB10), - .multi = V4L2PixelFormat(), - }, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_IPU3_SRGGB10), }, .bitsPerPixel = 10, .colourEncoding = PixelFormatInfo::ColourEncodingRAW, .packed = true, .pixelsPerGroup = 25, .planes = {{ { 32, 1 }, { 0, 0 }, { 0, 0 } }}, } }, - + { formats::BGGR_PISP_COMP1, { + .name = "BGGR_PISP_COMP1", + .format = formats::BGGR_PISP_COMP1, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_BGGR), }, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + .packed = true, + .pixelsPerGroup = 2, + .planes = {{ { 2, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, + { formats::GBRG_PISP_COMP1, { + .name = "GBRG_PISP_COMP1", + .format = formats::GBRG_PISP_COMP1, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_GBRG), }, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + .packed = true, + .pixelsPerGroup = 2, + .planes = {{ { 2, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, + { formats::GRBG_PISP_COMP1, { + .name = "GRBG_PISP_COMP1", + .format = formats::GRBG_PISP_COMP1, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_GRBG), }, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + .packed = true, + .pixelsPerGroup = 2, + .planes = {{ { 2, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, + { formats::RGGB_PISP_COMP1, { + .name = "RGGB_PISP_COMP1", + .format = formats::RGGB_PISP_COMP1, + .v4l2Formats = { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_RGGB), }, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + .packed = true, + .pixelsPerGroup = 2, + .planes = {{ { 2, 1 }, { 0, 0 }, { 0, 0 } }}, + } }, /* Compressed formats. */ { formats::MJPEG, { .name = "MJPEG", .format = formats::MJPEG, .v4l2Formats = { - .single = V4L2PixelFormat(V4L2_PIX_FMT_MJPEG), - .multi = V4L2PixelFormat(), + V4L2PixelFormat(V4L2_PIX_FMT_MJPEG), + V4L2PixelFormat(V4L2_PIX_FMT_JPEG), }, .bitsPerPixel = 0, .colourEncoding = PixelFormatInfo::ColourEncodingYUV, @@ -987,22 +1004,22 @@ const PixelFormatInfo &PixelFormatInfo::info(const PixelFormat &format) } /** - * \brief Retrieve information about a pixel format + * \brief Retrieve information about a V4L2 pixel format * \param[in] format The V4L2 pixel format * \return The PixelFormatInfo describing the V4L2 \a format if known, or an * invalid PixelFormatInfo otherwise */ const PixelFormatInfo &PixelFormatInfo::info(const V4L2PixelFormat &format) { - const auto &info = std::find_if(pixelFormatInfo.begin(), pixelFormatInfo.end(), - [format](auto pair) { - return pair.second.v4l2Formats.single == format || - pair.second.v4l2Formats.multi == format; - }); - if (info == pixelFormatInfo.end()) + PixelFormat pixelFormat = format.toPixelFormat(false); + if (!pixelFormat.isValid()) return pixelFormatInfoInvalid; - return info->second; + const auto iter = pixelFormatInfo.find(pixelFormat); + if (iter == pixelFormatInfo.end()) + return pixelFormatInfoInvalid; + + return iter->second; } /** @@ -1049,7 +1066,7 @@ unsigned int PixelFormatInfo::stride(unsigned int width, unsigned int plane, return 0; } - if (plane > planes.size() || !planes[plane].bytesPerGroup) { + if (plane >= planes.size() || !planes[plane].bytesPerGroup) { LOG(Formats, Warning) << "Invalid plane index, stride is zero"; return 0; } diff --git a/src/libcamera/formats.yaml b/src/libcamera/formats.yaml index 7dda0132..fe027a7c 100644 --- a/src/libcamera/formats.yaml +++ b/src/libcamera/formats.yaml @@ -2,7 +2,7 @@ # # Copyright (C) 2020, Google Inc. # -%YAML 1.2 +%YAML 1.1 --- formats: - R8: @@ -11,6 +11,8 @@ formats: fourcc: DRM_FORMAT_R10 - R12: fourcc: DRM_FORMAT_R12 + - R16: + fourcc: DRM_FORMAT_R16 - RGB565: fourcc: DRM_FORMAT_RGB565 @@ -41,6 +43,11 @@ formats: - BGRA8888: fourcc: DRM_FORMAT_BGRA8888 + - RGB161616: + fourcc: DRM_FORMAT_RGB161616 + - BGR161616: + fourcc: DRM_FORMAT_BGR161616 + - YUYV: fourcc: DRM_FORMAT_YUYV - YVYU: @@ -49,6 +56,10 @@ formats: fourcc: DRM_FORMAT_UYVY - VYUY: fourcc: DRM_FORMAT_VYUY + - AVUY8888: + fourcc: DRM_FORMAT_AVUY8888 + - XVUY8888: + fourcc: DRM_FORMAT_XVUY8888 - NV12: fourcc: DRM_FORMAT_NV12 @@ -106,6 +117,15 @@ formats: - SBGGR12: fourcc: DRM_FORMAT_SBGGR12 + - SRGGB14: + fourcc: DRM_FORMAT_SRGGB14 + - SGRBG14: + fourcc: DRM_FORMAT_SGRBG14 + - SGBRG14: + fourcc: DRM_FORMAT_SGBRG14 + - SBGGR14: + fourcc: DRM_FORMAT_SBGGR14 + - SRGGB16: fourcc: DRM_FORMAT_SRGGB16 - SGRBG16: @@ -145,6 +165,19 @@ formats: fourcc: DRM_FORMAT_SBGGR12 mod: MIPI_FORMAT_MOD_CSI2_PACKED + - SRGGB14_CSI2P: + fourcc: DRM_FORMAT_SRGGB14 + mod: MIPI_FORMAT_MOD_CSI2_PACKED + - SGRBG14_CSI2P: + fourcc: DRM_FORMAT_SGRBG14 + mod: MIPI_FORMAT_MOD_CSI2_PACKED + - SGBRG14_CSI2P: + fourcc: DRM_FORMAT_SGBRG14 + mod: MIPI_FORMAT_MOD_CSI2_PACKED + - SBGGR14_CSI2P: + fourcc: DRM_FORMAT_SBGGR14 + mod: MIPI_FORMAT_MOD_CSI2_PACKED + - SRGGB10_IPU3: fourcc: DRM_FORMAT_SRGGB10 mod: IPU3_FORMAT_MOD_PACKED @@ -157,4 +190,20 @@ formats: - SBGGR10_IPU3: fourcc: DRM_FORMAT_SBGGR10 mod: IPU3_FORMAT_MOD_PACKED + + - RGGB_PISP_COMP1: + fourcc: DRM_FORMAT_SRGGB16 + mod: PISP_FORMAT_MOD_COMPRESS_MODE1 + - GRBG_PISP_COMP1: + fourcc: DRM_FORMAT_SGRBG16 + mod: PISP_FORMAT_MOD_COMPRESS_MODE1 + - GBRG_PISP_COMP1: + fourcc: DRM_FORMAT_SGBRG16 + mod: PISP_FORMAT_MOD_COMPRESS_MODE1 + - BGGR_PISP_COMP1: + fourcc: DRM_FORMAT_SBGGR16 + mod: PISP_FORMAT_MOD_COMPRESS_MODE1 + - MONO_PISP_COMP1: + fourcc: DRM_FORMAT_R16 + mod: PISP_FORMAT_MOD_COMPRESS_MODE1 ... diff --git a/src/libcamera/framebuffer.cpp b/src/libcamera/framebuffer.cpp index 7be18560..63d679cb 100644 --- a/src/libcamera/framebuffer.cpp +++ b/src/libcamera/framebuffer.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * framebuffer.cpp - Frame buffer handling + * Frame buffer handling */ #include <libcamera/framebuffer.h> @@ -114,9 +114,16 @@ LOG_DEFINE_CATEGORY(Buffer) * pipeline handlers. */ -FrameBuffer::Private::Private() - : request_(nullptr), isContiguous_(true) +/** + * \brief Construct a FrameBuffer::Private instance + * \param[in] planes The frame memory planes + * \param[in] cookie Cookie + */ +FrameBuffer::Private::Private(const std::vector<Plane> &planes, uint64_t cookie) + : planes_(planes), cookie_(cookie), request_(nullptr), + isContiguous_(true) { + metadata_.planes_.resize(planes_.size()); } /** @@ -195,6 +202,12 @@ FrameBuffer::Private::~Private() */ /** + * \fn FrameBuffer::Private::metadata() + * \brief Retrieve the dynamic metadata + * \return Dynamic metadata for the frame contained in the buffer + */ + +/** * \class FrameBuffer * \brief Frame buffer data and its associated dynamic metadata * @@ -291,29 +304,22 @@ ino_t fileDescriptorInode(const SharedFD &fd) * \param[in] cookie Cookie */ FrameBuffer::FrameBuffer(const std::vector<Plane> &planes, unsigned int cookie) - : FrameBuffer(std::make_unique<Private>(), planes, cookie) + : FrameBuffer(std::make_unique<Private>(planes, cookie)) { } /** - * \brief Construct a FrameBuffer with an extensible private class and an array - * of planes + * \brief Construct a FrameBuffer with an extensible private class * \param[in] d The extensible private class - * \param[in] planes The frame memory planes - * \param[in] cookie Cookie */ -FrameBuffer::FrameBuffer(std::unique_ptr<Private> d, - const std::vector<Plane> &planes, - unsigned int cookie) - : Extensible(std::move(d)), planes_(planes), cookie_(cookie) +FrameBuffer::FrameBuffer(std::unique_ptr<Private> d) + : Extensible(std::move(d)) { - metadata_.planes_.resize(planes_.size()); - unsigned int offset = 0; bool isContiguous = true; ino_t inode = 0; - for (const auto &plane : planes_) { + for (const auto &plane : _d()->planes_) { ASSERT(plane.offset != Plane::kInvalidOffset); if (plane.offset != offset) { @@ -325,9 +331,9 @@ FrameBuffer::FrameBuffer(std::unique_ptr<Private> d, * Two different dmabuf file descriptors may still refer to the * same dmabuf instance. Check this using inodes. */ - if (plane.fd != planes_[0].fd) { + if (plane.fd != _d()->planes_[0].fd) { if (!inode) - inode = fileDescriptorInode(planes_[0].fd); + inode = fileDescriptorInode(_d()->planes_[0].fd); if (fileDescriptorInode(plane.fd) != inode) { isContiguous = false; break; @@ -344,10 +350,13 @@ FrameBuffer::FrameBuffer(std::unique_ptr<Private> d, } /** - * \fn FrameBuffer::planes() * \brief Retrieve the static plane descriptors * \return Array of plane descriptors */ +const std::vector<FrameBuffer::Plane> &FrameBuffer::planes() const +{ + return _d()->planes_; +} /** * \brief Retrieve the request this buffer belongs to @@ -368,13 +377,15 @@ Request *FrameBuffer::request() const } /** - * \fn FrameBuffer::metadata() * \brief Retrieve the dynamic metadata * \return Dynamic metadata for the frame contained in the buffer */ +const FrameMetadata &FrameBuffer::metadata() const +{ + return _d()->metadata_; +} /** - * \fn FrameBuffer::cookie() * \brief Retrieve the cookie * * The cookie belongs to the creator of the FrameBuffer, which controls its @@ -384,9 +395,12 @@ Request *FrameBuffer::request() const * * \return The cookie */ +uint64_t FrameBuffer::cookie() const +{ + return _d()->cookie_; +} /** - * \fn FrameBuffer::setCookie() * \brief Set the cookie * \param[in] cookie Cookie to set * @@ -395,6 +409,10 @@ Request *FrameBuffer::request() const * modify the cookie value of buffers they haven't created themselves. The * libcamera core never modifies the buffer cookie. */ +void FrameBuffer::setCookie(uint64_t cookie) +{ + _d()->cookie_ = cookie; +} /** * \brief Extract the Fence associated with this Framebuffer diff --git a/src/libcamera/framebuffer_allocator.cpp b/src/libcamera/framebuffer_allocator.cpp index 4df27cac..3d53bde2 100644 --- a/src/libcamera/framebuffer_allocator.cpp +++ b/src/libcamera/framebuffer_allocator.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * framebuffer_allocator.cpp - FrameBuffer allocator + * FrameBuffer allocator */ #include <libcamera/framebuffer_allocator.h> @@ -59,14 +59,11 @@ LOG_DEFINE_CATEGORY(Allocator) * \param[in] camera The camera */ FrameBufferAllocator::FrameBufferAllocator(std::shared_ptr<Camera> camera) - : camera_(camera) + : camera_(std::move(camera)) { } -FrameBufferAllocator::~FrameBufferAllocator() -{ - buffers_.clear(); -} +FrameBufferAllocator::~FrameBufferAllocator() = default; /** * \brief Allocate buffers for a configured stream @@ -88,16 +85,22 @@ FrameBufferAllocator::~FrameBufferAllocator() */ int FrameBufferAllocator::allocate(Stream *stream) { - if (buffers_.count(stream)) { + const auto &[it, inserted] = buffers_.try_emplace(stream); + + if (!inserted) { LOG(Allocator, Error) << "Buffers already allocated for stream"; return -EBUSY; } - int ret = camera_->exportFrameBuffers(stream, &buffers_[stream]); + int ret = camera_->exportFrameBuffers(stream, &it->second); if (ret == -EINVAL) LOG(Allocator, Error) << "Stream is not part of " << camera_->id() << " active configuration"; + + if (ret < 0) + buffers_.erase(it); + return ret; } @@ -119,8 +122,6 @@ int FrameBufferAllocator::free(Stream *stream) if (iter == buffers_.end()) return -EINVAL; - std::vector<std::unique_ptr<FrameBuffer>> &buffers = iter->second; - buffers.clear(); buffers_.erase(iter); return 0; diff --git a/src/libcamera/geometry.cpp b/src/libcamera/geometry.cpp index e50b46c5..00015136 100644 --- a/src/libcamera/geometry.cpp +++ b/src/libcamera/geometry.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * geometry.cpp - Geometry-related structures + * Geometry-related structures */ #include <libcamera/geometry.h> @@ -95,10 +95,10 @@ std::ostream &operator<<(std::ostream &out, const Point &p) } /** - * \struct Size + * \class Size * \brief Describe a two-dimensional size * - * The Size structure defines a two-dimensional size with integer precision. + * The Size class defines a two-dimensional size with integer precision. */ /** @@ -455,7 +455,7 @@ std::ostream &operator<<(std::ostream &out, const Size &s) } /** - * \struct SizeRange + * \class SizeRange * \brief Describe a range of sizes * * A SizeRange describes a range of sizes included in the [min, max] interval @@ -589,7 +589,7 @@ std::ostream &operator<<(std::ostream &out, const SizeRange &sr) } /** - * \struct Rectangle + * \class Rectangle * \brief Describe a rectangle's position and dimensions * * Rectangles are used to identify an area of an image. They are specified by diff --git a/src/libcamera/ipa/meson.build b/src/libcamera/ipa/meson.build index 44695240..ef73b3f9 100644 --- a/src/libcamera/ipa/meson.build +++ b/src/libcamera/ipa/meson.build @@ -3,13 +3,10 @@ libcamera_ipa_interfaces = [] foreach file : ipa_mojom_files - name = '@0@'.format(file).split('/')[-1].split('.')[0] - # {pipeline}_ipa_interface.cpp libcamera_ipa_interfaces += \ - custom_target(name + '_ipa_interface_cpp', - input : file, - output : name + '_ipa_interface.cpp', + custom_target(input : file, + output : '@BASENAME@_ipa_interface.cpp', command : [ mojom_docs_extractor, '-o', '@OUTPUT@', '@INPUT@' diff --git a/src/libcamera/ipa_controls.cpp b/src/libcamera/ipa_controls.cpp index 870a443b..9420c889 100644 --- a/src/libcamera/ipa_controls.cpp +++ b/src/libcamera/ipa_controls.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * ipa_controls.cpp - IPA control handling + * IPA control handling */ #include <libcamera/ipa/ipa_controls.h> diff --git a/src/libcamera/ipa_data_serializer.cpp b/src/libcamera/ipa_data_serializer.cpp index 0a259305..3e9bef08 100644 --- a/src/libcamera/ipa_data_serializer.cpp +++ b/src/libcamera/ipa_data_serializer.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * ipa_data_serializer.cpp - Image Processing Algorithm data serializer + * Image Processing Algorithm data serializer */ #include "libcamera/internal/ipa_data_serializer.h" diff --git a/src/libcamera/ipa_interface.cpp b/src/libcamera/ipa_interface.cpp index 8ea6cbee..a9dc54ad 100644 --- a/src/libcamera/ipa_interface.cpp +++ b/src/libcamera/ipa_interface.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * ipa_interface.cpp - Image Processing Algorithm interface + * Image Processing Algorithm interface */ #include <libcamera/ipa/ipa_interface.h> diff --git a/src/libcamera/ipa_manager.cpp b/src/libcamera/ipa_manager.cpp index ec966045..f4e0b633 100644 --- a/src/libcamera/ipa_manager.cpp +++ b/src/libcamera/ipa_manager.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * ipa_manager.cpp - Image Processing Algorithm module manager + * Image Processing Algorithm module manager */ #include "libcamera/internal/ipa_manager.h" @@ -109,6 +109,11 @@ IPAManager::IPAManager() LOG(IPAManager, Fatal) << "Multiple IPAManager objects are not allowed"; +#if HAVE_IPA_PUBKEY + if (!pubKey_.isValid()) + LOG(IPAManager, Warning) << "Public key not valid"; +#endif + unsigned int ipaCount = 0; /* User-specified paths take precedence. */ @@ -133,7 +138,7 @@ IPAManager::IPAManager() std::string root = utils::libcameraBuildPath(); if (!root.empty()) { std::string ipaBuildPath = root + "src/ipa"; - constexpr int maxDepth = 1; + constexpr int maxDepth = 2; LOG(IPAManager, Info) << "libcamera is not installed. Adding '" @@ -274,6 +279,19 @@ IPAModule *IPAManager::module(PipelineHandler *pipe, uint32_t minVersion, * found or if the IPA proxy fails to initialize */ +#if HAVE_IPA_PUBKEY +/** + * \fn IPAManager::pubKey() + * \brief Retrieve the IPA module signing public key + * + * IPA module signature verification is normally handled internally by the + * IPAManager class. This function is meant to be used by utilities that need to + * verify signatures externally. + * + * \return The IPA module signing public key + */ +#endif + bool IPAManager::isSignatureValid([[maybe_unused]] IPAModule *ipa) const { #if HAVE_IPA_PUBKEY diff --git a/src/libcamera/ipa_module.cpp b/src/libcamera/ipa_module.cpp index c9ff7de3..0756b691 100644 --- a/src/libcamera/ipa_module.cpp +++ b/src/libcamera/ipa_module.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * ipa_module.cpp - Image Processing Algorithm module + * Image Processing Algorithm module */ #include "libcamera/internal/ipa_module.h" @@ -225,9 +225,9 @@ Span<const uint8_t> elfLoadSymbol(Span<const uint8_t> elf, const char *symbol) * \brief The name of the IPA module * * The name may be used to build file system paths to IPA-specific resources. - * It shall only contain printable characters, and may not contain '/', '*', - * '?' or '\'. For IPA modules included in libcamera, it shall match the - * directory of the IPA module in the source tree. + * It shall only contain printable characters, and may not contain '*', '?' or + * '\'. For IPA modules included in libcamera, it shall match the directory of + * the IPA module in the source tree. * * \todo Allow user to choose to isolate open source IPAs */ @@ -288,25 +288,30 @@ int IPAModule::loadIPAModuleInfo() } Span<const uint8_t> info = elfLoadSymbol(data, "ipaModuleInfo"); - if (info.size() != sizeof(info_)) { + if (info.size() < sizeof(info_)) { LOG(IPAModule, Error) << "IPA module has no valid info"; return -EINVAL; } - memcpy(&info_, info.data(), info.size()); + memcpy(&info_, info.data(), sizeof(info_)); if (info_.moduleAPIVersion != IPA_MODULE_API_VERSION) { LOG(IPAModule, Error) << "IPA module API version mismatch"; return -EINVAL; } - /* Validate the IPA module name. */ + /* + * Validate the IPA module name. + * + * \todo Consider module naming restrictions to avoid escaping from a + * base directory. Forbidding ".." may be enough, but this may be best + * implemented in a different layer. + */ std::string ipaName = info_.name; auto iter = std::find_if_not(ipaName.begin(), ipaName.end(), [](unsigned char c) -> bool { - return isprint(c) && c != '/' && - c != '?' && c != '*' && - c != '\\'; + return isprint(c) && c != '?' && + c != '*' && c != '\\'; }); if (iter != ipaName.end()) { LOG(IPAModule, Error) diff --git a/src/libcamera/ipa_proxy.cpp b/src/libcamera/ipa_proxy.cpp index 3f2cc6b8..6c17c456 100644 --- a/src/libcamera/ipa_proxy.cpp +++ b/src/libcamera/ipa_proxy.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * ipa_proxy.cpp - Image Processing Algorithm proxy + * Image Processing Algorithm proxy */ #include "libcamera/internal/ipa_proxy.h" diff --git a/src/libcamera/ipa_pub_key.cpp.in b/src/libcamera/ipa_pub_key.cpp.in index 01e5333b..5d8c92c2 100644 --- a/src/libcamera/ipa_pub_key.cpp.in +++ b/src/libcamera/ipa_pub_key.cpp.in @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Laurent Pinchart <laurent.pinchart@ideasonboard.com> * - * ipa_pub_key.cpp - IPA module signing public key + * IPA module signing public key * * This file is auto-generated. Do not edit. */ diff --git a/src/libcamera/ipc_pipe.cpp b/src/libcamera/ipc_pipe.cpp index 31a0ca09..548299d0 100644 --- a/src/libcamera/ipc_pipe.cpp +++ b/src/libcamera/ipc_pipe.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * ipc_pipe.cpp - Image Processing Algorithm IPC module for IPA proxies + * Image Processing Algorithm IPC module for IPA proxies */ #include "libcamera/internal/ipc_pipe.h" diff --git a/src/libcamera/ipc_pipe_unixsocket.cpp b/src/libcamera/ipc_pipe_unixsocket.cpp index da2cffc3..668ec73b 100644 --- a/src/libcamera/ipc_pipe_unixsocket.cpp +++ b/src/libcamera/ipc_pipe_unixsocket.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * ipc_pipe_unixsocket.cpp - Image Processing Algorithm IPC module using unix socket + * Image Processing Algorithm IPC module using unix socket */ #include "libcamera/internal/ipc_pipe_unixsocket.h" diff --git a/src/libcamera/ipc_unixsocket.cpp b/src/libcamera/ipc_unixsocket.cpp index 1980d374..75285b67 100644 --- a/src/libcamera/ipc_unixsocket.cpp +++ b/src/libcamera/ipc_unixsocket.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * ipc_unixsocket.cpp - IPC mechanism based on Unix sockets + * IPC mechanism based on Unix sockets */ #include "libcamera/internal/ipc_unixsocket.h" diff --git a/src/libcamera/mapped_framebuffer.cpp b/src/libcamera/mapped_framebuffer.cpp index 6860069b..b3104e05 100644 --- a/src/libcamera/mapped_framebuffer.cpp +++ b/src/libcamera/mapped_framebuffer.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * mapped_framebuffer.cpp - Mapped Framebuffer support + * Mapped Framebuffer support */ #include "libcamera/internal/mapped_framebuffer.h" diff --git a/src/libcamera/media_device.cpp b/src/libcamera/media_device.cpp index 7c94da9e..bd054552 100644 --- a/src/libcamera/media_device.cpp +++ b/src/libcamera/media_device.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2018, Google Inc. * - * media_device.cpp - Media device handler + * Media device handler */ #include "libcamera/internal/media_device.h" @@ -352,8 +352,9 @@ MediaEntity *MediaDevice::getEntityByName(const std::string &name) const * entity with name \a sourceName, to the pad at index \a sinkIdx of the * sink entity with name \a sinkName, if any. * - * \sa MediaDevice::link(const MediaEntity *source, unsigned int sourceIdx, const MediaEntity *sink, unsigned int sinkIdx) const - * \sa MediaDevice::link(const MediaPad *source, const MediaPad *sink) const + * \sa link(const MediaEntity *source, unsigned int sourceIdx, + * const MediaEntity *sink, unsigned int sinkIdx) + * \sa link(const MediaPad *source, const MediaPad *sink) * * \return The link that connects the two pads, or nullptr if no such a link * exists @@ -381,8 +382,9 @@ MediaLink *MediaDevice::link(const std::string &sourceName, unsigned int sourceI * entity \a source, to the pad at index \a sinkIdx of the sink entity \a * sink, if any. * - * \sa MediaDevice::link(const std::string &sourceName, unsigned int sourceIdx, const std::string &sinkName, unsigned int sinkIdx) const - * \sa MediaDevice::link(const MediaPad *source, const MediaPad *sink) const + * \sa link(const std::string &sourceName, unsigned int sourceIdx, + * const std::string &sinkName, unsigned int sinkIdx) + * \sa link(const MediaPad *source, const MediaPad *sink) * * \return The link that connects the two pads, or nullptr if no such a link * exists @@ -404,8 +406,10 @@ MediaLink *MediaDevice::link(const MediaEntity *source, unsigned int sourceIdx, * \param[in] source The source pad * \param[in] sink The sink pad * - * \sa MediaDevice::link(const std::string &sourceName, unsigned int sourceIdx, const std::string &sinkName, unsigned int sinkIdx) const - * \sa MediaDevice::link(const MediaEntity *source, unsigned int sourceIdx, const MediaEntity *sink, unsigned int sinkIdx) const + * \sa link(const std::string &sourceName, unsigned int sourceIdx, + * const std::string &sinkName, unsigned int sinkIdx) + * \sa link(const MediaEntity *source, unsigned int sourceIdx, + * const MediaEntity *sink, unsigned int sinkIdx) * * \return The link that connects the two pads, or nullptr if no such a link * exists @@ -473,7 +477,7 @@ int MediaDevice::open() return -EBUSY; } - fd_ = UniqueFD(::open(deviceNode_.c_str(), O_RDWR)); + fd_ = UniqueFD(::open(deviceNode_.c_str(), O_RDWR | O_CLOEXEC)); if (!fd_.isValid()) { int ret = -errno; LOG(MediaDevice, Error) diff --git a/src/libcamera/media_object.cpp b/src/libcamera/media_object.cpp index c78f4758..1b191a1e 100644 --- a/src/libcamera/media_object.cpp +++ b/src/libcamera/media_object.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2018, Google Inc. * - * media_object.cpp - Media device objects: entities, pads and links + * Media device objects: entities, pads and links */ #include "libcamera/internal/media_object.h" diff --git a/src/libcamera/meson.build b/src/libcamera/meson.build index b57bee7e..a3b12bc1 100644 --- a/src/libcamera/meson.build +++ b/src/libcamera/meson.build @@ -7,15 +7,15 @@ libcamera_sources = files([ 'camera_controls.cpp', 'camera_lens.cpp', 'camera_manager.cpp', - 'camera_sensor.cpp', - 'camera_sensor_properties.cpp', 'color_space.cpp', 'controls.cpp', 'control_serializer.cpp', 'control_validator.cpp', + 'converter.cpp', 'delayed_controls.cpp', 'device_enumerator.cpp', 'device_enumerator_sysfs.cpp', + 'dma_heaps.cpp', 'fence.cpp', 'formats.cpp', 'framebuffer.cpp', @@ -33,11 +33,13 @@ libcamera_sources = files([ 'mapped_framebuffer.cpp', 'media_device.cpp', 'media_object.cpp', + 'orientation.cpp', 'pipeline_handler.cpp', 'pixel_format.cpp', 'process.cpp', 'pub_key.cpp', 'request.cpp', + 'shared_mem_object.cpp', 'source_paths.cpp', 'stream.cpp', 'sysfs.cpp', @@ -57,20 +59,46 @@ includes = [ libcamera_includes, ] +libcamera_deps = [] + libatomic = cc.find_library('atomic', required : false) +libthreads = dependency('threads') subdir('base') +subdir('converter') subdir('ipa') subdir('pipeline') subdir('proxy') +subdir('sensor') +subdir('software_isp') + +null_dep = dependency('', required : false) -libdl = cc.find_library('dl') -libgnutls = cc.find_library('gnutls', required : true) -libudev = dependency('libudev', required : false) +# TODO: Use dependency('dl') when updating to meson 0.62.0 or newer. +libdl = null_dep +if not cc.has_function('dlopen') + libdl = cc.find_library('dl') +endif +libudev = dependency('libudev', required : get_option('udev')) libyaml = dependency('yaml-0.1', required : false) -if libgnutls.found() +# Use one of gnutls or libcrypto (provided by OpenSSL), trying gnutls first. +libcrypto = dependency('gnutls', required : false) +if libcrypto.found() config_h.set('HAVE_GNUTLS', 1) +else + libcrypto = dependency('libcrypto', required : false) + if libcrypto.found() + config_h.set('HAVE_CRYPTO', 1) + endif +endif + +if not libcrypto.found() + warning('Neither gnutls nor libcrypto found, all IPA modules will be isolated') + summary({'IPA modules signed with': 'None (modules will run isolated)'}, + section : 'Configuration') +else + summary({'IPA modules signed with' : libcrypto.name()}, section : 'Configuration') endif if liblttng.found() @@ -101,12 +129,27 @@ endif control_sources = [] -foreach source : control_source_files - input_files = files(source +'.yaml', source + '.cpp.in') - control_sources += custom_target(source + '_cpp', +controls_mode_files = { + 'controls' : controls_files, + 'properties' : properties_files, +} + +foreach mode, input_files : controls_mode_files + input_files = files(input_files) + + if mode == 'controls' + template_file = files('control_ids.cpp.in') + else + template_file = files('property_ids.cpp.in') + endif + + ranges_file = files('control_ranges.yaml') + control_sources += custom_target(mode + '_cpp', input : input_files, - output : source + '.cpp', - command : [gen_controls, '-o', '@OUTPUT@', '@INPUT@']) + output : mode + '_ids.cpp', + command : [gen_controls, '-o', '@OUTPUT@', + '--mode', mode, '-t', template_file, + '-r', ranges_file, '@INPUT@']) endforeach libcamera_sources += control_sources @@ -131,12 +174,12 @@ if ipa_sign_module libcamera_sources += ipa_pub_key_cpp endif -libcamera_deps = [ +libcamera_deps += [ libatomic, libcamera_base, libcamera_base_private, + libcrypto, libdl, - libgnutls, liblttng, libudev, libyaml, @@ -150,6 +193,7 @@ libcamera_deps = [ libcamera = shared_library('libcamera', libcamera_sources, version : libcamera_version, + soversion : libcamera_soversion, name_prefix : '', install : true, include_directories : includes, @@ -179,4 +223,6 @@ pkg_mod.generate(libcamera, description : 'Complex Camera Support Library', subdirs : 'libcamera') +meson.override_dependency('libcamera', libcamera_public) + subdir('proxy/worker') diff --git a/src/libcamera/orientation.cpp b/src/libcamera/orientation.cpp new file mode 100644 index 00000000..47fd6a32 --- /dev/null +++ b/src/libcamera/orientation.cpp @@ -0,0 +1,115 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2023, Ideas On Board Oy + * + * Image orientation + */ + +#include <libcamera/orientation.h> + +#include <array> +#include <string> + +/** + * \file libcamera/orientation.h + * \brief Image orientation definition + */ + +namespace libcamera { + +/** + * \enum Orientation + * \brief The image orientation in a memory buffer + * + * The Orientation enumeration describes the orientation of the images + * produced by the camera pipeline as they get received by the application + * inside memory buffers. + * + * The image orientation expressed using the Orientation enumeration can be then + * inferred by applying to a naturally oriented image a multiple of a 90 degrees + * rotation in the clockwise direction from the origin and then by applying an + * optional horizontal mirroring. + * + * The enumeration numerical values follow the ones defined by the EXIF + * Specification version 2.32, Tag 274 "Orientation", while the names of the + * enumerated values report the rotation and mirroring operations performed. + * + * For example, Orientation::Rotate90Mirror describes the orientation obtained + * by rotating the image 90 degrees clockwise first and then applying a + * horizontal mirroring. + * + * \var CameraConfiguration::Rotate0 + * \image html rotation/rotate0.svg + * \var CameraConfiguration::Rotate0Mirror + * \image html rotation/rotate0Mirror.svg + * \var CameraConfiguration::Rotate180 + * \image html rotation/rotate180.svg + * \var CameraConfiguration::Rotate180Mirror + * \image html rotation/rotate180Mirror.svg + * \var CameraConfiguration::Rotate90Mirror + * \image html rotation/rotate90Mirror.svg + * \var CameraConfiguration::Rotate270 + * \image html rotation/rotate270.svg + * \var CameraConfiguration::Rotate270Mirror + * \image html rotation/rotate270Mirror.svg + * \var CameraConfiguration::Rotate90 + * \image html rotation/rotate90.svg + */ + +/** + * \brief Return the orientation representing a rotation of the given angle + * clockwise + * \param[in] angle The angle of rotation in a clockwise sense. Negative values + * can be used to represent anticlockwise rotations + * \param[out] success Set to `true` if the angle is a multiple of 90 degrees, + * otherwise `false` + * \return The orientation corresponding to the rotation if \a success was set + * to `true`, otherwise the `Rotate0` orientation + */ +Orientation orientationFromRotation(int angle, bool *success) +{ + angle = angle % 360; + if (angle < 0) + angle += 360; + + if (success != nullptr) + *success = true; + + switch (angle) { + case 0: + return Orientation::Rotate0; + case 90: + return Orientation::Rotate90; + case 180: + return Orientation::Rotate180; + case 270: + return Orientation::Rotate270; + } + + if (success != nullptr) + *success = false; + + return Orientation::Rotate0; +} + +/** + * \brief Prints human-friendly names for Orientation items + * \param[in] out The output stream + * \param[in] orientation The Orientation item + * \return The output stream \a out + */ +std::ostream &operator<<(std::ostream &out, const Orientation &orientation) +{ + constexpr std::array<const char *, 9> orientationNames = { + "", /* Orientation starts counting from 1. */ + "Rotate0", "Rotate0Mirror", + "Rotate180", "Rotate180Mirror", + "Rotate90Mirror", "Rotate270", + "Rotate270Mirror", "Rotate90", + }; + + out << orientationNames[static_cast<unsigned int>(orientation)]; + return out; +} + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/imx8-isi/imx8-isi.cpp b/src/libcamera/pipeline/imx8-isi/imx8-isi.cpp new file mode 100644 index 00000000..72aa6c75 --- /dev/null +++ b/src/libcamera/pipeline/imx8-isi/imx8-isi.cpp @@ -0,0 +1,1117 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022 - Jacopo Mondi <jacopo@jmondi.org> + * + * Pipeline handler for ISI interface found on NXP i.MX8 SoC + */ + +#include <algorithm> +#include <map> +#include <memory> +#include <set> +#include <string> +#include <vector> + +#include <libcamera/base/log.h> +#include <libcamera/base/utils.h> + +#include <libcamera/camera_manager.h> +#include <libcamera/formats.h> +#include <libcamera/geometry.h> +#include <libcamera/stream.h> + +#include "libcamera/internal/bayer_format.h" +#include "libcamera/internal/camera.h" +#include "libcamera/internal/camera_sensor.h" +#include "libcamera/internal/device_enumerator.h" +#include "libcamera/internal/media_device.h" +#include "libcamera/internal/pipeline_handler.h" +#include "libcamera/internal/v4l2_subdevice.h" +#include "libcamera/internal/v4l2_videodevice.h" + +#include "linux/media-bus-format.h" + +namespace libcamera { + +LOG_DEFINE_CATEGORY(ISI) + +class PipelineHandlerISI; + +class ISICameraData : public Camera::Private +{ +public: + ISICameraData(PipelineHandler *ph) + : Camera::Private(ph) + { + /* + * \todo Assume 2 channels only for now, as that's the number of + * available channels on i.MX8MP. + */ + streams_.resize(2); + } + + PipelineHandlerISI *pipe(); + + int init(); + + unsigned int pipeIndex(const Stream *stream) + { + return stream - &*streams_.begin(); + } + + unsigned int getRawMediaBusFormat(PixelFormat *pixelFormat) const; + unsigned int getYuvMediaBusFormat(const PixelFormat &pixelFormat) const; + unsigned int getMediaBusFormat(PixelFormat *pixelFormat) const; + + std::unique_ptr<CameraSensor> sensor_; + std::unique_ptr<V4L2Subdevice> csis_; + + std::vector<Stream> streams_; + + std::vector<Stream *> enabledStreams_; + + unsigned int xbarSink_; +}; + +class ISICameraConfiguration : public CameraConfiguration +{ +public: + ISICameraConfiguration(ISICameraData *data) + : data_(data) + { + } + + Status validate() override; + + static const std::map<PixelFormat, unsigned int> formatsMap_; + + V4L2SubdeviceFormat sensorFormat_; + +private: + CameraConfiguration::Status + validateRaw(std::set<Stream *> &availableStreams, const Size &maxResolution); + CameraConfiguration::Status + validateYuv(std::set<Stream *> &availableStreams, const Size &maxResolution); + + const ISICameraData *data_; +}; + +class PipelineHandlerISI : public PipelineHandler +{ +public: + PipelineHandlerISI(CameraManager *manager); + + bool match(DeviceEnumerator *enumerator) override; + + std::unique_ptr<CameraConfiguration> + generateConfiguration(Camera *camera, Span<const StreamRole> roles) override; + int configure(Camera *camera, CameraConfiguration *config) override; + + int exportFrameBuffers(Camera *camera, Stream *stream, + std::vector<std::unique_ptr<FrameBuffer>> *buffers) override; + + int start(Camera *camera, const ControlList *controls) override; + +protected: + void stopDevice(Camera *camera) override; + + int queueRequestDevice(Camera *camera, Request *request) override; + +private: + static constexpr Size kPreviewSize = { 1920, 1080 }; + static constexpr Size kMinISISize = { 1, 1 }; + + struct Pipe { + std::unique_ptr<V4L2Subdevice> isi; + std::unique_ptr<V4L2VideoDevice> capture; + }; + + ISICameraData *cameraData(Camera *camera) + { + return static_cast<ISICameraData *>(camera->_d()); + } + + Pipe *pipeFromStream(Camera *camera, const Stream *stream); + + StreamConfiguration generateYUVConfiguration(Camera *camera, + const Size &size); + StreamConfiguration generateRawConfiguration(Camera *camera); + + void bufferReady(FrameBuffer *buffer); + + MediaDevice *isiDev_; + + std::unique_ptr<V4L2Subdevice> crossbar_; + std::vector<Pipe> pipes_; +}; + +/* ----------------------------------------------------------------------------- + * Camera Data + */ + +PipelineHandlerISI *ISICameraData::pipe() +{ + return static_cast<PipelineHandlerISI *>(Camera::Private::pipe()); +} + +/* Open and initialize pipe components. */ +int ISICameraData::init() +{ + int ret = sensor_->init(); + if (ret) + return ret; + + ret = csis_->open(); + if (ret) + return ret; + + properties_ = sensor_->properties(); + + return 0; +} + +/* + * Get a RAW Bayer media bus format compatible with the requested pixelFormat. + * + * If the requested pixelFormat cannot be produced by the sensor adjust it to + * the one corresponding to the media bus format with the largest bit-depth. + */ +unsigned int ISICameraData::getRawMediaBusFormat(PixelFormat *pixelFormat) const +{ + std::vector<unsigned int> mbusCodes = sensor_->mbusCodes(); + + static const std::map<PixelFormat, unsigned int> rawFormats = { + { formats::SBGGR8, MEDIA_BUS_FMT_SBGGR8_1X8 }, + { formats::SGBRG8, MEDIA_BUS_FMT_SGBRG8_1X8 }, + { formats::SGRBG8, MEDIA_BUS_FMT_SGRBG8_1X8 }, + { formats::SRGGB8, MEDIA_BUS_FMT_SRGGB8_1X8 }, + { formats::SBGGR10, MEDIA_BUS_FMT_SBGGR10_1X10 }, + { formats::SGBRG10, MEDIA_BUS_FMT_SGBRG10_1X10 }, + { formats::SGRBG10, MEDIA_BUS_FMT_SGRBG10_1X10 }, + { formats::SRGGB10, MEDIA_BUS_FMT_SRGGB10_1X10 }, + { formats::SBGGR12, MEDIA_BUS_FMT_SBGGR12_1X12 }, + { formats::SGBRG12, MEDIA_BUS_FMT_SGBRG12_1X12 }, + { formats::SGRBG12, MEDIA_BUS_FMT_SGRBG12_1X12 }, + { formats::SRGGB12, MEDIA_BUS_FMT_SRGGB12_1X12 }, + { formats::SBGGR14, MEDIA_BUS_FMT_SBGGR14_1X14 }, + { formats::SGBRG14, MEDIA_BUS_FMT_SGBRG14_1X14 }, + { formats::SGRBG14, MEDIA_BUS_FMT_SGRBG14_1X14 }, + { formats::SRGGB14, MEDIA_BUS_FMT_SRGGB14_1X14 }, + }; + + /* + * Make sure the requested PixelFormat is supported in the above + * map and the sensor can produce the compatible mbus code. + */ + auto it = rawFormats.find(*pixelFormat); + if (it != rawFormats.end() && + std::count(mbusCodes.begin(), mbusCodes.end(), it->second)) + return it->second; + + if (it == rawFormats.end()) + LOG(ISI, Warning) << pixelFormat + << " not supported in ISI formats map."; + + /* + * The desired pixel format cannot be produced. Adjust it to the one + * corresponding to the raw media bus format with the largest bit-depth + * the sensor provides. + */ + unsigned int sensorCode = 0; + unsigned int maxDepth = 0; + *pixelFormat = {}; + + for (unsigned int code : mbusCodes) { + /* Make sure the media bus format is RAW Bayer. */ + const BayerFormat &bayerFormat = BayerFormat::fromMbusCode(code); + if (!bayerFormat.isValid()) + continue; + + /* Make sure the media format is supported. */ + it = std::find_if(rawFormats.begin(), rawFormats.end(), + [code](auto &rawFormat) { + return rawFormat.second == code; + }); + + if (it == rawFormats.end()) { + LOG(ISI, Warning) << bayerFormat + << " not supported in ISI formats map."; + continue; + } + + /* Pick the one with the largest bit depth. */ + if (bayerFormat.bitDepth > maxDepth) { + maxDepth = bayerFormat.bitDepth; + *pixelFormat = it->first; + sensorCode = code; + } + } + + if (!pixelFormat->isValid()) + LOG(ISI, Error) << "Cannot find a supported RAW format"; + + return sensorCode; +} + +/* + * Get a YUV/RGB media bus format from which the ISI can produce a processed + * stream, preferring codes with the same colour encoding as the requested + * pixelformat. + * + * If the sensor does not provide any YUV/RGB media bus format the ISI cannot + * generate any processed pixel format as it cannot debayer. + */ +unsigned int ISICameraData::getYuvMediaBusFormat(const PixelFormat &pixelFormat) const +{ + std::vector<unsigned int> mbusCodes = sensor_->mbusCodes(); + + /* + * The ISI can produce YUV/RGB pixel formats from any non-RAW Bayer + * media bus formats. + * + * Keep the list in sync with the mxc_isi_bus_formats[] array in + * the ISI driver. + */ + std::vector<unsigned int> yuvCodes = { + MEDIA_BUS_FMT_UYVY8_1X16, + MEDIA_BUS_FMT_YUV8_1X24, + MEDIA_BUS_FMT_RGB565_1X16, + MEDIA_BUS_FMT_RGB888_1X24, + }; + + std::sort(mbusCodes.begin(), mbusCodes.end()); + std::sort(yuvCodes.begin(), yuvCodes.end()); + + std::vector<unsigned int> supportedCodes; + std::set_intersection(mbusCodes.begin(), mbusCodes.end(), + yuvCodes.begin(), yuvCodes.end(), + std::back_inserter(supportedCodes)); + + if (supportedCodes.empty()) { + LOG(ISI, Warning) << "Cannot find a supported YUV/RGB format"; + + return 0; + } + + /* Prefer codes with the same encoding as the requested pixel format. */ + const PixelFormatInfo &info = PixelFormatInfo::info(pixelFormat); + for (unsigned int code : supportedCodes) { + if (info.colourEncoding == PixelFormatInfo::ColourEncodingYUV && + (code == MEDIA_BUS_FMT_UYVY8_1X16 || + code == MEDIA_BUS_FMT_YUV8_1X24)) + return code; + + if (info.colourEncoding == PixelFormatInfo::ColourEncodingRGB && + (code == MEDIA_BUS_FMT_RGB565_1X16 || + code == MEDIA_BUS_FMT_RGB888_1X24)) + return code; + } + + /* Otherwise return the first found code. */ + return supportedCodes[0]; +} + +unsigned int ISICameraData::getMediaBusFormat(PixelFormat *pixelFormat) const +{ + if (PixelFormatInfo::info(*pixelFormat).colourEncoding == + PixelFormatInfo::ColourEncodingRAW) + return getRawMediaBusFormat(pixelFormat); + + return getYuvMediaBusFormat(*pixelFormat); +} + +/* ----------------------------------------------------------------------------- + * Camera Configuration + */ + +/* + * ISICameraConfiguration::formatsMap_ records the association between an output + * pixel format and the ISI source pixel format to be applied to the pipeline. + */ +const std::map<PixelFormat, unsigned int> ISICameraConfiguration::formatsMap_ = { + { formats::YUYV, MEDIA_BUS_FMT_YUV8_1X24 }, + { formats::AVUY8888, MEDIA_BUS_FMT_YUV8_1X24 }, + { formats::NV12, MEDIA_BUS_FMT_YUV8_1X24 }, + { formats::NV16, MEDIA_BUS_FMT_YUV8_1X24 }, + { formats::YUV444, MEDIA_BUS_FMT_YUV8_1X24 }, + { formats::RGB565, MEDIA_BUS_FMT_RGB888_1X24 }, + { formats::BGR888, MEDIA_BUS_FMT_RGB888_1X24 }, + { formats::RGB888, MEDIA_BUS_FMT_RGB888_1X24 }, + { formats::XRGB8888, MEDIA_BUS_FMT_RGB888_1X24 }, + { formats::ABGR8888, MEDIA_BUS_FMT_RGB888_1X24 }, + { formats::SBGGR8, MEDIA_BUS_FMT_SBGGR8_1X8 }, + { formats::SGBRG8, MEDIA_BUS_FMT_SGBRG8_1X8 }, + { formats::SGRBG8, MEDIA_BUS_FMT_SGRBG8_1X8 }, + { formats::SRGGB8, MEDIA_BUS_FMT_SRGGB8_1X8 }, + { formats::SBGGR10, MEDIA_BUS_FMT_SBGGR10_1X10 }, + { formats::SGBRG10, MEDIA_BUS_FMT_SGBRG10_1X10 }, + { formats::SGRBG10, MEDIA_BUS_FMT_SGRBG10_1X10 }, + { formats::SRGGB10, MEDIA_BUS_FMT_SRGGB10_1X10 }, + { formats::SBGGR12, MEDIA_BUS_FMT_SBGGR12_1X12 }, + { formats::SGBRG12, MEDIA_BUS_FMT_SGBRG12_1X12 }, + { formats::SGRBG12, MEDIA_BUS_FMT_SGRBG12_1X12 }, + { formats::SRGGB12, MEDIA_BUS_FMT_SRGGB12_1X12 }, +}; + +/* + * Adjust stream configuration when the first requested stream is RAW: all the + * streams will have the same RAW pixelformat and size. + */ +CameraConfiguration::Status +ISICameraConfiguration::validateRaw(std::set<Stream *> &availableStreams, + const Size &maxResolution) +{ + CameraConfiguration::Status status = Valid; + + /* + * Make sure the requested RAW format is supported by the + * pipeline, otherwise adjust it. + */ + std::vector<unsigned int> mbusCodes = data_->sensor_->mbusCodes(); + StreamConfiguration &rawConfig = config_[0]; + PixelFormat rawFormat = rawConfig.pixelFormat; + + unsigned int sensorCode = data_->getRawMediaBusFormat(&rawFormat); + if (!sensorCode) { + LOG(ISI, Error) << "Cannot adjust RAW pixelformat " + << rawConfig.pixelFormat; + return Invalid; + } + + if (rawFormat != rawConfig.pixelFormat) { + LOG(ISI, Debug) << "RAW pixelformat adjusted to " + << rawFormat; + rawConfig.pixelFormat = rawFormat; + status = Adjusted; + } + + /* Cap the RAW stream size to the maximum resolution. */ + const Size configSize = rawConfig.size; + rawConfig.size.boundTo(maxResolution); + if (rawConfig.size != configSize) { + LOG(ISI, Debug) << "RAW size adjusted to " + << rawConfig.size; + status = Adjusted; + } + + /* Adjust all other streams to RAW. */ + for (const auto &[i, cfg] : utils::enumerate(config_)) { + + LOG(ISI, Debug) << "Stream " << i << ": " << cfg.toString(); + const PixelFormat pixFmt = cfg.pixelFormat; + const Size size = cfg.size; + + cfg.pixelFormat = rawConfig.pixelFormat; + cfg.size = rawConfig.size; + + if (cfg.pixelFormat != pixFmt || cfg.size != size) { + LOG(ISI, Debug) << "Stream " << i << " adjusted to " + << cfg.toString(); + status = Adjusted; + } + + const PixelFormatInfo &info = PixelFormatInfo::info(cfg.pixelFormat); + cfg.stride = info.stride(cfg.size.width, 0); + cfg.frameSize = info.frameSize(cfg.size, info.bitsPerPixel); + + /* Assign streams in the order they are presented. */ + auto stream = availableStreams.extract(availableStreams.begin()); + cfg.setStream(stream.value()); + } + + return status; +} + +/* + * Adjust stream configuration when the first requested stream is not RAW: all + * the streams will be either YUV or RGB processed formats. + */ +CameraConfiguration::Status +ISICameraConfiguration::validateYuv(std::set<Stream *> &availableStreams, + const Size &maxResolution) +{ + CameraConfiguration::Status status = Valid; + + StreamConfiguration &yuvConfig = config_[0]; + PixelFormat yuvPixelFormat = yuvConfig.pixelFormat; + + /* + * Make sure the sensor can produce a compatible YUV/RGB media bus + * format. If the sensor can only produce RAW Bayer we can only fail + * here as we can't adjust to anything but RAW. + */ + unsigned int yuvMediaBusCode = data_->getYuvMediaBusFormat(yuvPixelFormat); + if (!yuvMediaBusCode) { + LOG(ISI, Error) << "Cannot adjust pixelformat " + << yuvConfig.pixelFormat; + return Invalid; + } + + /* Adjust all the other streams. */ + for (const auto &[i, cfg] : utils::enumerate(config_)) { + + LOG(ISI, Debug) << "Stream " << i << ": " << cfg.toString(); + + /* If the stream is RAW or not supported default it to YUYV. */ + const PixelFormatInfo &cfgInfo = PixelFormatInfo::info(cfg.pixelFormat); + if (cfgInfo.colourEncoding == PixelFormatInfo::ColourEncodingRAW || + !formatsMap_.count(cfg.pixelFormat)) { + + LOG(ISI, Debug) << "Stream " << i << " format: " + << cfg.pixelFormat << " adjusted to YUYV"; + + cfg.pixelFormat = formats::YUYV; + status = Adjusted; + } + + /* Cap the streams size to the maximum accepted resolution. */ + Size configSize = cfg.size; + cfg.size.boundTo(maxResolution); + if (cfg.size != configSize) { + LOG(ISI, Debug) + << "Stream " << i << " adjusted to " << cfg.size; + status = Adjusted; + } + + /* Re-fetch the pixel format info in case it has been adjusted. */ + const PixelFormatInfo &info = PixelFormatInfo::info(cfg.pixelFormat); + + /* \todo Multiplane ? */ + cfg.stride = info.stride(cfg.size.width, 0); + cfg.frameSize = info.frameSize(cfg.size, info.bitsPerPixel); + + /* Assign streams in the order they are presented. */ + auto stream = availableStreams.extract(availableStreams.begin()); + cfg.setStream(stream.value()); + } + + return status; +} + +CameraConfiguration::Status ISICameraConfiguration::validate() +{ + Status status = Valid; + + std::set<Stream *> availableStreams; + std::transform(data_->streams_.begin(), data_->streams_.end(), + std::inserter(availableStreams, availableStreams.end()), + [](const Stream &s) { return const_cast<Stream *>(&s); }); + + if (config_.empty()) + return Invalid; + + /* Cap the number of streams to the number of available ISI pipes. */ + if (config_.size() > availableStreams.size()) { + config_.resize(availableStreams.size()); + status = Adjusted; + } + + /* + * If more than a single stream is requested, the maximum allowed input + * image width is 2048. Cap the maximum image size accordingly. + * + * \todo The (size > 1) check only applies to i.MX8MP which has 2 ISI + * channels. SoCs with more channels than the i.MX8MP are capable of + * supporting more streams with input width > 2048 by chaining + * successive channels together. Define a policy for channels allocation + * to fully support other SoCs. + */ + CameraSensor *sensor = data_->sensor_.get(); + Size maxResolution = sensor->resolution(); + if (config_.size() > 1) + maxResolution.width = std::min(2048U, maxResolution.width); + + /* Validate streams according to the format of the first one. */ + const PixelFormatInfo info = PixelFormatInfo::info(config_[0].pixelFormat); + + Status validationStatus; + if (info.colourEncoding == PixelFormatInfo::ColourEncodingRAW) + validationStatus = validateRaw(availableStreams, maxResolution); + else + validationStatus = validateYuv(availableStreams, maxResolution); + + if (validationStatus == Invalid) + return Invalid; + + if (validationStatus == Adjusted) + status = Adjusted; + + /* + * Sensor format selection policy: the first stream selects the media + * bus code to use, the largest stream selects the size. + * + * \todo The sensor format selection policy could be changed to + * prefer operating the sensor at full resolution to prioritize + * image quality in exchange of a usually slower frame rate. + * Usage of the STILL_CAPTURE role could be consider for this. + */ + Size maxSize; + for (const auto &cfg : config_) { + if (cfg.size > maxSize) + maxSize = cfg.size; + } + + PixelFormat pixelFormat = config_[0].pixelFormat; + + V4L2SubdeviceFormat sensorFormat{}; + sensorFormat.code = data_->getMediaBusFormat(&pixelFormat); + sensorFormat.size = maxSize; + + LOG(ISI, Debug) << "Computed sensor configuration: " << sensorFormat; + + /* + * We can't use CameraSensor::getFormat() as it might return a + * format larger than our strict width limit, as that function + * prioritizes formats with the same aspect ratio over formats with less + * difference in size. + * + * Manually walk all the sensor supported sizes searching for + * the smallest larger format without considering the aspect ratio + * as the ISI can freely scale. + */ + auto sizes = sensor->sizes(sensorFormat.code); + Size bestSize; + + for (const Size &s : sizes) { + /* Ignore smaller sizes. */ + if (s.width < sensorFormat.size.width || + s.height < sensorFormat.size.height) + continue; + + /* Make sure the width stays in the limits. */ + if (s.width > maxResolution.width) + continue; + + bestSize = s; + break; + } + + /* + * This should happen only if the sensor can only produce formats that + * exceed the maximum allowed input width. + */ + if (bestSize.isNull()) { + LOG(ISI, Error) << "Unable to find a suitable sensor format"; + return Invalid; + } + + sensorFormat_.code = sensorFormat.code; + sensorFormat_.size = bestSize; + + LOG(ISI, Debug) << "Selected sensor format: " << sensorFormat_; + + return status; +} + +/* ----------------------------------------------------------------------------- + * Pipeline Handler + */ + +PipelineHandlerISI::PipelineHandlerISI(CameraManager *manager) + : PipelineHandler(manager) +{ +} + +/* + * Generate a StreamConfiguration for YUV/RGB use case. + * + * Verify it the sensor can produce a YUV/RGB media bus format and collect + * all the processed pixel formats the ISI can generate as supported stream + * configurations. + */ +StreamConfiguration PipelineHandlerISI::generateYUVConfiguration(Camera *camera, + const Size &size) +{ + ISICameraData *data = cameraData(camera); + PixelFormat pixelFormat = formats::YUYV; + unsigned int mbusCode; + + mbusCode = data->getYuvMediaBusFormat(pixelFormat); + if (!mbusCode) + return {}; + + /* Adjust the requested size to the sensor's capabilities. */ + V4L2SubdeviceFormat sensorFmt; + sensorFmt.code = mbusCode; + sensorFmt.size = size; + + int ret = data->sensor_->tryFormat(&sensorFmt); + if (ret) { + LOG(ISI, Error) << "Failed to try sensor format."; + return {}; + } + + Size sensorSize = sensorFmt.size; + + /* + * Populate the StreamConfiguration. + * + * As the sensor supports at least one YUV/RGB media bus format all the + * processed ones in formatsMap_ can be generated from it. + */ + std::map<PixelFormat, std::vector<SizeRange>> streamFormats; + + for (const auto &[pixFmt, pipeFmt] : ISICameraConfiguration::formatsMap_) { + const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt); + if (info.colourEncoding == PixelFormatInfo::ColourEncodingRAW) + continue; + + streamFormats[pixFmt] = { { kMinISISize, sensorSize } }; + } + + StreamFormats formats(streamFormats); + + StreamConfiguration cfg(formats); + cfg.pixelFormat = pixelFormat; + cfg.size = sensorSize; + cfg.bufferCount = 4; + + return cfg; +} + +/* + * Generate a StreamConfiguration for Raw Bayer use case. Verify if the sensor + * can produce the requested RAW bayer format and eventually adjust it to + * the one with the largest bit-depth the sensor can produce. + */ +StreamConfiguration PipelineHandlerISI::generateRawConfiguration(Camera *camera) +{ + static const std::map<unsigned int, PixelFormat> rawFormats = { + { MEDIA_BUS_FMT_SBGGR8_1X8, formats::SBGGR8 }, + { MEDIA_BUS_FMT_SGBRG8_1X8, formats::SGBRG8 }, + { MEDIA_BUS_FMT_SGRBG8_1X8, formats::SGRBG8 }, + { MEDIA_BUS_FMT_SRGGB8_1X8, formats::SRGGB8 }, + { MEDIA_BUS_FMT_SBGGR10_1X10, formats::SBGGR10 }, + { MEDIA_BUS_FMT_SGBRG10_1X10, formats::SGBRG10 }, + { MEDIA_BUS_FMT_SGRBG10_1X10, formats::SGRBG10 }, + { MEDIA_BUS_FMT_SRGGB10_1X10, formats::SRGGB10 }, + { MEDIA_BUS_FMT_SBGGR12_1X12, formats::SBGGR12 }, + { MEDIA_BUS_FMT_SGBRG12_1X12, formats::SGBRG12 }, + { MEDIA_BUS_FMT_SGRBG12_1X12, formats::SGRBG12 }, + { MEDIA_BUS_FMT_SRGGB12_1X12, formats::SRGGB12 }, + { MEDIA_BUS_FMT_SBGGR14_1X14, formats::SBGGR14 }, + { MEDIA_BUS_FMT_SGBRG14_1X14, formats::SGBRG14 }, + { MEDIA_BUS_FMT_SGRBG14_1X14, formats::SGRBG14 }, + { MEDIA_BUS_FMT_SRGGB14_1X14, formats::SRGGB14 }, + }; + + ISICameraData *data = cameraData(camera); + PixelFormat pixelFormat = formats::SBGGR10; + unsigned int mbusCode; + + /* pixelFormat will be adjusted, if the sensor can produce RAW. */ + mbusCode = data->getRawMediaBusFormat(&pixelFormat); + if (!mbusCode) + return {}; + + /* + * Populate the StreamConfiguration with all the supported Bayer + * formats the sensor can produce. + */ + std::map<PixelFormat, std::vector<SizeRange>> streamFormats; + const CameraSensor *sensor = data->sensor_.get(); + + for (unsigned int code : sensor->mbusCodes()) { + /* Find a Bayer media bus code from the sensor. */ + const BayerFormat &bayerFormat = BayerFormat::fromMbusCode(code); + if (!bayerFormat.isValid()) + continue; + + auto it = rawFormats.find(code); + if (it == rawFormats.end()) { + LOG(ISI, Warning) << bayerFormat + << " not supported in ISI formats map."; + continue; + } + + streamFormats[it->second] = { { sensor->resolution(), sensor->resolution() } }; + } + + StreamFormats formats(streamFormats); + + StreamConfiguration cfg(formats); + cfg.size = sensor->resolution(); + cfg.pixelFormat = pixelFormat; + cfg.bufferCount = 4; + + return cfg; +} + +std::unique_ptr<CameraConfiguration> +PipelineHandlerISI::generateConfiguration(Camera *camera, + Span<const StreamRole> roles) +{ + ISICameraData *data = cameraData(camera); + std::unique_ptr<ISICameraConfiguration> config = + std::make_unique<ISICameraConfiguration>(data); + + if (roles.empty()) + return config; + + if (roles.size() > data->streams_.size()) { + LOG(ISI, Error) << "Only up to " << data->streams_.size() + << " streams are supported"; + return nullptr; + } + + for (const auto &role : roles) { + /* + * Prefer the following formats: + * - Still Capture: Full resolution YUYV + * - ViewFinder/VideoRecording: 1080p YUYV + * - RAW: Full resolution Bayer + */ + StreamConfiguration cfg; + + switch (role) { + case StreamRole::StillCapture: + case StreamRole::Viewfinder: + case StreamRole::VideoRecording: { + Size size = role == StreamRole::StillCapture + ? data->sensor_->resolution() + : PipelineHandlerISI::kPreviewSize; + cfg = generateYUVConfiguration(camera, size); + if (cfg.pixelFormat.isValid()) + break; + + + /* + * Fallback to use a Bayer format if that's what the + * sensor supports. + */ + [[fallthrough]]; + + } + + case StreamRole::Raw: { + cfg = generateRawConfiguration(camera); + break; + } + + default: + LOG(ISI, Error) << "Requested stream role not supported: " << role; + return nullptr; + } + + if (!cfg.pixelFormat.isValid()) { + LOG(ISI, Error) + << "Cannot generate configuration for role: " << role; + return nullptr; + } + + config->addConfiguration(cfg); + } + + config->validate(); + + return config; +} + +int PipelineHandlerISI::configure(Camera *camera, CameraConfiguration *c) +{ + ISICameraConfiguration *camConfig = static_cast<ISICameraConfiguration *>(c); + ISICameraData *data = cameraData(camera); + + /* All links are immutable except the sensor -> csis link. */ + const MediaPad *sensorSrc = data->sensor_->entity()->getPadByIndex(0); + sensorSrc->links()[0]->setEnabled(true); + + /* + * Reset the crossbar switch routing and enable one route for each + * requested stream configuration. + * + * \todo Handle concurrent usage of multiple cameras by adjusting the + * routing table instead of resetting it. + */ + V4L2Subdevice::Routing routing = {}; + unsigned int xbarFirstSource = crossbar_->entity()->pads().size() / 2 + 1; + + for (const auto &[idx, config] : utils::enumerate(*c)) { + uint32_t sourcePad = xbarFirstSource + idx; + routing.emplace_back(V4L2Subdevice::Stream{ data->xbarSink_, 0 }, + V4L2Subdevice::Stream{ sourcePad, 0 }, + V4L2_SUBDEV_ROUTE_FL_ACTIVE); + } + + int ret = crossbar_->setRouting(&routing, V4L2Subdevice::ActiveFormat); + if (ret) + return ret; + + /* Apply format to the sensor and CSIS receiver. */ + V4L2SubdeviceFormat format = camConfig->sensorFormat_; + ret = data->sensor_->setFormat(&format); + if (ret) + return ret; + + ret = data->csis_->setFormat(0, &format); + if (ret) + return ret; + + ret = crossbar_->setFormat(data->xbarSink_, &format); + if (ret) + return ret; + + /* Now configure the ISI and video node instances, one per stream. */ + data->enabledStreams_.clear(); + for (const auto &config : *c) { + Pipe *pipe = pipeFromStream(camera, config.stream()); + + /* + * Set the format on the ISI sink pad: it must match what is + * received by the CSIS. + */ + ret = pipe->isi->setFormat(0, &format); + if (ret) + return ret; + + /* + * Configure the ISI sink compose rectangle to downscale the + * image. + * + * \todo Additional cropping could be applied on the ISI source + * pad to further reduce the output image size. + */ + Rectangle isiScale(config.size); + ret = pipe->isi->setSelection(0, V4L2_SEL_TGT_COMPOSE, &isiScale); + if (ret) + return ret; + + /* + * Set the format on ISI source pad: only the media bus code + * is relevant as it configures format conversion, while the + * size is taken from the sink's COMPOSE (or source's CROP, + * if any) rectangles. + */ + unsigned int isiCode = ISICameraConfiguration::formatsMap_.at(config.pixelFormat); + + V4L2SubdeviceFormat isiFormat{}; + isiFormat.code = isiCode; + isiFormat.size = config.size; + + ret = pipe->isi->setFormat(1, &isiFormat); + if (ret) + return ret; + + V4L2DeviceFormat captureFmt{}; + captureFmt.fourcc = pipe->capture->toV4L2PixelFormat(config.pixelFormat); + captureFmt.size = config.size; + + /* \todo Set stride and format. */ + ret = pipe->capture->setFormat(&captureFmt); + if (ret) + return ret; + + /* Store the list of enabled streams for later use. */ + data->enabledStreams_.push_back(config.stream()); + } + + return 0; +} + +int PipelineHandlerISI::exportFrameBuffers(Camera *camera, Stream *stream, + std::vector<std::unique_ptr<FrameBuffer>> *buffers) +{ + unsigned int count = stream->configuration().bufferCount; + Pipe *pipe = pipeFromStream(camera, stream); + + return pipe->capture->exportBuffers(count, buffers); +} + +int PipelineHandlerISI::start(Camera *camera, + [[maybe_unused]] const ControlList *controls) +{ + ISICameraData *data = cameraData(camera); + + for (const auto &stream : data->enabledStreams_) { + Pipe *pipe = pipeFromStream(camera, stream); + const StreamConfiguration &config = stream->configuration(); + + int ret = pipe->capture->importBuffers(config.bufferCount); + if (ret) + return ret; + + ret = pipe->capture->streamOn(); + if (ret) + return ret; + } + + return 0; +} + +void PipelineHandlerISI::stopDevice(Camera *camera) +{ + ISICameraData *data = cameraData(camera); + + for (const auto &stream : data->enabledStreams_) { + Pipe *pipe = pipeFromStream(camera, stream); + + pipe->capture->streamOff(); + pipe->capture->releaseBuffers(); + } +} + +int PipelineHandlerISI::queueRequestDevice(Camera *camera, Request *request) +{ + for (auto &[stream, buffer] : request->buffers()) { + Pipe *pipe = pipeFromStream(camera, stream); + + int ret = pipe->capture->queueBuffer(buffer); + if (ret) + return ret; + } + + return 0; +} + +bool PipelineHandlerISI::match(DeviceEnumerator *enumerator) +{ + DeviceMatch dm("mxc-isi"); + dm.add("crossbar"); + dm.add("mxc_isi.0"); + dm.add("mxc_isi.0.capture"); + + isiDev_ = acquireMediaDevice(enumerator, dm); + if (!isiDev_) + return false; + + /* + * Acquire the subdevs and video nodes for the crossbar switch and the + * processing pipelines. + */ + crossbar_ = V4L2Subdevice::fromEntityName(isiDev_, "crossbar"); + if (!crossbar_) + return false; + + int ret = crossbar_->open(); + if (ret) + return false; + + for (unsigned int i = 0; ; ++i) { + std::string entityName = "mxc_isi." + std::to_string(i); + std::unique_ptr<V4L2Subdevice> isi = + V4L2Subdevice::fromEntityName(isiDev_, entityName); + if (!isi) + break; + + ret = isi->open(); + if (ret) + return false; + + entityName += ".capture"; + std::unique_ptr<V4L2VideoDevice> capture = + V4L2VideoDevice::fromEntityName(isiDev_, entityName); + if (!capture) + return false; + + capture->bufferReady.connect(this, &PipelineHandlerISI::bufferReady); + + ret = capture->open(); + if (ret) + return ret; + + pipes_.push_back({ std::move(isi), std::move(capture) }); + } + + if (pipes_.empty()) { + LOG(ISI, Error) << "Unable to enumerate pipes"; + return false; + } + + /* + * Loop over all the crossbar switch sink pads to find connected CSI-2 + * receivers and camera sensors. + */ + unsigned int numCameras = 0; + unsigned int numSinks = 0; + for (MediaPad *pad : crossbar_->entity()->pads()) { + unsigned int sink = numSinks; + + if (!(pad->flags() & MEDIA_PAD_FL_SINK) || pad->links().empty()) + continue; + + /* + * Count each crossbar sink pad to correctly configure + * routing and format for this camera. + */ + numSinks++; + + MediaEntity *csi = pad->links()[0]->source()->entity(); + if (csi->pads().size() != 2) { + LOG(ISI, Debug) << "Skip unsupported CSI-2 receiver " + << csi->name(); + continue; + } + + pad = csi->pads()[0]; + if (!(pad->flags() & MEDIA_PAD_FL_SINK) || pad->links().empty()) + continue; + + MediaEntity *sensor = pad->links()[0]->source()->entity(); + if (sensor->function() != MEDIA_ENT_F_CAM_SENSOR) { + LOG(ISI, Debug) << "Skip unsupported subdevice " + << sensor->name(); + continue; + } + + /* Create the camera data. */ + std::unique_ptr<ISICameraData> data = + std::make_unique<ISICameraData>(this); + + data->sensor_ = std::make_unique<CameraSensor>(sensor); + data->csis_ = std::make_unique<V4L2Subdevice>(csi); + data->xbarSink_ = sink; + + ret = data->init(); + if (ret) { + LOG(ISI, Error) << "Failed to initialize camera data"; + return false; + } + + /* Register the camera. */ + const std::string &id = data->sensor_->id(); + std::set<Stream *> streams; + std::transform(data->streams_.begin(), data->streams_.end(), + std::inserter(streams, streams.end()), + [](Stream &s) { return &s; }); + + std::shared_ptr<Camera> camera = + Camera::create(std::move(data), id, streams); + + registerCamera(std::move(camera)); + numCameras++; + } + + return numCameras > 0; +} + +PipelineHandlerISI::Pipe *PipelineHandlerISI::pipeFromStream(Camera *camera, + const Stream *stream) +{ + ISICameraData *data = cameraData(camera); + unsigned int pipeIndex = data->pipeIndex(stream); + + ASSERT(pipeIndex < pipes_.size()); + + return &pipes_[pipeIndex]; +} + +void PipelineHandlerISI::bufferReady(FrameBuffer *buffer) +{ + Request *request = buffer->request(); + + /* Record the sensor's timestamp in the request metadata. */ + ControlList &metadata = request->metadata(); + if (!metadata.contains(controls::SensorTimestamp.id())) + metadata.set(controls::SensorTimestamp, + buffer->metadata().timestamp); + + completeBuffer(request, buffer); + if (request->hasPendingBuffers()) + return; + + completeRequest(request); +} + +REGISTER_PIPELINE_HANDLER(PipelineHandlerISI, "imx8-isi") + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/imx8-isi/meson.build b/src/libcamera/pipeline/imx8-isi/meson.build new file mode 100644 index 00000000..ffd0ce54 --- /dev/null +++ b/src/libcamera/pipeline/imx8-isi/meson.build @@ -0,0 +1,5 @@ +# SPDX-License-Identifier: CC0-1.0 + +libcamera_sources += files([ + 'imx8-isi.cpp' +]) diff --git a/src/libcamera/pipeline/ipu3/cio2.cpp b/src/libcamera/pipeline/ipu3/cio2.cpp index 08e254f7..81a7a8ab 100644 --- a/src/libcamera/pipeline/ipu3/cio2.cpp +++ b/src/libcamera/pipeline/ipu3/cio2.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * cio2.cpp - Intel IPU3 CIO2 + * Intel IPU3 CIO2 */ #include "cio2.h" @@ -15,6 +15,7 @@ #include <libcamera/formats.h> #include <libcamera/geometry.h> #include <libcamera/stream.h> +#include <libcamera/transform.h> #include "libcamera/internal/camera_sensor.h" #include "libcamera/internal/framebuffer.h" @@ -177,10 +178,12 @@ int CIO2Device::init(const MediaDevice *media, unsigned int index) /** * \brief Configure the CIO2 unit * \param[in] size The requested CIO2 output frame size + * \param[in] transform The transformation to be applied on the image sensor * \param[out] outputFormat The CIO2 unit output image format * \return 0 on success or a negative error code otherwise */ -int CIO2Device::configure(const Size &size, V4L2DeviceFormat *outputFormat) +int CIO2Device::configure(const Size &size, const Transform &transform, + V4L2DeviceFormat *outputFormat) { V4L2SubdeviceFormat sensorFormat; int ret; @@ -191,7 +194,7 @@ int CIO2Device::configure(const Size &size, V4L2DeviceFormat *outputFormat) */ std::vector<unsigned int> mbusCodes = utils::map_keys(mbusCodesToPixelFormat); sensorFormat = getSensorFormat(mbusCodes, size); - ret = sensor_->setFormat(&sensorFormat); + ret = sensor_->setFormat(&sensorFormat, transform); if (ret) return ret; @@ -199,11 +202,11 @@ int CIO2Device::configure(const Size &size, V4L2DeviceFormat *outputFormat) if (ret) return ret; - const auto &itInfo = mbusCodesToPixelFormat.find(sensorFormat.mbus_code); + const auto &itInfo = mbusCodesToPixelFormat.find(sensorFormat.code); if (itInfo == mbusCodesToPixelFormat.end()) return -EINVAL; - outputFormat->fourcc = V4L2PixelFormat::fromPixelFormat(itInfo->second); + outputFormat->fourcc = output_->toV4L2PixelFormat(itInfo->second); outputFormat->size = sensorFormat.size; outputFormat->planesCount = 1; @@ -227,13 +230,13 @@ StreamConfiguration CIO2Device::generateConfiguration(Size size) const /* Query the sensor static information for closest match. */ std::vector<unsigned int> mbusCodes = utils::map_keys(mbusCodesToPixelFormat); V4L2SubdeviceFormat sensorFormat = getSensorFormat(mbusCodes, size); - if (!sensorFormat.mbus_code) { + if (!sensorFormat.code) { LOG(IPU3, Error) << "Sensor does not support mbus code"; return {}; } cfg.size = sensorFormat.size; - cfg.pixelFormat = mbusCodesToPixelFormat.at(sensorFormat.mbus_code); + cfg.pixelFormat = mbusCodesToPixelFormat.at(sensorFormat.code); cfg.bufferCount = kBufferCount; return cfg; @@ -323,7 +326,7 @@ V4L2SubdeviceFormat CIO2Device::getSensorFormat(const std::vector<unsigned int> } V4L2SubdeviceFormat format{}; - format.mbus_code = bestCode; + format.code = bestCode; format.size = bestSize; return format; diff --git a/src/libcamera/pipeline/ipu3/cio2.h b/src/libcamera/pipeline/ipu3/cio2.h index 68504a2d..963c2f6b 100644 --- a/src/libcamera/pipeline/ipu3/cio2.h +++ b/src/libcamera/pipeline/ipu3/cio2.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * cio2.h - Intel IPU3 CIO2 + * Intel IPU3 CIO2 */ #pragma once @@ -26,6 +26,7 @@ class Request; class Size; class SizeRange; struct StreamConfiguration; +enum class Transform; class CIO2Device { @@ -38,7 +39,8 @@ public: std::vector<SizeRange> sizes(const PixelFormat &format) const; int init(const MediaDevice *media, unsigned int index); - int configure(const Size &size, V4L2DeviceFormat *outputFormat); + int configure(const Size &size, const Transform &transform, + V4L2DeviceFormat *outputFormat); StreamConfiguration generateConfiguration(Size size) const; diff --git a/src/libcamera/pipeline/ipu3/frames.cpp b/src/libcamera/pipeline/ipu3/frames.cpp index a4c3477c..88eb9d05 100644 --- a/src/libcamera/pipeline/ipu3/frames.cpp +++ b/src/libcamera/pipeline/ipu3/frames.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * frames.cpp - Intel IPU3 Frames helper + * Intel IPU3 Frames helper */ #include "frames.h" diff --git a/src/libcamera/pipeline/ipu3/frames.h b/src/libcamera/pipeline/ipu3/frames.h index 6e3cb915..a347b66f 100644 --- a/src/libcamera/pipeline/ipu3/frames.h +++ b/src/libcamera/pipeline/ipu3/frames.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * frames.h - Intel IPU3 Frames helper + * Intel IPU3 Frames helper */ #pragma once diff --git a/src/libcamera/pipeline/ipu3/imgu.cpp b/src/libcamera/pipeline/ipu3/imgu.cpp index 59305f85..7be78091 100644 --- a/src/libcamera/pipeline/ipu3/imgu.cpp +++ b/src/libcamera/pipeline/ipu3/imgu.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * imgu.cpp - Intel IPU3 ImgU + * Intel IPU3 ImgU */ #include "imgu.h" @@ -504,7 +504,7 @@ int ImgUDevice::configure(const PipeConfig &pipeConfig, V4L2DeviceFormat *inputF LOG(IPU3, Debug) << "ImgU BDS rectangle = " << bds; V4L2SubdeviceFormat gdcFormat = {}; - gdcFormat.mbus_code = MEDIA_BUS_FMT_FIXED; + gdcFormat.code = MEDIA_BUS_FMT_FIXED; gdcFormat.size = pipeConfig.gdc; ret = imgu_->setFormat(PAD_INPUT, &gdcFormat); @@ -543,7 +543,7 @@ int ImgUDevice::configureVideoDevice(V4L2VideoDevice *dev, unsigned int pad, V4L2DeviceFormat *outputFormat) { V4L2SubdeviceFormat imguFormat = {}; - imguFormat.mbus_code = MEDIA_BUS_FMT_FIXED; + imguFormat.code = MEDIA_BUS_FMT_FIXED; imguFormat.size = cfg.size; int ret = imgu_->setFormat(pad, &imguFormat); @@ -558,7 +558,7 @@ int ImgUDevice::configureVideoDevice(V4L2VideoDevice *dev, unsigned int pad, return 0; *outputFormat = {}; - outputFormat->fourcc = V4L2PixelFormat::fromPixelFormat(formats::NV12); + outputFormat->fourcc = dev->toV4L2PixelFormat(formats::NV12); outputFormat->size = cfg.size; outputFormat->planesCount = 2; diff --git a/src/libcamera/pipeline/ipu3/imgu.h b/src/libcamera/pipeline/ipu3/imgu.h index 0af4dd8a..fa508316 100644 --- a/src/libcamera/pipeline/ipu3/imgu.h +++ b/src/libcamera/pipeline/ipu3/imgu.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * imgu.h - Intel IPU3 ImgU + * Intel IPU3 ImgU */ #pragma once diff --git a/src/libcamera/pipeline/ipu3/ipu3.cpp b/src/libcamera/pipeline/ipu3/ipu3.cpp index b7dda282..066fd4a2 100644 --- a/src/libcamera/pipeline/ipu3/ipu3.cpp +++ b/src/libcamera/pipeline/ipu3/ipu3.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * ipu3.cpp - Pipeline handler for Intel IPU3 + * Pipeline handler for Intel IPU3 */ #include <algorithm> @@ -11,6 +11,8 @@ #include <queue> #include <vector> +#include <linux/intel-ipu3.h> + #include <libcamera/base/log.h> #include <libcamera/base/utils.h> @@ -49,7 +51,7 @@ class IPU3CameraData : public Camera::Private { public: IPU3CameraData(PipelineHandler *pipe) - : Camera::Private(pipe), supportsFlips_(false) + : Camera::Private(pipe) { } @@ -71,8 +73,6 @@ public: Stream rawStream_; Rectangle cropRegion_; - bool supportsFlips_; - Transform rotationTransform_; std::unique_ptr<DelayedControls> delayedCtrls_; IPU3Frames frameInfos_; @@ -134,8 +134,8 @@ public: PipelineHandlerIPU3(CameraManager *manager); - CameraConfiguration *generateConfiguration(Camera *camera, - const StreamRoles &roles) override; + std::unique_ptr<CameraConfiguration> generateConfiguration(Camera *camera, + Span<const StreamRole> roles) override; int configure(Camera *camera, CameraConfiguration *config) override; int exportFrameBuffers(Camera *camera, Stream *stream, @@ -182,48 +182,15 @@ CameraConfiguration::Status IPU3CameraConfiguration::validate() if (config_.empty()) return Invalid; - Transform combined = transform * data_->rotationTransform_; - - /* - * We combine the platform and user transform, but must "adjust away" - * any combined result that includes a transposition, as we can't do - * those. In this case, flipping only the transpose bit is helpful to - * applications - they either get the transform they requested, or have - * to do a simple transpose themselves (they don't have to worry about - * the other possible cases). - */ - if (!!(combined & Transform::Transpose)) { - /* - * Flipping the transpose bit in "transform" flips it in the - * combined result too (as it's the last thing that happens), - * which is of course clearing it. - */ - transform ^= Transform::Transpose; - combined &= ~Transform::Transpose; - status = Adjusted; - } - /* - * We also check if the sensor doesn't do h/vflips at all, in which - * case we clear them, and the application will have to do everything. + * Validate the requested transform against the sensor capabilities and + * rotation and store the final combined transform that configure() will + * need to apply to the sensor to save us working it out again. */ - if (!data_->supportsFlips_ && !!combined) { - /* - * If the sensor can do no transforms, then combined must be - * changed to the identity. The only user transform that gives - * rise to this is the inverse of the rotation. (Recall that - * combined = transform * rotationTransform.) - */ - transform = -data_->rotationTransform_; - combined = Transform::Identity; + Orientation requestedOrientation = orientation; + combinedTransform_ = data_->cio2_.sensor()->computeTransform(&orientation); + if (orientation != requestedOrientation) status = Adjusted; - } - - /* - * Store the final combined transform that configure() will need to - * apply to the sensor to save us working it out again. - */ - combinedTransform_ = combined; /* Cap the number of entries to the available streams. */ if (config_.size() > kMaxStreams) { @@ -243,6 +210,7 @@ CameraConfiguration::Status IPU3CameraConfiguration::validate() */ unsigned int rawCount = 0; unsigned int yuvCount = 0; + Size rawRequirement; Size maxYuvSize; Size rawSize; @@ -251,10 +219,11 @@ CameraConfiguration::Status IPU3CameraConfiguration::validate() if (info.colourEncoding == PixelFormatInfo::ColourEncodingRAW) { rawCount++; - rawSize.expandTo(cfg.size); + rawSize = std::max(rawSize, cfg.size); } else { yuvCount++; - maxYuvSize.expandTo(cfg.size); + maxYuvSize = std::max(maxYuvSize, cfg.size); + rawRequirement.expandTo(cfg.size); } } @@ -283,17 +252,17 @@ CameraConfiguration::Status IPU3CameraConfiguration::validate() * The output YUV streams will be limited in size to the maximum frame * size requested for the RAW stream, if present. * - * If no raw stream is requested generate a size as large as the maximum - * requested YUV size aligned to the ImgU constraints and bound by the - * sensor's maximum resolution. See + * If no raw stream is requested, generate a size from the largest YUV + * stream, aligned to the ImgU constraints and bound + * by the sensor's maximum resolution. See * https://bugs.libcamera.org/show_bug.cgi?id=32 */ if (rawSize.isNull()) - rawSize = maxYuvSize.expandedTo({ ImgUDevice::kIFMaxCropWidth, - ImgUDevice::kIFMaxCropHeight }) - .grownBy({ ImgUDevice::kOutputMarginWidth, - ImgUDevice::kOutputMarginHeight }) - .boundedTo(data_->cio2_.sensor()->resolution()); + rawSize = rawRequirement.expandedTo({ ImgUDevice::kIFMaxCropWidth, + ImgUDevice::kIFMaxCropHeight }) + .grownBy({ ImgUDevice::kOutputMarginWidth, + ImgUDevice::kOutputMarginHeight }) + .boundedTo(data_->cio2_.sensor()->resolution()); cio2Configuration_ = data_->cio2_.generateConfiguration(rawSize); if (!cio2Configuration_.pixelFormat.isValid()) @@ -420,11 +389,12 @@ PipelineHandlerIPU3::PipelineHandlerIPU3(CameraManager *manager) { } -CameraConfiguration *PipelineHandlerIPU3::generateConfiguration(Camera *camera, - const StreamRoles &roles) +std::unique_ptr<CameraConfiguration> +PipelineHandlerIPU3::generateConfiguration(Camera *camera, Span<const StreamRole> roles) { IPU3CameraData *data = cameraData(camera); - IPU3CameraConfiguration *config = new IPU3CameraConfiguration(data); + std::unique_ptr<IPU3CameraConfiguration> config = + std::make_unique<IPU3CameraConfiguration>(data); if (roles.empty()) return config; @@ -490,7 +460,6 @@ CameraConfiguration *PipelineHandlerIPU3::generateConfiguration(Camera *camera, default: LOG(IPU3, Error) << "Requested stream role not supported: " << role; - delete config; return nullptr; } @@ -552,7 +521,7 @@ int PipelineHandlerIPU3::configure(Camera *camera, CameraConfiguration *c) return ret; /* - * \todo: Enable links selectively based on the requested streams. + * \todo Enable links selectively based on the requested streams. * As of now, enable all links unconditionally. * \todo Don't configure the ImgU at all if we only have a single * stream which is for raw capture, in which case no buffers will @@ -568,7 +537,7 @@ int PipelineHandlerIPU3::configure(Camera *camera, CameraConfiguration *c) */ const Size &sensorSize = config->cio2Format().size; V4L2DeviceFormat cio2Format; - ret = cio2->configure(sensorSize, &cio2Format); + ret = cio2->configure(sensorSize, config->combinedTransform_, &cio2Format); if (ret) return ret; @@ -577,24 +546,6 @@ int PipelineHandlerIPU3::configure(Camera *camera, CameraConfiguration *c) data->cropRegion_ = sensorInfo.analogCrop; /* - * Configure the H/V flip controls based on the combination of - * the sensor and user transform. - */ - if (data->supportsFlips_) { - ControlList sensorCtrls(cio2->sensor()->controls()); - sensorCtrls.set(V4L2_CID_HFLIP, - static_cast<int32_t>(!!(config->combinedTransform_ - & Transform::HFlip))); - sensorCtrls.set(V4L2_CID_VFLIP, - static_cast<int32_t>(!!(config->combinedTransform_ - & Transform::VFlip))); - - ret = cio2->sensor()->setControls(&sensorCtrls); - if (ret) - return ret; - } - - /* * If the ImgU gets configured, its driver seems to expect that * buffers will be queued to its outputs, as otherwise the next * capture session that uses the ImgU fails when queueing @@ -1143,25 +1094,12 @@ int PipelineHandlerIPU3::registerCameras() &IPU3CameraData::frameStart); /* Convert the sensor rotation to a transformation */ - int32_t rotation = 0; - if (data->properties_.contains(properties::Rotation)) - rotation = data->properties_.get(properties::Rotation); - else + const auto &rotation = data->properties_.get(properties::Rotation); + if (!rotation) LOG(IPU3, Warning) << "Rotation control not exposed by " << cio2->sensor()->id() << ". Assume rotation 0"; - bool success; - data->rotationTransform_ = transformFromRotation(rotation, &success); - if (!success) - LOG(IPU3, Warning) << "Invalid rotation of " << rotation - << " degrees: ignoring"; - - ControlList ctrls = cio2->sensor()->getControls({ V4L2_CID_HFLIP }); - if (!ctrls.empty()) - /* We assume the sensor supports VFLIP too. */ - data->supportsFlips_ = true; - /** * \todo Dynamically assign ImgU and output devices to each * stream and camera; as of now, limit support to two cameras @@ -1244,8 +1182,16 @@ int IPU3CameraData::loadIPA() if (ret) return ret; - ret = ipa_->init(IPASettings{ "", sensor->model() }, sensorInfo, - sensor->controls(), &ipaControls_); + /* + * The API tuning file is made from the sensor name. If the tuning file + * isn't found, fall back to the 'uncalibrated' file. + */ + std::string ipaTuningFile = ipa_->configurationFile(sensor->model() + ".yaml"); + if (ipaTuningFile.empty()) + ipaTuningFile = ipa_->configurationFile("uncalibrated.yaml"); + + ret = ipa_->init(IPASettings{ ipaTuningFile, sensor->model() }, + sensorInfo, sensor->controls(), &ipaControls_); if (ret) { LOG(IPU3, Error) << "Failed to initialise the IPU3 IPA"; return ret; @@ -1289,6 +1235,8 @@ void IPU3CameraData::paramsBufferReady(unsigned int id) imgu_->viewfinder_->queueBuffer(outbuffer); } + info->paramBuffer->_d()->metadata().planes()[0].bytesused = + sizeof(struct ipu3_uapi_params); imgu_->param_->queueBuffer(info->paramBuffer); imgu_->stat_->queueBuffer(info->statBuffer); imgu_->input_->queueBuffer(info->rawBuffer); @@ -1330,8 +1278,9 @@ void IPU3CameraData::imguOutputBufferReady(FrameBuffer *buffer) request->metadata().set(controls::draft::PipelineDepth, 3); /* \todo Actually apply the scaler crop region to the ImgU. */ - if (request->controls().contains(controls::ScalerCrop)) - cropRegion_ = request->controls().get(controls::ScalerCrop); + const auto &scalerCrop = request->controls().get(controls::ScalerCrop); + if (scalerCrop) + cropRegion_ = *scalerCrop; request->metadata().set(controls::ScalerCrop, cropRegion_); if (frameInfos_.tryComplete(info)) @@ -1424,7 +1373,7 @@ void IPU3CameraData::statBufferReady(FrameBuffer *buffer) return; } - ipa_->processStatsBuffer(info->id, request->metadata().get(controls::SensorTimestamp), + ipa_->processStatsBuffer(info->id, request->metadata().get(controls::SensorTimestamp).value_or(0), info->statBuffer->cookie(), info->effectiveSensorControls); } @@ -1455,14 +1404,12 @@ void IPU3CameraData::frameStart(uint32_t sequence) Request *request = processingRequests_.front(); processingRequests_.pop(); - if (!request->controls().contains(controls::draft::TestPatternMode)) + const auto &testPatternMode = request->controls().get(controls::draft::TestPatternMode); + if (!testPatternMode) return; - const int32_t testPatternMode = request->controls().get( - controls::draft::TestPatternMode); - int ret = cio2_.sensor()->setTestPatternMode( - static_cast<controls::draft::TestPatternModeEnum>(testPatternMode)); + static_cast<controls::draft::TestPatternModeEnum>(*testPatternMode)); if (ret) { LOG(IPU3, Error) << "Failed to set test pattern mode: " << ret; @@ -1470,9 +1417,9 @@ void IPU3CameraData::frameStart(uint32_t sequence) } request->metadata().set(controls::draft::TestPatternMode, - testPatternMode); + *testPatternMode); } -REGISTER_PIPELINE_HANDLER(PipelineHandlerIPU3) +REGISTER_PIPELINE_HANDLER(PipelineHandlerIPU3, "ipu3") } /* namespace libcamera */ diff --git a/src/libcamera/pipeline/mali-c55/mali-c55.cpp b/src/libcamera/pipeline/mali-c55/mali-c55.cpp new file mode 100644 index 00000000..45c71c1d --- /dev/null +++ b/src/libcamera/pipeline/mali-c55/mali-c55.cpp @@ -0,0 +1,1066 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2024, Ideas on Board Oy + * + * Pipeline Handler for ARM's Mali-C55 ISP + */ + +#include <algorithm> +#include <array> +#include <map> +#include <memory> +#include <set> +#include <string> + +#include <linux/media-bus-format.h> +#include <linux/media.h> + +#include <libcamera/base/log.h> + +#include <libcamera/camera.h> +#include <libcamera/formats.h> +#include <libcamera/geometry.h> +#include <libcamera/stream.h> + +#include "libcamera/internal/bayer_format.h" +#include "libcamera/internal/camera.h" +#include "libcamera/internal/camera_sensor.h" +#include "libcamera/internal/device_enumerator.h" +#include "libcamera/internal/media_device.h" +#include "libcamera/internal/pipeline_handler.h" +#include "libcamera/internal/v4l2_subdevice.h" +#include "libcamera/internal/v4l2_videodevice.h" + +namespace { + +bool isFormatRaw(const libcamera::PixelFormat &pixFmt) +{ + return libcamera::PixelFormatInfo::info(pixFmt).colourEncoding == + libcamera::PixelFormatInfo::ColourEncodingRAW; +} + +} /* namespace */ + +namespace libcamera { + +LOG_DEFINE_CATEGORY(MaliC55) + +const std::map<libcamera::PixelFormat, unsigned int> maliC55FmtToCode = { + /* \todo Support all formats supported by the driver in libcamera. */ + + { formats::RGB565, MEDIA_BUS_FMT_RGB121212_1X36 }, + { formats::RGB888, MEDIA_BUS_FMT_RGB121212_1X36 }, + { formats::YUYV, MEDIA_BUS_FMT_YUV10_1X30 }, + { formats::UYVY, MEDIA_BUS_FMT_YUV10_1X30 }, + { formats::R8, MEDIA_BUS_FMT_YUV10_1X30 }, + { formats::NV12, MEDIA_BUS_FMT_YUV10_1X30 }, + { formats::NV21, MEDIA_BUS_FMT_YUV10_1X30 }, + + /* RAW formats, FR pipe only. */ + { formats::SGBRG8, MEDIA_BUS_FMT_SGBRG8_1X8 }, + { formats::SRGGB8, MEDIA_BUS_FMT_SRGGB8_1X8 }, + { formats::SBGGR8, MEDIA_BUS_FMT_SBGGR8_1X8 }, + { formats::SGRBG8, MEDIA_BUS_FMT_SGRBG8_1X8 }, + { formats::SGBRG10, MEDIA_BUS_FMT_SGBRG10_1X10 }, + { formats::SRGGB10, MEDIA_BUS_FMT_SRGGB10_1X10 }, + { formats::SBGGR10, MEDIA_BUS_FMT_SBGGR10_1X10 }, + { formats::SGRBG10, MEDIA_BUS_FMT_SGRBG10_1X10 }, + { formats::SGBRG12, MEDIA_BUS_FMT_SGBRG12_1X12 }, + { formats::SRGGB12, MEDIA_BUS_FMT_SRGGB12_1X12 }, + { formats::SBGGR12, MEDIA_BUS_FMT_SBGGR12_1X12 }, + { formats::SGRBG12, MEDIA_BUS_FMT_SGRBG12_1X12 }, + { formats::SGBRG14, MEDIA_BUS_FMT_SGBRG14_1X14 }, + { formats::SRGGB14, MEDIA_BUS_FMT_SRGGB14_1X14 }, + { formats::SBGGR14, MEDIA_BUS_FMT_SBGGR14_1X14 }, + { formats::SGRBG14, MEDIA_BUS_FMT_SGRBG14_1X14 }, + { formats::SGBRG16, MEDIA_BUS_FMT_SGBRG16_1X16 }, + { formats::SRGGB16, MEDIA_BUS_FMT_SRGGB16_1X16 }, + { formats::SBGGR16, MEDIA_BUS_FMT_SBGGR16_1X16 }, + { formats::SGRBG16, MEDIA_BUS_FMT_SGRBG16_1X16 }, +}; + +constexpr Size kMaliC55MinSize = { 128, 128 }; +constexpr Size kMaliC55MaxSize = { 8192, 8192 }; +constexpr unsigned int kMaliC55ISPInternalFormat = MEDIA_BUS_FMT_RGB121212_1X36; + +class MaliC55CameraData : public Camera::Private +{ +public: + MaliC55CameraData(PipelineHandler *pipe, MediaEntity *entity) + : Camera::Private(pipe), entity_(entity) + { + } + + int init(); + + /* Deflect these functionalities to either TPG or CameraSensor. */ + const std::vector<unsigned int> mbusCodes() const; + const std::vector<Size> sizes(unsigned int mbusCode) const; + const Size resolution() const; + + PixelFormat bestRawFormat() const; + + PixelFormat adjustRawFormat(const PixelFormat &pixFmt) const; + Size adjustRawSizes(const PixelFormat &pixFmt, const Size &rawSize) const; + + std::unique_ptr<CameraSensor> sensor_; + + MediaEntity *entity_; + std::unique_ptr<V4L2Subdevice> csi_; + std::unique_ptr<V4L2Subdevice> sd_; + Stream frStream_; + Stream dsStream_; + +private: + void initTPGData(); + + std::string id_; + std::vector<unsigned int> tpgCodes_; + std::vector<Size> tpgSizes_; + Size tpgResolution_; +}; + +int MaliC55CameraData::init() +{ + int ret; + + sd_ = std::make_unique<V4L2Subdevice>(entity_); + ret = sd_->open(); + if (ret) { + LOG(MaliC55, Error) << "Failed to open sensor subdevice"; + return ret; + } + + /* If this camera is created from TPG, we return here. */ + if (entity_->name() == "mali-c55 tpg") { + initTPGData(); + return 0; + } + + /* + * Register a CameraSensor if we connect to a sensor and create + * an entity for the connected CSI-2 receiver. + */ + sensor_ = std::make_unique<CameraSensor>(entity_); + ret = sensor_->init(); + if (ret) + return ret; + + const MediaPad *sourcePad = entity_->getPadByIndex(0); + MediaEntity *csiEntity = sourcePad->links()[0]->sink()->entity(); + + csi_ = std::make_unique<V4L2Subdevice>(csiEntity); + if (csi_->open()) { + LOG(MaliC55, Error) << "Failed to open CSI-2 subdevice"; + return false; + } + + return 0; +} + +void MaliC55CameraData::initTPGData() +{ + /* Replicate the CameraSensor implementation for TPG. */ + V4L2Subdevice::Formats formats = sd_->formats(0); + if (formats.empty()) + return; + + tpgCodes_ = utils::map_keys(formats); + std::sort(tpgCodes_.begin(), tpgCodes_.end()); + + for (const auto &format : formats) { + const std::vector<SizeRange> &ranges = format.second; + std::transform(ranges.begin(), ranges.end(), std::back_inserter(tpgSizes_), + [](const SizeRange &range) { return range.max; }); + } + + tpgResolution_ = tpgSizes_.back(); +} + +const std::vector<unsigned int> MaliC55CameraData::mbusCodes() const +{ + if (sensor_) + return sensor_->mbusCodes(); + + return tpgCodes_; +} + +const std::vector<Size> MaliC55CameraData::sizes(unsigned int mbusCode) const +{ + if (sensor_) + return sensor_->sizes(mbusCode); + + V4L2Subdevice::Formats formats = sd_->formats(0); + if (formats.empty()) + return {}; + + std::vector<Size> sizes; + const auto &format = formats.find(mbusCode); + if (format == formats.end()) + return {}; + + const std::vector<SizeRange> &ranges = format->second; + std::transform(ranges.begin(), ranges.end(), std::back_inserter(sizes), + [](const SizeRange &range) { return range.max; }); + + std::sort(sizes.begin(), sizes.end()); + + return sizes; +} + +const Size MaliC55CameraData::resolution() const +{ + if (sensor_) + return sensor_->resolution(); + + return tpgResolution_; +} + +PixelFormat MaliC55CameraData::bestRawFormat() const +{ + unsigned int bitDepth = 0; + PixelFormat rawFormat; + + /* + * Iterate over all the supported PixelFormat and find the one + * supported by the camera with the largest bitdepth. + */ + for (const auto &maliFormat : maliC55FmtToCode) { + PixelFormat pixFmt = maliFormat.first; + if (!isFormatRaw(pixFmt)) + continue; + + unsigned int rawCode = maliFormat.second; + const auto rawSizes = sizes(rawCode); + if (rawSizes.empty()) + continue; + + BayerFormat bayer = BayerFormat::fromMbusCode(rawCode); + if (bayer.bitDepth > bitDepth) { + bitDepth = bayer.bitDepth; + rawFormat = pixFmt; + } + } + + return rawFormat; +} + +/* + * Make sure the provided raw pixel format is supported and adjust it to + * one of the supported ones if it's not. + */ +PixelFormat MaliC55CameraData::adjustRawFormat(const PixelFormat &rawFmt) const +{ + /* Make sure the provided raw format is supported by the pipeline. */ + auto it = maliC55FmtToCode.find(rawFmt); + if (it == maliC55FmtToCode.end()) + return bestRawFormat(); + + /* Now make sure the RAW mbus code is supported by the image source. */ + unsigned int rawCode = it->second; + const auto rawSizes = sizes(rawCode); + if (rawSizes.empty()) + return bestRawFormat(); + + return rawFmt; +} + +Size MaliC55CameraData::adjustRawSizes(const PixelFormat &rawFmt, const Size &rawSize) const +{ + /* Just make sure the format is supported. */ + auto it = maliC55FmtToCode.find(rawFmt); + if (it == maliC55FmtToCode.end()) + return {}; + + /* Check if the size is natively supported. */ + unsigned int rawCode = it->second; + const auto rawSizes = sizes(rawCode); + auto sizeIt = std::find(rawSizes.begin(), rawSizes.end(), rawSize); + if (sizeIt != rawSizes.end()) + return rawSize; + + /* Or adjust it to the closest supported size. */ + uint16_t distance = std::numeric_limits<uint16_t>::max(); + Size bestSize; + for (const Size &size : rawSizes) { + uint16_t dist = std::abs(static_cast<int>(rawSize.width) - + static_cast<int>(size.width)) + + std::abs(static_cast<int>(rawSize.height) - + static_cast<int>(size.height)); + if (dist < distance) { + dist = distance; + bestSize = size; + } + } + + return bestSize; +} + +class MaliC55CameraConfiguration : public CameraConfiguration +{ +public: + MaliC55CameraConfiguration(MaliC55CameraData *data) + : CameraConfiguration(), data_(data) + { + } + + Status validate() override; + + V4L2SubdeviceFormat sensorFormat_; + +private: + static constexpr unsigned int kMaxStreams = 2; + + const MaliC55CameraData *data_; +}; + +CameraConfiguration::Status MaliC55CameraConfiguration::validate() +{ + Status status = Valid; + + if (config_.empty()) + return Invalid; + + /* Only 2 streams available. */ + if (config_.size() > kMaxStreams) { + config_.resize(kMaxStreams); + status = Adjusted; + } + + bool frPipeAvailable = true; + StreamConfiguration *rawConfig = nullptr; + for (StreamConfiguration &config : config_) { + if (!isFormatRaw(config.pixelFormat)) + continue; + + if (rawConfig) { + LOG(MaliC55, Error) + << "Only a single RAW stream is supported"; + return Invalid; + } + + rawConfig = &config; + } + + Size maxSize = kMaliC55MaxSize; + if (rawConfig) { + /* + * \todo Take into account the Bayer components ordering once + * we support rotations. + */ + PixelFormat rawFormat = + data_->adjustRawFormat(rawConfig->pixelFormat); + if (rawFormat != rawConfig->pixelFormat) { + LOG(MaliC55, Debug) + << "RAW format adjusted to " << rawFormat; + rawConfig->pixelFormat = rawFormat; + status = Adjusted; + } + + Size rawSize = + data_->adjustRawSizes(rawFormat, rawConfig->size); + if (rawSize != rawConfig->size) { + LOG(MaliC55, Debug) + << "RAW sizes adjusted to " << rawSize; + rawConfig->size = rawSize; + status = Adjusted; + } + + maxSize = rawSize; + + rawConfig->setStream(const_cast<Stream *>(&data_->frStream_)); + frPipeAvailable = false; + } + + /* Adjust processed streams. */ + Size maxYuvSize; + for (StreamConfiguration &config : config_) { + if (isFormatRaw(config.pixelFormat)) + continue; + + /* Adjust format and size for processed streams. */ + const auto it = maliC55FmtToCode.find(config.pixelFormat); + if (it == maliC55FmtToCode.end()) { + LOG(MaliC55, Debug) + << "Format adjusted to " << formats::RGB565; + config.pixelFormat = formats::RGB565; + status = Adjusted; + } + + Size size = std::clamp(config.size, kMaliC55MinSize, maxSize); + if (size != config.size) { + LOG(MaliC55, Debug) + << "Size adjusted to " << size; + config.size = size; + status = Adjusted; + } + + if (maxYuvSize < size) + maxYuvSize = size; + + if (frPipeAvailable) { + config.setStream(const_cast<Stream *>(&data_->frStream_)); + frPipeAvailable = false; + } else { + config.setStream(const_cast<Stream *>(&data_->dsStream_)); + } + } + + /* Compute the sensor format. */ + + /* If there's a RAW config, sensor configuration follows it. */ + if (rawConfig) { + const auto it = maliC55FmtToCode.find(rawConfig->pixelFormat); + sensorFormat_.code = it->second; + sensorFormat_.size = rawConfig->size; + + return status; + } + + /* If there's no RAW config, compute the sensor configuration here. */ + PixelFormat rawFormat = data_->bestRawFormat(); + const auto it = maliC55FmtToCode.find(rawFormat); + sensorFormat_.code = it->second; + + uint16_t distance = std::numeric_limits<uint16_t>::max(); + const auto sizes = data_->sizes(it->second); + Size bestSize; + for (const auto &size : sizes) { + /* Skip sensor sizes that are smaller than the max YUV size. */ + if (maxYuvSize.width > size.width || + maxYuvSize.height > size.height) + continue; + + uint16_t dist = std::abs(static_cast<int>(maxYuvSize.width) - + static_cast<int>(size.width)) + + std::abs(static_cast<int>(maxYuvSize.height) - + static_cast<int>(size.height)); + if (dist < distance) { + dist = distance; + bestSize = size; + } + } + sensorFormat_.size = bestSize; + + LOG(MaliC55, Debug) << "Computed sensor configuration " << sensorFormat_; + + return status; +} + +class PipelineHandlerMaliC55 : public PipelineHandler +{ +public: + PipelineHandlerMaliC55(CameraManager *manager); + + std::unique_ptr<CameraConfiguration> generateConfiguration(Camera *camera, + Span<const StreamRole> roles) override; + int configure(Camera *camera, CameraConfiguration *config) override; + + int exportFrameBuffers(Camera *camera, Stream *stream, + std::vector<std::unique_ptr<FrameBuffer>> *buffers) override; + + int start(Camera *camera, const ControlList *controls) override; + void stopDevice(Camera *camera) override; + + int queueRequestDevice(Camera *camera, Request *request) override; + + void bufferReady(FrameBuffer *buffer); + + bool match(DeviceEnumerator *enumerator) override; + +private: + struct MaliC55Pipe { + std::unique_ptr<V4L2Subdevice> resizer; + std::unique_ptr<V4L2VideoDevice> cap; + Stream *stream; + }; + + enum { + MaliC55FR, + MaliC55DS, + MaliC55NumPipes, + }; + + MaliC55CameraData *cameraData(Camera *camera) + { + return static_cast<MaliC55CameraData *>(camera->_d()); + } + + MaliC55Pipe *pipeFromStream(MaliC55CameraData *data, Stream *stream) + { + if (stream == &data->frStream_) + return &pipes_[MaliC55FR]; + else if (stream == &data->dsStream_) + return &pipes_[MaliC55DS]; + else + LOG(MaliC55, Fatal) << "Stream " << stream << " not valid"; + return nullptr; + } + + MaliC55Pipe *pipeFromStream(MaliC55CameraData *data, const Stream *stream) + { + return pipeFromStream(data, const_cast<Stream *>(stream)); + } + + void resetPipes() + { + for (MaliC55Pipe &pipe : pipes_) + pipe.stream = nullptr; + } + + int configureRawStream(MaliC55CameraData *data, + const StreamConfiguration &config, + V4L2SubdeviceFormat &subdevFormat); + int configureProcessedStream(MaliC55CameraData *data, + const StreamConfiguration &config, + V4L2SubdeviceFormat &subdevFormat); + + void registerMaliCamera(std::unique_ptr<MaliC55CameraData> data, + const std::string &name); + bool registerTPGCamera(MediaLink *link); + bool registerSensorCamera(MediaLink *link); + + MediaDevice *media_; + std::unique_ptr<V4L2Subdevice> isp_; + + std::array<MaliC55Pipe, MaliC55NumPipes> pipes_; + + bool dsFitted_; +}; + +PipelineHandlerMaliC55::PipelineHandlerMaliC55(CameraManager *manager) + : PipelineHandler(manager), dsFitted_(true) +{ +} + +std::unique_ptr<CameraConfiguration> +PipelineHandlerMaliC55::generateConfiguration(Camera *camera, + Span<const StreamRole> roles) +{ + MaliC55CameraData *data = cameraData(camera); + std::unique_ptr<CameraConfiguration> config = + std::make_unique<MaliC55CameraConfiguration>(data); + bool frPipeAvailable = true; + + if (roles.empty()) + return config; + + /* Check if one stream is RAW to reserve the FR pipe for it. */ + if (std::find(roles.begin(), roles.end(), StreamRole::Raw) != roles.end()) + frPipeAvailable = false; + + for (const StreamRole &role : roles) { + struct MaliC55Pipe *pipe; + + /* Assign pipe for this role. */ + if (role == StreamRole::Raw) { + pipe = &pipes_[MaliC55FR]; + } else { + if (frPipeAvailable) { + pipe = &pipes_[MaliC55FR]; + frPipeAvailable = false; + } else { + pipe = &pipes_[MaliC55DS]; + } + } + + Size size = std::min(Size{ 1920, 1080 }, data->resolution()); + PixelFormat pixelFormat; + + switch (role) { + case StreamRole::StillCapture: + size = data->resolution(); + [[fallthrough]]; + case StreamRole::VideoRecording: + pixelFormat = formats::NV12; + break; + + case StreamRole::Viewfinder: + pixelFormat = formats::RGB565; + break; + + case StreamRole::Raw: + pixelFormat = data->bestRawFormat(); + if (!pixelFormat.isValid()) { + LOG(MaliC55, Error) + << "Camera does not support RAW formats"; + return nullptr; + } + + size = data->resolution(); + break; + + default: + LOG(MaliC55, Error) + << "Requested stream role not supported: " << role; + return nullptr; + } + + std::map<PixelFormat, std::vector<SizeRange>> formats; + for (const auto &maliFormat : maliC55FmtToCode) { + PixelFormat pixFmt = maliFormat.first; + bool isRaw = isFormatRaw(pixFmt); + + /* RAW formats are only supported on the FR pipe. */ + if (pipe != &pipes_[MaliC55FR] && isRaw) + continue; + + if (isRaw) { + /* Make sure the mbus code is supported. */ + unsigned int rawCode = maliFormat.second; + const auto sizes = data->sizes(rawCode); + if (sizes.empty()) + continue; + + /* And list all sizes the sensor can produce. */ + std::vector<SizeRange> sizeRanges; + std::transform(sizes.begin(), sizes.end(), + std::back_inserter(sizeRanges), + [](const Size &s) { + return SizeRange(s); + }); + + formats[pixFmt] = sizeRanges; + } else { + /* Processed formats are always available. */ + Size maxSize = std::min(kMaliC55MaxSize, + data->resolution()); + formats[pixFmt] = { kMaliC55MinSize, maxSize }; + } + } + + StreamFormats streamFormats(formats); + StreamConfiguration cfg(streamFormats); + cfg.pixelFormat = pixelFormat; + cfg.bufferCount = 4; + cfg.size = size; + + config->addConfiguration(cfg); + } + + if (config->validate() == CameraConfiguration::Invalid) + return nullptr; + + return config; +} + +int PipelineHandlerMaliC55::configureRawStream(MaliC55CameraData *data, + const StreamConfiguration &config, + V4L2SubdeviceFormat &subdevFormat) +{ + Stream *stream = config.stream(); + MaliC55Pipe *pipe = pipeFromStream(data, stream); + + if (pipe != &pipes_[MaliC55FR]) { + LOG(MaliC55, Fatal) << "Only the FR pipe supports RAW capture."; + return -EINVAL; + } + + /* Enable the debayer route to set fixed internal format on pad #0. */ + V4L2Subdevice::Routing routing = {}; + routing.emplace_back(V4L2Subdevice::Stream{ 0, 0 }, + V4L2Subdevice::Stream{ 1, 0 }, + V4L2_SUBDEV_ROUTE_FL_ACTIVE); + + int ret = pipe->resizer->setRouting(&routing, V4L2Subdevice::ActiveFormat); + if (ret) + return ret; + + unsigned int rawCode = subdevFormat.code; + subdevFormat.code = kMaliC55ISPInternalFormat; + ret = pipe->resizer->setFormat(0, &subdevFormat); + if (ret) + return ret; + + /* Enable the bypass route and apply RAW formats there. */ + routing.clear(); + routing.emplace_back(V4L2Subdevice::Stream{ 2, 0 }, + V4L2Subdevice::Stream{ 1, 0 }, + V4L2_SUBDEV_ROUTE_FL_ACTIVE); + ret = pipe->resizer->setRouting(&routing, V4L2Subdevice::ActiveFormat); + if (ret) + return ret; + + subdevFormat.code = rawCode; + ret = pipe->resizer->setFormat(2, &subdevFormat); + if (ret) + return ret; + + ret = pipe->resizer->setFormat(1, &subdevFormat); + if (ret) + return ret; + + return 0; +} + +int PipelineHandlerMaliC55::configureProcessedStream(MaliC55CameraData *data, + const StreamConfiguration &config, + V4L2SubdeviceFormat &subdevFormat) +{ + Stream *stream = config.stream(); + MaliC55Pipe *pipe = pipeFromStream(data, stream); + + /* Enable the debayer route on the resizer pipe. */ + V4L2Subdevice::Routing routing = {}; + routing.emplace_back(V4L2Subdevice::Stream{ 0, 0 }, + V4L2Subdevice::Stream{ 1, 0 }, + V4L2_SUBDEV_ROUTE_FL_ACTIVE); + + int ret = pipe->resizer->setRouting(&routing, V4L2Subdevice::ActiveFormat); + if (ret) + return ret; + + subdevFormat.code = kMaliC55ISPInternalFormat; + ret = pipe->resizer->setFormat(0, &subdevFormat); + if (ret) + return ret; + + /* \todo Configure the resizer crop/compose rectangles. */ + Rectangle ispCrop = { 0, 0, config.size }; + ret = pipe->resizer->setSelection(0, V4L2_SEL_TGT_CROP, &ispCrop); + if (ret) + return ret; + + ret = pipe->resizer->setSelection(0, V4L2_SEL_TGT_COMPOSE, &ispCrop); + if (ret) + return ret; + + subdevFormat.code = maliC55FmtToCode.find(config.pixelFormat)->second; + return pipe->resizer->setFormat(1, &subdevFormat); +} + +int PipelineHandlerMaliC55::configure(Camera *camera, + CameraConfiguration *config) +{ + resetPipes(); + + int ret = media_->disableLinks(); + if (ret) + return ret; + + /* Link the graph depending if we are operating the TPG or a sensor. */ + MaliC55CameraData *data = cameraData(camera); + if (data->csi_) { + const MediaEntity *csiEntity = data->csi_->entity(); + ret = csiEntity->getPadByIndex(1)->links()[0]->setEnabled(true); + } else { + ret = data->entity_->getPadByIndex(0)->links()[0]->setEnabled(true); + } + if (ret) + return ret; + + MaliC55CameraConfiguration *maliConfig = + static_cast<MaliC55CameraConfiguration *>(config); + V4L2SubdeviceFormat subdevFormat = maliConfig->sensorFormat_; + ret = data->sd_->getFormat(0, &subdevFormat); + if (ret) + return ret; + + if (data->csi_) { + ret = data->csi_->setFormat(0, &subdevFormat); + if (ret) + return ret; + + ret = data->csi_->setFormat(1, &subdevFormat); + if (ret) + return ret; + } + + /* + * Propagate the format to the ISP sink pad and configure the input + * crop rectangle (no crop at the moment). + * + * \todo Configure the CSI-2 receiver. + */ + ret = isp_->setFormat(0, &subdevFormat); + if (ret) + return ret; + + Rectangle ispCrop(0, 0, subdevFormat.size); + ret = isp_->setSelection(0, V4L2_SEL_TGT_CROP, &ispCrop); + if (ret) + return ret; + + /* + * Configure the resizer: fixed format the sink pad; use the media + * bus code associated with the desired capture format on the source + * pad. + * + * Configure the crop and compose rectangles to match the desired + * stream output size + * + * \todo Make the crop/scaler configurable + */ + for (const StreamConfiguration &streamConfig : *config) { + Stream *stream = streamConfig.stream(); + MaliC55Pipe *pipe = pipeFromStream(data, stream); + + if (isFormatRaw(streamConfig.pixelFormat)) + ret = configureRawStream(data, streamConfig, subdevFormat); + else + ret = configureProcessedStream(data, streamConfig, subdevFormat); + if (ret) { + LOG(MaliC55, Error) << "Failed to configure pipeline"; + return ret; + } + + /* Now apply the pixel format and size to the capture device. */ + V4L2DeviceFormat captureFormat; + captureFormat.fourcc = pipe->cap->toV4L2PixelFormat(streamConfig.pixelFormat); + captureFormat.size = streamConfig.size; + + ret = pipe->cap->setFormat(&captureFormat); + if (ret) + return ret; + + pipe->stream = stream; + } + + return 0; +} + +int PipelineHandlerMaliC55::exportFrameBuffers(Camera *camera, Stream *stream, + std::vector<std::unique_ptr<FrameBuffer>> *buffers) +{ + MaliC55Pipe *pipe = pipeFromStream(cameraData(camera), stream); + unsigned int count = stream->configuration().bufferCount; + + return pipe->cap->exportBuffers(count, buffers); +} + +int PipelineHandlerMaliC55::start([[maybe_unused]] Camera *camera, [[maybe_unused]] const ControlList *controls) +{ + for (MaliC55Pipe &pipe : pipes_) { + if (!pipe.stream) + continue; + + Stream *stream = pipe.stream; + + int ret = pipe.cap->importBuffers(stream->configuration().bufferCount); + if (ret) { + LOG(MaliC55, Error) << "Failed to import buffers"; + return ret; + } + + ret = pipe.cap->streamOn(); + if (ret) { + LOG(MaliC55, Error) << "Failed to start stream"; + return ret; + } + } + + return 0; +} + +void PipelineHandlerMaliC55::stopDevice([[maybe_unused]] Camera *camera) +{ + for (MaliC55Pipe &pipe : pipes_) { + if (!pipe.stream) + continue; + + pipe.cap->streamOff(); + pipe.cap->releaseBuffers(); + } +} + +int PipelineHandlerMaliC55::queueRequestDevice(Camera *camera, Request *request) +{ + int ret; + + for (auto &[stream, buffer] : request->buffers()) { + MaliC55Pipe *pipe = pipeFromStream(cameraData(camera), stream); + + ret = pipe->cap->queueBuffer(buffer); + if (ret) + return ret; + } + + return 0; +} + +void PipelineHandlerMaliC55::bufferReady(FrameBuffer *buffer) +{ + Request *request = buffer->request(); + + completeBuffer(request, buffer); + + if (request->hasPendingBuffers()) + return; + + completeRequest(request); +} + +void PipelineHandlerMaliC55::registerMaliCamera(std::unique_ptr<MaliC55CameraData> data, + const std::string &name) +{ + std::set<Stream *> streams{ &data->frStream_ }; + if (dsFitted_) + streams.insert(&data->dsStream_); + + std::shared_ptr<Camera> camera = Camera::create(std::move(data), + name, streams); + registerCamera(std::move(camera)); +} + +/* + * The only camera we support through direct connection to the ISP is the + * Mali-C55 TPG. Check we have that and warn if not. + */ +bool PipelineHandlerMaliC55::registerTPGCamera(MediaLink *link) +{ + const std::string &name = link->source()->entity()->name(); + if (name != "mali-c55 tpg") { + LOG(MaliC55, Warning) << "Unsupported direct connection to " + << link->source()->entity()->name(); + /* + * Return true and just skip registering a camera for this + * entity. + */ + return true; + } + + std::unique_ptr<MaliC55CameraData> data = + std::make_unique<MaliC55CameraData>(this, link->source()->entity()); + + if (data->init()) + return false; + + registerMaliCamera(std::move(data), name); + + return true; +} + +/* + * Register a Camera for each sensor connected to the ISP through a CSI-2 + * receiver. + * + * \todo Support more complex topologies, such as video muxes. + */ +bool PipelineHandlerMaliC55::registerSensorCamera(MediaLink *ispLink) +{ + MediaEntity *csi2 = ispLink->source()->entity(); + const MediaPad *csi2Sink = csi2->getPadByIndex(0); + + for (MediaLink *link : csi2Sink->links()) { + MediaEntity *sensor = link->source()->entity(); + unsigned int function = sensor->function(); + + if (function != MEDIA_ENT_F_CAM_SENSOR) + continue; + + std::unique_ptr<MaliC55CameraData> data = + std::make_unique<MaliC55CameraData>(this, sensor); + if (data->init()) + return false; + + /* \todo: Init properties and controls. */ + + registerMaliCamera(std::move(data), sensor->name()); + } + + return true; +} + +bool PipelineHandlerMaliC55::match(DeviceEnumerator *enumerator) +{ + const MediaPad *ispSink; + + /* + * We search for just the ISP subdevice and the full resolution pipe. + * The TPG and the downscale pipe are both optional blocks and may not + * be fitted. + */ + DeviceMatch dm("mali-c55"); + dm.add("mali-c55 isp"); + dm.add("mali-c55 resizer fr"); + dm.add("mali-c55 fr"); + + media_ = acquireMediaDevice(enumerator, dm); + if (!media_) + return false; + + isp_ = V4L2Subdevice::fromEntityName(media_, "mali-c55 isp"); + if (isp_->open() < 0) + return false; + + MaliC55Pipe *frPipe = &pipes_[MaliC55FR]; + frPipe->resizer = V4L2Subdevice::fromEntityName(media_, "mali-c55 resizer fr"); + if (frPipe->resizer->open() < 0) + return false; + + frPipe->cap = V4L2VideoDevice::fromEntityName(media_, "mali-c55 fr"); + if (frPipe->cap->open() < 0) + return false; + + frPipe->cap->bufferReady.connect(this, &PipelineHandlerMaliC55::bufferReady); + + dsFitted_ = !!media_->getEntityByName("mali-c55 ds"); + if (dsFitted_) { + LOG(MaliC55, Debug) << "Downscaler pipe is fitted"; + + MaliC55Pipe *dsPipe = &pipes_[MaliC55DS]; + + dsPipe->resizer = V4L2Subdevice::fromEntityName(media_, "mali-c55 resizer ds"); + if (dsPipe->resizer->open() < 0) + return false; + + dsPipe->cap = V4L2VideoDevice::fromEntityName(media_, "mali-c55 ds"); + if (dsPipe->cap->open() < 0) + return false; + + dsPipe->cap->bufferReady.connect(this, &PipelineHandlerMaliC55::bufferReady); + } + + ispSink = isp_->entity()->getPadByIndex(0); + if (!ispSink || ispSink->links().empty()) { + LOG(MaliC55, Error) << "ISP sink pad error"; + return false; + } + + /* + * We could have several links pointing to the ISP's sink pad, which + * will be from entities with one of the following functions: + * + * MEDIA_ENT_F_CAM_SENSOR - The test pattern generator + * MEDIA_ENT_F_VID_IF_BRIDGE - A CSI-2 receiver + * MEDIA_ENT_F_IO_V4L - An input device + * + * The last one will be unsupported for now. The TPG is relatively easy, + * we just register a Camera for it. If we have a CSI-2 receiver we need + * to check its sink pad and register Cameras for anything connected to + * it (probably...there are some complex situations in which that might + * not be true but let's pretend they don't exist until we come across + * them) + */ + bool registered; + for (MediaLink *link : ispSink->links()) { + unsigned int function = link->source()->entity()->function(); + + switch (function) { + case MEDIA_ENT_F_CAM_SENSOR: + registered = registerTPGCamera(link); + if (!registered) + return registered; + + break; + case MEDIA_ENT_F_VID_IF_BRIDGE: + registered = registerSensorCamera(link); + if (!registered) + return registered; + + break; + case MEDIA_ENT_F_IO_V4L: + LOG(MaliC55, Warning) << "Memory input not yet supported"; + break; + default: + LOG(MaliC55, Error) << "Unsupported entity function"; + return false; + } + } + + return true; +} + +REGISTER_PIPELINE_HANDLER(PipelineHandlerMaliC55, "mali-c55") + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/mali-c55/meson.build b/src/libcamera/pipeline/mali-c55/meson.build new file mode 100644 index 00000000..30fd29b9 --- /dev/null +++ b/src/libcamera/pipeline/mali-c55/meson.build @@ -0,0 +1,5 @@ +# SPDX-License-Identifier: CC0-1.0 + +libcamera_sources += files([ + 'mali-c55.cpp' +]) diff --git a/src/libcamera/pipeline/meson.build b/src/libcamera/pipeline/meson.build index 30dc5b97..8a61991c 100644 --- a/src/libcamera/pipeline/meson.build +++ b/src/libcamera/pipeline/meson.build @@ -1,5 +1,20 @@ # SPDX-License-Identifier: CC0-1.0 +# Location of pipeline specific configuration files +pipeline_data_dir = libcamera_datadir / 'pipeline' + +# Allow multi-level directory structuring for the pipeline handlers if needed. +subdirs = [] + foreach pipeline : pipelines + pipeline = pipeline.split('/')[0] + if pipeline in subdirs + continue + endif + + subdirs += pipeline subdir(pipeline) + + # Don't reuse the pipeline variable below, the subdirectory may have + # overwritten it. endforeach diff --git a/src/libcamera/pipeline/raspberrypi/dma_heaps.cpp b/src/libcamera/pipeline/raspberrypi/dma_heaps.cpp deleted file mode 100644 index 69831dab..00000000 --- a/src/libcamera/pipeline/raspberrypi/dma_heaps.cpp +++ /dev/null @@ -1,90 +0,0 @@ -/* SPDX-License-Identifier: LGPL-2.1-or-later */ -/* - * Copyright (C) 2020, Raspberry Pi (Trading) Limited - * - * dma_heaps.h - Helper class for dma-heap allocations. - */ - -#include "dma_heaps.h" - -#include <array> -#include <fcntl.h> -#include <linux/dma-buf.h> -#include <linux/dma-heap.h> -#include <sys/ioctl.h> -#include <unistd.h> - -#include <libcamera/base/log.h> - -/* - * /dev/dma-heap/linux,cma is the dma-heap allocator, which allows dmaheap-cma - * to only have to worry about importing. - * - * Annoyingly, should the cma heap size be specified on the kernel command line - * instead of DT, the heap gets named "reserved" instead. - */ -static constexpr std::array<const char *, 2> heapNames = { - "/dev/dma_heap/linux,cma", - "/dev/dma_heap/reserved" -}; - -namespace libcamera { - -LOG_DECLARE_CATEGORY(RPI) - -namespace RPi { - -DmaHeap::DmaHeap() -{ - for (const char *name : heapNames) { - int ret = ::open(name, O_RDWR, 0); - if (ret < 0) { - ret = errno; - LOG(RPI, Debug) << "Failed to open " << name << ": " - << strerror(ret); - continue; - } - - dmaHeapHandle_ = UniqueFD(ret); - break; - } - - if (!dmaHeapHandle_.isValid()) - LOG(RPI, Error) << "Could not open any dmaHeap device"; -} - -DmaHeap::~DmaHeap() = default; - -UniqueFD DmaHeap::alloc(const char *name, std::size_t size) -{ - int ret; - - if (!name) - return {}; - - struct dma_heap_allocation_data alloc = {}; - - alloc.len = size; - alloc.fd_flags = O_CLOEXEC | O_RDWR; - - ret = ::ioctl(dmaHeapHandle_.get(), DMA_HEAP_IOCTL_ALLOC, &alloc); - if (ret < 0) { - LOG(RPI, Error) << "dmaHeap allocation failure for " - << name; - return {}; - } - - UniqueFD allocFd(alloc.fd); - ret = ::ioctl(allocFd.get(), DMA_BUF_SET_NAME, name); - if (ret < 0) { - LOG(RPI, Error) << "dmaHeap naming failure for " - << name; - return {}; - } - - return allocFd; -} - -} /* namespace RPi */ - -} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/raspberrypi/dma_heaps.h b/src/libcamera/pipeline/raspberrypi/dma_heaps.h deleted file mode 100644 index d38f41ea..00000000 --- a/src/libcamera/pipeline/raspberrypi/dma_heaps.h +++ /dev/null @@ -1,32 +0,0 @@ -/* SPDX-License-Identifier: LGPL-2.1-or-later */ -/* - * Copyright (C) 2020, Raspberry Pi (Trading) Limited - * - * dma_heaps.h - Helper class for dma-heap allocations. - */ - -#pragma once - -#include <stddef.h> - -#include <libcamera/base/unique_fd.h> - -namespace libcamera { - -namespace RPi { - -class DmaHeap -{ -public: - DmaHeap(); - ~DmaHeap(); - bool isValid() const { return dmaHeapHandle_.isValid(); } - UniqueFD alloc(const char *name, std::size_t size); - -private: - UniqueFD dmaHeapHandle_; -}; - -} /* namespace RPi */ - -} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp b/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp deleted file mode 100644 index 66a84b1d..00000000 --- a/src/libcamera/pipeline/raspberrypi/raspberrypi.cpp +++ /dev/null @@ -1,2200 +0,0 @@ -/* SPDX-License-Identifier: LGPL-2.1-or-later */ -/* - * Copyright (C) 2019-2021, Raspberry Pi (Trading) Ltd. - * - * raspberrypi.cpp - Pipeline handler for Raspberry Pi devices - */ -#include <algorithm> -#include <assert.h> -#include <cmath> -#include <fcntl.h> -#include <memory> -#include <mutex> -#include <queue> -#include <unordered_set> -#include <utility> - -#include <libcamera/base/shared_fd.h> -#include <libcamera/base/utils.h> - -#include <libcamera/camera.h> -#include <libcamera/control_ids.h> -#include <libcamera/formats.h> -#include <libcamera/ipa/raspberrypi_ipa_interface.h> -#include <libcamera/ipa/raspberrypi_ipa_proxy.h> -#include <libcamera/logging.h> -#include <libcamera/property_ids.h> -#include <libcamera/request.h> - -#include <linux/bcm2835-isp.h> -#include <linux/media-bus-format.h> -#include <linux/videodev2.h> - -#include "libcamera/internal/bayer_format.h" -#include "libcamera/internal/camera.h" -#include "libcamera/internal/camera_sensor.h" -#include "libcamera/internal/delayed_controls.h" -#include "libcamera/internal/device_enumerator.h" -#include "libcamera/internal/framebuffer.h" -#include "libcamera/internal/ipa_manager.h" -#include "libcamera/internal/media_device.h" -#include "libcamera/internal/pipeline_handler.h" -#include "libcamera/internal/v4l2_videodevice.h" - -#include "dma_heaps.h" -#include "rpi_stream.h" - -using namespace std::chrono_literals; - -namespace libcamera { - -LOG_DEFINE_CATEGORY(RPI) - -namespace { - -constexpr unsigned int defaultRawBitDepth = 12; - -/* Map of mbus codes to supported sizes reported by the sensor. */ -using SensorFormats = std::map<unsigned int, std::vector<Size>>; - -SensorFormats populateSensorFormats(std::unique_ptr<CameraSensor> &sensor) -{ - SensorFormats formats; - - for (auto const mbusCode : sensor->mbusCodes()) - formats.emplace(mbusCode, sensor->sizes(mbusCode)); - - return formats; -} - -PixelFormat mbusCodeToPixelFormat(unsigned int mbus_code, - BayerFormat::Packing packingReq) -{ - BayerFormat bayer = BayerFormat::fromMbusCode(mbus_code); - - ASSERT(bayer.isValid()); - - bayer.packing = packingReq; - PixelFormat pix = bayer.toPixelFormat(); - - /* - * Not all formats (e.g. 8-bit or 16-bit Bayer formats) can have packed - * variants. So if the PixelFormat returns as invalid, use the non-packed - * conversion instead. - */ - if (!pix.isValid()) { - bayer.packing = BayerFormat::Packing::None; - pix = bayer.toPixelFormat(); - } - - return pix; -} - -V4L2DeviceFormat toV4L2DeviceFormat(const V4L2SubdeviceFormat &format, - BayerFormat::Packing packingReq) -{ - const PixelFormat pix = mbusCodeToPixelFormat(format.mbus_code, packingReq); - V4L2DeviceFormat deviceFormat; - - deviceFormat.fourcc = V4L2PixelFormat::fromPixelFormat(pix); - deviceFormat.size = format.size; - deviceFormat.colorSpace = format.colorSpace; - return deviceFormat; -} - -bool isRaw(const PixelFormat &pixFmt) -{ - /* - * The isRaw test might be redundant right now the pipeline handler only - * supports RAW sensors. Leave it in for now, just as a sanity check. - */ - if (!pixFmt.isValid()) - return false; - - const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt); - if (!info.isValid()) - return false; - - return info.colourEncoding == PixelFormatInfo::ColourEncodingRAW; -} - -double scoreFormat(double desired, double actual) -{ - double score = desired - actual; - /* Smaller desired dimensions are preferred. */ - if (score < 0.0) - score = (-score) / 8; - /* Penalise non-exact matches. */ - if (actual != desired) - score *= 2; - - return score; -} - -V4L2SubdeviceFormat findBestFormat(const SensorFormats &formatsMap, const Size &req, unsigned int bitDepth) -{ - double bestScore = std::numeric_limits<double>::max(), score; - V4L2SubdeviceFormat bestFormat; - bestFormat.colorSpace = ColorSpace::Raw; - - constexpr float penaltyAr = 1500.0; - constexpr float penaltyBitDepth = 500.0; - - /* Calculate the closest/best mode from the user requested size. */ - for (const auto &iter : formatsMap) { - const unsigned int mbusCode = iter.first; - const PixelFormat format = mbusCodeToPixelFormat(mbusCode, - BayerFormat::Packing::None); - const PixelFormatInfo &info = PixelFormatInfo::info(format); - - for (const Size &size : iter.second) { - double reqAr = static_cast<double>(req.width) / req.height; - double fmtAr = static_cast<double>(size.width) / size.height; - - /* Score the dimensions for closeness. */ - score = scoreFormat(req.width, size.width); - score += scoreFormat(req.height, size.height); - score += penaltyAr * scoreFormat(reqAr, fmtAr); - - /* Add any penalties... this is not an exact science! */ - score += utils::abs_diff(info.bitsPerPixel, bitDepth) * penaltyBitDepth; - - if (score <= bestScore) { - bestScore = score; - bestFormat.mbus_code = mbusCode; - bestFormat.size = size; - } - - LOG(RPI, Debug) << "Format: " << size - << " fmt " << format - << " Score: " << score - << " (best " << bestScore << ")"; - } - } - - return bestFormat; -} - -enum class Unicam : unsigned int { Image, Embedded }; -enum class Isp : unsigned int { Input, Output0, Output1, Stats }; - -} /* namespace */ - -class RPiCameraData : public Camera::Private -{ -public: - RPiCameraData(PipelineHandler *pipe) - : Camera::Private(pipe), state_(State::Stopped), - supportsFlips_(false), flipsAlterBayerOrder_(false), - dropFrameCount_(0), buffersAllocated_(false), ispOutputCount_(0) - { - } - - ~RPiCameraData() - { - freeBuffers(); - } - - void freeBuffers(); - void frameStarted(uint32_t sequence); - - int loadIPA(ipa::RPi::IPAInitResult *result); - int configureIPA(const CameraConfiguration *config, ipa::RPi::IPAConfigResult *result); - - void enumerateVideoDevices(MediaLink *link); - - void statsMetadataComplete(uint32_t bufferId, const ControlList &controls); - void runIsp(uint32_t bufferId); - void embeddedComplete(uint32_t bufferId); - void setIspControls(const ControlList &controls); - void setDelayedControls(const ControlList &controls); - void setSensorControls(ControlList &controls); - void unicamTimeout(); - - /* bufferComplete signal handlers. */ - void unicamBufferDequeue(FrameBuffer *buffer); - void ispInputDequeue(FrameBuffer *buffer); - void ispOutputDequeue(FrameBuffer *buffer); - - void clearIncompleteRequests(); - void handleStreamBuffer(FrameBuffer *buffer, RPi::Stream *stream); - void handleExternalBuffer(FrameBuffer *buffer, RPi::Stream *stream); - void handleState(); - Rectangle scaleIspCrop(const Rectangle &ispCrop) const; - void applyScalerCrop(const ControlList &controls); - - std::unique_ptr<ipa::RPi::IPAProxyRPi> ipa_; - - std::unique_ptr<CameraSensor> sensor_; - SensorFormats sensorFormats_; - /* Array of Unicam and ISP device streams and associated buffers/streams. */ - RPi::Device<Unicam, 2> unicam_; - RPi::Device<Isp, 4> isp_; - /* The vector below is just for convenience when iterating over all streams. */ - std::vector<RPi::Stream *> streams_; - /* Stores the ids of the buffers mapped in the IPA. */ - std::unordered_set<unsigned int> ipaBuffers_; - /* - * Stores a cascade of Video Mux or Bridge devices between the sensor and - * Unicam together with media link across the entities. - */ - std::vector<std::pair<std::unique_ptr<V4L2Subdevice>, MediaLink *>> bridgeDevices_; - - /* DMAHEAP allocation helper. */ - RPi::DmaHeap dmaHeap_; - SharedFD lsTable_; - - std::unique_ptr<DelayedControls> delayedCtrls_; - bool sensorMetadata_; - - /* - * All the functions in this class are called from a single calling - * thread. So, we do not need to have any mutex to protect access to any - * of the variables below. - */ - enum class State { Stopped, Idle, Busy, IpaComplete }; - State state_; - - struct BayerFrame { - FrameBuffer *buffer; - ControlList controls; - }; - - std::queue<BayerFrame> bayerQueue_; - std::queue<FrameBuffer *> embeddedQueue_; - std::deque<Request *> requestQueue_; - - /* - * Manage horizontal and vertical flips supported (or not) by the - * sensor. Also store the "native" Bayer order (that is, with no - * transforms applied). - */ - bool supportsFlips_; - bool flipsAlterBayerOrder_; - BayerFormat::Order nativeBayerOrder_; - - /* For handling digital zoom. */ - IPACameraSensorInfo sensorInfo_; - Rectangle ispCrop_; /* crop in ISP (camera mode) pixels */ - Rectangle scalerCrop_; /* crop in sensor native pixels */ - Size ispMinCropSize_; - - unsigned int dropFrameCount_; - - /* - * If set, this stores the value that represets a gain of one for - * the V4L2_CID_NOTIFY_GAINS control. - */ - std::optional<int32_t> notifyGainsUnity_; - - /* Have internal buffers been allocated? */ - bool buffersAllocated_; - -private: - void checkRequestCompleted(); - void fillRequestMetadata(const ControlList &bufferControls, - Request *request); - void tryRunPipeline(); - bool findMatchingBuffers(BayerFrame &bayerFrame, FrameBuffer *&embeddedBuffer); - - unsigned int ispOutputCount_; -}; - -class RPiCameraConfiguration : public CameraConfiguration -{ -public: - RPiCameraConfiguration(const RPiCameraData *data); - - Status validate() override; - - /* Cache the combinedTransform_ that will be applied to the sensor */ - Transform combinedTransform_; - -private: - const RPiCameraData *data_; -}; - -class PipelineHandlerRPi : public PipelineHandler -{ -public: - PipelineHandlerRPi(CameraManager *manager); - - CameraConfiguration *generateConfiguration(Camera *camera, const StreamRoles &roles) override; - int configure(Camera *camera, CameraConfiguration *config) override; - - int exportFrameBuffers(Camera *camera, Stream *stream, - std::vector<std::unique_ptr<FrameBuffer>> *buffers) override; - - int start(Camera *camera, const ControlList *controls) override; - void stopDevice(Camera *camera) override; - - int queueRequestDevice(Camera *camera, Request *request) override; - - bool match(DeviceEnumerator *enumerator) override; - -private: - RPiCameraData *cameraData(Camera *camera) - { - return static_cast<RPiCameraData *>(camera->_d()); - } - - int registerCamera(MediaDevice *unicam, MediaDevice *isp, MediaEntity *sensorEntity); - int queueAllBuffers(Camera *camera); - int prepareBuffers(Camera *camera); - void mapBuffers(Camera *camera, const RPi::BufferMap &buffers, unsigned int mask); -}; - -RPiCameraConfiguration::RPiCameraConfiguration(const RPiCameraData *data) - : CameraConfiguration(), data_(data) -{ -} - -CameraConfiguration::Status RPiCameraConfiguration::validate() -{ - Status status = Valid; - - if (config_.empty()) - return Invalid; - - status = validateColorSpaces(ColorSpaceFlag::StreamsShareColorSpace); - - /* - * What if the platform has a non-90 degree rotation? We can't even - * "adjust" the configuration and carry on. Alternatively, raising an - * error means the platform can never run. Let's just print a warning - * and continue regardless; the rotation is effectively set to zero. - */ - int32_t rotation = data_->sensor_->properties().get(properties::Rotation); - bool success; - Transform rotationTransform = transformFromRotation(rotation, &success); - if (!success) - LOG(RPI, Warning) << "Invalid rotation of " << rotation - << " degrees - ignoring"; - Transform combined = transform * rotationTransform; - - /* - * We combine the platform and user transform, but must "adjust away" - * any combined result that includes a transform, as we can't do those. - * In this case, flipping only the transpose bit is helpful to - * applications - they either get the transform they requested, or have - * to do a simple transpose themselves (they don't have to worry about - * the other possible cases). - */ - if (!!(combined & Transform::Transpose)) { - /* - * Flipping the transpose bit in "transform" flips it in the - * combined result too (as it's the last thing that happens), - * which is of course clearing it. - */ - transform ^= Transform::Transpose; - combined &= ~Transform::Transpose; - status = Adjusted; - } - - /* - * We also check if the sensor doesn't do h/vflips at all, in which - * case we clear them, and the application will have to do everything. - */ - if (!data_->supportsFlips_ && !!combined) { - /* - * If the sensor can do no transforms, then combined must be - * changed to the identity. The only user transform that gives - * rise to this the inverse of the rotation. (Recall that - * combined = transform * rotationTransform.) - */ - transform = -rotationTransform; - combined = Transform::Identity; - status = Adjusted; - } - - /* - * Store the final combined transform that configure() will need to - * apply to the sensor to save us working it out again. - */ - combinedTransform_ = combined; - - unsigned int rawCount = 0, outCount = 0, count = 0, maxIndex = 0; - std::pair<int, Size> outSize[2]; - Size maxSize; - for (StreamConfiguration &cfg : config_) { - if (isRaw(cfg.pixelFormat)) { - /* - * Calculate the best sensor mode we can use based on - * the user request. - */ - const PixelFormatInfo &info = PixelFormatInfo::info(cfg.pixelFormat); - unsigned int bitDepth = info.isValid() ? info.bitsPerPixel : defaultRawBitDepth; - V4L2SubdeviceFormat sensorFormat = findBestFormat(data_->sensorFormats_, cfg.size, bitDepth); - BayerFormat::Packing packing = BayerFormat::Packing::CSI2; - if (info.isValid() && !info.packed) - packing = BayerFormat::Packing::None; - V4L2DeviceFormat unicamFormat = toV4L2DeviceFormat(sensorFormat, - packing); - int ret = data_->unicam_[Unicam::Image].dev()->tryFormat(&unicamFormat); - if (ret) - return Invalid; - - /* - * Some sensors change their Bayer order when they are - * h-flipped or v-flipped, according to the transform. - * If this one does, we must advertise the transformed - * Bayer order in the raw stream. Note how we must - * fetch the "native" (i.e. untransformed) Bayer order, - * because the sensor may currently be flipped! - */ - V4L2PixelFormat fourcc = unicamFormat.fourcc; - if (data_->flipsAlterBayerOrder_) { - BayerFormat bayer = BayerFormat::fromV4L2PixelFormat(fourcc); - bayer.order = data_->nativeBayerOrder_; - bayer = bayer.transform(combined); - fourcc = bayer.toV4L2PixelFormat(); - } - - PixelFormat unicamPixFormat = fourcc.toPixelFormat(); - if (cfg.size != unicamFormat.size || - cfg.pixelFormat != unicamPixFormat) { - cfg.size = unicamFormat.size; - cfg.pixelFormat = unicamPixFormat; - status = Adjusted; - } - - cfg.stride = unicamFormat.planes[0].bpl; - cfg.frameSize = unicamFormat.planes[0].size; - - rawCount++; - } else { - outSize[outCount] = std::make_pair(count, cfg.size); - /* Record the largest resolution for fixups later. */ - if (maxSize < cfg.size) { - maxSize = cfg.size; - maxIndex = outCount; - } - outCount++; - } - - count++; - - /* Can only output 1 RAW stream, or 2 YUV/RGB streams. */ - if (rawCount > 1 || outCount > 2) { - LOG(RPI, Error) << "Invalid number of streams requested"; - return Invalid; - } - } - - /* - * Now do any fixups needed. For the two ISP outputs, one stream must be - * equal or smaller than the other in all dimensions. - */ - for (unsigned int i = 0; i < outCount; i++) { - outSize[i].second.width = std::min(outSize[i].second.width, - maxSize.width); - outSize[i].second.height = std::min(outSize[i].second.height, - maxSize.height); - - if (config_.at(outSize[i].first).size != outSize[i].second) { - config_.at(outSize[i].first).size = outSize[i].second; - status = Adjusted; - } - - /* - * Also validate the correct pixel formats here. - * Note that Output0 and Output1 support a different - * set of formats. - * - * Output 0 must be for the largest resolution. We will - * have that fixed up in the code above. - * - */ - StreamConfiguration &cfg = config_.at(outSize[i].first); - PixelFormat &cfgPixFmt = cfg.pixelFormat; - V4L2VideoDevice *dev; - - if (i == maxIndex) - dev = data_->isp_[Isp::Output0].dev(); - else - dev = data_->isp_[Isp::Output1].dev(); - - V4L2VideoDevice::Formats fmts = dev->formats(); - - if (fmts.find(V4L2PixelFormat::fromPixelFormat(cfgPixFmt)) == fmts.end()) { - /* If we cannot find a native format, use a default one. */ - cfgPixFmt = formats::NV12; - status = Adjusted; - } - - V4L2DeviceFormat format; - format.fourcc = V4L2PixelFormat::fromPixelFormat(cfg.pixelFormat); - format.size = cfg.size; - format.colorSpace = cfg.colorSpace; - - LOG(RPI, Debug) - << "Try color space " << ColorSpace::toString(cfg.colorSpace); - - int ret = dev->tryFormat(&format); - if (ret) - return Invalid; - - if (cfg.colorSpace != format.colorSpace) { - status = Adjusted; - LOG(RPI, Debug) - << "Color space changed from " - << ColorSpace::toString(cfg.colorSpace) << " to " - << ColorSpace::toString(format.colorSpace); - } - - cfg.colorSpace = format.colorSpace; - - cfg.stride = format.planes[0].bpl; - cfg.frameSize = format.planes[0].size; - - } - - return status; -} - -PipelineHandlerRPi::PipelineHandlerRPi(CameraManager *manager) - : PipelineHandler(manager) -{ -} - -CameraConfiguration *PipelineHandlerRPi::generateConfiguration(Camera *camera, - const StreamRoles &roles) -{ - RPiCameraData *data = cameraData(camera); - CameraConfiguration *config = new RPiCameraConfiguration(data); - V4L2SubdeviceFormat sensorFormat; - unsigned int bufferCount; - PixelFormat pixelFormat; - V4L2VideoDevice::Formats fmts; - Size size; - std::optional<ColorSpace> colorSpace; - - if (roles.empty()) - return config; - - unsigned int rawCount = 0; - unsigned int outCount = 0; - Size sensorSize = data->sensor_->resolution(); - for (const StreamRole role : roles) { - switch (role) { - case StreamRole::Raw: - size = sensorSize; - sensorFormat = findBestFormat(data->sensorFormats_, size, defaultRawBitDepth); - pixelFormat = mbusCodeToPixelFormat(sensorFormat.mbus_code, - BayerFormat::Packing::CSI2); - ASSERT(pixelFormat.isValid()); - colorSpace = ColorSpace::Raw; - bufferCount = 2; - rawCount++; - break; - - case StreamRole::StillCapture: - fmts = data->isp_[Isp::Output0].dev()->formats(); - pixelFormat = formats::NV12; - /* - * Still image codecs usually expect the JPEG color space. - * Even RGB codecs will be fine as the RGB we get with the - * JPEG color space is the same as sRGB. - */ - colorSpace = ColorSpace::Jpeg; - /* Return the largest sensor resolution. */ - size = sensorSize; - bufferCount = 1; - outCount++; - break; - - case StreamRole::VideoRecording: - /* - * The colour denoise algorithm requires the analysis - * image, produced by the second ISP output, to be in - * YUV420 format. Select this format as the default, to - * maximize chances that it will be picked by - * applications and enable usage of the colour denoise - * algorithm. - */ - fmts = data->isp_[Isp::Output0].dev()->formats(); - pixelFormat = formats::YUV420; - /* - * Choose a color space appropriate for video recording. - * Rec.709 will be a good default for HD resolutions. - */ - colorSpace = ColorSpace::Rec709; - size = { 1920, 1080 }; - bufferCount = 4; - outCount++; - break; - - case StreamRole::Viewfinder: - fmts = data->isp_[Isp::Output0].dev()->formats(); - pixelFormat = formats::ARGB8888; - colorSpace = ColorSpace::Jpeg; - size = { 800, 600 }; - bufferCount = 4; - outCount++; - break; - - default: - LOG(RPI, Error) << "Requested stream role not supported: " - << role; - delete config; - return nullptr; - } - - if (rawCount > 1 || outCount > 2) { - LOG(RPI, Error) << "Invalid stream roles requested"; - delete config; - return nullptr; - } - - std::map<PixelFormat, std::vector<SizeRange>> deviceFormats; - if (role == StreamRole::Raw) { - /* Translate the MBUS codes to a PixelFormat. */ - for (const auto &format : data->sensorFormats_) { - PixelFormat pf = mbusCodeToPixelFormat(format.first, - BayerFormat::Packing::CSI2); - if (pf.isValid()) - deviceFormats.emplace(std::piecewise_construct, std::forward_as_tuple(pf), - std::forward_as_tuple(format.second.begin(), format.second.end())); - } - } else { - /* - * Translate the V4L2PixelFormat to PixelFormat. Note that we - * limit the recommended largest ISP output size to match the - * sensor resolution. - */ - for (const auto &format : fmts) { - PixelFormat pf = format.first.toPixelFormat(); - if (pf.isValid()) { - const SizeRange &ispSizes = format.second[0]; - deviceFormats[pf].emplace_back(ispSizes.min, sensorSize, - ispSizes.hStep, ispSizes.vStep); - } - } - } - - /* Add the stream format based on the device node used for the use case. */ - StreamFormats formats(deviceFormats); - StreamConfiguration cfg(formats); - cfg.size = size; - cfg.pixelFormat = pixelFormat; - cfg.colorSpace = colorSpace; - cfg.bufferCount = bufferCount; - config->addConfiguration(cfg); - } - - config->validate(); - - return config; -} - -int PipelineHandlerRPi::configure(Camera *camera, CameraConfiguration *config) -{ - RPiCameraData *data = cameraData(camera); - int ret; - - /* Start by freeing all buffers and reset the Unicam and ISP stream states. */ - data->freeBuffers(); - for (auto const stream : data->streams_) - stream->setExternal(false); - - BayerFormat::Packing packing = BayerFormat::Packing::CSI2; - Size maxSize, sensorSize; - unsigned int maxIndex = 0; - bool rawStream = false; - unsigned int bitDepth = defaultRawBitDepth; - - /* - * Look for the RAW stream (if given) size as well as the largest - * ISP output size. - */ - for (unsigned i = 0; i < config->size(); i++) { - StreamConfiguration &cfg = config->at(i); - - if (isRaw(cfg.pixelFormat)) { - /* - * If we have been given a RAW stream, use that size - * for setting up the sensor. - */ - sensorSize = cfg.size; - rawStream = true; - /* Check if the user has explicitly set an unpacked format. */ - BayerFormat bayerFormat = BayerFormat::fromPixelFormat(cfg.pixelFormat); - packing = bayerFormat.packing; - bitDepth = bayerFormat.bitDepth; - } else { - if (cfg.size > maxSize) { - maxSize = config->at(i).size; - maxIndex = i; - } - } - } - - /* - * Configure the H/V flip controls based on the combination of - * the sensor and user transform. - */ - if (data->supportsFlips_) { - const RPiCameraConfiguration *rpiConfig = - static_cast<const RPiCameraConfiguration *>(config); - ControlList controls; - - controls.set(V4L2_CID_HFLIP, - static_cast<int32_t>(!!(rpiConfig->combinedTransform_ & Transform::HFlip))); - controls.set(V4L2_CID_VFLIP, - static_cast<int32_t>(!!(rpiConfig->combinedTransform_ & Transform::VFlip))); - data->setSensorControls(controls); - } - - /* First calculate the best sensor mode we can use based on the user request. */ - V4L2SubdeviceFormat sensorFormat = findBestFormat(data->sensorFormats_, rawStream ? sensorSize : maxSize, bitDepth); - ret = data->sensor_->setFormat(&sensorFormat); - if (ret) - return ret; - - V4L2DeviceFormat unicamFormat = toV4L2DeviceFormat(sensorFormat, packing); - ret = data->unicam_[Unicam::Image].dev()->setFormat(&unicamFormat); - if (ret) - return ret; - - LOG(RPI, Info) << "Sensor: " << camera->id() - << " - Selected sensor format: " << sensorFormat - << " - Selected unicam format: " << unicamFormat; - - ret = data->isp_[Isp::Input].dev()->setFormat(&unicamFormat); - if (ret) - return ret; - - /* - * See which streams are requested, and route the user - * StreamConfiguration appropriately. - */ - V4L2DeviceFormat format; - bool output0Set = false, output1Set = false; - for (unsigned i = 0; i < config->size(); i++) { - StreamConfiguration &cfg = config->at(i); - - if (isRaw(cfg.pixelFormat)) { - cfg.setStream(&data->unicam_[Unicam::Image]); - data->unicam_[Unicam::Image].setExternal(true); - continue; - } - - /* The largest resolution gets routed to the ISP Output 0 node. */ - RPi::Stream *stream = i == maxIndex ? &data->isp_[Isp::Output0] - : &data->isp_[Isp::Output1]; - - V4L2PixelFormat fourcc = V4L2PixelFormat::fromPixelFormat(cfg.pixelFormat); - format.size = cfg.size; - format.fourcc = fourcc; - format.colorSpace = cfg.colorSpace; - - LOG(RPI, Debug) << "Setting " << stream->name() << " to " - << format; - - ret = stream->dev()->setFormat(&format); - if (ret) - return -EINVAL; - - if (format.size != cfg.size || format.fourcc != fourcc) { - 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); - - cfg.setStream(stream); - stream->setExternal(true); - - if (i != maxIndex) - output1Set = true; - else - output0Set = true; - } - - /* - * If ISP::Output0 stream has not been configured by the application, - * we must allow the hardware to generate an output so that the data - * flow in the pipeline handler remains consistent, and we still generate - * statistics for the IPA to use. So enable the output at a very low - * resolution for internal use. - * - * \todo Allow the pipeline to work correctly without Output0 and only - * statistics coming from the hardware. - */ - if (!output0Set) { - maxSize = Size(320, 240); - format = {}; - format.size = maxSize; - format.fourcc = V4L2PixelFormat::fromPixelFormat(formats::YUV420); - /* No one asked for output, so the color space doesn't matter. */ - format.colorSpace = ColorSpace::Jpeg; - ret = data->isp_[Isp::Output0].dev()->setFormat(&format); - if (ret) { - LOG(RPI, Error) - << "Failed to set default format on ISP Output0: " - << ret; - return -EINVAL; - } - - LOG(RPI, Debug) << "Defaulting ISP Output0 format to " - << format; - } - - /* - * If ISP::Output1 stream has not been requested by the application, we - * set it up for internal use now. This second stream will be used for - * fast colour denoise, and must be a quarter resolution of the ISP::Output0 - * stream. However, also limit the maximum size to 1200 pixels in the - * larger dimension, just to avoid being wasteful with buffer allocations - * and memory bandwidth. - * - * \todo If Output 1 format is not YUV420, Output 1 ought to be disabled as - * colour denoise will not run. - */ - if (!output1Set) { - V4L2DeviceFormat output1Format; - constexpr Size maxDimensions(1200, 1200); - const Size limit = maxDimensions.boundedToAspectRatio(format.size); - - output1Format.size = (format.size / 2).boundedTo(limit).alignedDownTo(2, 2); - output1Format.colorSpace = format.colorSpace; - output1Format.fourcc = V4L2PixelFormat::fromPixelFormat(formats::YUV420); - - LOG(RPI, Debug) << "Setting ISP Output1 (internal) to " - << output1Format; - - ret = data->isp_[Isp::Output1].dev()->setFormat(&output1Format); - if (ret) { - LOG(RPI, Error) << "Failed to set format on ISP Output1: " - << ret; - return -EINVAL; - } - } - - /* ISP statistics output format. */ - format = {}; - format.fourcc = V4L2PixelFormat(V4L2_META_FMT_BCM2835_ISP_STATS); - ret = data->isp_[Isp::Stats].dev()->setFormat(&format); - if (ret) { - LOG(RPI, Error) << "Failed to set format on ISP stats stream: " - << format; - return ret; - } - - /* Figure out the smallest selection the ISP will allow. */ - Rectangle testCrop(0, 0, 1, 1); - data->isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &testCrop); - data->ispMinCropSize_ = testCrop.size(); - - /* Adjust aspect ratio by providing crops on the input image. */ - Size size = unicamFormat.size.boundedToAspectRatio(maxSize); - Rectangle crop = size.centeredTo(Rectangle(unicamFormat.size).center()); - data->ispCrop_ = crop; - - data->isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &crop); - - ipa::RPi::IPAConfigResult result; - ret = data->configureIPA(config, &result); - if (ret) - LOG(RPI, Error) << "Failed to configure the IPA: " << ret; - - /* - * Set the scaler crop to the value we are using (scaled to native sensor - * coordinates). - */ - data->scalerCrop_ = data->scaleIspCrop(data->ispCrop_); - - /* - * Configure the Unicam embedded data output format only if the sensor - * supports it. - */ - if (data->sensorMetadata_) { - V4L2SubdeviceFormat embeddedFormat; - - data->sensor_->device()->getFormat(1, &embeddedFormat); - format.fourcc = V4L2PixelFormat(V4L2_META_FMT_SENSOR_DATA); - format.planes[0].size = embeddedFormat.size.width * embeddedFormat.size.height; - - LOG(RPI, Debug) << "Setting embedded data format."; - ret = data->unicam_[Unicam::Embedded].dev()->setFormat(&format); - if (ret) { - LOG(RPI, Error) << "Failed to set format on Unicam embedded: " - << format; - return ret; - } - } - - /* - * Update the ScalerCropMaximum to the correct value for this camera mode. - * For us, it's the same as the "analogue crop". - * - * \todo Make this property the ScalerCrop maximum value when dynamic - * controls are available and set it at validate() time - */ - data->properties_.set(properties::ScalerCropMaximum, data->sensorInfo_.analogCrop); - - /* Store the mode sensitivity for the application. */ - data->properties_.set(properties::SensorSensitivity, result.modeSensitivity); - - /* Update the controls that the Raspberry Pi IPA can handle. */ - ControlInfoMap::Map ctrlMap; - for (auto const &c : result.controlInfo) - ctrlMap.emplace(c.first, c.second); - - /* Add the ScalerCrop control limits based on the current mode. */ - ctrlMap.emplace(&controls::ScalerCrop, - ControlInfo(Rectangle(data->ispMinCropSize_), Rectangle(data->sensorInfo_.outputSize))); - - data->controlInfo_ = ControlInfoMap(std::move(ctrlMap), result.controlInfo.idmap()); - - /* Setup the Video Mux/Bridge entities. */ - for (auto &[device, link] : data->bridgeDevices_) { - /* - * Start by disabling all the sink pad links on the devices in the - * cascade, with the exception of the link connecting the device. - */ - for (const MediaPad *p : device->entity()->pads()) { - if (!(p->flags() & MEDIA_PAD_FL_SINK)) - continue; - - for (MediaLink *l : p->links()) { - if (l != link) - l->setEnabled(false); - } - } - - /* - * Next, enable the entity -> entity links, and setup the pad format. - * - * \todo Some bridge devices may chainge the media bus code, so we - * ought to read the source pad format and propagate it to the sink pad. - */ - link->setEnabled(true); - const MediaPad *sinkPad = link->sink(); - ret = device->setFormat(sinkPad->index(), &sensorFormat); - if (ret) { - LOG(RPI, Error) << "Failed to set format on " << device->entity()->name() - << " pad " << sinkPad->index() - << " with format " << format - << ": " << ret; - return ret; - } - - LOG(RPI, Debug) << "Configured media link on device " << device->entity()->name() - << " on pad " << sinkPad->index(); - } - - return ret; -} - -int PipelineHandlerRPi::exportFrameBuffers([[maybe_unused]] Camera *camera, Stream *stream, - std::vector<std::unique_ptr<FrameBuffer>> *buffers) -{ - RPi::Stream *s = static_cast<RPi::Stream *>(stream); - unsigned int count = stream->configuration().bufferCount; - int ret = s->dev()->exportBuffers(count, buffers); - - s->setExportedBuffers(buffers); - - return ret; -} - -int PipelineHandlerRPi::start(Camera *camera, const ControlList *controls) -{ - RPiCameraData *data = cameraData(camera); - int ret; - - for (auto const stream : data->streams_) - stream->resetBuffers(); - - if (!data->buffersAllocated_) { - /* Allocate buffers for internal pipeline usage. */ - ret = prepareBuffers(camera); - if (ret) { - LOG(RPI, Error) << "Failed to allocate buffers"; - data->freeBuffers(); - stop(camera); - return ret; - } - data->buffersAllocated_ = true; - } - - /* Check if a ScalerCrop control was specified. */ - if (controls) - data->applyScalerCrop(*controls); - - /* Start the IPA. */ - ipa::RPi::StartConfig startConfig; - data->ipa_->start(controls ? *controls : ControlList{ controls::controls }, - &startConfig); - - /* Apply any gain/exposure settings that the IPA may have passed back. */ - if (!startConfig.controls.empty()) - data->setSensorControls(startConfig.controls); - - /* Configure the number of dropped frames required on startup. */ - data->dropFrameCount_ = startConfig.dropFrameCount; - - /* We need to set the dropFrameCount_ before queueing buffers. */ - ret = queueAllBuffers(camera); - if (ret) { - LOG(RPI, Error) << "Failed to queue buffers"; - stop(camera); - return ret; - } - - /* Enable SOF event generation. */ - data->unicam_[Unicam::Image].dev()->setFrameStartEnabled(true); - - /* - * Reset the delayed controls with the gain and exposure values set by - * the IPA. - */ - data->delayedCtrls_->reset(); - - data->state_ = RPiCameraData::State::Idle; - - /* Start all streams. */ - for (auto const stream : data->streams_) { - ret = stream->dev()->streamOn(); - if (ret) { - stop(camera); - return ret; - } - } - - /* - * Set the dequeue timeout to the larger of 2x the maximum possible - * frame duration or 1 second. - */ - utils::Duration timeout = - std::max<utils::Duration>(1s, 2 * startConfig.maxSensorFrameLengthMs * 1ms); - data->unicam_[Unicam::Image].dev()->setDequeueTimeout(timeout); - - return 0; -} - -void PipelineHandlerRPi::stopDevice(Camera *camera) -{ - RPiCameraData *data = cameraData(camera); - - data->state_ = RPiCameraData::State::Stopped; - - /* Disable SOF event generation. */ - data->unicam_[Unicam::Image].dev()->setFrameStartEnabled(false); - - for (auto const stream : data->streams_) - stream->dev()->streamOff(); - - data->clearIncompleteRequests(); - data->bayerQueue_ = {}; - data->embeddedQueue_ = {}; - - /* Stop the IPA. */ - data->ipa_->stop(); -} - -int PipelineHandlerRPi::queueRequestDevice(Camera *camera, Request *request) -{ - RPiCameraData *data = cameraData(camera); - - if (data->state_ == RPiCameraData::State::Stopped) - return -EINVAL; - - LOG(RPI, Debug) << "queueRequestDevice: New request."; - - /* Push all buffers supplied in the Request to the respective streams. */ - for (auto stream : data->streams_) { - if (!stream->isExternal()) - continue; - - FrameBuffer *buffer = request->findBuffer(stream); - if (buffer && stream->getBufferId(buffer) == -1) { - /* - * This buffer is not recognised, so it must have been allocated - * outside the v4l2 device. Store it in the stream buffer list - * so we can track it. - */ - stream->setExternalBuffer(buffer); - } - /* - * If no buffer is provided by the request for this stream, we - * queue a nullptr to the stream to signify that it must use an - * internally allocated buffer for this capture request. This - * buffer will not be given back to the application, but is used - * to support the internal pipeline flow. - * - * The below queueBuffer() call will do nothing if there are not - * enough internal buffers allocated, but this will be handled by - * queuing the request for buffers in the RPiStream object. - */ - int ret = stream->queueBuffer(buffer); - if (ret) - return ret; - } - - /* Push the request to the back of the queue. */ - data->requestQueue_.push_back(request); - data->handleState(); - - return 0; -} - -bool PipelineHandlerRPi::match(DeviceEnumerator *enumerator) -{ - DeviceMatch unicam("unicam"); - MediaDevice *unicamDevice = acquireMediaDevice(enumerator, unicam); - - if (!unicamDevice) { - LOG(RPI, Debug) << "Unable to acquire a Unicam instance"; - return false; - } - - DeviceMatch isp("bcm2835-isp"); - MediaDevice *ispDevice = acquireMediaDevice(enumerator, isp); - - if (!ispDevice) { - LOG(RPI, Debug) << "Unable to acquire ISP instance"; - return false; - } - - /* - * The loop below is used to register multiple cameras behind one or more - * video mux devices that are attached to a particular Unicam instance. - * Obviously these cameras cannot be used simultaneously. - */ - unsigned int numCameras = 0; - for (MediaEntity *entity : unicamDevice->entities()) { - if (entity->function() != MEDIA_ENT_F_CAM_SENSOR) - continue; - - int ret = registerCamera(unicamDevice, ispDevice, entity); - if (ret) - LOG(RPI, Error) << "Failed to register camera " - << entity->name() << ": " << ret; - else - numCameras++; - } - - return !!numCameras; -} - -int PipelineHandlerRPi::registerCamera(MediaDevice *unicam, MediaDevice *isp, MediaEntity *sensorEntity) -{ - std::unique_ptr<RPiCameraData> data = std::make_unique<RPiCameraData>(this); - - if (!data->dmaHeap_.isValid()) - return -ENOMEM; - - MediaEntity *unicamImage = unicam->getEntityByName("unicam-image"); - MediaEntity *ispOutput0 = isp->getEntityByName("bcm2835-isp0-output0"); - MediaEntity *ispCapture1 = isp->getEntityByName("bcm2835-isp0-capture1"); - MediaEntity *ispCapture2 = isp->getEntityByName("bcm2835-isp0-capture2"); - MediaEntity *ispCapture3 = isp->getEntityByName("bcm2835-isp0-capture3"); - - if (!unicamImage || !ispOutput0 || !ispCapture1 || !ispCapture2 || !ispCapture3) - return -ENOENT; - - /* Locate and open the unicam video streams. */ - data->unicam_[Unicam::Image] = RPi::Stream("Unicam Image", unicamImage); - - /* An embedded data node will not be present if the sensor does not support it. */ - MediaEntity *unicamEmbedded = unicam->getEntityByName("unicam-embedded"); - if (unicamEmbedded) { - data->unicam_[Unicam::Embedded] = RPi::Stream("Unicam Embedded", unicamEmbedded); - data->unicam_[Unicam::Embedded].dev()->bufferReady.connect(data.get(), - &RPiCameraData::unicamBufferDequeue); - } - - /* Tag the ISP input stream as an import stream. */ - data->isp_[Isp::Input] = RPi::Stream("ISP Input", ispOutput0, true); - data->isp_[Isp::Output0] = RPi::Stream("ISP Output0", ispCapture1); - data->isp_[Isp::Output1] = RPi::Stream("ISP Output1", ispCapture2); - data->isp_[Isp::Stats] = RPi::Stream("ISP Stats", ispCapture3); - - /* Wire up all the buffer connections. */ - data->unicam_[Unicam::Image].dev()->dequeueTimeout.connect(data.get(), &RPiCameraData::unicamTimeout); - data->unicam_[Unicam::Image].dev()->frameStart.connect(data.get(), &RPiCameraData::frameStarted); - data->unicam_[Unicam::Image].dev()->bufferReady.connect(data.get(), &RPiCameraData::unicamBufferDequeue); - data->isp_[Isp::Input].dev()->bufferReady.connect(data.get(), &RPiCameraData::ispInputDequeue); - data->isp_[Isp::Output0].dev()->bufferReady.connect(data.get(), &RPiCameraData::ispOutputDequeue); - data->isp_[Isp::Output1].dev()->bufferReady.connect(data.get(), &RPiCameraData::ispOutputDequeue); - data->isp_[Isp::Stats].dev()->bufferReady.connect(data.get(), &RPiCameraData::ispOutputDequeue); - - data->sensor_ = std::make_unique<CameraSensor>(sensorEntity); - if (!data->sensor_) - return -EINVAL; - - if (data->sensor_->init()) - return -EINVAL; - - /* - * Enumerate all the Video Mux/Bridge devices across the sensor -> unicam - * chain. There may be a cascade of devices in this chain! - */ - MediaLink *link = sensorEntity->getPadByIndex(0)->links()[0]; - data->enumerateVideoDevices(link); - - data->sensorFormats_ = populateSensorFormats(data->sensor_); - - ipa::RPi::IPAInitResult result; - if (data->loadIPA(&result)) { - LOG(RPI, Error) << "Failed to load a suitable IPA library"; - return -EINVAL; - } - - if (result.sensorConfig.sensorMetadata ^ !!unicamEmbedded) { - LOG(RPI, Warning) << "Mismatch between Unicam and CamHelper for embedded data usage!"; - result.sensorConfig.sensorMetadata = false; - if (unicamEmbedded) - data->unicam_[Unicam::Embedded].dev()->bufferReady.disconnect(); - } - - /* - * Open all Unicam 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->unicam_[Unicam::Image]); - if (result.sensorConfig.sensorMetadata) - data->streams_.push_back(&data->unicam_[Unicam::Embedded]); - - for (auto &stream : data->isp_) - data->streams_.push_back(&stream); - - for (auto stream : data->streams_) { - int ret = stream->dev()->open(); - if (ret) - return ret; - } - - if (!data->unicam_[Unicam::Image].dev()->caps().hasMediaController()) { - LOG(RPI, Error) << "Unicam driver does not use the MediaController, please update your kernel!"; - return -EINVAL; - } - - /* - * Setup our delayed control writer with the sensor default - * gain and exposure delays. Mark VBLANK for priority write. - */ - std::unordered_map<uint32_t, DelayedControls::ControlParams> params = { - { V4L2_CID_ANALOGUE_GAIN, { result.sensorConfig.gainDelay, false } }, - { V4L2_CID_EXPOSURE, { result.sensorConfig.exposureDelay, false } }, - { V4L2_CID_VBLANK, { result.sensorConfig.vblankDelay, true } } - }; - data->delayedCtrls_ = std::make_unique<DelayedControls>(data->sensor_->device(), params); - data->sensorMetadata_ = result.sensorConfig.sensorMetadata; - - /* Register initial controls that the Raspberry Pi IPA can handle. */ - data->controlInfo_ = std::move(result.controlInfo); - - /* Initialize the camera properties. */ - data->properties_ = data->sensor_->properties(); - - /* - * The V4L2_CID_NOTIFY_GAINS control, if present, is used to inform the - * sensor of the colour gains. It is defined to be a linear gain where - * the default value represents a gain of exactly one. - */ - auto it = data->sensor_->controls().find(V4L2_CID_NOTIFY_GAINS); - if (it != data->sensor_->controls().end()) - data->notifyGainsUnity_ = it->second.def().get<int32_t>(); - - /* - * Set a default value for the ScalerCropMaximum property to show - * that we support its use, however, initialise it to zero because - * it's not meaningful until a camera mode has been chosen. - */ - data->properties_.set(properties::ScalerCropMaximum, Rectangle{}); - - /* - * We cache three things about the sensor in relation to transforms - * (meaning horizontal and vertical flips). - * - * Firstly, does it support them? - * Secondly, if you use them does it affect the Bayer ordering? - * Thirdly, what is the "native" Bayer order, when no transforms are - * applied? - * - * We note that the sensor's cached list of supported formats is - * already in the "native" order, with any flips having been undone. - */ - const V4L2Subdevice *sensor = data->sensor_->device(); - const struct v4l2_query_ext_ctrl *hflipCtrl = sensor->controlInfo(V4L2_CID_HFLIP); - if (hflipCtrl) { - /* We assume it will support vflips too... */ - data->supportsFlips_ = true; - data->flipsAlterBayerOrder_ = hflipCtrl->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT; - } - - /* Look for a valid Bayer format. */ - BayerFormat bayerFormat; - for (const auto &iter : data->sensorFormats_) { - bayerFormat = BayerFormat::fromMbusCode(iter.first); - if (bayerFormat.isValid()) - break; - } - - if (!bayerFormat.isValid()) { - LOG(RPI, Error) << "No Bayer format found"; - return -EINVAL; - } - data->nativeBayerOrder_ = bayerFormat.order; - - /* - * List the available streams an application may request. At present, we - * do not advertise Unicam 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->unicam_[Unicam::Image]); - 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(data), id, streams); - PipelineHandler::registerCamera(std::move(camera)); - - LOG(RPI, Info) << "Registered camera " << id - << " to Unicam device " << unicam->deviceNode() - << " and ISP device " << isp->deviceNode(); - return 0; -} - -int PipelineHandlerRPi::queueAllBuffers(Camera *camera) -{ - RPiCameraData *data = cameraData(camera); - int ret; - - for (auto const stream : data->streams_) { - if (!stream->isExternal()) { - ret = stream->queueAllBuffers(); - if (ret < 0) - return ret; - } else { - /* - * For external streams, we must queue up a set of internal - * buffers to handle the number of drop frames requested by - * the IPA. This is done by passing nullptr in queueBuffer(). - * - * The below queueBuffer() call will do nothing if there - * are not enough internal buffers allocated, but this will - * be handled by queuing the request for buffers in the - * RPiStream object. - */ - unsigned int i; - for (i = 0; i < data->dropFrameCount_; i++) { - ret = stream->queueBuffer(nullptr); - if (ret) - return ret; - } - } - } - - return 0; -} - -int PipelineHandlerRPi::prepareBuffers(Camera *camera) -{ - RPiCameraData *data = cameraData(camera); - unsigned int numRawBuffers = 0; - int ret; - - for (Stream *s : camera->streams()) { - if (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 Unicam, allocate a minimum of 4 buffers as we want - * to avoid any frame drops. - */ - constexpr unsigned int minBuffers = 4; - if (stream == &data->unicam_[Unicam::Image]) { - /* - * 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 Unicam, 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->unicam_[Unicam::Embedded]) { - /* - * Embedded data buffers are (currently) for internal use, - * so allocate the minimum required to avoid frame drops. - */ - numBuffers = minBuffers; - } else { - /* - * Since the ISP runs synchronous with the IPA and requests, - * we only ever need one set of internal buffers. Any buffers - * the application wants to hold onto will already be exported - * through PipelineHandlerRPi::exportFrameBuffers(). - */ - numBuffers = 1; - } - - ret = stream->prepareBuffers(numBuffers); - if (ret < 0) - return ret; - } - - /* - * Pass the stats and embedded data buffers to the IPA. No other - * buffers need to be passed. - */ - mapBuffers(camera, data->isp_[Isp::Stats].getBuffers(), ipa::RPi::MaskStats); - if (data->sensorMetadata_) - mapBuffers(camera, data->unicam_[Unicam::Embedded].getBuffers(), - ipa::RPi::MaskEmbeddedData); - - return 0; -} - -void PipelineHandlerRPi::mapBuffers(Camera *camera, const RPi::BufferMap &buffers, unsigned int mask) -{ - RPiCameraData *data = cameraData(camera); - std::vector<IPABuffer> ipaBuffers; - /* - * Link the FrameBuffers with the id (key value) in the map stored in - * the RPi stream object - along with an identifier mask. - * - * This will allow us to identify buffers passed between the pipeline - * handler and the IPA. - */ - for (auto const &it : buffers) { - ipaBuffers.push_back(IPABuffer(mask | it.first, - it.second->planes())); - data->ipaBuffers_.insert(mask | it.first); - } - - data->ipa_->mapBuffers(ipaBuffers); -} - -void RPiCameraData::freeBuffers() -{ - if (ipa_) { - /* - * Copy the buffer ids from the unordered_set to a vector to - * pass to the IPA. - */ - std::vector<unsigned int> ipaBuffers(ipaBuffers_.begin(), - ipaBuffers_.end()); - ipa_->unmapBuffers(ipaBuffers); - ipaBuffers_.clear(); - } - - for (auto const stream : streams_) - stream->releaseBuffers(); - - buffersAllocated_ = false; -} - -void RPiCameraData::frameStarted(uint32_t sequence) -{ - LOG(RPI, Debug) << "frame start " << sequence; - - /* Write any controls for the next frame as soon as we can. */ - delayedCtrls_->applyControls(sequence); -} - -int RPiCameraData::loadIPA(ipa::RPi::IPAInitResult *result) -{ - ipa_ = IPAManager::createIPA<ipa::RPi::IPAProxyRPi>(pipe(), 1, 1); - - if (!ipa_) - return -ENOENT; - - ipa_->statsMetadataComplete.connect(this, &RPiCameraData::statsMetadataComplete); - ipa_->runIsp.connect(this, &RPiCameraData::runIsp); - ipa_->embeddedComplete.connect(this, &RPiCameraData::embeddedComplete); - ipa_->setIspControls.connect(this, &RPiCameraData::setIspControls); - ipa_->setDelayedControls.connect(this, &RPiCameraData::setDelayedControls); - - /* - * 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') - configurationFile = ipa_->configurationFile(sensor_->model() + ".json"); - else - configurationFile = std::string(configFromEnv); - - IPASettings settings(configurationFile, sensor_->model()); - - return ipa_->init(settings, result); -} - -int RPiCameraData::configureIPA(const CameraConfiguration *config, ipa::RPi::IPAConfigResult *result) -{ - std::map<unsigned int, IPAStream> streamConfig; - std::map<unsigned int, ControlInfoMap> entityControls; - ipa::RPi::IPAConfig ipaConfig; - - /* Inform IPA of stream configuration and sensor controls. */ - unsigned int i = 0; - for (auto const &stream : isp_) { - if (stream.isExternal()) { - streamConfig[i++] = IPAStream( - stream.configuration().pixelFormat, - stream.configuration().size); - } - } - - entityControls.emplace(0, sensor_->controls()); - entityControls.emplace(1, isp_[Isp::Input].dev()->controls()); - - /* Always send the user transform to the IPA. */ - ipaConfig.transform = static_cast<unsigned int>(config->transform); - - /* Allocate the lens shading table via dmaHeap and pass to the IPA. */ - if (!lsTable_.isValid()) { - lsTable_ = SharedFD(dmaHeap_.alloc("ls_grid", ipa::RPi::MaxLsGridSize)); - if (!lsTable_.isValid()) - return -ENOMEM; - - /* Allow the IPA to mmap the LS table via the file descriptor. */ - /* - * \todo Investigate if mapping the lens shading table buffer - * could be handled with mapBuffers(). - */ - ipaConfig.lsTableHandle = lsTable_; - } - - /* We store the IPACameraSensorInfo for digital zoom calculations. */ - int ret = sensor_->sensorInfo(&sensorInfo_); - if (ret) { - LOG(RPI, Error) << "Failed to retrieve camera sensor info"; - return ret; - } - - /* Ready the IPA - it must know about the sensor resolution. */ - ControlList controls; - ret = ipa_->configure(sensorInfo_, streamConfig, entityControls, ipaConfig, - &controls, result); - if (ret < 0) { - LOG(RPI, Error) << "IPA configuration failed!"; - return -EPIPE; - } - - if (!controls.empty()) - setSensorControls(controls); - - return 0; -} - -/* - * enumerateVideoDevices() iterates over the Media Controller topology, starting - * at the sensor and finishing at Unicam. For each sensor, RPiCameraData stores - * a unique list of any intermediate video mux or bridge devices connected in a - * cascade, together with the entity to entity link. - * - * Entity pad configuration and link enabling happens at the end of configure(). - * We first disable all pad links on each entity device in the chain, and then - * selectively enabling the specific links to link sensor to Unicam across all - * intermediate muxes and bridges. - * - * In the cascaded topology below, if Sensor1 is used, the Mux2 -> Mux1 link - * will be disabled, and Sensor1 -> Mux1 -> Unicam links enabled. Alternatively, - * if Sensor3 is used, the Sensor2 -> Mux2 and Sensor1 -> Mux1 links are disabled, - * and Sensor3 -> Mux2 -> Mux1 -> Unicam links are enabled. All other links will - * remain unchanged. - * - * +----------+ - * | Unicam | - * +-----^----+ - * | - * +---+---+ - * | Mux1 <-------+ - * +--^----+ | - * | | - * +-----+---+ +---+---+ - * | Sensor1 | | Mux2 |<--+ - * +---------+ +-^-----+ | - * | | - * +-------+-+ +---+-----+ - * | Sensor2 | | Sensor3 | - * +---------+ +---------+ - */ -void RPiCameraData::enumerateVideoDevices(MediaLink *link) -{ - const MediaPad *sinkPad = link->sink(); - const MediaEntity *entity = sinkPad->entity(); - bool unicamFound = false; - - /* We only deal with Video Mux and Bridge devices in cascade. */ - if (entity->function() != MEDIA_ENT_F_VID_MUX && - entity->function() != MEDIA_ENT_F_VID_IF_BRIDGE) - return; - - /* Find the source pad for this Video Mux or Bridge device. */ - const MediaPad *sourcePad = nullptr; - for (const MediaPad *pad : entity->pads()) { - if (pad->flags() & MEDIA_PAD_FL_SOURCE) { - /* - * We can only deal with devices that have a single source - * pad. If this device has multiple source pads, ignore it - * and this branch in the cascade. - */ - if (sourcePad) - return; - - sourcePad = pad; - } - } - - LOG(RPI, Debug) << "Found video mux device " << entity->name() - << " linked to sink pad " << sinkPad->index(); - - bridgeDevices_.emplace_back(std::make_unique<V4L2Subdevice>(entity), link); - bridgeDevices_.back().first->open(); - - /* - * Iterate through all the sink pad links down the cascade to find any - * other Video Mux and Bridge devices. - */ - for (MediaLink *l : sourcePad->links()) { - enumerateVideoDevices(l); - /* Once we reach the Unicam entity, we are done. */ - if (l->sink()->entity()->name() == "unicam-image") { - unicamFound = true; - break; - } - } - - /* This identifies the end of our entity enumeration recursion. */ - if (link->source()->entity()->function() == MEDIA_ENT_F_CAM_SENSOR) { - /* - * If Unicam is not at the end of this cascade, we cannot configure - * this topology automatically, so remove all entity references. - */ - if (!unicamFound) { - LOG(RPI, Warning) << "Cannot automatically configure this MC topology!"; - bridgeDevices_.clear(); - } - } -} - -void RPiCameraData::statsMetadataComplete(uint32_t bufferId, const ControlList &controls) -{ - if (state_ == State::Stopped) - return; - - FrameBuffer *buffer = isp_[Isp::Stats].getBuffers().at(bufferId); - - handleStreamBuffer(buffer, &isp_[Isp::Stats]); - - /* Add to the Request metadata buffer what the IPA has provided. */ - Request *request = requestQueue_.front(); - request->metadata().merge(controls); - - /* - * Inform the sensor of the latest colour gains if it has the - * V4L2_CID_NOTIFY_GAINS control (which means notifyGainsUnity_ is set). - */ - if (notifyGainsUnity_ && controls.contains(libcamera::controls::ColourGains)) { - libcamera::Span<const float> colourGains = controls.get(libcamera::controls::ColourGains); - /* The control wants linear gains in the order B, Gb, Gr, R. */ - ControlList ctrls(sensor_->controls()); - std::array<int32_t, 4> gains{ - static_cast<int32_t>(colourGains[1] * *notifyGainsUnity_), - *notifyGainsUnity_, - *notifyGainsUnity_, - static_cast<int32_t>(colourGains[0] * *notifyGainsUnity_) - }; - ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ gains }); - - sensor_->setControls(&ctrls); - } - - state_ = State::IpaComplete; - handleState(); -} - -void RPiCameraData::runIsp(uint32_t bufferId) -{ - if (state_ == State::Stopped) - return; - - FrameBuffer *buffer = unicam_[Unicam::Image].getBuffers().at(bufferId); - - LOG(RPI, Debug) << "Input re-queue to ISP, buffer id " << bufferId - << ", timestamp: " << buffer->metadata().timestamp; - - isp_[Isp::Input].queueBuffer(buffer); - ispOutputCount_ = 0; - handleState(); -} - -void RPiCameraData::embeddedComplete(uint32_t bufferId) -{ - if (state_ == State::Stopped) - return; - - FrameBuffer *buffer = unicam_[Unicam::Embedded].getBuffers().at(bufferId); - handleStreamBuffer(buffer, &unicam_[Unicam::Embedded]); - handleState(); -} - -void RPiCameraData::setIspControls(const ControlList &controls) -{ - ControlList ctrls = controls; - - if (ctrls.contains(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING)) { - ControlValue &value = - const_cast<ControlValue &>(ctrls.get(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING)); - Span<uint8_t> s = value.data(); - bcm2835_isp_lens_shading *ls = - reinterpret_cast<bcm2835_isp_lens_shading *>(s.data()); - ls->dmabuf = lsTable_.get(); - } - - isp_[Isp::Input].dev()->setControls(&ctrls); - handleState(); -} - -void RPiCameraData::setDelayedControls(const ControlList &controls) -{ - if (!delayedCtrls_->push(controls)) - LOG(RPI, Error) << "V4L2 DelayedControl set failed"; - handleState(); -} - -void RPiCameraData::setSensorControls(ControlList &controls) -{ - /* - * We need to ensure that if both VBLANK and EXPOSURE are present, the - * former must be written ahead of, and separately from EXPOSURE to avoid - * V4L2 rejecting the latter. This is identical to what DelayedControls - * does with the priority write flag. - * - * As a consequence of the below logic, VBLANK gets set twice, and we - * rely on the v4l2 framework to not pass the second control set to the - * driver as the actual control value has not changed. - */ - if (controls.contains(V4L2_CID_EXPOSURE) && controls.contains(V4L2_CID_VBLANK)) { - ControlList vblank_ctrl; - - vblank_ctrl.set(V4L2_CID_VBLANK, controls.get(V4L2_CID_VBLANK)); - sensor_->setControls(&vblank_ctrl); - } - - sensor_->setControls(&controls); -} - -void RPiCameraData::unicamTimeout() -{ - LOG(RPI, Error) << "Unicam has timed out!"; - LOG(RPI, Error) << "Please check that your camera sensor connector is attached securely."; - LOG(RPI, Error) << "Alternatively, try another cable and/or sensor."; -} - -void RPiCameraData::unicamBufferDequeue(FrameBuffer *buffer) -{ - RPi::Stream *stream = nullptr; - int index; - - if (state_ == State::Stopped) - return; - - for (RPi::Stream &s : unicam_) { - index = s.getBufferId(buffer); - if (index != -1) { - stream = &s; - break; - } - } - - /* 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; - - if (stream == &unicam_[Unicam::Image]) { - /* - * Lookup the sensor controls used for this frame sequence from - * DelayedControl and queue them along with the frame buffer. - */ - ControlList ctrl = 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); - bayerQueue_.push({ buffer, std::move(ctrl) }); - } else { - embeddedQueue_.push(buffer); - } - - handleState(); -} - -void RPiCameraData::ispInputDequeue(FrameBuffer *buffer) -{ - if (state_ == State::Stopped) - return; - - LOG(RPI, Debug) << "Stream ISP Input buffer complete" - << ", buffer id " << unicam_[Unicam::Image].getBufferId(buffer) - << ", timestamp: " << buffer->metadata().timestamp; - - /* The ISP input buffer gets re-queued into Unicam. */ - handleStreamBuffer(buffer, &unicam_[Unicam::Image]); - handleState(); -} - -void RPiCameraData::ispOutputDequeue(FrameBuffer *buffer) -{ - RPi::Stream *stream = nullptr; - int index; - - if (state_ == State::Stopped) - return; - - for (RPi::Stream &s : isp_) { - index = s.getBufferId(buffer); - if (index != -1) { - 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; - - /* - * ISP statistics buffer must not be re-queued or sent back to the - * application until after the IPA signals so. - */ - if (stream == &isp_[Isp::Stats]) { - ipa_->signalStatReady(ipa::RPi::MaskStats | static_cast<unsigned int>(index)); - } else { - /* Any other ISP output can be handed back to the application now. */ - handleStreamBuffer(buffer, stream); - } - - /* - * Increment the number of ISP outputs generated. - * This is needed to track dropped frames. - */ - ispOutputCount_++; - - handleState(); -} - -void RPiCameraData::clearIncompleteRequests() -{ - /* - * All outstanding requests (and associated buffers) must be returned - * back to the application. - */ - while (!requestQueue_.empty()) { - Request *request = requestQueue_.front(); - - for (auto &b : request->buffers()) { - FrameBuffer *buffer = b.second; - /* - * Has the buffer already been handed back to the - * request? If not, do so now. - */ - if (buffer->request()) { - buffer->_d()->cancel(); - pipe()->completeBuffer(request, buffer); - } - } - - pipe()->completeRequest(request); - requestQueue_.pop_front(); - } -} - -void RPiCameraData::handleStreamBuffer(FrameBuffer *buffer, RPi::Stream *stream) -{ - /* - * It is possible to be here without a pending request, so check - * that we actually have one to action, otherwise we just return - * buffer back to the stream. - */ - Request *request = requestQueue_.empty() ? nullptr : requestQueue_.front(); - if (!dropFrameCount_ && request && request->findBuffer(stream) == buffer) { - /* - * Check if this is an externally provided buffer, and if - * so, we must stop tracking it in the pipeline handler. - */ - handleExternalBuffer(buffer, stream); - /* - * Tag the buffer as completed, returning it to the - * application. - */ - pipe()->completeBuffer(request, buffer); - } else { - /* - * This buffer was not part of the Request (which happens if an - * internal buffer was used for an external stream, or - * unconditionally for internal streams), or there is no pending - * request, so we can recycle it. - */ - stream->returnBuffer(buffer); - } -} - -void RPiCameraData::handleExternalBuffer(FrameBuffer *buffer, RPi::Stream *stream) -{ - unsigned int id = stream->getBufferId(buffer); - - if (!(id & ipa::RPi::MaskExternalBuffer)) - return; - - /* Stop the Stream object from tracking the buffer. */ - stream->removeExternalBuffer(buffer); -} - -void RPiCameraData::handleState() -{ - switch (state_) { - case State::Stopped: - case State::Busy: - break; - - case State::IpaComplete: - /* If the request is completed, we will switch to Idle state. */ - checkRequestCompleted(); - /* - * No break here, we want to try running the pipeline again. - * The fallthrough clause below suppresses compiler warnings. - */ - [[fallthrough]]; - - case State::Idle: - tryRunPipeline(); - break; - } -} - -void RPiCameraData::checkRequestCompleted() -{ - bool requestCompleted = false; - /* - * If we are dropping this frame, do not touch the request, simply - * change the state to IDLE when ready. - */ - if (!dropFrameCount_) { - Request *request = requestQueue_.front(); - if (request->hasPendingBuffers()) - return; - - /* Must wait for metadata to be filled in before completing. */ - if (state_ != State::IpaComplete) - return; - - pipe()->completeRequest(request); - requestQueue_.pop_front(); - requestCompleted = true; - } - - /* - * Make sure we have three outputs completed in the case of a dropped - * frame. - */ - if (state_ == State::IpaComplete && - ((ispOutputCount_ == 3 && dropFrameCount_) || requestCompleted)) { - state_ = State::Idle; - if (dropFrameCount_) { - dropFrameCount_--; - LOG(RPI, Debug) << "Dropping frame at the request of the IPA (" - << dropFrameCount_ << " left)"; - } - } -} - -Rectangle RPiCameraData::scaleIspCrop(const Rectangle &ispCrop) const -{ - /* - * Scale a crop rectangle defined in the ISP's coordinates into native sensor - * coordinates. - */ - Rectangle nativeCrop = ispCrop.scaledBy(sensorInfo_.analogCrop.size(), - sensorInfo_.outputSize); - nativeCrop.translateBy(sensorInfo_.analogCrop.topLeft()); - return nativeCrop; -} - -void RPiCameraData::applyScalerCrop(const ControlList &controls) -{ - if (controls.contains(controls::ScalerCrop)) { - Rectangle nativeCrop = controls.get<Rectangle>(controls::ScalerCrop); - - if (!nativeCrop.width || !nativeCrop.height) - nativeCrop = { 0, 0, 1, 1 }; - - /* Create a version of the crop scaled to ISP (camera mode) pixels. */ - Rectangle ispCrop = nativeCrop.translatedBy(-sensorInfo_.analogCrop.topLeft()); - ispCrop.scaleBy(sensorInfo_.outputSize, sensorInfo_.analogCrop.size()); - - /* - * The crop that we set must be: - * 1. At least as big as ispMinCropSize_, once that's been - * enlarged to the same aspect ratio. - * 2. With the same mid-point, if possible. - * 3. But it can't go outside the sensor area. - */ - Size minSize = ispMinCropSize_.expandedToAspectRatio(nativeCrop.size()); - Size size = ispCrop.size().expandedTo(minSize); - ispCrop = size.centeredTo(ispCrop.center()).enclosedIn(Rectangle(sensorInfo_.outputSize)); - - if (ispCrop != ispCrop_) { - isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &ispCrop); - ispCrop_ = ispCrop; - - /* - * Also update the ScalerCrop in the metadata with what we actually - * used. But we must first rescale that from ISP (camera mode) pixels - * back into sensor native pixels. - */ - scalerCrop_ = scaleIspCrop(ispCrop_); - } - } -} - -void RPiCameraData::fillRequestMetadata(const ControlList &bufferControls, - Request *request) -{ - request->metadata().set(controls::SensorTimestamp, - bufferControls.get(controls::SensorTimestamp)); - - request->metadata().set(controls::ScalerCrop, scalerCrop_); -} - -void RPiCameraData::tryRunPipeline() -{ - FrameBuffer *embeddedBuffer; - BayerFrame bayerFrame; - - /* If any of our request or buffer queues are empty, we cannot proceed. */ - if (state_ != State::Idle || requestQueue_.empty() || - bayerQueue_.empty() || (embeddedQueue_.empty() && sensorMetadata_)) - return; - - if (!findMatchingBuffers(bayerFrame, embeddedBuffer)) - return; - - /* 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(bayerFrame.controls, request); - - /* - * Process all the user controls by the IPA. Once this is complete, we - * queue the ISP output buffer listed in the request to start the HW - * pipeline. - */ - ipa_->signalQueueRequest(request->controls()); - - /* Set our state to say the pipeline is active. */ - state_ = State::Busy; - - unsigned int bayerId = unicam_[Unicam::Image].getBufferId(bayerFrame.buffer); - - LOG(RPI, Debug) << "Signalling signalIspPrepare:" - << " Bayer buffer id: " << bayerId; - - ipa::RPi::ISPConfig ispPrepare; - ispPrepare.bayerBufferId = ipa::RPi::MaskBayerData | bayerId; - ispPrepare.controls = std::move(bayerFrame.controls); - - if (embeddedBuffer) { - unsigned int embeddedId = unicam_[Unicam::Embedded].getBufferId(embeddedBuffer); - - ispPrepare.embeddedBufferId = ipa::RPi::MaskEmbeddedData | embeddedId; - ispPrepare.embeddedBufferPresent = true; - - LOG(RPI, Debug) << "Signalling signalIspPrepare:" - << " Embedded buffer id: " << embeddedId; - } - - ipa_->signalIspPrepare(ispPrepare); -} - -bool RPiCameraData::findMatchingBuffers(BayerFrame &bayerFrame, FrameBuffer *&embeddedBuffer) -{ - if (bayerQueue_.empty()) - return false; - - /* Start with the front of the bayer queue. */ - bayerFrame = std::move(bayerQueue_.front()); - bayerQueue_.pop(); - - /* - * Find the embedded data buffer with a matching timestamp to pass to - * the IPA. Any embedded buffers with a timestamp lower than the - * current bayer buffer will be removed and re-queued to the driver. - */ - uint64_t ts = bayerFrame.buffer->metadata().timestamp; - embeddedBuffer = nullptr; - while (!embeddedQueue_.empty()) { - FrameBuffer *b = embeddedQueue_.front(); - if (b->metadata().timestamp < ts) { - embeddedQueue_.pop(); - unicam_[Unicam::Embedded].returnBuffer(b); - LOG(RPI, Debug) << "Dropping unmatched input frame in stream " - << unicam_[Unicam::Embedded].name(); - } else if (b->metadata().timestamp == ts) { - /* Found a match! */ - embeddedBuffer = b; - embeddedQueue_.pop(); - break; - } else { - break; /* Only higher timestamps from here. */ - } - } - - if (!embeddedBuffer && sensorMetadata_) { - /* Log if there is no matching embedded data buffer found. */ - LOG(RPI, Debug) << "Returning bayer frame without a matching embedded buffer."; - } - - return true; -} - -REGISTER_PIPELINE_HANDLER(PipelineHandlerRPi) - -} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/raspberrypi/rpi_stream.h b/src/libcamera/pipeline/raspberrypi/rpi_stream.h deleted file mode 100644 index fe011100..00000000 --- a/src/libcamera/pipeline/raspberrypi/rpi_stream.h +++ /dev/null @@ -1,178 +0,0 @@ -/* SPDX-License-Identifier: LGPL-2.1-or-later */ -/* - * Copyright (C) 2020, Raspberry Pi (Trading) Ltd. - * - * rpi_stream.h - Raspberry Pi device stream abstraction class. - */ - -#pragma once - -#include <queue> -#include <string> -#include <unordered_map> -#include <vector> - -#include <libcamera/ipa/raspberrypi_ipa_interface.h> -#include <libcamera/stream.h> - -#include "libcamera/internal/v4l2_videodevice.h" - -namespace libcamera { - -namespace RPi { - -using BufferMap = std::unordered_map<unsigned int, FrameBuffer *>; - -/* - * Device stream abstraction for either an internal or external stream. - * Used for both Unicam and the ISP. - */ -class Stream : public libcamera::Stream -{ -public: - Stream() - : id_(ipa::RPi::MaskID) - { - } - - Stream(const char *name, MediaEntity *dev, bool importOnly = false) - : external_(false), importOnly_(importOnly), name_(name), - dev_(std::make_unique<V4L2VideoDevice>(dev)), id_(ipa::RPi::MaskID) - { - } - - V4L2VideoDevice *dev() const; - std::string name() const; - bool isImporter() const; - void resetBuffers(); - - void setExternal(bool external); - bool isExternal() const; - - void setExportedBuffers(std::vector<std::unique_ptr<FrameBuffer>> *buffers); - const BufferMap &getBuffers() const; - int getBufferId(FrameBuffer *buffer) const; - - void setExternalBuffer(FrameBuffer *buffer); - void removeExternalBuffer(FrameBuffer *buffer); - - int prepareBuffers(unsigned int count); - int queueBuffer(FrameBuffer *buffer); - void returnBuffer(FrameBuffer *buffer); - - int queueAllBuffers(); - void releaseBuffers(); - -private: - class IdGenerator - { - public: - IdGenerator(int max) - : max_(max), id_(0) - { - } - - int get() - { - int id; - if (!recycle_.empty()) { - id = recycle_.front(); - recycle_.pop(); - } else { - id = id_++; - ASSERT(id_ <= max_); - } - return id; - } - - void release(int id) - { - recycle_.push(id); - } - - void reset() - { - id_ = 0; - recycle_ = {}; - } - - private: - int max_; - int id_; - std::queue<int> recycle_; - }; - - void clearBuffers(); - int queueToDevice(FrameBuffer *buffer); - - /* - * Indicates that this stream is active externally, i.e. the buffers - * might be provided by (and returned to) the application. - */ - bool external_; - - /* Indicates that this stream only imports buffers, e.g. ISP input. */ - bool importOnly_; - - /* Stream name identifier. */ - std::string name_; - - /* The actual device stream. */ - std::unique_ptr<V4L2VideoDevice> dev_; - - /* Tracks a unique id key for the bufferMap_ */ - IdGenerator id_; - - /* All frame buffers associated with this device stream. */ - BufferMap bufferMap_; - - /* - * List of frame buffers that we can use if none have been provided by - * the application for external streams. This is populated by the - * buffers exported internally. - */ - std::queue<FrameBuffer *> availableBuffers_; - - /* - * List of frame buffers that are to be queued into the device from a Request. - * A nullptr indicates any internal buffer can be used (from availableBuffers_), - * whereas a valid pointer indicates an external buffer to be queued. - * - * Ordering buffers to be queued is important here as it must match the - * requests coming from the application. - */ - std::queue<FrameBuffer *> requestBuffers_; - - /* - * This is a list of buffers exported internally. Need to keep this around - * as the stream needs to maintain ownership of these buffers. - */ - std::vector<std::unique_ptr<FrameBuffer>> internalBuffers_; -}; - -/* - * The following class is just a convenient (and typesafe) array of device - * streams indexed with an enum class. - */ -template<typename E, std::size_t N> -class Device : public std::array<class Stream, N> -{ -private: - constexpr auto index(E e) const noexcept - { - return static_cast<std::underlying_type_t<E>>(e); - } -public: - Stream &operator[](E e) - { - return std::array<class Stream, N>::operator[](index(e)); - } - const Stream &operator[](E e) const - { - return std::array<class Stream, N>::operator[](index(e)); - } -}; - -} /* namespace RPi */ - -} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/rkisp1/rkisp1.cpp b/src/libcamera/pipeline/rkisp1/rkisp1.cpp index 3dc0850c..4cbf105d 100644 --- a/src/libcamera/pipeline/rkisp1/rkisp1.cpp +++ b/src/libcamera/pipeline/rkisp1/rkisp1.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * rkisp1.cpp - Pipeline handler for Rockchip ISP1 + * Pipeline handler for Rockchip ISP1 */ #include <algorithm> @@ -13,24 +13,29 @@ #include <queue> #include <linux/media-bus-format.h> +#include <linux/rkisp1-config.h> #include <libcamera/base/log.h> #include <libcamera/base/utils.h> #include <libcamera/camera.h> +#include <libcamera/color_space.h> #include <libcamera/control_ids.h> #include <libcamera/formats.h> #include <libcamera/framebuffer.h> +#include <libcamera/request.h> +#include <libcamera/stream.h> +#include <libcamera/transform.h> + #include <libcamera/ipa/core_ipa_interface.h> #include <libcamera/ipa/rkisp1_ipa_interface.h> #include <libcamera/ipa/rkisp1_ipa_proxy.h> -#include <libcamera/request.h> -#include <libcamera/stream.h> #include "libcamera/internal/camera.h" #include "libcamera/internal/camera_sensor.h" #include "libcamera/internal/delayed_controls.h" #include "libcamera/internal/device_enumerator.h" +#include "libcamera/internal/framebuffer.h" #include "libcamera/internal/ipa_manager.h" #include "libcamera/internal/media_device.h" #include "libcamera/internal/pipeline_handler.h" @@ -64,7 +69,8 @@ class RkISP1Frames public: RkISP1Frames(PipelineHandler *pipe); - RkISP1FrameInfo *create(const RkISP1CameraData *data, Request *request); + RkISP1FrameInfo *create(const RkISP1CameraData *data, Request *request, + bool isRaw); int destroy(unsigned int frame); void clear(); @@ -119,6 +125,7 @@ public: Status validate() override; const V4L2SubdeviceFormat &sensorFormat() { return sensorFormat_; } + const Transform &combinedTransform() { return combinedTransform_; } private: bool fitsAllPaths(const StreamConfiguration &cfg); @@ -132,6 +139,7 @@ private: const RkISP1CameraData *data_; V4L2SubdeviceFormat sensorFormat_; + Transform combinedTransform_; }; class PipelineHandlerRkISP1 : public PipelineHandler @@ -139,8 +147,8 @@ class PipelineHandlerRkISP1 : public PipelineHandler public: PipelineHandlerRkISP1(CameraManager *manager); - CameraConfiguration *generateConfiguration(Camera *camera, - const StreamRoles &roles) override; + std::unique_ptr<CameraConfiguration> generateConfiguration(Camera *camera, + Span<const StreamRole> roles) override; int configure(Camera *camera, CameraConfiguration *config) override; int exportFrameBuffers(Camera *camera, Stream *stream, @@ -154,6 +162,8 @@ public: bool match(DeviceEnumerator *enumerator) override; private: + static constexpr Size kRkISP1PreviewSize = { 1920, 1080 }; + RkISP1CameraData *cameraData(Camera *camera) { return static_cast<RkISP1CameraData *>(camera->_d()); @@ -165,7 +175,7 @@ private: int initLinks(Camera *camera, const CameraSensor *sensor, const RkISP1CameraConfiguration &config); int createCamera(MediaEntity *sensor); - void tryCompleteRequest(Request *request); + void tryCompleteRequest(RkISP1FrameInfo *info); void bufferReady(FrameBuffer *buffer); void paramReady(FrameBuffer *buffer); void statReady(FrameBuffer *buffer); @@ -178,6 +188,10 @@ private: std::unique_ptr<V4L2Subdevice> isp_; std::unique_ptr<V4L2VideoDevice> param_; std::unique_ptr<V4L2VideoDevice> stat_; + std::unique_ptr<V4L2Subdevice> csi_; + + bool hasSelfPath_; + bool isRaw_; RkISP1MainPath mainPath_; RkISP1SelfPath selfPath_; @@ -188,6 +202,8 @@ private: std::queue<FrameBuffer *> availableStatBuffers_; Camera *activeCamera_; + + const MediaPad *ispSink_; }; RkISP1Frames::RkISP1Frames(PipelineHandler *pipe) @@ -195,28 +211,35 @@ RkISP1Frames::RkISP1Frames(PipelineHandler *pipe) { } -RkISP1FrameInfo *RkISP1Frames::create(const RkISP1CameraData *data, Request *request) +RkISP1FrameInfo *RkISP1Frames::create(const RkISP1CameraData *data, Request *request, + bool isRaw) { unsigned int frame = data->frame_; - if (pipe_->availableParamBuffers_.empty()) { - LOG(RkISP1, Error) << "Parameters buffer underrun"; - return nullptr; - } - FrameBuffer *paramBuffer = pipe_->availableParamBuffers_.front(); + FrameBuffer *paramBuffer = nullptr; + FrameBuffer *statBuffer = nullptr; - if (pipe_->availableStatBuffers_.empty()) { - LOG(RkISP1, Error) << "Statisitc buffer underrun"; - return nullptr; + if (!isRaw) { + if (pipe_->availableParamBuffers_.empty()) { + LOG(RkISP1, Error) << "Parameters buffer underrun"; + return nullptr; + } + + if (pipe_->availableStatBuffers_.empty()) { + LOG(RkISP1, Error) << "Statistic buffer underrun"; + return nullptr; + } + + paramBuffer = pipe_->availableParamBuffers_.front(); + pipe_->availableParamBuffers_.pop(); + + statBuffer = pipe_->availableStatBuffers_.front(); + pipe_->availableStatBuffers_.pop(); } - FrameBuffer *statBuffer = pipe_->availableStatBuffers_.front(); FrameBuffer *mainPathBuffer = request->findBuffer(&data->mainPathStream_); FrameBuffer *selfPathBuffer = request->findBuffer(&data->selfPathStream_); - pipe_->availableParamBuffers_.pop(); - pipe_->availableStatBuffers_.pop(); - RkISP1FrameInfo *info = new RkISP1FrameInfo; info->frame = frame; @@ -323,7 +346,7 @@ int RkISP1CameraData::loadIPA(unsigned int hwRevision) /* * The API tuning file is made from the sensor name unless the - * environment variable overrides it. If + * environment variable overrides it. */ std::string ipaTuningFile; char const *configFromEnv = utils::secure_getenv("LIBCAMERA_RKISP1_TUNING_FILE"); @@ -339,7 +362,15 @@ int RkISP1CameraData::loadIPA(unsigned int hwRevision) ipaTuningFile = std::string(configFromEnv); } - int ret = ipa_->init({ ipaTuningFile, sensor_->model() }, hwRevision); + IPACameraSensorInfo sensorInfo{}; + int ret = sensor_->sensorInfo(&sensorInfo); + if (ret) { + LOG(RkISP1, Error) << "Camera sensor information not available"; + return ret; + } + + ret = ipa_->init({ ipaTuningFile, sensor_->model() }, hwRevision, + sensorInfo, sensor_->controls(), &controlInfo_); if (ret < 0) { LOG(RkISP1, Error) << "IPA initialization failure"; return ret; @@ -355,13 +386,15 @@ void RkISP1CameraData::paramFilled(unsigned int frame) if (!info) return; + info->paramBuffer->_d()->metadata().planes()[0].bytesused = + sizeof(struct rkisp1_params_cfg); pipe->param_->queueBuffer(info->paramBuffer); pipe->stat_->queueBuffer(info->statBuffer); if (info->mainPathBuffer) mainPath_->queueBuffer(info->mainPathBuffer); - if (info->selfPathBuffer) + if (selfPath_ && info->selfPathBuffer) selfPath_->queueBuffer(info->selfPathBuffer); } @@ -380,9 +413,33 @@ void RkISP1CameraData::metadataReady(unsigned int frame, const ControlList &meta info->request->metadata().merge(metadata); info->metadataProcessed = true; - pipe()->tryCompleteRequest(info->request); + pipe()->tryCompleteRequest(info); } +/* ----------------------------------------------------------------------------- + * Camera Configuration + */ + +namespace { + +/* Keep in sync with the supported raw formats in rkisp1_path.cpp. */ +const std::map<PixelFormat, uint32_t> rawFormats = { + { formats::SBGGR8, MEDIA_BUS_FMT_SBGGR8_1X8 }, + { formats::SGBRG8, MEDIA_BUS_FMT_SGBRG8_1X8 }, + { formats::SGRBG8, MEDIA_BUS_FMT_SGRBG8_1X8 }, + { formats::SRGGB8, MEDIA_BUS_FMT_SRGGB8_1X8 }, + { formats::SBGGR10, MEDIA_BUS_FMT_SBGGR10_1X10 }, + { formats::SGBRG10, MEDIA_BUS_FMT_SGBRG10_1X10 }, + { formats::SGRBG10, MEDIA_BUS_FMT_SGRBG10_1X10 }, + { formats::SRGGB10, MEDIA_BUS_FMT_SRGGB10_1X10 }, + { formats::SBGGR12, MEDIA_BUS_FMT_SBGGR12_1X12 }, + { formats::SGBRG12, MEDIA_BUS_FMT_SGBRG12_1X12 }, + { formats::SGRBG12, MEDIA_BUS_FMT_SGRBG12_1X12 }, + { formats::SRGGB12, MEDIA_BUS_FMT_SRGGB12_1X12 }, +}; + +} /* namespace */ + RkISP1CameraConfiguration::RkISP1CameraConfiguration(Camera *camera, RkISP1CameraData *data) : CameraConfiguration() @@ -393,14 +450,15 @@ RkISP1CameraConfiguration::RkISP1CameraConfiguration(Camera *camera, bool RkISP1CameraConfiguration::fitsAllPaths(const StreamConfiguration &cfg) { + const CameraSensor *sensor = data_->sensor_.get(); StreamConfiguration config; config = cfg; - if (data_->mainPath_->validate(&config) != Valid) + if (data_->mainPath_->validate(sensor, &config) != Valid) return false; config = cfg; - if (data_->selfPath_->validate(&config) != Valid) + if (data_->selfPath_ && data_->selfPath_->validate(sensor, &config) != Valid) return false; return true; @@ -409,20 +467,38 @@ bool RkISP1CameraConfiguration::fitsAllPaths(const StreamConfiguration &cfg) CameraConfiguration::Status RkISP1CameraConfiguration::validate() { const CameraSensor *sensor = data_->sensor_.get(); - Status status = Valid; + unsigned int pathCount = data_->selfPath_ ? 2 : 1; + Status status; if (config_.empty()) return Invalid; - if (transform != Transform::Identity) { - transform = Transform::Identity; + status = validateColorSpaces(ColorSpaceFlag::StreamsShareColorSpace); + + /* Cap the number of entries to the available streams. */ + if (config_.size() > pathCount) { + config_.resize(pathCount); status = Adjusted; } - /* Cap the number of entries to the available streams. */ - if (config_.size() > 2) { - config_.resize(2); + Orientation requestedOrientation = orientation; + combinedTransform_ = data_->sensor_->computeTransform(&orientation); + if (orientation != requestedOrientation) status = Adjusted; + + /* + * Simultaneous capture of raw and processed streams isn't possible. If + * there is any raw stream, cap the number of streams to one. + */ + if (config_.size() > 1) { + for (const auto &cfg : config_) { + if (PixelFormatInfo::info(cfg.pixelFormat).colourEncoding == + PixelFormatInfo::ColourEncodingRAW) { + config_.resize(1); + status = Adjusted; + break; + } + } } /* @@ -438,14 +514,14 @@ CameraConfiguration::Status RkISP1CameraConfiguration::validate() std::reverse(order.begin(), order.end()); bool mainPathAvailable = true; - bool selfPathAvailable = true; + bool selfPathAvailable = data_->selfPath_; for (unsigned int index : order) { StreamConfiguration &cfg = config_[index]; /* Try to match stream without adjusting configuration. */ if (mainPathAvailable) { StreamConfiguration tryCfg = cfg; - if (data_->mainPath_->validate(&tryCfg) == Valid) { + if (data_->mainPath_->validate(sensor, &tryCfg) == Valid) { mainPathAvailable = false; cfg = tryCfg; cfg.setStream(const_cast<Stream *>(&data_->mainPathStream_)); @@ -455,7 +531,7 @@ CameraConfiguration::Status RkISP1CameraConfiguration::validate() if (selfPathAvailable) { StreamConfiguration tryCfg = cfg; - if (data_->selfPath_->validate(&tryCfg) == Valid) { + if (data_->selfPath_->validate(sensor, &tryCfg) == Valid) { selfPathAvailable = false; cfg = tryCfg; cfg.setStream(const_cast<Stream *>(&data_->selfPathStream_)); @@ -466,7 +542,7 @@ CameraConfiguration::Status RkISP1CameraConfiguration::validate() /* Try to match stream allowing adjusting configuration. */ if (mainPathAvailable) { StreamConfiguration tryCfg = cfg; - if (data_->mainPath_->validate(&tryCfg) == Adjusted) { + if (data_->mainPath_->validate(sensor, &tryCfg) == Adjusted) { mainPathAvailable = false; cfg = tryCfg; cfg.setStream(const_cast<Stream *>(&data_->mainPathStream_)); @@ -477,7 +553,7 @@ CameraConfiguration::Status RkISP1CameraConfiguration::validate() if (selfPathAvailable) { StreamConfiguration tryCfg = cfg; - if (data_->selfPath_->validate(&tryCfg) == Adjusted) { + if (data_->selfPath_->validate(sensor, &tryCfg) == Adjusted) { selfPathAvailable = false; cfg = tryCfg; cfg.setStream(const_cast<Stream *>(&data_->selfPathStream_)); @@ -486,86 +562,147 @@ CameraConfiguration::Status RkISP1CameraConfiguration::validate() } } - /* All paths rejected configuraiton. */ + /* All paths rejected configuration. */ LOG(RkISP1, Debug) << "Camera configuration not supported " << cfg.toString(); return Invalid; } /* Select the sensor format. */ + PixelFormat rawFormat; Size maxSize; - for (const StreamConfiguration &cfg : config_) + + for (const StreamConfiguration &cfg : config_) { + const PixelFormatInfo &info = PixelFormatInfo::info(cfg.pixelFormat); + if (info.colourEncoding == PixelFormatInfo::ColourEncodingRAW) + rawFormat = cfg.pixelFormat; + maxSize = std::max(maxSize, cfg.size); + } + + std::vector<unsigned int> mbusCodes; + + if (rawFormat.isValid()) { + mbusCodes = { rawFormats.at(rawFormat) }; + } else { + std::transform(rawFormats.begin(), rawFormats.end(), + std::back_inserter(mbusCodes), + [](const auto &value) { return value.second; }); + } + + sensorFormat_ = sensor->getFormat(mbusCodes, maxSize); - sensorFormat_ = sensor->getFormat({ MEDIA_BUS_FMT_SBGGR12_1X12, - MEDIA_BUS_FMT_SGBRG12_1X12, - MEDIA_BUS_FMT_SGRBG12_1X12, - MEDIA_BUS_FMT_SRGGB12_1X12, - MEDIA_BUS_FMT_SBGGR10_1X10, - MEDIA_BUS_FMT_SGBRG10_1X10, - MEDIA_BUS_FMT_SGRBG10_1X10, - MEDIA_BUS_FMT_SRGGB10_1X10, - MEDIA_BUS_FMT_SBGGR8_1X8, - MEDIA_BUS_FMT_SGBRG8_1X8, - MEDIA_BUS_FMT_SGRBG8_1X8, - MEDIA_BUS_FMT_SRGGB8_1X8 }, - maxSize); if (sensorFormat_.size.isNull()) sensorFormat_.size = sensor->resolution(); return status; } -PipelineHandlerRkISP1::PipelineHandlerRkISP1(CameraManager *manager) - : PipelineHandler(manager) -{ -} - /* ----------------------------------------------------------------------------- * Pipeline Operations */ -CameraConfiguration *PipelineHandlerRkISP1::generateConfiguration(Camera *camera, - const StreamRoles &roles) +PipelineHandlerRkISP1::PipelineHandlerRkISP1(CameraManager *manager) + : PipelineHandler(manager), hasSelfPath_(true) +{ +} + +std::unique_ptr<CameraConfiguration> +PipelineHandlerRkISP1::generateConfiguration(Camera *camera, + Span<const StreamRole> roles) { RkISP1CameraData *data = cameraData(camera); - CameraConfiguration *config = new RkISP1CameraConfiguration(camera, data); + + unsigned int pathCount = data->selfPath_ ? 2 : 1; + if (roles.size() > pathCount) { + LOG(RkISP1, Error) << "Too many stream roles requested"; + return nullptr; + } + + std::unique_ptr<CameraConfiguration> config = + std::make_unique<RkISP1CameraConfiguration>(camera, data); if (roles.empty()) return config; + /* + * As the ISP can't output different color spaces for the main and self + * path, pick a sensible default color space based on the role of the + * first stream and use it for all streams. + */ + std::optional<ColorSpace> colorSpace; bool mainPathAvailable = true; - bool selfPathAvailable = true; + for (const StreamRole role : roles) { - bool useMainPath; + Size size; switch (role) { - case StreamRole::StillCapture: { - useMainPath = mainPathAvailable; + case StreamRole::StillCapture: + /* JPEG encoders typically expect sYCC. */ + if (!colorSpace) + colorSpace = ColorSpace::Sycc; + + size = data->sensor_->resolution(); break; - } + case StreamRole::Viewfinder: - case StreamRole::VideoRecording: { - useMainPath = !selfPathAvailable; + /* + * sYCC is the YCbCr encoding of sRGB, which is commonly + * used by displays. + */ + if (!colorSpace) + colorSpace = ColorSpace::Sycc; + + size = kRkISP1PreviewSize; break; - } + + case StreamRole::VideoRecording: + /* Rec. 709 is a good default for HD video recording. */ + if (!colorSpace) + colorSpace = ColorSpace::Rec709; + + size = kRkISP1PreviewSize; + break; + + case StreamRole::Raw: + if (roles.size() > 1) { + LOG(RkISP1, Error) + << "Can't capture both raw and processed streams"; + return nullptr; + } + + colorSpace = ColorSpace::Raw; + size = data->sensor_->resolution(); + break; + default: LOG(RkISP1, Warning) << "Requested stream role not supported: " << role; - delete config; return nullptr; } - StreamConfiguration cfg; - if (useMainPath) { - cfg = data->mainPath_->generateConfiguration( - data->sensor_->resolution()); + /* + * Prefer the main path if available, as it supports higher + * resolutions. + * + * \todo Using the main path unconditionally hides support for + * RGB (only available on the self path) in the streams formats + * exposed to applications. This likely calls for a better API + * to expose streams capabilities. + */ + RkISP1Path *path; + if (mainPathAvailable) { + path = data->mainPath_; mainPathAvailable = false; } else { - cfg = data->selfPath_->generateConfiguration( - data->sensor_->resolution()); - selfPathAvailable = false; + path = data->selfPath_; } + StreamConfiguration cfg = + path->generateConfiguration(data->sensor_.get(), size, role); + if (!cfg.pixelFormat.isValid()) + return nullptr; + + cfg.colorSpace = colorSpace; config->addConfiguration(cfg); } @@ -593,12 +730,18 @@ int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c) V4L2SubdeviceFormat format = config->sensorFormat(); LOG(RkISP1, Debug) << "Configuring sensor with " << format; - ret = sensor->setFormat(&format); + ret = sensor->setFormat(&format, config->combinedTransform()); if (ret < 0) return ret; LOG(RkISP1, Debug) << "Sensor configured with " << format; + if (csi_) { + ret = csi_->setFormat(0, &format); + if (ret < 0) + return ret; + } + ret = isp_->setFormat(0, &format); if (ret < 0) return ret; @@ -612,8 +755,14 @@ int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c) << "ISP input pad configured with " << format << " crop " << rect; + const PixelFormat &streamFormat = config->at(0).pixelFormat; + const PixelFormatInfo &info = PixelFormatInfo::info(streamFormat); + isRaw_ = info.colourEncoding == PixelFormatInfo::ColourEncodingRAW; + /* YUYV8_2X8 is required on the ISP source path pad for YUV output. */ - format.mbus_code = MEDIA_BUS_FMT_YUYV8_2X8; + if (!isRaw_) + format.code = MEDIA_BUS_FMT_YUYV8_2X8; + LOG(RkISP1, Debug) << "Configuring ISP output pad with " << format << " crop " << rect; @@ -622,6 +771,7 @@ int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c) if (ret < 0) return ret; + format.colorSpace = config->at(0).colorSpace; ret = isp_->setFormat(2, &format); if (ret < 0) return ret; @@ -637,10 +787,12 @@ int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c) ret = mainPath_.configure(cfg, format); streamConfig[0] = IPAStream(cfg.pixelFormat, cfg.size); - } else { + } else if (hasSelfPath_) { ret = selfPath_.configure(cfg, format); streamConfig[1] = IPAStream(cfg.pixelFormat, cfg.size); + } else { + return -ENODEV; } if (ret) @@ -660,19 +812,15 @@ int PipelineHandlerRkISP1::configure(Camera *camera, CameraConfiguration *c) return ret; /* Inform IPA of stream configuration and sensor controls. */ - IPACameraSensorInfo sensorInfo = {}; - ret = data->sensor_->sensorInfo(&sensorInfo); - if (ret) { - /* \todo Turn this into a hard failure. */ - LOG(RkISP1, Warning) << "Camera sensor information not available"; - sensorInfo = {}; - ret = 0; - } + ipa::rkisp1::IPAConfigInfo ipaConfig{}; + + ret = data->sensor_->sensorInfo(&ipaConfig.sensorInfo); + if (ret) + return ret; - std::map<uint32_t, ControlInfoMap> entityControls; - entityControls.emplace(0, data->sensor_->controls()); + ipaConfig.sensorControls = data->sensor_->controls(); - ret = data->ipa_->configure(sensorInfo, streamConfig, entityControls); + ret = data->ipa_->configure(ipaConfig, streamConfig, &data->controlInfo_); if (ret) { LOG(RkISP1, Error) << "failed configuring IPA (" << ret << ")"; return ret; @@ -688,7 +836,7 @@ int PipelineHandlerRkISP1::exportFrameBuffers([[maybe_unused]] Camera *camera, S if (stream == &data->mainPathStream_) return mainPath_.exportBuffers(count, buffers); - else if (stream == &data->selfPathStream_) + else if (hasSelfPath_ && stream == &data->selfPathStream_) return selfPath_.exportBuffers(count, buffers); return -EINVAL; @@ -705,13 +853,15 @@ int PipelineHandlerRkISP1::allocateBuffers(Camera *camera) data->selfPathStream_.configuration().bufferCount, }); - ret = param_->allocateBuffers(maxCount, ¶mBuffers_); - if (ret < 0) - goto error; + if (!isRaw_) { + ret = param_->allocateBuffers(maxCount, ¶mBuffers_); + if (ret < 0) + goto error; - ret = stat_->allocateBuffers(maxCount, &statBuffers_); - if (ret < 0) - goto error; + ret = stat_->allocateBuffers(maxCount, &statBuffers_); + if (ret < 0) + goto error; + } for (std::unique_ptr<FrameBuffer> &buffer : paramBuffers_) { buffer->setCookie(ipaBufferId++); @@ -787,23 +937,25 @@ int PipelineHandlerRkISP1::start(Camera *camera, [[maybe_unused]] const ControlL data->frame_ = 0; - ret = param_->streamOn(); - if (ret) { - data->ipa_->stop(); - freeBuffers(camera); - LOG(RkISP1, Error) - << "Failed to start parameters " << camera->id(); - return ret; - } + if (!isRaw_) { + ret = param_->streamOn(); + if (ret) { + data->ipa_->stop(); + freeBuffers(camera); + LOG(RkISP1, Error) + << "Failed to start parameters " << camera->id(); + return ret; + } - ret = stat_->streamOn(); - if (ret) { - param_->streamOff(); - data->ipa_->stop(); - freeBuffers(camera); - LOG(RkISP1, Error) - << "Failed to start statistics " << camera->id(); - return ret; + ret = stat_->streamOn(); + if (ret) { + param_->streamOff(); + data->ipa_->stop(); + freeBuffers(camera); + LOG(RkISP1, Error) + << "Failed to start statistics " << camera->id(); + return ret; + } } if (data->mainPath_->isEnabled()) { @@ -817,7 +969,7 @@ int PipelineHandlerRkISP1::start(Camera *camera, [[maybe_unused]] const ControlL } } - if (data->selfPath_->isEnabled()) { + if (hasSelfPath_ && data->selfPath_->isEnabled()) { ret = selfPath_.start(); if (ret) { mainPath_.stop(); @@ -844,18 +996,21 @@ void PipelineHandlerRkISP1::stopDevice(Camera *camera) data->ipa_->stop(); - selfPath_.stop(); + if (hasSelfPath_) + selfPath_.stop(); mainPath_.stop(); - ret = stat_->streamOff(); - if (ret) - LOG(RkISP1, Warning) - << "Failed to stop statistics for " << camera->id(); + if (!isRaw_) { + ret = stat_->streamOff(); + if (ret) + LOG(RkISP1, Warning) + << "Failed to stop statistics for " << camera->id(); - ret = param_->streamOff(); - if (ret) - LOG(RkISP1, Warning) - << "Failed to stop parameters for " << camera->id(); + ret = param_->streamOff(); + if (ret) + LOG(RkISP1, Warning) + << "Failed to stop parameters for " << camera->id(); + } ASSERT(data->queuedRequests_.empty()); data->frameInfo_.clear(); @@ -869,12 +1024,21 @@ int PipelineHandlerRkISP1::queueRequestDevice(Camera *camera, Request *request) { RkISP1CameraData *data = cameraData(camera); - RkISP1FrameInfo *info = data->frameInfo_.create(data, request); + RkISP1FrameInfo *info = data->frameInfo_.create(data, request, isRaw_); if (!info) return -ENOENT; data->ipa_->queueRequest(data->frame_, request->controls()); - data->ipa_->fillParamsBuffer(data->frame_, info->paramBuffer->cookie()); + if (isRaw_) { + if (info->mainPathBuffer) + data->mainPath_->queueBuffer(info->mainPathBuffer); + + if (data->selfPath_ && info->selfPathBuffer) + data->selfPath_->queueBuffer(info->selfPathBuffer); + } else { + data->ipa_->fillParamsBuffer(data->frame_, + info->paramBuffer->cookie()); + } data->frame_++; @@ -900,8 +1064,7 @@ int PipelineHandlerRkISP1::initLinks(Camera *camera, * Configure the sensor links: enable the link corresponding to this * camera. */ - const MediaPad *pad = isp_->entity()->getPadByIndex(0); - for (MediaLink *link : pad->links()) { + for (MediaLink *link : ispSink_->links()) { if (link->source()->entity() != sensor->entity()) continue; @@ -915,10 +1078,18 @@ int PipelineHandlerRkISP1::initLinks(Camera *camera, return ret; } + if (csi_) { + MediaLink *link = isp_->entity()->getPadByIndex(0)->links().at(0); + + ret = link->setEnabled(true); + if (ret < 0) + return ret; + } + for (const StreamConfiguration &cfg : config) { if (cfg.stream() == &data->mainPathStream_) ret = data->mainPath_->setEnabled(true); - else if (cfg.stream() == &data->selfPathStream_) + else if (hasSelfPath_ && cfg.stream() == &data->selfPathStream_) ret = data->selfPath_->setEnabled(true); else return -EINVAL; @@ -935,15 +1106,8 @@ int PipelineHandlerRkISP1::createCamera(MediaEntity *sensor) int ret; std::unique_ptr<RkISP1CameraData> data = - std::make_unique<RkISP1CameraData>(this, &mainPath_, &selfPath_); - - ControlInfoMap::Map ctrls; - ctrls.emplace(std::piecewise_construct, - std::forward_as_tuple(&controls::AeEnable), - std::forward_as_tuple(false, true)); - - data->controlInfo_ = ControlInfoMap(std::move(ctrls), - controls::controls); + std::make_unique<RkISP1CameraData>(this, &mainPath_, + hasSelfPath_ ? &selfPath_ : nullptr); data->sensor_ = std::make_unique<CameraSensor>(sensor); ret = data->sensor_->init(); @@ -991,9 +1155,7 @@ bool PipelineHandlerRkISP1::match(DeviceEnumerator *enumerator) DeviceMatch dm("rkisp1"); dm.add("rkisp1_isp"); - dm.add("rkisp1_resizer_selfpath"); dm.add("rkisp1_resizer_mainpath"); - dm.add("rkisp1_selfpath"); dm.add("rkisp1_mainpath"); dm.add("rkisp1_stats"); dm.add("rkisp1_params"); @@ -1008,11 +1170,29 @@ bool PipelineHandlerRkISP1::match(DeviceEnumerator *enumerator) return false; } + hasSelfPath_ = !!media_->getEntityByName("rkisp1_selfpath"); + /* Create the V4L2 subdevices we will need. */ isp_ = V4L2Subdevice::fromEntityName(media_, "rkisp1_isp"); if (isp_->open() < 0) return false; + /* Locate and open the optional CSI-2 receiver. */ + ispSink_ = isp_->entity()->getPadByIndex(0); + if (!ispSink_ || ispSink_->links().empty()) + return false; + + pad = ispSink_->links().at(0)->source(); + if (pad->entity()->function() == MEDIA_ENT_F_VID_IF_BRIDGE) { + csi_ = std::make_unique<V4L2Subdevice>(pad->entity()); + if (csi_->open() < 0) + return false; + + ispSink_ = csi_->entity()->getPadByIndex(0); + if (!ispSink_) + return false; + } + /* Locate and open the stats and params video nodes. */ stat_ = V4L2VideoDevice::fromEntityName(media_, "rkisp1_stats"); if (stat_->open() < 0) @@ -1026,11 +1206,12 @@ bool PipelineHandlerRkISP1::match(DeviceEnumerator *enumerator) if (!mainPath_.init(media_)) return false; - if (!selfPath_.init(media_)) + if (hasSelfPath_ && !selfPath_.init(media_)) return false; mainPath_.bufferReady().connect(this, &PipelineHandlerRkISP1::bufferReady); - selfPath_.bufferReady().connect(this, &PipelineHandlerRkISP1::bufferReady); + if (hasSelfPath_) + selfPath_.bufferReady().connect(this, &PipelineHandlerRkISP1::bufferReady); stat_->bufferReady.connect(this, &PipelineHandlerRkISP1::statReady); param_->bufferReady.connect(this, &PipelineHandlerRkISP1::paramReady); @@ -1038,12 +1219,8 @@ bool PipelineHandlerRkISP1::match(DeviceEnumerator *enumerator) * Enumerate all sensors connected to the ISP and create one * camera instance for each of them. */ - pad = isp_->entity()->getPadByIndex(0); - if (!pad) - return false; - bool registered = false; - for (MediaLink *link : pad->links()) { + for (MediaLink *link : ispSink_->links()) { if (!createCamera(link->source()->entity())) registered = true; } @@ -1055,12 +1232,10 @@ bool PipelineHandlerRkISP1::match(DeviceEnumerator *enumerator) * Buffer Handling */ -void PipelineHandlerRkISP1::tryCompleteRequest(Request *request) +void PipelineHandlerRkISP1::tryCompleteRequest(RkISP1FrameInfo *info) { RkISP1CameraData *data = cameraData(activeCamera_); - RkISP1FrameInfo *info = data->frameInfo_.find(request); - if (!info) - return; + Request *request = info->request; if (request->hasPendingBuffers()) return; @@ -1068,7 +1243,7 @@ void PipelineHandlerRkISP1::tryCompleteRequest(Request *request) if (!info->metadataProcessed) return; - if (!info->paramDequeued) + if (!isRaw_ && !info->paramDequeued) return; data->frameInfo_.destroy(info->frame); @@ -1078,19 +1253,38 @@ void PipelineHandlerRkISP1::tryCompleteRequest(Request *request) void PipelineHandlerRkISP1::bufferReady(FrameBuffer *buffer) { + ASSERT(activeCamera_); + RkISP1CameraData *data = cameraData(activeCamera_); + + RkISP1FrameInfo *info = data->frameInfo_.find(buffer); + if (!info) + return; + + const FrameMetadata &metadata = buffer->metadata(); Request *request = buffer->request(); - /* - * Record the sensor's timestamp in the request metadata. - * - * \todo The sensor timestamp should be better estimated by connecting - * to the V4L2Device::frameStart signal. - */ - request->metadata().set(controls::SensorTimestamp, - buffer->metadata().timestamp); + if (metadata.status != FrameMetadata::FrameCancelled) { + /* + * Record the sensor's timestamp in the request metadata. + * + * \todo The sensor timestamp should be better estimated by connecting + * to the V4L2Device::frameStart signal. + */ + request->metadata().set(controls::SensorTimestamp, + metadata.timestamp); + + if (isRaw_) { + const ControlList &ctrls = + data->delayedCtrls_->get(metadata.sequence); + data->ipa_->processStatsBuffer(info->frame, 0, ctrls); + } + } else { + if (isRaw_) + info->metadataProcessed = true; + } completeBuffer(request, buffer); - tryCompleteRequest(request); + tryCompleteRequest(info); } void PipelineHandlerRkISP1::paramReady(FrameBuffer *buffer) @@ -1103,7 +1297,7 @@ void PipelineHandlerRkISP1::paramReady(FrameBuffer *buffer) return; info->paramDequeued = true; - tryCompleteRequest(info->request); + tryCompleteRequest(info); } void PipelineHandlerRkISP1::statReady(FrameBuffer *buffer) @@ -1117,7 +1311,7 @@ void PipelineHandlerRkISP1::statReady(FrameBuffer *buffer) if (buffer->metadata().status == FrameMetadata::FrameCancelled) { info->metadataProcessed = true; - tryCompleteRequest(info->request); + tryCompleteRequest(info); return; } @@ -1128,6 +1322,6 @@ void PipelineHandlerRkISP1::statReady(FrameBuffer *buffer) data->delayedCtrls_->get(buffer->metadata().sequence)); } -REGISTER_PIPELINE_HANDLER(PipelineHandlerRkISP1) +REGISTER_PIPELINE_HANDLER(PipelineHandlerRkISP1, "rkisp1") } /* namespace libcamera */ diff --git a/src/libcamera/pipeline/rkisp1/rkisp1_path.cpp b/src/libcamera/pipeline/rkisp1/rkisp1_path.cpp index 6f175758..c49017d1 100644 --- a/src/libcamera/pipeline/rkisp1/rkisp1_path.cpp +++ b/src/libcamera/pipeline/rkisp1/rkisp1_path.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * rkisp1path.cpp - Rockchip ISP1 path helper + * Rockchip ISP1 path helper */ #include "rkisp1_path.h" @@ -12,6 +12,7 @@ #include <libcamera/formats.h> #include <libcamera/stream.h> +#include "libcamera/internal/camera_sensor.h" #include "libcamera/internal/media_device.h" #include "libcamera/internal/v4l2_subdevice.h" #include "libcamera/internal/v4l2_videodevice.h" @@ -20,6 +21,39 @@ namespace libcamera { LOG_DECLARE_CATEGORY(RkISP1) +namespace { + +/* Keep in sync with the supported raw formats in rkisp1.cpp. */ +const std::map<PixelFormat, uint32_t> formatToMediaBus = { + { formats::UYVY, MEDIA_BUS_FMT_YUYV8_2X8 }, + { formats::YUYV, MEDIA_BUS_FMT_YUYV8_2X8 }, + { formats::NV12, MEDIA_BUS_FMT_YUYV8_1_5X8 }, + { formats::NV21, MEDIA_BUS_FMT_YUYV8_1_5X8 }, + { formats::NV16, MEDIA_BUS_FMT_YUYV8_2X8 }, + { formats::NV61, MEDIA_BUS_FMT_YUYV8_2X8 }, + { formats::YUV420, MEDIA_BUS_FMT_YUYV8_1_5X8 }, + { formats::YVU420, MEDIA_BUS_FMT_YUYV8_1_5X8 }, + { formats::YUV422, MEDIA_BUS_FMT_YUYV8_2X8 }, + { formats::YVU422, MEDIA_BUS_FMT_YUYV8_2X8 }, + { formats::R8, MEDIA_BUS_FMT_YUYV8_2X8 }, + { formats::RGB565, MEDIA_BUS_FMT_YUYV8_2X8 }, + { formats::XRGB8888, MEDIA_BUS_FMT_YUYV8_2X8 }, + { formats::SBGGR8, MEDIA_BUS_FMT_SBGGR8_1X8 }, + { formats::SGBRG8, MEDIA_BUS_FMT_SGBRG8_1X8 }, + { formats::SGRBG8, MEDIA_BUS_FMT_SGRBG8_1X8 }, + { formats::SRGGB8, MEDIA_BUS_FMT_SRGGB8_1X8 }, + { formats::SBGGR10, MEDIA_BUS_FMT_SBGGR10_1X10 }, + { formats::SGBRG10, MEDIA_BUS_FMT_SGBRG10_1X10 }, + { formats::SGRBG10, MEDIA_BUS_FMT_SGRBG10_1X10 }, + { formats::SRGGB10, MEDIA_BUS_FMT_SRGGB10_1X10 }, + { formats::SBGGR12, MEDIA_BUS_FMT_SBGGR12_1X12 }, + { formats::SGBRG12, MEDIA_BUS_FMT_SGBRG12_1X12 }, + { formats::SGRBG12, MEDIA_BUS_FMT_SGRBG12_1X12 }, + { formats::SRGGB12, MEDIA_BUS_FMT_SRGGB12_1X12 }, +}; + +} /* namespace */ + RkISP1Path::RkISP1Path(const char *name, const Span<const PixelFormat> &formats, const Size &minResolution, const Size &maxResolution) : name_(name), running_(false), formats_(formats), @@ -41,6 +75,8 @@ bool RkISP1Path::init(MediaDevice *media) if (video_->open() < 0) return false; + populateFormats(); + link_ = media->link("rkisp1_isp", 2, resizer, 0); if (!link_) return false; @@ -48,40 +84,227 @@ bool RkISP1Path::init(MediaDevice *media) return true; } -StreamConfiguration RkISP1Path::generateConfiguration(const Size &resolution) +void RkISP1Path::populateFormats() { + V4L2VideoDevice::Formats v4l2Formats = video_->formats(); + if (v4l2Formats.empty()) { + LOG(RkISP1, Info) + << "Failed to enumerate supported formats and sizes, using defaults"; + + for (const PixelFormat &format : formats_) + streamFormats_.insert(format); + return; + } + + minResolution_ = { 65535, 65535 }; + maxResolution_ = { 0, 0 }; + + std::vector<PixelFormat> formats; + for (const auto &[format, sizes] : v4l2Formats) { + const PixelFormat pixelFormat = format.toPixelFormat(); + + /* + * As a defensive measure, skip any pixel format exposed by the + * driver that we don't know about. This ensures that looking up + * formats in formatToMediaBus using a key from streamFormats_ + * will never fail in any of the other functions. + */ + if (!formatToMediaBus.count(pixelFormat)) { + LOG(RkISP1, Warning) + << "Unsupported pixel format " << pixelFormat; + continue; + } + + streamFormats_.insert(pixelFormat); + + for (const auto &size : sizes) { + if (minResolution_ > size.min) + minResolution_ = size.min; + if (maxResolution_ < size.max) + maxResolution_ = size.max; + } + } +} + +StreamConfiguration +RkISP1Path::generateConfiguration(const CameraSensor *sensor, const Size &size, + StreamRole role) +{ + const std::vector<unsigned int> &mbusCodes = sensor->mbusCodes(); + const Size &resolution = sensor->resolution(); + + /* Min and max resolutions to populate the available stream formats. */ Size maxResolution = maxResolution_.boundedToAspectRatio(resolution) .boundedTo(resolution); Size minResolution = minResolution_.expandedToAspectRatio(resolution); + /* The desired stream size, bound to the max resolution. */ + Size streamSize = size.boundedTo(maxResolution); + + /* Create the list of supported stream formats. */ std::map<PixelFormat, std::vector<SizeRange>> streamFormats; - for (const PixelFormat &format : formats_) - streamFormats[format] = { { minResolution, maxResolution } }; + unsigned int rawBitsPerPixel = 0; + PixelFormat rawFormat; + + for (const auto &format : streamFormats_) { + const PixelFormatInfo &info = PixelFormatInfo::info(format); + + /* Populate stream formats for non-RAW configurations. */ + if (info.colourEncoding != PixelFormatInfo::ColourEncodingRAW) { + if (role == StreamRole::Raw) + continue; + + streamFormats[format] = { { minResolution, maxResolution } }; + continue; + } + + /* Skip RAW formats for non-raw roles. */ + if (role != StreamRole::Raw) + continue; + + /* Populate stream formats for RAW configurations. */ + uint32_t mbusCode = formatToMediaBus.at(format); + if (std::find(mbusCodes.begin(), mbusCodes.end(), mbusCode) == + mbusCodes.end()) + /* Skip formats not supported by sensor. */ + continue; + + /* Add all the RAW sizes the sensor can produce for this code. */ + for (const auto &rawSize : sensor->sizes(mbusCode)) { + if (rawSize.width > maxResolution_.width || + rawSize.height > maxResolution_.height) + continue; + + streamFormats[format].push_back({ rawSize, rawSize }); + } + + /* + * Store the raw format with the highest bits per pixel for + * later usage. + */ + if (info.bitsPerPixel > rawBitsPerPixel) { + rawBitsPerPixel = info.bitsPerPixel; + rawFormat = format; + } + } + + /* + * Pick a suitable pixel format for the role. Raw streams need to use a + * raw format, processed streams use NV12 by default. + */ + PixelFormat format; + + if (role == StreamRole::Raw) { + if (!rawFormat.isValid()) { + LOG(RkISP1, Error) + << "Sensor " << sensor->model() + << " doesn't support raw capture"; + return {}; + } + + format = rawFormat; + } else { + format = formats::NV12; + } StreamFormats formats(streamFormats); StreamConfiguration cfg(formats); - cfg.pixelFormat = formats::NV12; - cfg.size = maxResolution; + cfg.pixelFormat = format; + cfg.size = streamSize; cfg.bufferCount = RKISP1_BUFFER_COUNT; return cfg; } -CameraConfiguration::Status RkISP1Path::validate(StreamConfiguration *cfg) +CameraConfiguration::Status RkISP1Path::validate(const CameraSensor *sensor, + StreamConfiguration *cfg) { + const std::vector<unsigned int> &mbusCodes = sensor->mbusCodes(); + const Size &resolution = sensor->resolution(); + const StreamConfiguration reqCfg = *cfg; CameraConfiguration::Status status = CameraConfiguration::Valid; - if (std::find(formats_.begin(), formats_.end(), cfg->pixelFormat) == - formats_.end()) - cfg->pixelFormat = formats::NV12; + /* + * Validate the pixel format. If the requested format isn't supported, + * default to either NV12 (all versions of the ISP are guaranteed to + * support NV12 on both the main and self paths) if the requested format + * is not a raw format, or to the supported raw format with the highest + * bits per pixel otherwise. + */ + unsigned int rawBitsPerPixel = 0; + PixelFormat rawFormat; + bool found = false; + + for (const auto &format : streamFormats_) { + const PixelFormatInfo &info = PixelFormatInfo::info(format); + + if (info.colourEncoding == PixelFormatInfo::ColourEncodingRAW) { + /* Skip raw formats not supported by the sensor. */ + uint32_t mbusCode = formatToMediaBus.at(format); + if (std::find(mbusCodes.begin(), mbusCodes.end(), mbusCode) == + mbusCodes.end()) + continue; + + /* + * Store the raw format with the highest bits per pixel + * for later usage. + */ + if (info.bitsPerPixel > rawBitsPerPixel) { + rawBitsPerPixel = info.bitsPerPixel; + rawFormat = format; + } + } + + if (cfg->pixelFormat == format) { + found = true; + break; + } + } + + bool isRaw = PixelFormatInfo::info(cfg->pixelFormat).colourEncoding == + PixelFormatInfo::ColourEncodingRAW; + + /* + * If no raw format supported by the sensor has been found, use a + * processed format. + */ + if (!rawFormat.isValid()) + isRaw = false; + + if (!found) + cfg->pixelFormat = isRaw ? rawFormat : formats::NV12; + + Size minResolution; + Size maxResolution; + + if (isRaw) { + /* + * Use the sensor output size closest to the requested stream + * size. + */ + uint32_t mbusCode = formatToMediaBus.at(cfg->pixelFormat); + V4L2SubdeviceFormat sensorFormat = + sensor->getFormat({ mbusCode }, cfg->size); + + minResolution = sensorFormat.size; + maxResolution = sensorFormat.size; + } else { + /* + * Adjust the size based on the sensor resolution and absolute + * limits of the ISP. + */ + minResolution = minResolution_.expandedToAspectRatio(resolution); + maxResolution = maxResolution_.boundedToAspectRatio(resolution) + .boundedTo(resolution); + } - cfg->size.boundTo(maxResolution_); - cfg->size.expandTo(minResolution_); + cfg->size.boundTo(maxResolution); + cfg->size.expandTo(minResolution); cfg->bufferCount = RKISP1_BUFFER_COUNT; V4L2DeviceFormat format; - format.fourcc = V4L2PixelFormat::fromPixelFormat(cfg->pixelFormat); + format.fourcc = video_->toV4L2PixelFormat(cfg->pixelFormat); format.size = cfg->size; int ret = video_->tryFormat(&format); @@ -112,7 +335,18 @@ int RkISP1Path::configure(const StreamConfiguration &config, if (ret < 0) return ret; - Rectangle rect(0, 0, ispFormat.size); + /* + * Crop on the resizer input to maintain FOV before downscaling. + * + * \todo The alignment to a multiple of 2 pixels is required but may + * change the aspect ratio very slightly. A more advanced algorithm to + * compute the resizer input crop rectangle is needed, and it should + * also take into account the need to crop away the edge pixels affected + * by the ISP processing blocks. + */ + Size ispCrop = inputFormat.size.boundedToAspectRatio(config.size) + .alignedUpTo(2, 2); + Rectangle rect = ispCrop.centeredTo(Rectangle(inputFormat.size).center()); ret = resizer_->setSelection(0, V4L2_SEL_TGT_CROP, &rect); if (ret < 0) return ret; @@ -127,15 +361,11 @@ int RkISP1Path::configure(const StreamConfiguration &config, << "Configuring " << name_ << " resizer output pad with " << ispFormat; - switch (config.pixelFormat) { - case formats::NV12: - case formats::NV21: - ispFormat.mbus_code = MEDIA_BUS_FMT_YUYV8_1_5X8; - break; - default: - ispFormat.mbus_code = MEDIA_BUS_FMT_YUYV8_2X8; - break; - } + /* + * The configuration has been validated, the pixel format is guaranteed + * to be supported and thus found in formatToMediaBus. + */ + ispFormat.code = formatToMediaBus.at(config.pixelFormat); ret = resizer_->setFormat(1, &ispFormat); if (ret < 0) @@ -147,7 +377,7 @@ int RkISP1Path::configure(const StreamConfiguration &config, const PixelFormatInfo &info = PixelFormatInfo::info(config.pixelFormat); V4L2DeviceFormat outputFormat; - outputFormat.fourcc = V4L2PixelFormat::fromPixelFormat(config.pixelFormat); + outputFormat.fourcc = video_->toV4L2PixelFormat(config.pixelFormat); outputFormat.size = config.size; outputFormat.planesCount = info.numPlanes(); @@ -156,7 +386,7 @@ int RkISP1Path::configure(const StreamConfiguration &config, return ret; if (outputFormat.size != config.size || - outputFormat.fourcc != V4L2PixelFormat::fromPixelFormat(config.pixelFormat)) { + outputFormat.fourcc != video_->toV4L2PixelFormat(config.pixelFormat)) { LOG(RkISP1, Error) << "Unable to configure capture in " << config.toString(); return -EINVAL; @@ -204,17 +434,32 @@ void RkISP1Path::stop() running_ = false; } +/* + * \todo Remove the hardcoded resolutions and formats once all users will have + * migrated to a recent enough kernel. + */ namespace { constexpr Size RKISP1_RSZ_MP_SRC_MIN{ 32, 16 }; constexpr Size RKISP1_RSZ_MP_SRC_MAX{ 4416, 3312 }; -constexpr std::array<PixelFormat, 6> RKISP1_RSZ_MP_FORMATS{ +constexpr std::array<PixelFormat, 18> RKISP1_RSZ_MP_FORMATS{ formats::YUYV, formats::NV16, formats::NV61, formats::NV21, formats::NV12, formats::R8, - /* \todo Add support for RAW formats. */ + formats::SBGGR8, + formats::SGBRG8, + formats::SGRBG8, + formats::SRGGB8, + formats::SBGGR10, + formats::SGBRG10, + formats::SGRBG10, + formats::SRGGB10, + formats::SBGGR12, + formats::SGBRG12, + formats::SGRBG12, + formats::SRGGB12, }; constexpr Size RKISP1_RSZ_SP_SRC_MIN{ 32, 16 }; diff --git a/src/libcamera/pipeline/rkisp1/rkisp1_path.h b/src/libcamera/pipeline/rkisp1/rkisp1_path.h index f3f1ae39..08edefec 100644 --- a/src/libcamera/pipeline/rkisp1/rkisp1_path.h +++ b/src/libcamera/pipeline/rkisp1/rkisp1_path.h @@ -2,12 +2,13 @@ /* * Copyright (C) 2020, Google Inc. * - * rkisp1path.h - Rockchip ISP1 path helper + * Rockchip ISP1 path helper */ #pragma once #include <memory> +#include <set> #include <vector> #include <libcamera/base/signal.h> @@ -22,6 +23,7 @@ namespace libcamera { +class CameraSensor; class MediaDevice; class V4L2Subdevice; struct StreamConfiguration; @@ -38,8 +40,11 @@ public: int setEnabled(bool enable) { return link_->setEnabled(enable); } bool isEnabled() const { return link_->flags() & MEDIA_LNK_FL_ENABLED; } - StreamConfiguration generateConfiguration(const Size &resolution); - CameraConfiguration::Status validate(StreamConfiguration *cfg); + StreamConfiguration generateConfiguration(const CameraSensor *sensor, + const Size &resolution, + StreamRole role); + CameraConfiguration::Status validate(const CameraSensor *sensor, + StreamConfiguration *cfg); int configure(const StreamConfiguration &config, const V4L2SubdeviceFormat &inputFormat); @@ -57,14 +62,17 @@ public: Signal<FrameBuffer *> &bufferReady() { return video_->bufferReady; } private: + void populateFormats(); + static constexpr unsigned int RKISP1_BUFFER_COUNT = 4; const char *name_; bool running_; const Span<const PixelFormat> formats_; - const Size minResolution_; - const Size maxResolution_; + std::set<PixelFormat> streamFormats_; + Size minResolution_; + Size maxResolution_; std::unique_ptr<V4L2Subdevice> resizer_; std::unique_ptr<V4L2VideoDevice> video_; diff --git a/src/libcamera/pipeline/rpi/common/delayed_controls.cpp b/src/libcamera/pipeline/rpi/common/delayed_controls.cpp new file mode 100644 index 00000000..ad50a7c8 --- /dev/null +++ b/src/libcamera/pipeline/rpi/common/delayed_controls.cpp @@ -0,0 +1,293 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2020, Raspberry Pi Ltd + * + * Helper to deal with controls that take effect with a delay + * + * Note: This has been forked from the libcamera core implementation. + */ + +#include "delayed_controls.h" + +#include <libcamera/base/log.h> + +#include <libcamera/controls.h> + +#include "libcamera/internal/v4l2_device.h" + +/** + * \file delayed_controls.h + * \brief Helper to deal with controls that take effect with a delay + */ + +namespace libcamera { + +LOG_DEFINE_CATEGORY(RPiDelayedControls) + +namespace RPi { + +/** + * \class DelayedControls + * \brief Helper to deal with controls that take effect with a delay + * + * Some sensor controls take effect with a delay as the sensor needs time to + * adjust, for example exposure and analog gain. This is a helper class to deal + * with such controls and the intended users are pipeline handlers. + * + * The idea is to extend the concept of the buffer depth of a pipeline the + * application needs to maintain to also cover controls. Just as with buffer + * depth if the application keeps the number of requests queued above the + * control depth the controls are guaranteed to take effect for the correct + * request. The control depth is determined by the control with the greatest + * delay. + */ + +/** + * \struct DelayedControls::ControlParams + * \brief Parameters associated with controls handled by the \a DelayedControls + * helper class + * + * \var ControlParams::delay + * \brief Frame delay from setting the control on a sensor device to when it is + * consumed during framing. + * + * \var ControlParams::priorityWrite + * \brief Flag to indicate that this control must be applied ahead of, and + * separately from the other controls. + * + * Typically set for the \a V4L2_CID_VBLANK control so that the device driver + * does not reject \a V4L2_CID_EXPOSURE control values that may be outside of + * the existing vertical blanking specified bounds, but are within the new + * blanking bounds. + */ + +/** + * \brief Construct a DelayedControls instance + * \param[in] device The V4L2 device the controls have to be applied to + * \param[in] controlParams Map of the numerical V4L2 control ids to their + * associated control parameters. + * + * The control parameters comprise of delays (in frames) and a priority write + * flag. If this flag is set, the relevant control is written separately from, + * and ahead of the rest of the batched controls. + * + * Only controls specified in \a controlParams are handled. If it's desired to + * mix delayed controls and controls that take effect immediately the immediate + * controls must be listed in the \a controlParams map with a delay value of 0. + */ +DelayedControls::DelayedControls(V4L2Device *device, + const std::unordered_map<uint32_t, ControlParams> &controlParams) + : device_(device), maxDelay_(0) +{ + const ControlInfoMap &controls = device_->controls(); + + /* + * Create a map of control ids to delays for controls exposed by the + * device. + */ + for (auto const ¶m : controlParams) { + auto it = controls.find(param.first); + if (it == controls.end()) { + LOG(RPiDelayedControls, Error) + << "Delay request for control id " + << utils::hex(param.first) + << " but control is not exposed by device " + << device_->deviceNode(); + continue; + } + + const ControlId *id = it->first; + + controlParams_[id] = param.second; + + LOG(RPiDelayedControls, Debug) + << "Set a delay of " << controlParams_[id].delay + << " and priority write flag " << controlParams_[id].priorityWrite + << " for " << id->name(); + + maxDelay_ = std::max(maxDelay_, controlParams_[id].delay); + } + + reset(0); +} + +/** + * \brief Reset state machine + * + * Resets the state machine to a starting position based on control values + * retrieved from the device. + */ +void DelayedControls::reset(unsigned int cookie) +{ + queueCount_ = 1; + writeCount_ = 0; + cookies_[0] = cookie; + + /* Retrieve control as reported by the device. */ + std::vector<uint32_t> ids; + for (auto const ¶m : controlParams_) + ids.push_back(param.first->id()); + + ControlList controls = device_->getControls(ids); + + /* Seed the control queue with the controls reported by the device. */ + values_.clear(); + for (const auto &ctrl : controls) { + const ControlId *id = device_->controls().idmap().at(ctrl.first); + /* + * Do not mark this control value as updated, it does not need + * to be written to to device on startup. + */ + values_[id][0] = Info(ctrl.second, false); + } +} + +/** + * \brief Push a set of controls on the queue + * \param[in] controls List of controls to add to the device queue + * + * Push a set of controls to the control queue. This increases the control queue + * depth by one. + * + * \returns true if \a controls are accepted, or false otherwise + */ +bool DelayedControls::push(const ControlList &controls, const unsigned int cookie) +{ + /* Copy state from previous frame. */ + for (auto &ctrl : values_) { + Info &info = ctrl.second[queueCount_]; + info = values_[ctrl.first][queueCount_ - 1]; + info.updated = false; + } + + /* Update with new controls. */ + const ControlIdMap &idmap = device_->controls().idmap(); + for (const auto &control : controls) { + const auto &it = idmap.find(control.first); + if (it == idmap.end()) { + LOG(RPiDelayedControls, Warning) + << "Unknown control " << control.first; + return false; + } + + const ControlId *id = it->second; + + if (controlParams_.find(id) == controlParams_.end()) + return false; + + Info &info = values_[id][queueCount_]; + + info = Info(control.second); + + LOG(RPiDelayedControls, Debug) + << "Queuing " << id->name() + << " to " << info.toString() + << " at index " << queueCount_; + } + + cookies_[queueCount_] = cookie; + queueCount_++; + + return true; +} + +/** + * \brief Read back controls in effect at a sequence number + * \param[in] sequence The sequence number to get controls for + * + * Read back what controls where in effect at a specific sequence number. The + * history is a ring buffer of 16 entries where new and old values coexist. It's + * the callers responsibility to not read too old sequence numbers that have been + * pushed out of the history. + * + * Historic values are evicted by pushing new values onto the queue using + * push(). The max history from the current sequence number that yields valid + * values are thus 16 minus number of controls pushed. + * + * \return The controls at \a sequence number + */ +std::pair<ControlList, unsigned int> DelayedControls::get(uint32_t sequence) +{ + unsigned int index = std::max<int>(0, sequence - maxDelay_); + + ControlList out(device_->controls()); + for (const auto &ctrl : values_) { + const ControlId *id = ctrl.first; + const Info &info = ctrl.second[index]; + + out.set(id->id(), info); + + LOG(RPiDelayedControls, Debug) + << "Reading " << id->name() + << " to " << info.toString() + << " at index " << index; + } + + return { out, cookies_[index] }; +} + +/** + * \brief Inform DelayedControls of the start of a new frame + * \param[in] sequence Sequence number of the frame that started + * + * Inform the state machine that a new frame has started and of its sequence + * number. Any user of these helpers is responsible to inform the helper about + * the start of any frame. This can be connected with ease to the start of a + * exposure (SOE) V4L2 event. + */ +void DelayedControls::applyControls(uint32_t sequence) +{ + LOG(RPiDelayedControls, Debug) << "frame " << sequence << " started"; + + /* + * Create control list peeking ahead in the value queue to ensure + * values are set in time to satisfy the sensor delay. + */ + ControlList out(device_->controls()); + for (auto &ctrl : values_) { + const ControlId *id = ctrl.first; + unsigned int delayDiff = maxDelay_ - controlParams_[id].delay; + unsigned int index = std::max<int>(0, writeCount_ - delayDiff); + Info &info = ctrl.second[index]; + + if (info.updated) { + if (controlParams_[id].priorityWrite) { + /* + * This control must be written now, it could + * affect validity of the other controls. + */ + ControlList priority(device_->controls()); + priority.set(id->id(), info); + device_->setControls(&priority); + } else { + /* + * Batch up the list of controls and write them + * at the end of the function. + */ + out.set(id->id(), info); + } + + LOG(RPiDelayedControls, Debug) + << "Setting " << id->name() + << " to " << info.toString() + << " at index " << index; + + /* Done with this update, so mark as completed. */ + info.updated = false; + } + } + + writeCount_ = sequence + 1; + + while (writeCount_ > queueCount_) { + LOG(RPiDelayedControls, Debug) + << "Queue is empty, auto queue no-op."; + push({}, cookies_[queueCount_ - 1]); + } + + device_->setControls(&out); +} + +} /* namespace RPi */ + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/rpi/common/delayed_controls.h b/src/libcamera/pipeline/rpi/common/delayed_controls.h new file mode 100644 index 00000000..487b0057 --- /dev/null +++ b/src/libcamera/pipeline/rpi/common/delayed_controls.h @@ -0,0 +1,87 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2020, Raspberry Pi Ltd + * + * Helper to deal with controls that take effect with a delay + * + * Note: This has been forked from the libcamera core implementation. + */ + +#pragma once + +#include <stdint.h> +#include <unordered_map> +#include <utility> + +#include <libcamera/controls.h> + +namespace libcamera { + +class V4L2Device; + +namespace RPi { + +class DelayedControls +{ +public: + struct ControlParams { + unsigned int delay; + bool priorityWrite; + }; + + DelayedControls(V4L2Device *device, + const std::unordered_map<uint32_t, ControlParams> &controlParams); + + void reset(unsigned int cookie); + + bool push(const ControlList &controls, unsigned int cookie); + std::pair<ControlList, unsigned int> get(uint32_t sequence); + + void applyControls(uint32_t sequence); + +private: + class Info : public ControlValue + { + public: + Info() + : updated(false) + { + } + + Info(const ControlValue &v, bool updated_ = true) + : ControlValue(v), updated(updated_) + { + } + + bool updated; + }; + + static constexpr int listSize = 16; + template<typename T> + class RingBuffer : public std::array<T, listSize> + { + public: + T &operator[](unsigned int index) + { + return std::array<T, listSize>::operator[](index % listSize); + } + + const T &operator[](unsigned int index) const + { + return std::array<T, listSize>::operator[](index % listSize); + } + }; + + V4L2Device *device_; + std::unordered_map<const ControlId *, ControlParams> controlParams_; + unsigned int maxDelay_; + + uint32_t queueCount_; + uint32_t writeCount_; + std::unordered_map<const ControlId *, RingBuffer<Info>> values_; + RingBuffer<unsigned int> cookies_; +}; + +} /* namespace RPi */ + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/raspberrypi/meson.build b/src/libcamera/pipeline/rpi/common/meson.build index f1a2f5ee..8fb7e823 100644 --- a/src/libcamera/pipeline/raspberrypi/meson.build +++ b/src/libcamera/pipeline/rpi/common/meson.build @@ -1,7 +1,7 @@ # SPDX-License-Identifier: CC0-1.0 libcamera_sources += files([ - 'dma_heaps.cpp', - 'raspberrypi.cpp', + 'delayed_controls.cpp', + 'pipeline_base.cpp', 'rpi_stream.cpp', ]) diff --git a/src/libcamera/pipeline/rpi/common/pipeline_base.cpp b/src/libcamera/pipeline/rpi/common/pipeline_base.cpp new file mode 100644 index 00000000..289af516 --- /dev/null +++ b/src/libcamera/pipeline/rpi/common/pipeline_base.cpp @@ -0,0 +1,1491 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2019-2023, Raspberry Pi Ltd + * + * Pipeline handler base class for Raspberry Pi devices + */ + +#include "pipeline_base.h" + +#include <chrono> + +#include <linux/media-bus-format.h> +#include <linux/videodev2.h> + +#include <libcamera/base/file.h> +#include <libcamera/base/utils.h> + +#include <libcamera/formats.h> +#include <libcamera/logging.h> +#include <libcamera/property_ids.h> + +#include "libcamera/internal/camera_lens.h" +#include "libcamera/internal/ipa_manager.h" +#include "libcamera/internal/v4l2_subdevice.h" + +using namespace std::chrono_literals; + +namespace libcamera { + +using namespace RPi; + +LOG_DEFINE_CATEGORY(RPI) + +using StreamFlag = RPi::Stream::StreamFlag; + +namespace { + +constexpr unsigned int defaultRawBitDepth = 12; + +PixelFormat mbusCodeToPixelFormat(unsigned int code, + BayerFormat::Packing packingReq) +{ + BayerFormat bayer = BayerFormat::fromMbusCode(code); + + ASSERT(bayer.isValid()); + + bayer.packing = packingReq; + PixelFormat pix = bayer.toPixelFormat(); + + /* + * Not all formats (e.g. 8-bit or 16-bit Bayer formats) can have packed + * variants. So if the PixelFormat returns as invalid, use the non-packed + * conversion instead. + */ + if (!pix.isValid()) { + bayer.packing = BayerFormat::Packing::None; + pix = bayer.toPixelFormat(); + } + + return pix; +} + +bool isMonoSensor(std::unique_ptr<CameraSensor> &sensor) +{ + unsigned int mbusCode = sensor->mbusCodes()[0]; + const BayerFormat &bayer = BayerFormat::fromMbusCode(mbusCode); + + return bayer.order == BayerFormat::Order::MONO; +} + +const std::vector<ColorSpace> validColorSpaces = { + ColorSpace::Sycc, + ColorSpace::Smpte170m, + ColorSpace::Rec709 +}; + +std::optional<ColorSpace> findValidColorSpace(const ColorSpace &colourSpace) +{ + for (auto cs : validColorSpaces) { + if (colourSpace.primaries == cs.primaries && + colourSpace.transferFunction == cs.transferFunction) + return cs; + } + + return std::nullopt; +} + +} /* namespace */ + +/* + * Raspberry Pi drivers expect the following colour spaces: + * - V4L2_COLORSPACE_RAW for raw streams. + * - One of V4L2_COLORSPACE_JPEG, V4L2_COLORSPACE_SMPTE170M, V4L2_COLORSPACE_REC709 for + * non-raw streams. Other fields such as transfer function, YCbCr encoding and + * quantisation are not used. + * + * The libcamera colour spaces that we wish to use corresponding to these are therefore: + * - ColorSpace::Raw for V4L2_COLORSPACE_RAW + * - ColorSpace::Sycc for V4L2_COLORSPACE_JPEG + * - ColorSpace::Smpte170m for V4L2_COLORSPACE_SMPTE170M + * - ColorSpace::Rec709 for V4L2_COLORSPACE_REC709 + */ +CameraConfiguration::Status RPiCameraConfiguration::validateColorSpaces([[maybe_unused]] ColorSpaceFlags flags) +{ + Status status = Valid; + yuvColorSpace_.reset(); + + for (auto cfg : config_) { + /* First fix up raw streams to have the "raw" colour space. */ + if (PipelineHandlerBase::isRaw(cfg.pixelFormat)) { + /* If there was no value here, that doesn't count as "adjusted". */ + if (cfg.colorSpace && cfg.colorSpace != ColorSpace::Raw) + status = Adjusted; + cfg.colorSpace = ColorSpace::Raw; + continue; + } + + /* Next we need to find our shared colour space. The first valid one will do. */ + if (cfg.colorSpace && !yuvColorSpace_) + yuvColorSpace_ = findValidColorSpace(cfg.colorSpace.value()); + } + + /* If no colour space was given anywhere, choose sYCC. */ + if (!yuvColorSpace_) + yuvColorSpace_ = ColorSpace::Sycc; + + /* Note the version of this that any RGB streams will have to use. */ + rgbColorSpace_ = yuvColorSpace_; + rgbColorSpace_->ycbcrEncoding = ColorSpace::YcbcrEncoding::None; + rgbColorSpace_->range = ColorSpace::Range::Full; + + /* Go through the streams again and force everyone to the same colour space. */ + for (auto cfg : config_) { + if (cfg.colorSpace == ColorSpace::Raw) + continue; + + if (PipelineHandlerBase::isYuv(cfg.pixelFormat) && cfg.colorSpace != yuvColorSpace_) { + /* Again, no value means "not adjusted". */ + if (cfg.colorSpace) + status = Adjusted; + cfg.colorSpace = yuvColorSpace_; + } + if (PipelineHandlerBase::isRgb(cfg.pixelFormat) && cfg.colorSpace != rgbColorSpace_) { + /* Be nice, and let the YUV version count as non-adjusted too. */ + if (cfg.colorSpace && cfg.colorSpace != yuvColorSpace_) + status = Adjusted; + cfg.colorSpace = rgbColorSpace_; + } + } + + return status; +} + +CameraConfiguration::Status RPiCameraConfiguration::validate() +{ + Status status = Valid; + + if (config_.empty()) + return Invalid; + + /* + * Make sure that if a sensor configuration has been requested it + * is valid. + */ + if (sensorConfig && !sensorConfig->isValid()) { + LOG(RPI, Error) << "Invalid sensor configuration request"; + return Invalid; + } + + status = validateColorSpaces(ColorSpaceFlag::StreamsShareColorSpace); + + /* + * Validate the requested transform against the sensor capabilities and + * rotation and store the final combined transform that configure() will + * need to apply to the sensor to save us working it out again. + */ + Orientation requestedOrientation = orientation; + combinedTransform_ = data_->sensor_->computeTransform(&orientation); + if (orientation != requestedOrientation) + status = Adjusted; + + rawStreams_.clear(); + outStreams_.clear(); + + for (const auto &[index, cfg] : utils::enumerate(config_)) { + if (PipelineHandlerBase::isRaw(cfg.pixelFormat)) + rawStreams_.emplace_back(index, &cfg); + else + outStreams_.emplace_back(index, &cfg); + } + + /* Sort the streams so the highest resolution is first. */ + std::sort(rawStreams_.begin(), rawStreams_.end(), + [](auto &l, auto &r) { return l.cfg->size > r.cfg->size; }); + + std::sort(outStreams_.begin(), outStreams_.end(), + [](auto &l, auto &r) { return l.cfg->size > r.cfg->size; }); + + /* Compute the sensor's format then do any platform specific fixups. */ + unsigned int bitDepth; + Size sensorSize; + + if (sensorConfig) { + /* Use the application provided sensor configuration. */ + bitDepth = sensorConfig->bitDepth; + sensorSize = sensorConfig->outputSize; + } else if (!rawStreams_.empty()) { + /* Use the RAW stream format and size. */ + BayerFormat bayerFormat = BayerFormat::fromPixelFormat(rawStreams_[0].cfg->pixelFormat); + bitDepth = bayerFormat.bitDepth; + sensorSize = rawStreams_[0].cfg->size; + } else { + bitDepth = defaultRawBitDepth; + sensorSize = outStreams_[0].cfg->size; + } + + sensorFormat_ = data_->findBestFormat(sensorSize, bitDepth); + + /* + * If a sensor configuration has been requested, it should apply + * without modifications. + */ + if (sensorConfig) { + BayerFormat bayer = BayerFormat::fromMbusCode(sensorFormat_.code); + + if (bayer.bitDepth != sensorConfig->bitDepth || + sensorFormat_.size != sensorConfig->outputSize) { + LOG(RPI, Error) << "Invalid sensor configuration: " + << "bitDepth/size mismatch"; + return Invalid; + } + } + + /* Start with some initial generic RAW stream adjustments. */ + for (auto &raw : rawStreams_) { + StreamConfiguration *rawStream = raw.cfg; + + /* + * Some sensors change their Bayer order when they are + * h-flipped or v-flipped, according to the transform. Adjust + * the RAW stream to match the computed sensor format by + * applying the sensor Bayer order resulting from the transform + * to the user request. + */ + + BayerFormat cfgBayer = BayerFormat::fromPixelFormat(rawStream->pixelFormat); + cfgBayer.order = data_->sensor_->bayerOrder(combinedTransform_); + + if (rawStream->pixelFormat != cfgBayer.toPixelFormat()) { + rawStream->pixelFormat = cfgBayer.toPixelFormat(); + status = Adjusted; + } + } + + /* Do any platform specific fixups. */ + Status st = data_->platformValidate(this); + if (st == Invalid) + return Invalid; + else if (st == Adjusted) + status = Adjusted; + + /* Further fixups on the RAW streams. */ + for (auto &raw : rawStreams_) { + int ret = raw.dev->tryFormat(&raw.format); + if (ret) + return Invalid; + + if (RPi::PipelineHandlerBase::updateStreamConfig(raw.cfg, raw.format)) + status = Adjusted; + } + + /* Further fixups on the ISP output streams. */ + for (auto &out : outStreams_) { + + /* + * We want to send the associated YCbCr info through to the driver. + * + * But for RGB streams, the YCbCr info gets overwritten on the way back + * so we must check against what the stream cfg says, not what we actually + * requested (which carefully included the YCbCr info)! + */ + out.format.colorSpace = yuvColorSpace_; + + LOG(RPI, Debug) + << "Try color space " << ColorSpace::toString(out.cfg->colorSpace); + + int ret = out.dev->tryFormat(&out.format); + if (ret) + return Invalid; + + if (RPi::PipelineHandlerBase::updateStreamConfig(out.cfg, out.format)) + status = Adjusted; + } + + return status; +} + +bool PipelineHandlerBase::isRgb(const PixelFormat &pixFmt) +{ + const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt); + return info.colourEncoding == PixelFormatInfo::ColourEncodingRGB; +} + +bool PipelineHandlerBase::isYuv(const PixelFormat &pixFmt) +{ + /* The code below would return true for raw mono streams, so weed those out first. */ + if (PipelineHandlerBase::isRaw(pixFmt)) + return false; + + const PixelFormatInfo &info = PixelFormatInfo::info(pixFmt); + return info.colourEncoding == PixelFormatInfo::ColourEncodingYUV; +} + +bool PipelineHandlerBase::isRaw(const PixelFormat &pixFmt) +{ + /* This test works for both Bayer and raw mono formats. */ + return BayerFormat::fromPixelFormat(pixFmt).isValid(); +} + +/* + * Adjust a StreamConfiguration fields to match a video device format. + * Returns true if the StreamConfiguration has been adjusted. + */ +bool PipelineHandlerBase::updateStreamConfig(StreamConfiguration *stream, + const V4L2DeviceFormat &format) +{ + const PixelFormat &pixFormat = format.fourcc.toPixelFormat(); + bool adjusted = false; + + if (stream->pixelFormat != pixFormat || stream->size != format.size) { + stream->pixelFormat = pixFormat; + stream->size = format.size; + adjusted = true; + } + + if (stream->colorSpace != format.colorSpace) { + stream->colorSpace = format.colorSpace; + adjusted = true; + LOG(RPI, Debug) + << "Color space changed from " + << ColorSpace::toString(stream->colorSpace) << " to " + << ColorSpace::toString(format.colorSpace); + } + + stream->stride = format.planes[0].bpl; + stream->frameSize = format.planes[0].size; + + return adjusted; +} + +/* + * Populate and return a video device format using a StreamConfiguration. */ +V4L2DeviceFormat PipelineHandlerBase::toV4L2DeviceFormat(const V4L2VideoDevice *dev, + const StreamConfiguration *stream) +{ + V4L2DeviceFormat deviceFormat; + + const PixelFormatInfo &info = PixelFormatInfo::info(stream->pixelFormat); + deviceFormat.planesCount = info.numPlanes(); + deviceFormat.fourcc = dev->toV4L2PixelFormat(stream->pixelFormat); + deviceFormat.size = stream->size; + deviceFormat.planes[0].bpl = stream->stride; + deviceFormat.colorSpace = stream->colorSpace; + + return deviceFormat; +} + +V4L2DeviceFormat PipelineHandlerBase::toV4L2DeviceFormat(const V4L2VideoDevice *dev, + const V4L2SubdeviceFormat &format, + BayerFormat::Packing packingReq) +{ + unsigned int code = format.code; + const PixelFormat pix = mbusCodeToPixelFormat(code, packingReq); + V4L2DeviceFormat deviceFormat; + + deviceFormat.fourcc = dev->toV4L2PixelFormat(pix); + deviceFormat.size = format.size; + deviceFormat.colorSpace = format.colorSpace; + return deviceFormat; +} + +std::unique_ptr<CameraConfiguration> +PipelineHandlerBase::generateConfiguration(Camera *camera, Span<const StreamRole> roles) +{ + CameraData *data = cameraData(camera); + std::unique_ptr<CameraConfiguration> config = + std::make_unique<RPiCameraConfiguration>(data); + V4L2SubdeviceFormat sensorFormat; + unsigned int bufferCount; + PixelFormat pixelFormat; + V4L2VideoDevice::Formats fmts; + Size size; + std::optional<ColorSpace> colorSpace; + + if (roles.empty()) + return config; + + Size sensorSize = data->sensor_->resolution(); + for (const StreamRole role : roles) { + switch (role) { + case StreamRole::Raw: + size = sensorSize; + sensorFormat = data->findBestFormat(size, defaultRawBitDepth); + pixelFormat = mbusCodeToPixelFormat(sensorFormat.code, + BayerFormat::Packing::CSI2); + ASSERT(pixelFormat.isValid()); + colorSpace = ColorSpace::Raw; + bufferCount = 2; + break; + + case StreamRole::StillCapture: + fmts = data->ispFormats(); + pixelFormat = formats::YUV420; + /* + * Still image codecs usually expect the sYCC color space. + * Even RGB codecs will be fine as the RGB we get with the + * sYCC color space is the same as sRGB. + */ + colorSpace = ColorSpace::Sycc; + /* Return the largest sensor resolution. */ + size = sensorSize; + bufferCount = 1; + break; + + case StreamRole::VideoRecording: + /* + * The colour denoise algorithm requires the analysis + * image, produced by the second ISP output, to be in + * YUV420 format. Select this format as the default, to + * maximize chances that it will be picked by + * applications and enable usage of the colour denoise + * algorithm. + */ + fmts = data->ispFormats(); + pixelFormat = formats::YUV420; + /* + * Choose a color space appropriate for video recording. + * Rec.709 will be a good default for HD resolutions. + */ + colorSpace = ColorSpace::Rec709; + size = { 1920, 1080 }; + bufferCount = 4; + break; + + case StreamRole::Viewfinder: + fmts = data->ispFormats(); + pixelFormat = formats::XRGB8888; + colorSpace = ColorSpace::Sycc; + size = { 800, 600 }; + bufferCount = 4; + break; + + default: + LOG(RPI, Error) << "Requested stream role not supported: " + << role; + return nullptr; + } + + std::map<PixelFormat, std::vector<SizeRange>> deviceFormats; + if (role == StreamRole::Raw) { + /* Translate the MBUS codes to a PixelFormat. */ + for (const auto &format : data->sensorFormats_) { + PixelFormat pf = mbusCodeToPixelFormat(format.first, + BayerFormat::Packing::CSI2); + if (pf.isValid()) + deviceFormats.emplace(std::piecewise_construct, std::forward_as_tuple(pf), + std::forward_as_tuple(format.second.begin(), format.second.end())); + } + } else { + /* + * Translate the V4L2PixelFormat to PixelFormat. Note that we + * limit the recommended largest ISP output size to match the + * sensor resolution. + */ + for (const auto &format : fmts) { + PixelFormat pf = format.first.toPixelFormat(); + /* + * Some V4L2 formats translate to the same pixel format (e.g. YU12, YM12 + * both give YUV420). We must avoid duplicating the range in this case. + */ + if (pf.isValid() && deviceFormats.find(pf) == deviceFormats.end()) { + const SizeRange &ispSizes = format.second[0]; + deviceFormats[pf].emplace_back(ispSizes.min, sensorSize, + ispSizes.hStep, ispSizes.vStep); + } + } + } + + /* Add the stream format based on the device node used for the use case. */ + StreamFormats formats(deviceFormats); + StreamConfiguration cfg(formats); + cfg.size = size; + cfg.pixelFormat = pixelFormat; + cfg.colorSpace = colorSpace; + cfg.bufferCount = bufferCount; + config->addConfiguration(cfg); + } + + config->validate(); + + return config; +} + +int PipelineHandlerBase::configure(Camera *camera, CameraConfiguration *config) +{ + CameraData *data = cameraData(camera); + int ret; + + /* Start by freeing all buffers and reset the stream states. */ + data->freeBuffers(); + for (auto const stream : data->streams_) + stream->clearFlags(StreamFlag::External); + + /* + * Apply the format on the sensor with any cached transform. + * + * If the application has provided a sensor configuration apply it + * instead of just applying a format. + */ + RPiCameraConfiguration *rpiConfig = static_cast<RPiCameraConfiguration *>(config); + V4L2SubdeviceFormat *sensorFormat = &rpiConfig->sensorFormat_; + + if (rpiConfig->sensorConfig) { + ret = data->sensor_->applyConfiguration(*rpiConfig->sensorConfig, + rpiConfig->combinedTransform_, + sensorFormat); + } else { + ret = data->sensor_->setFormat(sensorFormat, + rpiConfig->combinedTransform_); + } + if (ret) + return ret; + + /* + * Platform specific internal stream configuration. This also assigns + * external streams which get configured below. + */ + ret = data->platformConfigure(rpiConfig); + if (ret) + return ret; + + ipa::RPi::ConfigResult result; + ret = data->configureIPA(config, &result); + if (ret) { + LOG(RPI, Error) << "Failed to configure the IPA: " << ret; + return ret; + } + + /* + * Set the scaler crop to the value we are using (scaled to native sensor + * coordinates). + */ + data->scalerCrop_ = data->scaleIspCrop(data->ispCrop_); + + /* + * Update the ScalerCropMaximum to the correct value for this camera mode. + * For us, it's the same as the "analogue crop". + * + * \todo Make this property the ScalerCrop maximum value when dynamic + * controls are available and set it at validate() time + */ + data->properties_.set(properties::ScalerCropMaximum, data->sensorInfo_.analogCrop); + + /* Store the mode sensitivity for the application. */ + data->properties_.set(properties::SensorSensitivity, result.modeSensitivity); + + /* Update the controls that the Raspberry Pi IPA can handle. */ + ControlInfoMap::Map ctrlMap; + for (auto const &c : result.controlInfo) + ctrlMap.emplace(c.first, c.second); + + /* Add the ScalerCrop control limits based on the current mode. */ + Rectangle ispMinCrop = data->scaleIspCrop(Rectangle(data->ispMinCropSize_)); + ctrlMap[&controls::ScalerCrop] = ControlInfo(ispMinCrop, data->sensorInfo_.analogCrop, data->scalerCrop_); + + data->controlInfo_ = ControlInfoMap(std::move(ctrlMap), result.controlInfo.idmap()); + + /* Setup the Video Mux/Bridge entities. */ + for (auto &[device, link] : data->bridgeDevices_) { + /* + * Start by disabling all the sink pad links on the devices in the + * cascade, with the exception of the link connecting the device. + */ + for (const MediaPad *p : device->entity()->pads()) { + if (!(p->flags() & MEDIA_PAD_FL_SINK)) + continue; + + for (MediaLink *l : p->links()) { + if (l != link) + l->setEnabled(false); + } + } + + /* + * Next, enable the entity -> entity links, and setup the pad format. + * + * \todo Some bridge devices may chainge the media bus code, so we + * ought to read the source pad format and propagate it to the sink pad. + */ + link->setEnabled(true); + const MediaPad *sinkPad = link->sink(); + ret = device->setFormat(sinkPad->index(), sensorFormat); + if (ret) { + LOG(RPI, Error) << "Failed to set format on " << device->entity()->name() + << " pad " << sinkPad->index() + << " with format " << *sensorFormat + << ": " << ret; + return ret; + } + + LOG(RPI, Debug) << "Configured media link on device " << device->entity()->name() + << " on pad " << sinkPad->index(); + } + + return 0; +} + +int PipelineHandlerBase::exportFrameBuffers([[maybe_unused]] Camera *camera, libcamera::Stream *stream, + std::vector<std::unique_ptr<FrameBuffer>> *buffers) +{ + RPi::Stream *s = static_cast<RPi::Stream *>(stream); + unsigned int count = stream->configuration().bufferCount; + int ret = s->dev()->exportBuffers(count, buffers); + + s->setExportedBuffers(buffers); + + return ret; +} + +int PipelineHandlerBase::start(Camera *camera, const ControlList *controls) +{ + CameraData *data = cameraData(camera); + int ret; + + /* Check if a ScalerCrop control was specified. */ + if (controls) + data->applyScalerCrop(*controls); + + /* Start the IPA. */ + ipa::RPi::StartResult result; + data->ipa_->start(controls ? *controls : ControlList{ controls::controls }, + &result); + + /* Apply any gain/exposure settings that the IPA may have passed back. */ + if (!result.controls.empty()) + data->setSensorControls(result.controls); + + /* Configure the number of dropped frames required on startup. */ + data->dropFrameCount_ = data->config_.disableStartupFrameDrops + ? 0 : result.dropFrameCount; + + for (auto const stream : data->streams_) + stream->resetBuffers(); + + if (!data->buffersAllocated_) { + /* Allocate buffers for internal pipeline usage. */ + ret = prepareBuffers(camera); + if (ret) { + LOG(RPI, Error) << "Failed to allocate buffers"; + data->freeBuffers(); + stop(camera); + return ret; + } + data->buffersAllocated_ = true; + } + + /* We need to set the dropFrameCount_ before queueing buffers. */ + ret = queueAllBuffers(camera); + if (ret) { + LOG(RPI, Error) << "Failed to queue buffers"; + stop(camera); + return ret; + } + + /* + * Reset the delayed controls with the gain and exposure values set by + * the IPA. + */ + data->delayedCtrls_->reset(0); + data->state_ = CameraData::State::Idle; + + /* Enable SOF event generation. */ + data->frontendDevice()->setFrameStartEnabled(true); + + data->platformStart(); + + /* Start all streams. */ + for (auto const stream : data->streams_) { + ret = stream->dev()->streamOn(); + if (ret) { + stop(camera); + return ret; + } + } + + return 0; +} + +void PipelineHandlerBase::stopDevice(Camera *camera) +{ + CameraData *data = cameraData(camera); + + data->state_ = CameraData::State::Stopped; + data->platformStop(); + + for (auto const stream : data->streams_) + stream->dev()->streamOff(); + + /* Disable SOF event generation. */ + data->frontendDevice()->setFrameStartEnabled(false); + + data->clearIncompleteRequests(); + + /* Stop the IPA. */ + data->ipa_->stop(); +} + +void PipelineHandlerBase::releaseDevice(Camera *camera) +{ + CameraData *data = cameraData(camera); + data->freeBuffers(); +} + +int PipelineHandlerBase::queueRequestDevice(Camera *camera, Request *request) +{ + CameraData *data = cameraData(camera); + + if (!data->isRunning()) + return -EINVAL; + + LOG(RPI, Debug) << "queueRequestDevice: New request sequence: " + << request->sequence(); + + /* Push all buffers supplied in the Request to the respective streams. */ + for (auto stream : data->streams_) { + if (!(stream->getFlags() & StreamFlag::External)) + continue; + + FrameBuffer *buffer = request->findBuffer(stream); + if (buffer && !stream->getBufferId(buffer)) { + /* + * This buffer is not recognised, so it must have been allocated + * outside the v4l2 device. Store it in the stream buffer list + * so we can track it. + */ + stream->setExportedBuffer(buffer); + } + + /* + * If no buffer is provided by the request for this stream, we + * queue a nullptr to the stream to signify that it must use an + * internally allocated buffer for this capture request. This + * buffer will not be given back to the application, but is used + * to support the internal pipeline flow. + * + * The below queueBuffer() call will do nothing if there are not + * enough internal buffers allocated, but this will be handled by + * queuing the request for buffers in the RPiStream object. + */ + int ret = stream->queueBuffer(buffer); + if (ret) + return ret; + } + + /* Push the request to the back of the queue. */ + data->requestQueue_.push(request); + data->handleState(); + + return 0; +} + +int PipelineHandlerBase::registerCamera(std::unique_ptr<RPi::CameraData> &cameraData, + MediaDevice *frontend, const std::string &frontendName, + MediaDevice *backend, MediaEntity *sensorEntity) +{ + CameraData *data = cameraData.get(); + int ret; + + data->sensor_ = std::make_unique<CameraSensor>(sensorEntity); + if (!data->sensor_) + return -EINVAL; + + if (data->sensor_->init()) + return -EINVAL; + + /* Populate the map of sensor supported formats and sizes. */ + for (auto const mbusCode : data->sensor_->mbusCodes()) + data->sensorFormats_.emplace(mbusCode, + data->sensor_->sizes(mbusCode)); + + /* + * Enumerate all the Video Mux/Bridge devices across the sensor -> Fr + * chain. There may be a cascade of devices in this chain! + */ + MediaLink *link = sensorEntity->getPadByIndex(0)->links()[0]; + data->enumerateVideoDevices(link, frontendName); + + ipa::RPi::InitResult result; + if (data->loadIPA(&result)) { + LOG(RPI, Error) << "Failed to load a suitable IPA library"; + return -EINVAL; + } + + /* + * Setup our delayed control writer with the sensor default + * gain and exposure delays. Mark VBLANK for priority write. + */ + std::unordered_map<uint32_t, RPi::DelayedControls::ControlParams> params = { + { V4L2_CID_ANALOGUE_GAIN, { result.sensorConfig.gainDelay, false } }, + { V4L2_CID_EXPOSURE, { result.sensorConfig.exposureDelay, false } }, + { V4L2_CID_HBLANK, { result.sensorConfig.hblankDelay, false } }, + { V4L2_CID_VBLANK, { result.sensorConfig.vblankDelay, true } } + }; + data->delayedCtrls_ = std::make_unique<RPi::DelayedControls>(data->sensor_->device(), params); + data->sensorMetadata_ = result.sensorConfig.sensorMetadata; + + /* Register initial controls that the Raspberry Pi IPA can handle. */ + data->controlInfo_ = std::move(result.controlInfo); + + /* Initialize the camera properties. */ + data->properties_ = data->sensor_->properties(); + + /* + * The V4L2_CID_NOTIFY_GAINS control, if present, is used to inform the + * sensor of the colour gains. It is defined to be a linear gain where + * the default value represents a gain of exactly one. + */ + auto it = data->sensor_->controls().find(V4L2_CID_NOTIFY_GAINS); + if (it != data->sensor_->controls().end()) + data->notifyGainsUnity_ = it->second.def().get<int32_t>(); + + /* + * Set a default value for the ScalerCropMaximum property to show + * that we support its use, however, initialise it to zero because + * it's not meaningful until a camera mode has been chosen. + */ + data->properties_.set(properties::ScalerCropMaximum, Rectangle{}); + + ret = platformRegister(cameraData, frontend, backend); + if (ret) + return ret; + + ret = data->loadPipelineConfiguration(); + if (ret) { + LOG(RPI, Error) << "Unable to load pipeline configuration"; + return ret; + } + + /* Setup the general IPA signal handlers. */ + data->frontendDevice()->dequeueTimeout.connect(data, &RPi::CameraData::cameraTimeout); + data->frontendDevice()->frameStart.connect(data, &RPi::CameraData::frameStarted); + data->ipa_->setDelayedControls.connect(data, &CameraData::setDelayedControls); + data->ipa_->setLensControls.connect(data, &CameraData::setLensControls); + data->ipa_->metadataReady.connect(data, &CameraData::metadataReady); + + return 0; +} + +void PipelineHandlerBase::mapBuffers(Camera *camera, const BufferMap &buffers, unsigned int mask) +{ + CameraData *data = cameraData(camera); + std::vector<IPABuffer> bufferIds; + /* + * Link the FrameBuffers with the id (key value) in the map stored in + * the RPi stream object - along with an identifier mask. + * + * This will allow us to identify buffers passed between the pipeline + * handler and the IPA. + */ + for (auto const &it : buffers) { + bufferIds.push_back(IPABuffer(mask | it.first, + it.second.buffer->planes())); + data->bufferIds_.insert(mask | it.first); + } + + data->ipa_->mapBuffers(bufferIds); +} + +int PipelineHandlerBase::queueAllBuffers(Camera *camera) +{ + CameraData *data = cameraData(camera); + int ret; + + for (auto const stream : data->streams_) { + if (!(stream->getFlags() & StreamFlag::External)) { + ret = stream->queueAllBuffers(); + if (ret < 0) + return ret; + } else { + /* + * For external streams, we must queue up a set of internal + * buffers to handle the number of drop frames requested by + * the IPA. This is done by passing nullptr in queueBuffer(). + * + * The below queueBuffer() call will do nothing if there + * are not enough internal buffers allocated, but this will + * be handled by queuing the request for buffers in the + * RPiStream object. + */ + unsigned int i; + for (i = 0; i < data->dropFrameCount_; i++) { + ret = stream->queueBuffer(nullptr); + if (ret) + return ret; + } + } + } + + return 0; +} + +double CameraData::scoreFormat(double desired, double actual) const +{ + double score = desired - actual; + /* Smaller desired dimensions are preferred. */ + if (score < 0.0) + score = (-score) / 8; + /* Penalise non-exact matches. */ + if (actual != desired) + score *= 2; + + return score; +} + +V4L2SubdeviceFormat CameraData::findBestFormat(const Size &req, unsigned int bitDepth) const +{ + double bestScore = std::numeric_limits<double>::max(), score; + V4L2SubdeviceFormat bestFormat; + bestFormat.colorSpace = ColorSpace::Raw; + + constexpr float penaltyAr = 1500.0; + constexpr float penaltyBitDepth = 500.0; + + /* Calculate the closest/best mode from the user requested size. */ + for (const auto &iter : sensorFormats_) { + const unsigned int mbusCode = iter.first; + const PixelFormat format = mbusCodeToPixelFormat(mbusCode, + BayerFormat::Packing::None); + const PixelFormatInfo &info = PixelFormatInfo::info(format); + + for (const Size &size : iter.second) { + double reqAr = static_cast<double>(req.width) / req.height; + double fmtAr = static_cast<double>(size.width) / size.height; + + /* Score the dimensions for closeness. */ + score = scoreFormat(req.width, size.width); + score += scoreFormat(req.height, size.height); + score += penaltyAr * scoreFormat(reqAr, fmtAr); + + /* Add any penalties... this is not an exact science! */ + score += utils::abs_diff(info.bitsPerPixel, bitDepth) * penaltyBitDepth; + + if (score <= bestScore) { + bestScore = score; + bestFormat.code = mbusCode; + bestFormat.size = size; + } + + LOG(RPI, Debug) << "Format: " << size + << " fmt " << format + << " Score: " << score + << " (best " << bestScore << ")"; + } + } + + return bestFormat; +} + +void CameraData::freeBuffers() +{ + if (ipa_) { + /* + * Copy the buffer ids from the unordered_set to a vector to + * pass to the IPA. + */ + std::vector<unsigned int> bufferIds(bufferIds_.begin(), + bufferIds_.end()); + ipa_->unmapBuffers(bufferIds); + bufferIds_.clear(); + } + + for (auto const stream : streams_) + stream->releaseBuffers(); + + platformFreeBuffers(); + + buffersAllocated_ = false; +} + +/* + * enumerateVideoDevices() iterates over the Media Controller topology, starting + * at the sensor and finishing at the frontend. For each sensor, CameraData stores + * a unique list of any intermediate video mux or bridge devices connected in a + * cascade, together with the entity to entity link. + * + * Entity pad configuration and link enabling happens at the end of configure(). + * We first disable all pad links on each entity device in the chain, and then + * selectively enabling the specific links to link sensor to the frontend across + * all intermediate muxes and bridges. + * + * In the cascaded topology below, if Sensor1 is used, the Mux2 -> Mux1 link + * will be disabled, and Sensor1 -> Mux1 -> Frontend links enabled. Alternatively, + * if Sensor3 is used, the Sensor2 -> Mux2 and Sensor1 -> Mux1 links are disabled, + * and Sensor3 -> Mux2 -> Mux1 -> Frontend links are enabled. All other links will + * remain unchanged. + * + * +----------+ + * | FE | + * +-----^----+ + * | + * +---+---+ + * | Mux1 |<------+ + * +--^---- | + * | | + * +-----+---+ +---+---+ + * | Sensor1 | | Mux2 |<--+ + * +---------+ +-^-----+ | + * | | + * +-------+-+ +---+-----+ + * | Sensor2 | | Sensor3 | + * +---------+ +---------+ + */ +void CameraData::enumerateVideoDevices(MediaLink *link, const std::string &frontend) +{ + const MediaPad *sinkPad = link->sink(); + const MediaEntity *entity = sinkPad->entity(); + bool frontendFound = false; + + /* We only deal with Video Mux and Bridge devices in cascade. */ + if (entity->function() != MEDIA_ENT_F_VID_MUX && + entity->function() != MEDIA_ENT_F_VID_IF_BRIDGE) + return; + + /* Find the source pad for this Video Mux or Bridge device. */ + const MediaPad *sourcePad = nullptr; + for (const MediaPad *pad : entity->pads()) { + if (pad->flags() & MEDIA_PAD_FL_SOURCE) { + /* + * We can only deal with devices that have a single source + * pad. If this device has multiple source pads, ignore it + * and this branch in the cascade. + */ + if (sourcePad) + return; + + sourcePad = pad; + } + } + + LOG(RPI, Debug) << "Found video mux device " << entity->name() + << " linked to sink pad " << sinkPad->index(); + + bridgeDevices_.emplace_back(std::make_unique<V4L2Subdevice>(entity), link); + bridgeDevices_.back().first->open(); + + /* + * Iterate through all the sink pad links down the cascade to find any + * other Video Mux and Bridge devices. + */ + for (MediaLink *l : sourcePad->links()) { + enumerateVideoDevices(l, frontend); + /* Once we reach the Frontend entity, we are done. */ + if (l->sink()->entity()->name() == frontend) { + frontendFound = true; + break; + } + } + + /* This identifies the end of our entity enumeration recursion. */ + if (link->source()->entity()->function() == MEDIA_ENT_F_CAM_SENSOR) { + /* + * If the frontend is not at the end of this cascade, we cannot + * configure this topology automatically, so remove all entity + * references. + */ + if (!frontendFound) { + LOG(RPI, Warning) << "Cannot automatically configure this MC topology!"; + bridgeDevices_.clear(); + } + } +} + +int CameraData::loadPipelineConfiguration() +{ + config_ = { + .disableStartupFrameDrops = false, + .cameraTimeoutValue = 0, + }; + + /* Initial configuration of the platform, in case no config file is present */ + platformPipelineConfigure({}); + + char const *configFromEnv = utils::secure_getenv("LIBCAMERA_RPI_CONFIG_FILE"); + if (!configFromEnv || *configFromEnv == '\0') + return 0; + + std::string filename = std::string(configFromEnv); + File file(filename); + + if (!file.open(File::OpenModeFlag::ReadOnly)) { + LOG(RPI, Warning) << "Failed to open configuration file '" << filename << "'" + << ", using defaults"; + return 0; + } + + LOG(RPI, Info) << "Using configuration file '" << filename << "'"; + + std::unique_ptr<YamlObject> root = YamlParser::parse(file); + if (!root) { + LOG(RPI, Warning) << "Failed to parse configuration file, using defaults"; + return 0; + } + + std::optional<double> ver = (*root)["version"].get<double>(); + if (!ver || *ver != 1.0) { + LOG(RPI, Warning) << "Unexpected configuration file version reported: " + << *ver; + return 0; + } + + const YamlObject &phConfig = (*root)["pipeline_handler"]; + + config_.disableStartupFrameDrops = + phConfig["disable_startup_frame_drops"].get<bool>(config_.disableStartupFrameDrops); + + config_.cameraTimeoutValue = + phConfig["camera_timeout_value_ms"].get<unsigned int>(config_.cameraTimeoutValue); + + if (config_.cameraTimeoutValue) { + /* Disable the IPA signal to control timeout and set the user requested value. */ + ipa_->setCameraTimeout.disconnect(); + frontendDevice()->setDequeueTimeout(config_.cameraTimeoutValue * 1ms); + } + + return platformPipelineConfigure(root); +} + +int CameraData::loadIPA(ipa::RPi::InitResult *result) +{ + int ret; + + ipa_ = IPAManager::createIPA<ipa::RPi::IPAProxyRPi>(pipe(), 1, 1); + + 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); + } + + IPASettings settings(configurationFile, sensor_->model()); + ipa::RPi::InitParams params; + + ret = sensor_->sensorInfo(¶ms.sensorInfo); + if (ret) { + LOG(RPI, Error) << "Failed to retrieve camera sensor info"; + return ret; + } + + params.lensPresent = !!sensor_->focusLens(); + ret = platformInitIpa(params); + if (ret) + return ret; + + return ipa_->init(settings, params, result); +} + +int CameraData::configureIPA(const CameraConfiguration *config, ipa::RPi::ConfigResult *result) +{ + ipa::RPi::ConfigParams params; + int ret; + + params.sensorControls = sensor_->controls(); + if (sensor_->focusLens()) + params.lensControls = sensor_->focusLens()->controls(); + + ret = platformConfigureIpa(params); + if (ret) + return ret; + + /* We store the IPACameraSensorInfo for digital zoom calculations. */ + ret = sensor_->sensorInfo(&sensorInfo_); + if (ret) { + LOG(RPI, Error) << "Failed to retrieve camera sensor info"; + return ret; + } + + /* Always send the user transform to the IPA. */ + Transform transform = config->orientation / Orientation::Rotate0; + params.transform = static_cast<unsigned int>(transform); + + /* Ready the IPA - it must know about the sensor resolution. */ + ret = ipa_->configure(sensorInfo_, params, result); + if (ret < 0) { + LOG(RPI, Error) << "IPA configuration failed!"; + return -EPIPE; + } + + if (!result->sensorControls.empty()) + setSensorControls(result->sensorControls); + if (!result->lensControls.empty()) + setLensControls(result->lensControls); + + return 0; +} + +void CameraData::metadataReady(const ControlList &metadata) +{ + if (!isRunning()) + return; + + /* Add to the Request metadata buffer what the IPA has provided. */ + /* Last thing to do is to fill up the request metadata. */ + Request *request = requestQueue_.front(); + request->metadata().merge(metadata); + + /* + * Inform the sensor of the latest colour gains if it has the + * V4L2_CID_NOTIFY_GAINS control (which means notifyGainsUnity_ is set). + */ + const auto &colourGains = metadata.get(libcamera::controls::ColourGains); + if (notifyGainsUnity_ && colourGains) { + /* The control wants linear gains in the order B, Gb, Gr, R. */ + ControlList ctrls(sensor_->controls()); + std::array<int32_t, 4> gains{ + static_cast<int32_t>((*colourGains)[1] * *notifyGainsUnity_), + *notifyGainsUnity_, + *notifyGainsUnity_, + static_cast<int32_t>((*colourGains)[0] * *notifyGainsUnity_) + }; + ctrls.set(V4L2_CID_NOTIFY_GAINS, Span<const int32_t>{ gains }); + + sensor_->setControls(&ctrls); + } +} + +void CameraData::setDelayedControls(const ControlList &controls, uint32_t delayContext) +{ + if (!delayedCtrls_->push(controls, delayContext)) + LOG(RPI, Error) << "V4L2 DelayedControl set failed"; +} + +void CameraData::setLensControls(const ControlList &controls) +{ + CameraLens *lens = sensor_->focusLens(); + + if (lens && controls.contains(V4L2_CID_FOCUS_ABSOLUTE)) { + ControlValue const &focusValue = controls.get(V4L2_CID_FOCUS_ABSOLUTE); + lens->setFocusPosition(focusValue.get<int32_t>()); + } +} + +void CameraData::setSensorControls(ControlList &controls) +{ + /* + * We need to ensure that if both VBLANK and EXPOSURE are present, the + * former must be written ahead of, and separately from EXPOSURE to avoid + * V4L2 rejecting the latter. This is identical to what DelayedControls + * does with the priority write flag. + * + * As a consequence of the below logic, VBLANK gets set twice, and we + * rely on the v4l2 framework to not pass the second control set to the + * driver as the actual control value has not changed. + */ + if (controls.contains(V4L2_CID_EXPOSURE) && controls.contains(V4L2_CID_VBLANK)) { + ControlList vblank_ctrl; + + vblank_ctrl.set(V4L2_CID_VBLANK, controls.get(V4L2_CID_VBLANK)); + sensor_->setControls(&vblank_ctrl); + } + + sensor_->setControls(&controls); +} + +Rectangle CameraData::scaleIspCrop(const Rectangle &ispCrop) const +{ + /* + * Scale a crop rectangle defined in the ISP's coordinates into native sensor + * coordinates. + */ + Rectangle nativeCrop = ispCrop.scaledBy(sensorInfo_.analogCrop.size(), + sensorInfo_.outputSize); + nativeCrop.translateBy(sensorInfo_.analogCrop.topLeft()); + return nativeCrop; +} + +void CameraData::applyScalerCrop(const ControlList &controls) +{ + const auto &scalerCrop = controls.get<Rectangle>(controls::ScalerCrop); + if (scalerCrop) { + Rectangle nativeCrop = *scalerCrop; + + if (!nativeCrop.width || !nativeCrop.height) + nativeCrop = { 0, 0, 1, 1 }; + + /* Create a version of the crop scaled to ISP (camera mode) pixels. */ + Rectangle ispCrop = nativeCrop.translatedBy(-sensorInfo_.analogCrop.topLeft()); + ispCrop.scaleBy(sensorInfo_.outputSize, sensorInfo_.analogCrop.size()); + + /* + * The crop that we set must be: + * 1. At least as big as ispMinCropSize_, once that's been + * enlarged to the same aspect ratio. + * 2. With the same mid-point, if possible. + * 3. But it can't go outside the sensor area. + */ + Size minSize = ispMinCropSize_.expandedToAspectRatio(nativeCrop.size()); + Size size = ispCrop.size().expandedTo(minSize); + ispCrop = size.centeredTo(ispCrop.center()).enclosedIn(Rectangle(sensorInfo_.outputSize)); + + if (ispCrop != ispCrop_) { + ispCrop_ = ispCrop; + platformSetIspCrop(); + + /* + * Also update the ScalerCrop in the metadata with what we actually + * used. But we must first rescale that from ISP (camera mode) pixels + * back into sensor native pixels. + */ + scalerCrop_ = scaleIspCrop(ispCrop_); + } + } +} + +void CameraData::cameraTimeout() +{ + LOG(RPI, Error) << "Camera frontend has timed out!"; + LOG(RPI, Error) << "Please check that your camera sensor connector is attached securely."; + LOG(RPI, Error) << "Alternatively, try another cable and/or sensor."; + + state_ = CameraData::State::Error; + platformStop(); + + /* + * To allow the application to attempt a recovery from this timeout, + * stop all devices streaming, and return any outstanding requests as + * incomplete and cancelled. + */ + for (auto const stream : streams_) + stream->dev()->streamOff(); + + clearIncompleteRequests(); +} + +void CameraData::frameStarted(uint32_t sequence) +{ + LOG(RPI, Debug) << "Frame start " << sequence; + + /* Write any controls for the next frame as soon as we can. */ + delayedCtrls_->applyControls(sequence); +} + +void CameraData::clearIncompleteRequests() +{ + /* + * All outstanding requests (and associated buffers) must be returned + * back to the application. + */ + while (!requestQueue_.empty()) { + Request *request = requestQueue_.front(); + + for (auto &b : request->buffers()) { + FrameBuffer *buffer = b.second; + /* + * Has the buffer already been handed back to the + * request? If not, do so now. + */ + if (buffer->request()) { + buffer->_d()->cancel(); + pipe()->completeBuffer(request, buffer); + } + } + + pipe()->completeRequest(request); + requestQueue_.pop(); + } +} + +void CameraData::handleStreamBuffer(FrameBuffer *buffer, RPi::Stream *stream) +{ + /* + * It is possible to be here without a pending request, so check + * that we actually have one to action, otherwise we just return + * buffer back to the stream. + */ + Request *request = requestQueue_.empty() ? nullptr : requestQueue_.front(); + if (!dropFrameCount_ && request && request->findBuffer(stream) == buffer) { + /* + * Tag the buffer as completed, returning it to the + * application. + */ + LOG(RPI, Debug) << "Completing request buffer for stream " + << stream->name(); + pipe()->completeBuffer(request, buffer); + } else { + /* + * This buffer was not part of the Request (which happens if an + * internal buffer was used for an external stream, or + * unconditionally for internal streams), or there is no pending + * request, so we can recycle it. + */ + LOG(RPI, Debug) << "Returning buffer to stream " + << stream->name(); + stream->returnBuffer(buffer); + } +} + +void CameraData::handleState() +{ + switch (state_) { + case State::Stopped: + case State::Busy: + case State::Error: + break; + + case State::IpaComplete: + /* If the request is completed, we will switch to Idle state. */ + checkRequestCompleted(); + /* + * No break here, we want to try running the pipeline again. + * The fallthrough clause below suppresses compiler warnings. + */ + [[fallthrough]]; + + case State::Idle: + tryRunPipeline(); + break; + } +} + +void CameraData::checkRequestCompleted() +{ + bool requestCompleted = false; + /* + * If we are dropping this frame, do not touch the request, simply + * change the state to IDLE when ready. + */ + if (!dropFrameCount_) { + Request *request = requestQueue_.front(); + if (request->hasPendingBuffers()) + return; + + /* Must wait for metadata to be filled in before completing. */ + if (state_ != State::IpaComplete) + return; + + LOG(RPI, Debug) << "Completing request sequence: " + << request->sequence(); + + pipe()->completeRequest(request); + requestQueue_.pop(); + requestCompleted = true; + } + + /* + * Make sure we have three outputs completed in the case of a dropped + * frame. + */ + if (state_ == State::IpaComplete && + ((ispOutputCount_ == ispOutputTotal_ && dropFrameCount_) || + requestCompleted)) { + LOG(RPI, Debug) << "Going into Idle state"; + state_ = State::Idle; + if (dropFrameCount_) { + dropFrameCount_--; + LOG(RPI, Debug) << "Dropping frame at the request of the IPA (" + << dropFrameCount_ << " left)"; + } + } +} + +void CameraData::fillRequestMetadata(const ControlList &bufferControls, Request *request) +{ + request->metadata().set(controls::SensorTimestamp, + bufferControls.get(controls::SensorTimestamp).value_or(0)); + + request->metadata().set(controls::ScalerCrop, scalerCrop_); +} + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/rpi/common/pipeline_base.h b/src/libcamera/pipeline/rpi/common/pipeline_base.h new file mode 100644 index 00000000..f9cecf70 --- /dev/null +++ b/src/libcamera/pipeline/rpi/common/pipeline_base.h @@ -0,0 +1,286 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2019-2023, Raspberry Pi Ltd + * + * Pipeline handler base class for Raspberry Pi devices + */ + +#include <map> +#include <memory> +#include <optional> +#include <queue> +#include <string> +#include <unordered_set> +#include <utility> +#include <vector> + +#include <libcamera/controls.h> +#include <libcamera/request.h> + +#include "libcamera/internal/bayer_format.h" +#include "libcamera/internal/camera.h" +#include "libcamera/internal/camera_sensor.h" +#include "libcamera/internal/framebuffer.h" +#include "libcamera/internal/media_device.h" +#include "libcamera/internal/media_object.h" +#include "libcamera/internal/pipeline_handler.h" +#include "libcamera/internal/v4l2_videodevice.h" +#include "libcamera/internal/yaml_parser.h" + +#include <libcamera/ipa/raspberrypi_ipa_interface.h> +#include <libcamera/ipa/raspberrypi_ipa_proxy.h> + +#include "delayed_controls.h" +#include "rpi_stream.h" + +using namespace std::chrono_literals; + +namespace libcamera { + +namespace RPi { + +/* Map of mbus codes to supported sizes reported by the sensor. */ +using SensorFormats = std::map<unsigned int, std::vector<Size>>; + +class RPiCameraConfiguration; +class CameraData : public Camera::Private +{ +public: + CameraData(PipelineHandler *pipe) + : Camera::Private(pipe), state_(State::Stopped), + dropFrameCount_(0), buffersAllocated_(false), + ispOutputCount_(0), ispOutputTotal_(0) + { + } + + virtual ~CameraData() + { + } + + virtual CameraConfiguration::Status platformValidate(RPiCameraConfiguration *rpiConfig) const = 0; + virtual int platformConfigure(const RPiCameraConfiguration *rpiConfig) = 0; + virtual void platformStart() = 0; + virtual void platformStop() = 0; + + double scoreFormat(double desired, double actual) const; + V4L2SubdeviceFormat findBestFormat(const Size &req, unsigned int bitDepth) const; + + void freeBuffers(); + virtual void platformFreeBuffers() = 0; + + void enumerateVideoDevices(MediaLink *link, const std::string &frontend); + + int loadPipelineConfiguration(); + int loadIPA(ipa::RPi::InitResult *result); + int configureIPA(const CameraConfiguration *config, ipa::RPi::ConfigResult *result); + virtual int platformInitIpa(ipa::RPi::InitParams ¶ms) = 0; + virtual int platformConfigureIpa(ipa::RPi::ConfigParams ¶ms) = 0; + + void metadataReady(const ControlList &metadata); + void setDelayedControls(const ControlList &controls, uint32_t delayContext); + void setLensControls(const ControlList &controls); + void setSensorControls(ControlList &controls); + + Rectangle scaleIspCrop(const Rectangle &ispCrop) const; + void applyScalerCrop(const ControlList &controls); + virtual void platformSetIspCrop() = 0; + + void cameraTimeout(); + void frameStarted(uint32_t sequence); + + void clearIncompleteRequests(); + void handleStreamBuffer(FrameBuffer *buffer, Stream *stream); + void handleState(); + + virtual V4L2VideoDevice::Formats ispFormats() const = 0; + virtual V4L2VideoDevice::Formats rawFormats() const = 0; + virtual V4L2VideoDevice *frontendDevice() = 0; + + virtual int platformPipelineConfigure(const std::unique_ptr<YamlObject> &root) = 0; + + std::unique_ptr<ipa::RPi::IPAProxyRPi> ipa_; + + std::unique_ptr<CameraSensor> sensor_; + SensorFormats sensorFormats_; + + /* The vector below is just for convenience when iterating over all streams. */ + std::vector<Stream *> streams_; + /* Stores the ids of the buffers mapped in the IPA. */ + std::unordered_set<unsigned int> bufferIds_; + /* + * Stores a cascade of Video Mux or Bridge devices between the sensor and + * Unicam together with media link across the entities. + */ + std::vector<std::pair<std::unique_ptr<V4L2Subdevice>, MediaLink *>> bridgeDevices_; + + std::unique_ptr<DelayedControls> delayedCtrls_; + bool sensorMetadata_; + + /* + * All the functions in this class are called from a single calling + * thread. So, we do not need to have any mutex to protect access to any + * of the variables below. + */ + enum class State { Stopped, Idle, Busy, IpaComplete, Error }; + State state_; + + bool isRunning() + { + return state_ != State::Stopped && state_ != State::Error; + } + + std::queue<Request *> requestQueue_; + + /* For handling digital zoom. */ + IPACameraSensorInfo sensorInfo_; + Rectangle ispCrop_; /* crop in ISP (camera mode) pixels */ + Rectangle scalerCrop_; /* crop in sensor native pixels */ + Size ispMinCropSize_; + + unsigned int dropFrameCount_; + + /* + * If set, this stores the value that represets a gain of one for + * the V4L2_CID_NOTIFY_GAINS control. + */ + std::optional<int32_t> notifyGainsUnity_; + + /* Have internal buffers been allocated? */ + bool buffersAllocated_; + + struct Config { + /* + * Override any request from the IPA to drop a number of startup + * frames. + */ + bool disableStartupFrameDrops; + /* + * Override the camera timeout value calculated by the IPA based + * on frame durations. + */ + unsigned int cameraTimeoutValue; + }; + + Config config_; + +protected: + void fillRequestMetadata(const ControlList &bufferControls, + Request *request); + + virtual void tryRunPipeline() = 0; + + unsigned int ispOutputCount_; + unsigned int ispOutputTotal_; + +private: + void checkRequestCompleted(); +}; + +class PipelineHandlerBase : public PipelineHandler +{ +public: + PipelineHandlerBase(CameraManager *manager) + : PipelineHandler(manager) + { + } + + virtual ~PipelineHandlerBase() + { + } + + static bool isRgb(const PixelFormat &pixFmt); + static bool isYuv(const PixelFormat &pixFmt); + static bool isRaw(const PixelFormat &pixFmt); + + static bool updateStreamConfig(StreamConfiguration *stream, + const V4L2DeviceFormat &format); + static V4L2DeviceFormat toV4L2DeviceFormat(const V4L2VideoDevice *dev, + const StreamConfiguration *stream); + static V4L2DeviceFormat toV4L2DeviceFormat(const V4L2VideoDevice *dev, + const V4L2SubdeviceFormat &format, + BayerFormat::Packing packingReq); + + std::unique_ptr<CameraConfiguration> + generateConfiguration(Camera *camera, Span<const StreamRole> roles) override; + int configure(Camera *camera, CameraConfiguration *config) override; + + int exportFrameBuffers(Camera *camera, libcamera::Stream *stream, + std::vector<std::unique_ptr<FrameBuffer>> *buffers) override; + + int start(Camera *camera, const ControlList *controls) override; + void stopDevice(Camera *camera) override; + void releaseDevice(Camera *camera) override; + + int queueRequestDevice(Camera *camera, Request *request) override; + +protected: + int registerCamera(std::unique_ptr<RPi::CameraData> &cameraData, + MediaDevice *frontent, const std::string &frontendName, + MediaDevice *backend, MediaEntity *sensorEntity); + + void mapBuffers(Camera *camera, const BufferMap &buffers, unsigned int mask); + + virtual int platformRegister(std::unique_ptr<CameraData> &cameraData, + MediaDevice *unicam, MediaDevice *isp) = 0; + +private: + CameraData *cameraData(Camera *camera) + { + return static_cast<CameraData *>(camera->_d()); + } + + int queueAllBuffers(Camera *camera); + virtual int prepareBuffers(Camera *camera) = 0; +}; + +class RPiCameraConfiguration final : public CameraConfiguration +{ +public: + RPiCameraConfiguration(const CameraData *data) + : CameraConfiguration(), data_(data) + { + } + + CameraConfiguration::Status validateColorSpaces(ColorSpaceFlags flags); + Status validate() override; + + /* Cache the combinedTransform_ that will be applied to the sensor */ + Transform combinedTransform_; + /* The sensor format computed in validate() */ + V4L2SubdeviceFormat sensorFormat_; + + struct StreamParams { + StreamParams() + : index(0), cfg(nullptr), dev(nullptr) + { + } + + StreamParams(unsigned int index_, StreamConfiguration *cfg_) + : index(index_), cfg(cfg_), dev(nullptr) + { + } + + unsigned int index; + StreamConfiguration *cfg; + V4L2VideoDevice *dev; + V4L2DeviceFormat format; + }; + + std::vector<StreamParams> rawStreams_; + std::vector<StreamParams> outStreams_; + + /* + * Store the colour spaces that all our streams will have. RGB format streams + * will have the same colorspace as YUV streams, with YCbCr field cleared and + * range set to full. + */ + std::optional<ColorSpace> yuvColorSpace_; + std::optional<ColorSpace> rgbColorSpace_; + +private: + const CameraData *data_; +}; + +} /* namespace RPi */ + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/raspberrypi/rpi_stream.cpp b/src/libcamera/pipeline/rpi/common/rpi_stream.cpp index 7a93efaa..accf59eb 100644 --- a/src/libcamera/pipeline/raspberrypi/rpi_stream.cpp +++ b/src/libcamera/pipeline/rpi/common/rpi_stream.cpp @@ -1,14 +1,19 @@ /* SPDX-License-Identifier: LGPL-2.1-or-later */ /* - * Copyright (C) 2020, Raspberry Pi (Trading) Ltd. + * Copyright (C) 2020, Raspberry Pi Ltd * - * rpi_stream.cpp - Raspberry Pi device stream abstraction class. + * Raspberry Pi device stream abstraction class. */ #include "rpi_stream.h" +#include <algorithm> +#include <tuple> +#include <utility> + #include <libcamera/base/log.h> -#include <libcamera/ipa/raspberrypi_ipa_interface.h> +/* Maximum number of buffer slots to allocate in the V4L2 device driver. */ +static constexpr unsigned int maxV4L2BufferCount = 32; namespace libcamera { @@ -16,40 +21,64 @@ LOG_DEFINE_CATEGORY(RPISTREAM) namespace RPi { +const BufferObject Stream::errorBufferObject{ nullptr, false }; + +void Stream::setFlags(StreamFlags flags) +{ + /* We don't want dynamic mmapping. */ + ASSERT(!(flags & StreamFlag::RequiresMmap)); + + flags_ |= flags; + + /* Import streams cannot be external. */ + ASSERT(!(flags_ & StreamFlag::External) || !(flags_ & StreamFlag::ImportOnly)); +} + +void Stream::clearFlags(StreamFlags flags) +{ + /* We don't want dynamic mmapping. */ + ASSERT(!(flags & StreamFlag::RequiresMmap)); + + flags_ &= ~flags; +} + +RPi::Stream::StreamFlags Stream::getFlags() const +{ + return flags_; +} + V4L2VideoDevice *Stream::dev() const { return dev_.get(); } -std::string Stream::name() const +const std::string &Stream::name() const { return name_; } -void Stream::resetBuffers() +unsigned int Stream::swDownscale() const { - /* Add all internal buffers to the queue of usable buffers. */ - availableBuffers_ = {}; - for (auto const &buffer : internalBuffers_) - availableBuffers_.push(buffer.get()); + return swDownscale_; } -void Stream::setExternal(bool external) +void Stream::setSwDownscale(unsigned int swDownscale) { - /* Import streams cannot be external. */ - ASSERT(!external || !importOnly_); - external_ = external; + swDownscale_ = swDownscale; } -bool Stream::isExternal() const +void Stream::resetBuffers() { - return external_; + /* Add all internal buffers to the queue of usable buffers. */ + availableBuffers_ = {}; + for (auto const &buffer : internalBuffers_) + availableBuffers_.push(buffer.get()); } void Stream::setExportedBuffers(std::vector<std::unique_ptr<FrameBuffer>> *buffers) { for (auto const &buffer : *buffers) - bufferMap_.emplace(id_.get(), buffer.get()); + bufferEmplace(++id_, buffer.get()); } const BufferMap &Stream::getBuffers() const @@ -57,68 +86,42 @@ const BufferMap &Stream::getBuffers() const return bufferMap_; } -int Stream::getBufferId(FrameBuffer *buffer) const +unsigned int Stream::getBufferId(FrameBuffer *buffer) const { - if (importOnly_) - return -1; + if (flags_ & StreamFlag::ImportOnly) + return 0; /* Find the buffer in the map, and return the buffer id. */ auto it = std::find_if(bufferMap_.begin(), bufferMap_.end(), - [&buffer](auto const &p) { return p.second == buffer; }); + [&buffer](auto const &p) { return p.second.buffer == buffer; }); if (it == bufferMap_.end()) - return -1; + return 0; return it->first; } -void Stream::setExternalBuffer(FrameBuffer *buffer) +void Stream::setExportedBuffer(FrameBuffer *buffer) { - bufferMap_.emplace(ipa::RPi::MaskExternalBuffer | id_.get(), buffer); -} - -void Stream::removeExternalBuffer(FrameBuffer *buffer) -{ - int id = getBufferId(buffer); - - /* Ensure we have this buffer in the stream, and it is marked external. */ - ASSERT(id != -1 && (id & ipa::RPi::MaskExternalBuffer)); - bufferMap_.erase(id); + bufferEmplace(++id_, buffer); } int Stream::prepareBuffers(unsigned int count) { int ret; - if (!importOnly_) { - if (count) { - /* Export some frame buffers for internal use. */ - ret = dev_->exportBuffers(count, &internalBuffers_); - if (ret < 0) - return ret; - - /* Add these exported buffers to the internal/external buffer list. */ - setExportedBuffers(&internalBuffers_); - resetBuffers(); - } + if (!(flags_ & StreamFlag::ImportOnly)) { + /* Export some frame buffers for internal use. */ + ret = dev_->exportBuffers(count, &internalBuffers_); + if (ret < 0) + return ret; - /* We must import all internal/external exported buffers. */ - count = bufferMap_.size(); + /* Add these exported buffers to the internal/external buffer list. */ + setExportedBuffers(&internalBuffers_); + resetBuffers(); } - /* - * If this is an external stream, we must allocate slots for buffers that - * might be externally allocated. We have no indication of how many buffers - * may be used, so this might overallocate slots in the buffer cache. - * Similarly, if this stream is only importing buffers, we do the same. - * - * \todo Find a better heuristic, or, even better, an exact solution to - * this issue. - */ - if (isExternal() || importOnly_) - count = count * 2; - - return dev_->importBuffers(count); + return dev_->importBuffers(maxV4L2BufferCount); } int Stream::queueBuffer(FrameBuffer *buffer) @@ -162,7 +165,7 @@ int Stream::queueBuffer(FrameBuffer *buffer) void Stream::returnBuffer(FrameBuffer *buffer) { - if (!external_) { + if (!(flags_ & StreamFlag::External) && !(flags_ & StreamFlag::Recurrent)) { /* For internal buffers, simply requeue back to the device. */ queueToDevice(buffer); return; @@ -171,9 +174,6 @@ void Stream::returnBuffer(FrameBuffer *buffer) /* Push this buffer back into the queue to be used again. */ availableBuffers_.push(buffer); - /* Allow the buffer id to be reused. */ - id_.release(getBufferId(buffer)); - /* * Do we have any Request buffers that are waiting to be queued? * If so, do it now as availableBuffers_ will not be empty. @@ -202,11 +202,32 @@ void Stream::returnBuffer(FrameBuffer *buffer) } } +const BufferObject &Stream::getBuffer(unsigned int id) +{ + auto const &it = bufferMap_.find(id); + if (it == bufferMap_.end()) + return errorBufferObject; + + return it->second; +} + +const BufferObject &Stream::acquireBuffer() +{ + /* No id provided, so pick up the next available buffer if possible. */ + if (availableBuffers_.empty()) + return errorBufferObject; + + unsigned int id = getBufferId(availableBuffers_.front()); + availableBuffers_.pop(); + + return getBuffer(id); +} + int Stream::queueAllBuffers() { int ret; - if (external_) + if ((flags_ & StreamFlag::External) || (flags_ & StreamFlag::Recurrent)) return 0; while (!availableBuffers_.empty()) { @@ -226,13 +247,23 @@ void Stream::releaseBuffers() clearBuffers(); } +void Stream::bufferEmplace(unsigned int id, FrameBuffer *buffer) +{ + if (flags_ & StreamFlag::RequiresMmap) + bufferMap_.emplace(std::piecewise_construct, std::forward_as_tuple(id), + std::forward_as_tuple(buffer, true)); + else + bufferMap_.emplace(std::piecewise_construct, std::forward_as_tuple(id), + std::forward_as_tuple(buffer, false)); +} + void Stream::clearBuffers() { availableBuffers_ = std::queue<FrameBuffer *>{}; requestBuffers_ = std::queue<FrameBuffer *>{}; internalBuffers_.clear(); bufferMap_.clear(); - id_.reset(); + id_ = 0; } int Stream::queueToDevice(FrameBuffer *buffer) diff --git a/src/libcamera/pipeline/rpi/common/rpi_stream.h b/src/libcamera/pipeline/rpi/common/rpi_stream.h new file mode 100644 index 00000000..a13d5dc0 --- /dev/null +++ b/src/libcamera/pipeline/rpi/common/rpi_stream.h @@ -0,0 +1,199 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2020, Raspberry Pi Ltd + * + * Raspberry Pi device stream abstraction class. + */ + +#pragma once + +#include <optional> +#include <queue> +#include <string> +#include <unordered_map> +#include <vector> + +#include <libcamera/base/flags.h> +#include <libcamera/base/utils.h> + +#include <libcamera/stream.h> + +#include "libcamera/internal/mapped_framebuffer.h" +#include "libcamera/internal/v4l2_videodevice.h" + +namespace libcamera { + +namespace RPi { + +enum BufferMask { + MaskID = 0x00ffff, + MaskStats = 0x010000, + MaskEmbeddedData = 0x020000, + MaskBayerData = 0x040000, +}; + +struct BufferObject { + BufferObject(FrameBuffer *b, bool requiresMmap) + : buffer(b), mapped(std::nullopt) + { + if (requiresMmap) + mapped = std::make_optional<MappedFrameBuffer> + (b, MappedFrameBuffer::MapFlag::ReadWrite); + } + + FrameBuffer *buffer; + std::optional<MappedFrameBuffer> mapped; +}; + +using BufferMap = std::unordered_map<unsigned int, BufferObject>; + +/* + * Device stream abstraction for either an internal or external stream. + * Used for both Unicam and the ISP. + */ +class Stream : public libcamera::Stream +{ +public: + enum class StreamFlag { + None = 0, + /* + * Indicates that this stream only imports buffers, e.g. the ISP + * input stream. + */ + ImportOnly = (1 << 0), + /* + * Indicates that this stream is active externally, i.e. the + * buffers might be provided by (and returned to) the application. + */ + External = (1 << 1), + /* + * Indicates that the stream buffers need to be mmaped and returned + * to the pipeline handler when requested. + */ + RequiresMmap = (1 << 2), + /* + * Indicates a stream that needs buffers recycled every frame internally + * in the pipeline handler, e.g. stitch, TDN, config. All buffer + * management will be handled by the pipeline handler. + */ + Recurrent = (1 << 3), + /* + * Indicates that the output stream needs a software format conversion + * to be applied after ISP processing. + */ + Needs32bitConv = (1 << 4), + }; + + using StreamFlags = Flags<StreamFlag>; + + Stream() + : flags_(StreamFlag::None), id_(0), swDownscale_(0) + { + } + + Stream(const char *name, MediaEntity *dev, StreamFlags flags = StreamFlag::None) + : flags_(flags), name_(name), + dev_(std::make_unique<V4L2VideoDevice>(dev)), id_(0), + swDownscale_(0) + { + } + + void setFlags(StreamFlags flags); + void clearFlags(StreamFlags flags); + StreamFlags getFlags() const; + + V4L2VideoDevice *dev() const; + const std::string &name() const; + void resetBuffers(); + + unsigned int swDownscale() const; + void setSwDownscale(unsigned int swDownscale); + + void setExportedBuffers(std::vector<std::unique_ptr<FrameBuffer>> *buffers); + const BufferMap &getBuffers() const; + unsigned int getBufferId(FrameBuffer *buffer) const; + + void setExportedBuffer(FrameBuffer *buffer); + + int prepareBuffers(unsigned int count); + int queueBuffer(FrameBuffer *buffer); + void returnBuffer(FrameBuffer *buffer); + + const BufferObject &getBuffer(unsigned int id); + const BufferObject &acquireBuffer(); + + int queueAllBuffers(); + void releaseBuffers(); + + /* For error handling. */ + static const BufferObject errorBufferObject; + +private: + void bufferEmplace(unsigned int id, FrameBuffer *buffer); + void clearBuffers(); + int queueToDevice(FrameBuffer *buffer); + + StreamFlags flags_; + + /* Stream name identifier. */ + std::string name_; + + /* The actual device stream. */ + std::unique_ptr<V4L2VideoDevice> dev_; + + /* Tracks a unique id key for the bufferMap_ */ + unsigned int id_; + + /* Power of 2 greater than one if software downscaling will be required. */ + unsigned int swDownscale_; + + /* All frame buffers associated with this device stream. */ + BufferMap bufferMap_; + + /* + * List of frame buffers that we can use if none have been provided by + * the application for external streams. This is populated by the + * buffers exported internally. + */ + std::queue<FrameBuffer *> availableBuffers_; + + /* + * List of frame buffers that are to be queued into the device from a Request. + * A nullptr indicates any internal buffer can be used (from availableBuffers_), + * whereas a valid pointer indicates an external buffer to be queued. + * + * Ordering buffers to be queued is important here as it must match the + * requests coming from the application. + */ + std::queue<FrameBuffer *> requestBuffers_; + + /* + * This is a list of buffers exported internally. Need to keep this around + * as the stream needs to maintain ownership of these buffers. + */ + std::vector<std::unique_ptr<FrameBuffer>> internalBuffers_; +}; + +/* + * The following class is just a convenient (and typesafe) array of device + * streams indexed with an enum class. + */ +template<typename E, std::size_t N> +class Device : public std::array<class Stream, N> +{ +public: + Stream &operator[](E e) + { + return std::array<class Stream, N>::operator[](utils::to_underlying(e)); + } + const Stream &operator[](E e) const + { + return std::array<class Stream, N>::operator[](utils::to_underlying(e)); + } +}; + +} /* namespace RPi */ + +LIBCAMERA_FLAGS_ENABLE_OPERATORS(RPi::Stream::StreamFlag) + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/rpi/meson.build b/src/libcamera/pipeline/rpi/meson.build new file mode 100644 index 00000000..2391b6a9 --- /dev/null +++ b/src/libcamera/pipeline/rpi/meson.build @@ -0,0 +1,12 @@ +# SPDX-License-Identifier: CC0-1.0 + +subdir('common') + +foreach pipeline : pipelines + pipeline = pipeline.split('/') + if pipeline.length() < 2 or pipeline[0] != 'rpi' + continue + endif + + subdir(pipeline[1]) +endforeach diff --git a/src/libcamera/pipeline/rpi/vc4/data/example.yaml b/src/libcamera/pipeline/rpi/vc4/data/example.yaml new file mode 100644 index 00000000..b8e01ade --- /dev/null +++ b/src/libcamera/pipeline/rpi/vc4/data/example.yaml @@ -0,0 +1,46 @@ +{ + "version": 1.0, + "target": "bcm2835", + + "pipeline_handler": + { + # The minimum number of internal buffers to be allocated for + # Unicam. This value must be greater than 0, but less than or + # equal to min_total_unicam_buffers. + # + # A larger number of internal buffers can reduce the occurrence + # of frame drops during high CPU loads, but might also cause + # additional latency in the system. + # + # Note that the pipeline handler might override this value and + # not allocate any internal buffers if it knows they will never + # be used. For example if the RAW stream is marked as mandatory + # and there are no dropped frames signalled for algorithm + # convergence. + # + # "min_unicam_buffers": 2, + + # The minimum total (internal + external) buffer count used for + # Unicam. The number of internal buffers allocated for Unicam is + # given by: + # + # internal buffer count = max(min_unicam_buffers, + # min_total_unicam_buffers - external buffer count) + # + # "min_total_unicam_buffers": 4, + + # 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, + } +} diff --git a/src/libcamera/pipeline/rpi/vc4/data/meson.build b/src/libcamera/pipeline/rpi/vc4/data/meson.build new file mode 100644 index 00000000..179feebc --- /dev/null +++ b/src/libcamera/pipeline/rpi/vc4/data/meson.build @@ -0,0 +1,9 @@ +# SPDX-License-Identifier: CC0-1.0 + +conf_files = files([ + 'example.yaml', +]) + +install_data(conf_files, + install_dir : pipeline_data_dir / 'rpi' / 'vc4', + install_tag : 'runtime') diff --git a/src/libcamera/pipeline/rpi/vc4/meson.build b/src/libcamera/pipeline/rpi/vc4/meson.build new file mode 100644 index 00000000..386e2296 --- /dev/null +++ b/src/libcamera/pipeline/rpi/vc4/meson.build @@ -0,0 +1,7 @@ +# SPDX-License-Identifier: CC0-1.0 + +libcamera_sources += files([ + 'vc4.cpp', +]) + +subdir('data') diff --git a/src/libcamera/pipeline/rpi/vc4/vc4.cpp b/src/libcamera/pipeline/rpi/vc4/vc4.cpp new file mode 100644 index 00000000..37fb310f --- /dev/null +++ b/src/libcamera/pipeline/rpi/vc4/vc4.cpp @@ -0,0 +1,1023 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2019-2023, Raspberry Pi Ltd + * + * Pipeline handler for VC4-based Raspberry Pi devices + */ + +#include <linux/bcm2835-isp.h> +#include <linux/v4l2-controls.h> +#include <linux/videodev2.h> + +#include <libcamera/formats.h> + +#include "libcamera/internal/device_enumerator.h" +#include "libcamera/internal/dma_heaps.h" + +#include "../common/pipeline_base.h" +#include "../common/rpi_stream.h" + +using namespace std::chrono_literals; + +namespace libcamera { + +LOG_DECLARE_CATEGORY(RPI) + +using StreamFlag = RPi::Stream::StreamFlag; +using StreamParams = RPi::RPiCameraConfiguration::StreamParams; + +namespace { + +enum class Unicam : unsigned int { Image, Embedded }; +enum class Isp : unsigned int { Input, Output0, Output1, Stats }; + +} /* namespace */ + +class Vc4CameraData final : public RPi::CameraData +{ +public: + Vc4CameraData(PipelineHandler *pipe) + : RPi::CameraData(pipe) + { + } + + ~Vc4CameraData() + { + freeBuffers(); + } + + V4L2VideoDevice::Formats ispFormats() const override + { + return isp_[Isp::Output0].dev()->formats(); + } + + V4L2VideoDevice::Formats rawFormats() const override + { + return unicam_[Unicam::Image].dev()->formats(); + } + + V4L2VideoDevice *frontendDevice() override + { + return unicam_[Unicam::Image].dev(); + } + + void platformFreeBuffers() override + { + } + + CameraConfiguration::Status platformValidate(RPi::RPiCameraConfiguration *rpiConfig) const override; + + int platformPipelineConfigure(const std::unique_ptr<YamlObject> &root) override; + + void platformStart() override; + void platformStop() override; + + void unicamBufferDequeue(FrameBuffer *buffer); + void ispInputDequeue(FrameBuffer *buffer); + void ispOutputDequeue(FrameBuffer *buffer); + + void processStatsComplete(const ipa::RPi::BufferIds &buffers); + void prepareIspComplete(const ipa::RPi::BufferIds &buffers, bool stitchSwapBuffers); + void setIspControls(const ControlList &controls); + void setCameraTimeout(uint32_t maxFrameLengthMs); + + /* Array of Unicam and ISP device streams and associated buffers/streams. */ + RPi::Device<Unicam, 2> unicam_; + RPi::Device<Isp, 4> isp_; + + /* DMAHEAP allocation helper. */ + DmaHeap dmaHeap_; + SharedFD lsTable_; + + struct Config { + /* + * The minimum number of internal buffers to be allocated for + * the Unicam Image stream. + */ + unsigned int minUnicamBuffers; + /* + * The minimum total (internal + external) buffer count used for + * the Unicam Image stream. + * + * Note that: + * minTotalUnicamBuffers must be >= 1, and + * minTotalUnicamBuffers >= minUnicamBuffers + */ + unsigned int minTotalUnicamBuffers; + }; + + Config config_; + +private: + void platformSetIspCrop() override + { + isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &ispCrop_); + } + + int platformConfigure(const RPi::RPiCameraConfiguration *rpiConfig) override; + int platformConfigureIpa(ipa::RPi::ConfigParams ¶ms) override; + + int platformInitIpa([[maybe_unused]] ipa::RPi::InitParams ¶ms) override + { + return 0; + } + + struct BayerFrame { + FrameBuffer *buffer; + ControlList controls; + unsigned int delayContext; + }; + + void tryRunPipeline() override; + bool findMatchingBuffers(BayerFrame &bayerFrame, FrameBuffer *&embeddedBuffer); + + std::queue<BayerFrame> bayerQueue_; + std::queue<FrameBuffer *> embeddedQueue_; +}; + +class PipelineHandlerVc4 : public RPi::PipelineHandlerBase +{ +public: + PipelineHandlerVc4(CameraManager *manager) + : RPi::PipelineHandlerBase(manager) + { + } + + ~PipelineHandlerVc4() + { + } + + bool match(DeviceEnumerator *enumerator) override; + +private: + Vc4CameraData *cameraData(Camera *camera) + { + return static_cast<Vc4CameraData *>(camera->_d()); + } + + int prepareBuffers(Camera *camera) override; + int platformRegister(std::unique_ptr<RPi::CameraData> &cameraData, + MediaDevice *unicam, MediaDevice *isp) override; +}; + +bool PipelineHandlerVc4::match(DeviceEnumerator *enumerator) +{ + constexpr unsigned int numUnicamDevices = 2; + + /* + * Loop over all Unicam instances, but return out once a match is found. + * This is to ensure we correctly enumrate the camera when an instance + * of Unicam has registered with media controller, but has not registered + * device nodes due to a sensor subdevice failure. + */ + for (unsigned int i = 0; i < numUnicamDevices; i++) { + DeviceMatch unicam("unicam"); + MediaDevice *unicamDevice = acquireMediaDevice(enumerator, unicam); + + if (!unicamDevice) { + LOG(RPI, Debug) << "Unable to acquire a Unicam instance"; + continue; + } + + DeviceMatch isp("bcm2835-isp"); + MediaDevice *ispDevice = acquireMediaDevice(enumerator, isp); + + if (!ispDevice) { + LOG(RPI, Debug) << "Unable to acquire ISP instance"; + continue; + } + + /* + * The loop below is used to register multiple cameras behind one or more + * video mux devices that are attached to a particular Unicam instance. + * Obviously these cameras cannot be used simultaneously. + */ + unsigned int numCameras = 0; + for (MediaEntity *entity : unicamDevice->entities()) { + if (entity->function() != MEDIA_ENT_F_CAM_SENSOR) + continue; + + std::unique_ptr<RPi::CameraData> cameraData = std::make_unique<Vc4CameraData>(this); + int ret = RPi::PipelineHandlerBase::registerCamera(cameraData, + unicamDevice, "unicam-image", + ispDevice, entity); + if (ret) + LOG(RPI, Error) << "Failed to register camera " + << entity->name() << ": " << ret; + else + numCameras++; + } + + if (numCameras) + return true; + } + + return false; +} + +int PipelineHandlerVc4::prepareBuffers(Camera *camera) +{ + Vc4CameraData *data = cameraData(camera); + unsigned int numRawBuffers = 0; + int ret; + + for (Stream *s : camera->streams()) { + if (BayerFormat::fromPixelFormat(s->configuration().pixelFormat).isValid()) { + numRawBuffers = s->configuration().bufferCount; + break; + } + } + + /* Decide how many internal buffers to allocate. */ + for (auto const stream : data->streams_) { + unsigned int numBuffers; + /* + * For Unicam, allocate a minimum number of buffers for internal + * use as we want to avoid any frame drops. + */ + const unsigned int minBuffers = data->config_.minTotalUnicamBuffers; + if (stream == &data->unicam_[Unicam::Image]) { + /* + * If an application has configured a RAW stream, allocate + * additional buffers to make up the minimum, but ensure + * we have at least minUnicamBuffers of internal buffers + * to use to minimise frame drops. + */ + numBuffers = std::max<int>(data->config_.minUnicamBuffers, + minBuffers - numRawBuffers); + } else if (stream == &data->isp_[Isp::Input]) { + /* + * ISP input buffers are imported from Unicam, so follow + * similar logic as above to count all the RAW buffers + * available. + */ + numBuffers = numRawBuffers + + std::max<int>(data->config_.minUnicamBuffers, + minBuffers - numRawBuffers); + + } else if (stream == &data->unicam_[Unicam::Embedded]) { + /* + * Embedded data buffers are (currently) for internal use, and + * are small enough (typically 1-2KB) that we can + * allocate them generously to avoid causing problems in the + * IPA when we cannot supply the metadata. + * + * 12 are allocated as a typical application will have 8-10 + * input buffers, so allocating more embedded buffers than that + * is a sensible choice. + * + * The lifetimes of these buffers are smaller than those of the + * raw buffers, so allocating a fixed number will still suffice + * if the application requests a greater number of raw + * buffers, as these will be recycled quicker. + */ + numBuffers = 12; + } else { + /* + * Since the ISP runs synchronous with the IPA and requests, + * we only ever need one set of internal buffers. Any buffers + * the application wants to hold onto will already be exported + * through PipelineHandlerRPi::exportFrameBuffers(). + */ + numBuffers = 1; + } + + LOG(RPI, Debug) << "Preparing " << numBuffers + << " buffers for stream " << stream->name(); + + ret = stream->prepareBuffers(numBuffers); + if (ret < 0) + return ret; + } + + /* + * Pass the stats and embedded data buffers to the IPA. No other + * buffers need to be passed. + */ + mapBuffers(camera, data->isp_[Isp::Stats].getBuffers(), RPi::MaskStats); + if (data->sensorMetadata_) + mapBuffers(camera, data->unicam_[Unicam::Embedded].getBuffers(), + RPi::MaskEmbeddedData); + + return 0; +} + +int PipelineHandlerVc4::platformRegister(std::unique_ptr<RPi::CameraData> &cameraData, MediaDevice *unicam, MediaDevice *isp) +{ + Vc4CameraData *data = static_cast<Vc4CameraData *>(cameraData.get()); + + if (!data->dmaHeap_.isValid()) + return -ENOMEM; + + MediaEntity *unicamImage = unicam->getEntityByName("unicam-image"); + MediaEntity *ispOutput0 = isp->getEntityByName("bcm2835-isp0-output0"); + MediaEntity *ispCapture1 = isp->getEntityByName("bcm2835-isp0-capture1"); + MediaEntity *ispCapture2 = isp->getEntityByName("bcm2835-isp0-capture2"); + MediaEntity *ispCapture3 = isp->getEntityByName("bcm2835-isp0-capture3"); + + if (!unicamImage || !ispOutput0 || !ispCapture1 || !ispCapture2 || !ispCapture3) + return -ENOENT; + + /* Locate and open the unicam video streams. */ + data->unicam_[Unicam::Image] = RPi::Stream("Unicam Image", unicamImage); + + /* An embedded data node will not be present if the sensor does not support it. */ + MediaEntity *unicamEmbedded = unicam->getEntityByName("unicam-embedded"); + if (unicamEmbedded) { + data->unicam_[Unicam::Embedded] = RPi::Stream("Unicam Embedded", unicamEmbedded); + data->unicam_[Unicam::Embedded].dev()->bufferReady.connect(data, + &Vc4CameraData::unicamBufferDequeue); + } + + /* Tag the ISP input stream as an import stream. */ + data->isp_[Isp::Input] = RPi::Stream("ISP Input", ispOutput0, StreamFlag::ImportOnly); + data->isp_[Isp::Output0] = RPi::Stream("ISP Output0", ispCapture1); + data->isp_[Isp::Output1] = RPi::Stream("ISP Output1", ispCapture2); + data->isp_[Isp::Stats] = RPi::Stream("ISP Stats", ispCapture3); + + /* Wire up all the buffer connections. */ + data->unicam_[Unicam::Image].dev()->bufferReady.connect(data, &Vc4CameraData::unicamBufferDequeue); + data->isp_[Isp::Input].dev()->bufferReady.connect(data, &Vc4CameraData::ispInputDequeue); + data->isp_[Isp::Output0].dev()->bufferReady.connect(data, &Vc4CameraData::ispOutputDequeue); + data->isp_[Isp::Output1].dev()->bufferReady.connect(data, &Vc4CameraData::ispOutputDequeue); + data->isp_[Isp::Stats].dev()->bufferReady.connect(data, &Vc4CameraData::ispOutputDequeue); + + if (data->sensorMetadata_ ^ !!data->unicam_[Unicam::Embedded].dev()) { + LOG(RPI, Warning) << "Mismatch between Unicam and CamHelper for embedded data usage!"; + data->sensorMetadata_ = false; + if (data->unicam_[Unicam::Embedded].dev()) + data->unicam_[Unicam::Embedded].dev()->bufferReady.disconnect(); + } + + /* + * Open all Unicam 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->unicam_[Unicam::Image]); + if (data->sensorMetadata_) + data->streams_.push_back(&data->unicam_[Unicam::Embedded]); + + for (auto &stream : data->isp_) + data->streams_.push_back(&stream); + + for (auto stream : data->streams_) { + int ret = stream->dev()->open(); + if (ret) + return ret; + } + + if (!data->unicam_[Unicam::Image].dev()->caps().hasMediaController()) { + LOG(RPI, Error) << "Unicam driver does not use the MediaController, please update your kernel!"; + return -EINVAL; + } + + /* Write up all the IPA connections. */ + data->ipa_->processStatsComplete.connect(data, &Vc4CameraData::processStatsComplete); + data->ipa_->prepareIspComplete.connect(data, &Vc4CameraData::prepareIspComplete); + data->ipa_->setIspControls.connect(data, &Vc4CameraData::setIspControls); + data->ipa_->setCameraTimeout.connect(data, &Vc4CameraData::setCameraTimeout); + + /* + * List the available streams an application may request. At present, we + * do not advertise Unicam 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->unicam_[Unicam::Image]); + 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 Unicam device " << unicam->deviceNode() + << " and ISP device " << isp->deviceNode(); + + return 0; +} + +CameraConfiguration::Status Vc4CameraData::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, or 2 YUV/RGB streams. */ + 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 = unicam_[Unicam::Image].dev(); + + /* Adjust the RAW stream to match the computed sensor format. */ + StreamConfiguration *rawStream = rawStreams[0].cfg; + BayerFormat rawBayer = BayerFormat::fromPixelFormat(rawStream->pixelFormat); + + /* Apply the sensor bitdepth. */ + rawBayer.bitDepth = BayerFormat::fromMbusCode(rpiConfig->sensorFormat_.code).bitDepth; + + /* Default to CSI2 packing if the user request is unsupported. */ + if (rawBayer.packing != BayerFormat::Packing::CSI2 && + rawBayer.packing != BayerFormat::Packing::None) + rawBayer.packing = BayerFormat::Packing::CSI2; + + PixelFormat rawFormat = rawBayer.toPixelFormat(); + + /* + * Try for an unpacked format if a packed one wasn't available. + * This catches 8 (and 16) bit formats which would otherwise + * fail. + */ + if (!rawFormat.isValid() && rawBayer.packing != BayerFormat::Packing::None) { + rawBayer.packing = BayerFormat::Packing::None; + rawFormat = rawBayer.toPixelFormat(); + } + + if (rawStream->pixelFormat != rawFormat || + rawStream->size != rpiConfig->sensorFormat_.size) { + rawStream->pixelFormat = rawFormat; + rawStream->size = rpiConfig->sensorFormat_.size; + + status = CameraConfiguration::Adjusted; + } + + rawStreams[0].format = + RPi::PipelineHandlerBase::toV4L2DeviceFormat(unicam_[Unicam::Image].dev(), rawStream); + } + + /* + * For the two ISP outputs, one stream must be equal or smaller than the + * other in all dimensions. + * + * Index 0 contains the largest requested resolution. + */ + for (unsigned int i = 0; i < outStreams.size(); i++) { + Size size; + + /* + * \todo Should we warn if upscaling, as it reduces the image + * quality and is usually undesired ? + */ + + size.width = std::min(outStreams[i].cfg->size.width, + outStreams[0].cfg->size.width); + size.height = std::min(outStreams[i].cfg->size.height, + outStreams[0].cfg->size.height); + + if (outStreams[i].cfg->size != size) { + outStreams[i].cfg->size = size; + status = CameraConfiguration::Status::Adjusted; + } + + /* + * Output 0 must be for the largest resolution. We will + * have that fixed up in the code above. + */ + outStreams[i].dev = isp_[i == 0 ? Isp::Output0 : Isp::Output1].dev(); + + outStreams[i].format = RPi::PipelineHandlerBase::toV4L2DeviceFormat(outStreams[i].dev, outStreams[i].cfg); + } + + return status; +} + +int Vc4CameraData::platformPipelineConfigure(const std::unique_ptr<YamlObject> &root) +{ + config_ = { + .minUnicamBuffers = 2, + .minTotalUnicamBuffers = 4, + }; + + 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 != "bcm2835") { + LOG(RPI, Error) << "Unexpected target reported: expected \"bcm2835\", got " + << *target; + return -EINVAL; + } + + const YamlObject &phConfig = (*root)["pipeline_handler"]; + config_.minUnicamBuffers = + phConfig["min_unicam_buffers"].get<unsigned int>(config_.minUnicamBuffers); + config_.minTotalUnicamBuffers = + phConfig["min_total_unicam_buffers"].get<unsigned int>(config_.minTotalUnicamBuffers); + + if (config_.minTotalUnicamBuffers < config_.minUnicamBuffers) { + LOG(RPI, Error) << "Invalid configuration: min_total_unicam_buffers must be >= min_unicam_buffers"; + return -EINVAL; + } + + if (config_.minTotalUnicamBuffers < 1) { + LOG(RPI, Error) << "Invalid configuration: min_total_unicam_buffers must be >= 1"; + return -EINVAL; + } + + return 0; +} + +int Vc4CameraData::platformConfigure(const RPi::RPiCameraConfiguration *rpiConfig) +{ + const std::vector<StreamParams> &rawStreams = rpiConfig->rawStreams_; + const std::vector<StreamParams> &outStreams = rpiConfig->outStreams_; + int ret; + + V4L2VideoDevice *unicam = unicam_[Unicam::Image].dev(); + V4L2DeviceFormat unicamFormat; + + /* + * See which streams are requested, and route the user + * StreamConfiguration appropriately. + */ + if (!rawStreams.empty()) { + rawStreams[0].cfg->setStream(&unicam_[Unicam::Image]); + unicam_[Unicam::Image].setFlags(StreamFlag::External); + unicamFormat = rawStreams[0].format; + } else { + unicamFormat = + RPi::PipelineHandlerBase::toV4L2DeviceFormat(unicam, + rpiConfig->sensorFormat_, + BayerFormat::Packing::CSI2); + } + + ret = unicam->setFormat(&unicamFormat); + if (ret) + return ret; + + ret = isp_[Isp::Input].dev()->setFormat(&unicamFormat); + if (ret) + return ret; + + LOG(RPI, Info) << "Sensor: " << sensor_->id() + << " - Selected sensor format: " << rpiConfig->sensorFormat_ + << " - Selected unicam format: " << unicamFormat; + + /* Use a sensible small default size if no output streams are configured. */ + Size maxSize = outStreams.empty() ? Size(320, 240) : outStreams[0].cfg->size; + V4L2DeviceFormat format; + + for (unsigned int i = 0; i < outStreams.size(); i++) { + StreamConfiguration *cfg = outStreams[i].cfg; + + /* The largest resolution gets routed to the ISP Output 0 node. */ + RPi::Stream *stream = i == 0 ? &isp_[Isp::Output0] : &isp_[Isp::Output1]; + format = outStreams[i].format; + + LOG(RPI, Debug) << "Setting " << stream->name() << " to " + << format; + + ret = stream->dev()->setFormat(&format); + if (ret) + return -EINVAL; + + LOG(RPI, Debug) + << "Stream " << stream->name() << " has color space " + << ColorSpace::toString(cfg->colorSpace); + + cfg->setStream(stream); + stream->setFlags(StreamFlag::External); + } + + ispOutputTotal_ = outStreams.size(); + + /* + * If ISP::Output0 stream has not been configured by the application, + * we must allow the hardware to generate an output so that the data + * flow in the pipeline handler remains consistent, and we still generate + * statistics for the IPA to use. So enable the output at a very low + * resolution for internal use. + * + * \todo Allow the pipeline to work correctly without Output0 and only + * statistics coming from the hardware. + */ + if (outStreams.empty()) { + V4L2VideoDevice *dev = isp_[Isp::Output0].dev(); + + format = {}; + format.size = maxSize; + format.fourcc = dev->toV4L2PixelFormat(formats::YUV420); + /* No one asked for output, so the color space doesn't matter. */ + format.colorSpace = ColorSpace::Sycc; + ret = dev->setFormat(&format); + if (ret) { + LOG(RPI, Error) + << "Failed to set default format on ISP Output0: " + << ret; + return -EINVAL; + } + + ispOutputTotal_++; + + LOG(RPI, Debug) << "Defaulting ISP Output0 format to " + << format; + } + + /* + * If ISP::Output1 stream has not been requested by the application, we + * set it up for internal use now. This second stream will be used for + * fast colour denoise, and must be a quarter resolution of the ISP::Output0 + * stream. However, also limit the maximum size to 1200 pixels in the + * larger dimension, just to avoid being wasteful with buffer allocations + * and memory bandwidth. + * + * \todo If Output 1 format is not YUV420, Output 1 ought to be disabled as + * colour denoise will not run. + */ + if (outStreams.size() <= 1) { + V4L2VideoDevice *dev = isp_[Isp::Output1].dev(); + + V4L2DeviceFormat output1Format; + constexpr Size maxDimensions(1200, 1200); + const Size limit = maxDimensions.boundedToAspectRatio(format.size); + + output1Format.size = (format.size / 2).boundedTo(limit).alignedDownTo(2, 2); + output1Format.colorSpace = format.colorSpace; + output1Format.fourcc = dev->toV4L2PixelFormat(formats::YUV420); + + LOG(RPI, Debug) << "Setting ISP Output1 (internal) to " + << output1Format; + + ret = dev->setFormat(&output1Format); + if (ret) { + LOG(RPI, Error) << "Failed to set format on ISP Output1: " + << ret; + return -EINVAL; + } + + ispOutputTotal_++; + } + + /* ISP statistics output format. */ + format = {}; + format.fourcc = V4L2PixelFormat(V4L2_META_FMT_BCM2835_ISP_STATS); + ret = isp_[Isp::Stats].dev()->setFormat(&format); + if (ret) { + LOG(RPI, Error) << "Failed to set format on ISP stats stream: " + << format; + return ret; + } + + ispOutputTotal_++; + + /* + * Configure the Unicam embedded data output format only if the sensor + * supports it. + */ + if (sensorMetadata_) { + V4L2SubdeviceFormat embeddedFormat; + + sensor_->device()->getFormat(1, &embeddedFormat); + format = {}; + format.fourcc = V4L2PixelFormat(V4L2_META_FMT_SENSOR_DATA); + format.planes[0].size = embeddedFormat.size.width * embeddedFormat.size.height; + + LOG(RPI, Debug) << "Setting embedded data format " << format.toString(); + ret = unicam_[Unicam::Embedded].dev()->setFormat(&format); + if (ret) { + LOG(RPI, Error) << "Failed to set format on Unicam embedded: " + << format; + return ret; + } + } + + /* Figure out the smallest selection the ISP will allow. */ + Rectangle testCrop(0, 0, 1, 1); + isp_[Isp::Input].dev()->setSelection(V4L2_SEL_TGT_CROP, &testCrop); + ispMinCropSize_ = testCrop.size(); + + /* Adjust aspect ratio by providing crops on the input image. */ + Size size = unicamFormat.size.boundedToAspectRatio(maxSize); + ispCrop_ = size.centeredTo(Rectangle(unicamFormat.size).center()); + + platformSetIspCrop(); + + return 0; +} + +int Vc4CameraData::platformConfigureIpa(ipa::RPi::ConfigParams ¶ms) +{ + params.ispControls = isp_[Isp::Input].dev()->controls(); + + /* Allocate the lens shading table via dmaHeap and pass to the IPA. */ + if (!lsTable_.isValid()) { + lsTable_ = SharedFD(dmaHeap_.alloc("ls_grid", ipa::RPi::MaxLsGridSize)); + if (!lsTable_.isValid()) + return -ENOMEM; + + /* Allow the IPA to mmap the LS table via the file descriptor. */ + /* + * \todo Investigate if mapping the lens shading table buffer + * could be handled with mapBuffers(). + */ + params.lsTableHandle = lsTable_; + } + + return 0; +} + +void Vc4CameraData::platformStart() +{ +} + +void Vc4CameraData::platformStop() +{ + bayerQueue_ = {}; + embeddedQueue_ = {}; +} + +void Vc4CameraData::unicamBufferDequeue(FrameBuffer *buffer) +{ + RPi::Stream *stream = nullptr; + unsigned int index; + + if (!isRunning()) + return; + + for (RPi::Stream &s : unicam_) { + index = s.getBufferId(buffer); + if (index) { + stream = &s; + break; + } + } + + /* 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; + + if (stream == &unicam_[Unicam::Image]) { + /* + * 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); + bayerQueue_.push({ buffer, std::move(ctrl), delayContext }); + } else { + embeddedQueue_.push(buffer); + } + + handleState(); +} + +void Vc4CameraData::ispInputDequeue(FrameBuffer *buffer) +{ + if (!isRunning()) + return; + + LOG(RPI, Debug) << "Stream ISP Input buffer complete" + << ", buffer id " << unicam_[Unicam::Image].getBufferId(buffer) + << ", timestamp: " << buffer->metadata().timestamp; + + /* The ISP input buffer gets re-queued into Unicam. */ + handleStreamBuffer(buffer, &unicam_[Unicam::Image]); + handleState(); +} + +void Vc4CameraData::ispOutputDequeue(FrameBuffer *buffer) +{ + RPi::Stream *stream = nullptr; + unsigned 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; + + /* + * ISP statistics buffer must not be re-queued or sent back to the + * application until after the IPA signals so. + */ + if (stream == &isp_[Isp::Stats]) { + ipa::RPi::ProcessParams params; + params.buffers.stats = index | RPi::MaskStats; + params.ipaContext = requestQueue_.front()->sequence(); + ipa_->processStats(params); + } else { + /* Any other ISP output can be handed back to the application now. */ + handleStreamBuffer(buffer, stream); + } + + /* + * Increment the number of ISP outputs generated. + * This is needed to track dropped frames. + */ + ispOutputCount_++; + + handleState(); +} + +void Vc4CameraData::processStatsComplete(const ipa::RPi::BufferIds &buffers) +{ + if (!isRunning()) + return; + + FrameBuffer *buffer = isp_[Isp::Stats].getBuffers().at(buffers.stats & RPi::MaskID).buffer; + + handleStreamBuffer(buffer, &isp_[Isp::Stats]); + + state_ = State::IpaComplete; + handleState(); +} + +void Vc4CameraData::prepareIspComplete(const ipa::RPi::BufferIds &buffers, + [[maybe_unused]] bool stitchSwapBuffers) +{ + unsigned int embeddedId = buffers.embedded & RPi::MaskID; + unsigned int bayer = buffers.bayer & RPi::MaskID; + FrameBuffer *buffer; + + if (!isRunning()) + return; + + buffer = unicam_[Unicam::Image].getBuffers().at(bayer & RPi::MaskID).buffer; + LOG(RPI, Debug) << "Input re-queue to ISP, buffer id " << (bayer & RPi::MaskID) + << ", timestamp: " << buffer->metadata().timestamp; + + isp_[Isp::Input].queueBuffer(buffer); + ispOutputCount_ = 0; + + if (sensorMetadata_ && embeddedId) { + buffer = unicam_[Unicam::Embedded].getBuffers().at(embeddedId & RPi::MaskID).buffer; + handleStreamBuffer(buffer, &unicam_[Unicam::Embedded]); + } + + handleState(); +} + +void Vc4CameraData::setIspControls(const ControlList &controls) +{ + ControlList ctrls = controls; + + if (ctrls.contains(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING)) { + ControlValue &value = + const_cast<ControlValue &>(ctrls.get(V4L2_CID_USER_BCM2835_ISP_LENS_SHADING)); + Span<uint8_t> s = value.data(); + bcm2835_isp_lens_shading *ls = + reinterpret_cast<bcm2835_isp_lens_shading *>(s.data()); + ls->dmabuf = lsTable_.get(); + } + + isp_[Isp::Input].dev()->setControls(&ctrls); + handleState(); +} + +void Vc4CameraData::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 Unicam timeout to " << timeout; + unicam_[Unicam::Image].dev()->setDequeueTimeout(timeout); +} + +void Vc4CameraData::tryRunPipeline() +{ + FrameBuffer *embeddedBuffer; + BayerFrame bayerFrame; + + /* If any of our request or buffer queues are empty, we cannot proceed. */ + if (state_ != State::Idle || requestQueue_.empty() || + bayerQueue_.empty() || (embeddedQueue_.empty() && sensorMetadata_)) + return; + + if (!findMatchingBuffers(bayerFrame, embeddedBuffer)) + return; + + /* 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(bayerFrame.controls, request); + + /* Set our state to say the pipeline is active. */ + state_ = State::Busy; + + unsigned int bayer = unicam_[Unicam::Image].getBufferId(bayerFrame.buffer); + + LOG(RPI, Debug) << "Signalling prepareIsp:" + << " Bayer buffer id: " << bayer; + + ipa::RPi::PrepareParams params; + params.buffers.bayer = RPi::MaskBayerData | bayer; + params.sensorControls = std::move(bayerFrame.controls); + params.requestControls = request->controls(); + params.ipaContext = request->sequence(); + params.delayContext = bayerFrame.delayContext; + params.buffers.embedded = 0; + + if (embeddedBuffer) { + unsigned int embeddedId = unicam_[Unicam::Embedded].getBufferId(embeddedBuffer); + + params.buffers.embedded = RPi::MaskEmbeddedData | embeddedId; + LOG(RPI, Debug) << "Signalling prepareIsp:" + << " Embedded buffer id: " << embeddedId; + } + + ipa_->prepareIsp(params); +} + +bool Vc4CameraData::findMatchingBuffers(BayerFrame &bayerFrame, FrameBuffer *&embeddedBuffer) +{ + if (bayerQueue_.empty()) + return false; + + /* + * Find the embedded data buffer with a matching timestamp to pass to + * the IPA. Any embedded buffers with a timestamp lower than the + * current bayer buffer will be removed and re-queued to the driver. + */ + uint64_t ts = bayerQueue_.front().buffer->metadata().timestamp; + embeddedBuffer = nullptr; + while (!embeddedQueue_.empty()) { + FrameBuffer *b = embeddedQueue_.front(); + if (b->metadata().timestamp < ts) { + embeddedQueue_.pop(); + unicam_[Unicam::Embedded].returnBuffer(b); + LOG(RPI, Debug) << "Dropping unmatched input frame in stream " + << unicam_[Unicam::Embedded].name(); + } else if (b->metadata().timestamp == ts) { + /* Found a match! */ + embeddedBuffer = b; + embeddedQueue_.pop(); + break; + } else { + break; /* Only higher timestamps from here. */ + } + } + + if (!embeddedBuffer && sensorMetadata_) { + if (embeddedQueue_.empty()) { + /* + * If the embedded buffer queue is empty, wait for the next + * buffer to arrive - dequeue ordering may send the image + * buffer first. + */ + LOG(RPI, Debug) << "Waiting for next embedded buffer."; + return false; + } + + /* Log if there is no matching embedded data buffer found. */ + LOG(RPI, Debug) << "Returning bayer frame without a matching embedded buffer."; + } + + bayerFrame = std::move(bayerQueue_.front()); + bayerQueue_.pop(); + + return true; +} + +REGISTER_PIPELINE_HANDLER(PipelineHandlerVc4, "rpi/vc4") + +} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/simple/converter.h b/src/libcamera/pipeline/simple/converter.h deleted file mode 100644 index f0ebe2e0..00000000 --- a/src/libcamera/pipeline/simple/converter.h +++ /dev/null @@ -1,98 +0,0 @@ -/* SPDX-License-Identifier: LGPL-2.1-or-later */ -/* - * Copyright (C) 2020, Laurent Pinchart - * - * converter.h - Format converter for simple pipeline handler - */ - -#pragma once - -#include <functional> -#include <map> -#include <memory> -#include <string> -#include <tuple> -#include <vector> - -#include <libcamera/pixel_format.h> - -#include <libcamera/base/log.h> -#include <libcamera/base/signal.h> - -namespace libcamera { - -class FrameBuffer; -class MediaDevice; -class Size; -class SizeRange; -struct StreamConfiguration; -class V4L2M2MDevice; - -class SimpleConverter -{ -public: - SimpleConverter(MediaDevice *media); - - bool isValid() const { return m2m_ != nullptr; } - - std::vector<PixelFormat> formats(PixelFormat input); - SizeRange sizes(const Size &input); - - std::tuple<unsigned int, unsigned int> - strideAndFrameSize(const PixelFormat &pixelFormat, const Size &size); - - int configure(const StreamConfiguration &inputCfg, - const std::vector<std::reference_wrapper<StreamConfiguration>> &outputCfg); - int exportBuffers(unsigned int ouput, unsigned int count, - std::vector<std::unique_ptr<FrameBuffer>> *buffers); - - int start(); - void stop(); - - int queueBuffers(FrameBuffer *input, - const std::map<unsigned int, FrameBuffer *> &outputs); - - Signal<FrameBuffer *> inputBufferReady; - Signal<FrameBuffer *> outputBufferReady; - -private: - class Stream : protected Loggable - { - public: - Stream(SimpleConverter *converter, unsigned int index); - - bool isValid() const { return m2m_ != nullptr; } - - int configure(const StreamConfiguration &inputCfg, - const StreamConfiguration &outputCfg); - int exportBuffers(unsigned int count, - std::vector<std::unique_ptr<FrameBuffer>> *buffers); - - int start(); - void stop(); - - int queueBuffers(FrameBuffer *input, FrameBuffer *output); - - protected: - std::string logPrefix() const override; - - private: - void captureBufferReady(FrameBuffer *buffer); - void outputBufferReady(FrameBuffer *buffer); - - SimpleConverter *converter_; - unsigned int index_; - std::unique_ptr<V4L2M2MDevice> m2m_; - - unsigned int inputBufferCount_; - unsigned int outputBufferCount_; - }; - - std::string deviceNode_; - std::unique_ptr<V4L2M2MDevice> m2m_; - - std::vector<Stream> streams_; - std::map<FrameBuffer *, unsigned int> queue_; -}; - -} /* namespace libcamera */ diff --git a/src/libcamera/pipeline/simple/meson.build b/src/libcamera/pipeline/simple/meson.build index 9c99b32f..42b0896d 100644 --- a/src/libcamera/pipeline/simple/meson.build +++ b/src/libcamera/pipeline/simple/meson.build @@ -1,6 +1,5 @@ # SPDX-License-Identifier: CC0-1.0 libcamera_sources += files([ - 'converter.cpp', 'simple.cpp', ]) diff --git a/src/libcamera/pipeline/simple/simple.cpp b/src/libcamera/pipeline/simple/simple.cpp index bc0cb1a0..db3575c3 100644 --- a/src/libcamera/pipeline/simple/simple.cpp +++ b/src/libcamera/pipeline/simple/simple.cpp @@ -3,7 +3,7 @@ * Copyright (C) 2020, Laurent Pinchart * Copyright (C) 2019, Martijn Braam * - * simple.cpp - Pipeline handler for simple pipelines + * Pipeline handler for simple pipelines */ #include <algorithm> @@ -30,13 +30,14 @@ #include "libcamera/internal/camera.h" #include "libcamera/internal/camera_sensor.h" +#include "libcamera/internal/converter.h" #include "libcamera/internal/device_enumerator.h" #include "libcamera/internal/media_device.h" #include "libcamera/internal/pipeline_handler.h" +#include "libcamera/internal/software_isp/software_isp.h" #include "libcamera/internal/v4l2_subdevice.h" #include "libcamera/internal/v4l2_videodevice.h" -#include "converter.h" namespace libcamera { @@ -100,8 +101,14 @@ LOG_DEFINE_CATEGORY(SimplePipeline) * * During the breadth-first search, the pipeline is traversed from entity to * entity, by following media graph links from source to sink, starting at the - * camera sensor. When reaching an entity (on its sink side), all its source - * pads are considered to continue the graph traversal. + * camera sensor. + * + * When reaching an entity (on its sink side), if the entity is a V4L2 subdev + * that supports the streams API, the subdev internal routes are followed to + * find the connected source pads. Otherwise all of the entity's source pads + * are considered to continue the graph traversal. The pipeline handler + * currently considers the default internal routes only and doesn't attempt to + * setup custom routes. This can be extended if needed. * * The shortest path between the camera sensor and a video node is stored in * SimpleCameraData::entities_ as a list of SimpleCameraData::Entity structures, @@ -179,14 +186,24 @@ struct SimplePipelineInfo { * and the number of streams it supports. */ std::vector<std::pair<const char *, unsigned int>> converters; + /* + * Using Software ISP is to be enabled per driver. + * + * The Software ISP can't be used together with the converters. + */ + bool swIspEnabled; }; namespace { static const SimplePipelineInfo supportedDevices[] = { - { "imx7-csi", { { "pxp", 1 } } }, - { "qcom-camss", {} }, - { "sun6i-csi", {} }, + { "dcmipp", {}, false }, + { "imx7-csi", { { "pxp", 1 } }, false }, + { "j721e-csi2rx", {}, false }, + { "mtk-seninf", { { "mtk-mdp", 3 } }, false }, + { "mxc-isi", {}, false }, + { "qcom-camss", {}, true }, + { "sun6i-csi", {}, false }, }; } /* namespace */ @@ -204,7 +221,8 @@ public: int init(); int setupLinks(); int setupFormats(V4L2SubdeviceFormat *format, - V4L2Subdevice::Whence whence); + V4L2Subdevice::Whence whence, + Transform transform = Transform::Identity); void bufferReady(FrameBuffer *buffer); unsigned int streamIndex(const Stream *stream) const @@ -216,6 +234,11 @@ public: /* The media entity, always valid. */ MediaEntity *entity; /* + * Whether or not the entity is a subdev that supports the + * routing API. + */ + bool supportsRouting; + /* * The local sink pad connected to the upstream entity, null for * the camera sensor at the beginning of the pipeline. */ @@ -254,16 +277,22 @@ public: std::vector<Configuration> configs_; std::map<PixelFormat, std::vector<const Configuration *>> formats_; - std::unique_ptr<SimpleConverter> converter_; - std::vector<std::unique_ptr<FrameBuffer>> converterBuffers_; - bool useConverter_; - std::queue<std::map<unsigned int, FrameBuffer *>> converterQueue_; + std::vector<std::unique_ptr<FrameBuffer>> conversionBuffers_; + std::queue<std::map<unsigned int, FrameBuffer *>> conversionQueue_; + bool useConversion_; + + std::unique_ptr<Converter> converter_; + std::unique_ptr<SoftwareIsp> swIsp_; private: void tryPipeline(unsigned int code, const Size &size); + static std::vector<const MediaPad *> routedSourcePads(MediaPad *sink); - void converterInputDone(FrameBuffer *buffer); - void converterOutputDone(FrameBuffer *buffer); + void conversionInputDone(FrameBuffer *buffer); + void conversionOutputDone(FrameBuffer *buffer); + + void ispStatsReady(); + void setSensorControls(const ControlList &sensorControls); }; class SimpleCameraConfiguration : public CameraConfiguration @@ -279,6 +308,7 @@ public: } bool needConversion() const { return needConversion_; } + const Transform &combinedTransform() const { return combinedTransform_; } private: /* @@ -291,6 +321,7 @@ private: const SimpleCameraData::Configuration *pipeConfig_; bool needConversion_; + Transform combinedTransform_; }; class SimplePipelineHandler : public PipelineHandler @@ -298,8 +329,8 @@ class SimplePipelineHandler : public PipelineHandler public: SimplePipelineHandler(CameraManager *manager); - CameraConfiguration *generateConfiguration(Camera *camera, - const StreamRoles &roles) override; + std::unique_ptr<CameraConfiguration> generateConfiguration(Camera *camera, + Span<const StreamRole> roles) override; int configure(Camera *camera, CameraConfiguration *config) override; int exportFrameBuffers(Camera *camera, Stream *stream, @@ -313,6 +344,7 @@ public: V4L2VideoDevice *video(const MediaEntity *entity); V4L2Subdevice *subdev(const MediaEntity *entity); MediaDevice *converter() { return converter_; } + bool swIspEnabled() const { return swIspEnabled_; } protected: int queueRequestDevice(Camera *camera, Request *request) override; @@ -332,6 +364,7 @@ private: } std::vector<MediaEntity *> locateSensors(); + static int resetRoutingTable(V4L2Subdevice *subdev); const MediaPad *acquirePipeline(SimpleCameraData *data); void releasePipeline(SimpleCameraData *data); @@ -340,6 +373,7 @@ private: std::map<const MediaEntity *, EntityData> entities_; MediaDevice *converter_; + bool swIspEnabled_; }; /* ----------------------------------------------------------------------------- @@ -386,17 +420,40 @@ SimpleCameraData::SimpleCameraData(SimplePipelineHandler *pipe, break; } - /* The actual breadth-first search algorithm. */ visited.insert(entity); - for (MediaPad *pad : entity->pads()) { - if (!(pad->flags() & MEDIA_PAD_FL_SOURCE)) - continue; + /* + * Add direct downstream entities to the search queue. If the + * current entity supports the subdev internal routing API, + * restrict the search to downstream entities reachable through + * active routes. + */ + + std::vector<const MediaPad *> pads; + bool supportsRouting = false; + + if (sinkPad) { + pads = routedSourcePads(sinkPad); + if (!pads.empty()) + supportsRouting = true; + } + + if (pads.empty()) { + for (const MediaPad *pad : entity->pads()) { + if (!(pad->flags() & MEDIA_PAD_FL_SOURCE)) + continue; + pads.push_back(pad); + } + } + + for (const MediaPad *pad : pads) { for (MediaLink *link : pad->links()) { MediaEntity *next = link->sink()->entity(); if (visited.find(next) == visited.end()) { queue.push({ next, link->sink() }); - parents.insert({ next, { entity, sinkPad, pad, link } }); + + Entity e{ entity, supportsRouting, sinkPad, pad, link }; + parents.insert({ next, e }); } } } @@ -410,7 +467,7 @@ SimpleCameraData::SimpleCameraData(SimplePipelineHandler *pipe, * to the sensor. Store all the entities in the pipeline, from the * camera sensor to the video node, in entities_. */ - entities_.push_front({ entity, sinkPad, nullptr, nullptr }); + entities_.push_front({ entity, false, sinkPad, nullptr, nullptr }); for (auto it = parents.find(entity); it != parents.end(); it = parents.find(entity)) { @@ -455,14 +512,45 @@ int SimpleCameraData::init() /* Open the converter, if any. */ MediaDevice *converter = pipe->converter(); if (converter) { - converter_ = std::make_unique<SimpleConverter>(converter); - if (!converter_->isValid()) { + converter_ = ConverterFactoryBase::create(converter); + if (!converter_) { LOG(SimplePipeline, Warning) << "Failed to create converter, disabling format conversion"; converter_.reset(); } else { - converter_->inputBufferReady.connect(this, &SimpleCameraData::converterInputDone); - converter_->outputBufferReady.connect(this, &SimpleCameraData::converterOutputDone); + converter_->inputBufferReady.connect(this, &SimpleCameraData::conversionInputDone); + converter_->outputBufferReady.connect(this, &SimpleCameraData::conversionOutputDone); + } + } + + /* + * Instantiate Soft ISP if this is enabled for the given driver and no converter is used. + */ + if (!converter_ && pipe->swIspEnabled()) { + swIsp_ = std::make_unique<SoftwareIsp>(pipe, sensor_.get()); + if (!swIsp_->isValid()) { + LOG(SimplePipeline, Warning) + << "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_->outputBufferReady.connect(this, &SimpleCameraData::conversionOutputDone); + swIsp_->ispStatsReady.connect(this, &SimpleCameraData::ispStatsReady); + swIsp_->setSensorControls.connect(this, &SimpleCameraData::setSensorControls); } } @@ -520,13 +608,13 @@ void SimpleCameraData::tryPipeline(unsigned int code, const Size &size) * corresponding possible V4L2 pixel formats on the video node. */ V4L2SubdeviceFormat format{}; - format.mbus_code = code; + format.code = code; format.size = size; int ret = setupFormats(&format, V4L2Subdevice::TryFormat); if (ret < 0) { /* Pipeline configuration failed, skip this configuration. */ - format.mbus_code = code; + format.code = code; format.size = size; LOG(SimplePipeline, Debug) << "Sensor format " << format @@ -534,7 +622,7 @@ void SimpleCameraData::tryPipeline(unsigned int code, const Size &size) return; } - V4L2VideoDevice::Formats videoFormats = video_->formats(format.mbus_code); + V4L2VideoDevice::Formats videoFormats = video_->formats(format.code); LOG(SimplePipeline, Debug) << "Adding configuration for " << format.size @@ -556,12 +644,20 @@ void SimpleCameraData::tryPipeline(unsigned int code, const Size &size) config.captureFormat = pixelFormat; config.captureSize = format.size; - if (!converter_) { - config.outputFormats = { pixelFormat }; - config.outputSizes = config.captureSize; - } else { + if (converter_) { config.outputFormats = converter_->formats(pixelFormat); config.outputSizes = converter_->sizes(format.size); + } else if (swIsp_) { + config.outputFormats = swIsp_->formats(pixelFormat); + config.outputSizes = swIsp_->sizes(pixelFormat, format.size); + if (config.outputFormats.empty()) { + /* Do not use swIsp for unsupported pixelFormat's. */ + config.outputFormats = { pixelFormat }; + config.outputSizes = config.captureSize; + } + } else { + config.outputFormats = { pixelFormat }; + config.outputSizes = config.captureSize; } configs_.push_back(config); @@ -577,15 +673,32 @@ int SimpleCameraData::setupLinks() * multiple sink links to be enabled together, even on different sink * pads. We must thus start by disabling all sink links (but the one we * want to enable) before enabling the pipeline link. + * + * The entities_ list stores entities along with their source link. We + * need to process the link in the context of the sink entity, so + * record the source link of the current entity as the sink link of the + * next entity, and skip the first entity in the loop. */ + MediaLink *sinkLink = nullptr; + for (SimpleCameraData::Entity &e : entities_) { - if (!e.sourceLink) - break; + if (!sinkLink) { + sinkLink = e.sourceLink; + continue; + } + + for (MediaPad *pad : e.entity->pads()) { + /* + * If the entity supports the V4L2 internal routing API, + * assume that it may carry multiple independent streams + * concurrently, and only disable links on the sink and + * source pads used by the pipeline. + */ + if (e.supportsRouting && pad != e.sink && pad != e.source) + continue; - MediaEntity *remote = e.sourceLink->sink()->entity(); - for (MediaPad *pad : remote->pads()) { for (MediaLink *link : pad->links()) { - if (link == e.sourceLink) + if (link == sinkLink) continue; if ((link->flags() & MEDIA_LNK_FL_ENABLED) && @@ -597,18 +710,21 @@ int SimpleCameraData::setupLinks() } } - if (!(e.sourceLink->flags() & MEDIA_LNK_FL_ENABLED)) { - ret = e.sourceLink->setEnabled(true); + if (!(sinkLink->flags() & MEDIA_LNK_FL_ENABLED)) { + ret = sinkLink->setEnabled(true); if (ret < 0) return ret; } + + sinkLink = e.sourceLink; } return 0; } int SimpleCameraData::setupFormats(V4L2SubdeviceFormat *format, - V4L2Subdevice::Whence whence) + V4L2Subdevice::Whence whence, + Transform transform) { SimplePipelineHandler *pipe = SimpleCameraData::pipe(); int ret; @@ -617,7 +733,7 @@ int SimpleCameraData::setupFormats(V4L2SubdeviceFormat *format, * Configure the format on the sensor output and propagate it through * the pipeline. */ - ret = sensor_->setFormat(format); + ret = sensor_->setFormat(format, transform); if (ret < 0) return ret; @@ -644,7 +760,7 @@ int SimpleCameraData::setupFormats(V4L2SubdeviceFormat *format, if (ret < 0) return ret; - if (format->mbus_code != sourceFormat.mbus_code || + if (format->code != sourceFormat.code || format->size != sourceFormat.size) { LOG(SimplePipeline, Debug) << "Source '" << source->entity()->name() @@ -678,7 +794,7 @@ void SimpleCameraData::bufferReady(FrameBuffer *buffer) * point converting an erroneous buffer. */ if (buffer->metadata().status != FrameMetadata::FrameSuccess) { - if (!useConverter_) { + if (!useConversion_) { /* No conversion, just complete the request. */ Request *request = buffer->request(); pipe->completeBuffer(request, buffer); @@ -687,23 +803,23 @@ void SimpleCameraData::bufferReady(FrameBuffer *buffer) } /* - * The converter is in use. Requeue the internal buffer for - * capture (unless the stream is being stopped), and complete - * the request with all the user-facing buffers. + * The converter or Software ISP is in use. Requeue the internal + * buffer for capture (unless the stream is being stopped), and + * complete the request with all the user-facing buffers. */ if (buffer->metadata().status != FrameMetadata::FrameCancelled) video_->queueBuffer(buffer); - if (converterQueue_.empty()) + if (conversionQueue_.empty()) return; Request *request = nullptr; - for (auto &item : converterQueue_.front()) { + for (auto &item : conversionQueue_.front()) { FrameBuffer *outputBuffer = item.second; request = outputBuffer->request(); pipe->completeBuffer(request, outputBuffer); } - converterQueue_.pop(); + conversionQueue_.pop(); if (request) pipe->completeRequest(request); @@ -720,9 +836,9 @@ void SimpleCameraData::bufferReady(FrameBuffer *buffer) */ Request *request = buffer->request(); - if (useConverter_ && !converterQueue_.empty()) { + if (useConversion_ && !conversionQueue_.empty()) { const std::map<unsigned int, FrameBuffer *> &outputs = - converterQueue_.front(); + conversionQueue_.front(); if (!outputs.empty()) { FrameBuffer *outputBuffer = outputs.begin()->second; if (outputBuffer) @@ -735,18 +851,22 @@ void SimpleCameraData::bufferReady(FrameBuffer *buffer) buffer->metadata().timestamp); /* - * Queue the captured and the request buffer to the converter if format - * conversion is needed. If there's no queued request, just requeue the - * captured buffer for capture. + * Queue the captured and the request buffer to the converter or Software + * ISP if format conversion is needed. If there's no queued request, just + * requeue the captured buffer for capture. */ - if (useConverter_) { - if (converterQueue_.empty()) { + if (useConversion_) { + if (conversionQueue_.empty()) { video_->queueBuffer(buffer); return; } - converter_->queueBuffers(buffer, converterQueue_.front()); - converterQueue_.pop(); + if (converter_) + converter_->queueBuffers(buffer, conversionQueue_.front()); + else + swIsp_->queueBuffers(buffer, conversionQueue_.front()); + + conversionQueue_.pop(); return; } @@ -755,13 +875,13 @@ void SimpleCameraData::bufferReady(FrameBuffer *buffer) pipe->completeRequest(request); } -void SimpleCameraData::converterInputDone(FrameBuffer *buffer) +void SimpleCameraData::conversionInputDone(FrameBuffer *buffer) { /* Queue the input buffer back for capture. */ video_->queueBuffer(buffer); } -void SimpleCameraData::converterOutputDone(FrameBuffer *buffer) +void SimpleCameraData::conversionOutputDone(FrameBuffer *buffer) { SimplePipelineHandler *pipe = SimpleCameraData::pipe(); @@ -771,6 +891,56 @@ void SimpleCameraData::converterOutputDone(FrameBuffer *buffer) pipe->completeRequest(request); } +void SimpleCameraData::ispStatsReady() +{ + /* \todo Use the DelayedControls class */ + swIsp_->processStats(sensor_->getControls({ V4L2_CID_ANALOGUE_GAIN, + V4L2_CID_EXPOSURE })); +} + +void SimpleCameraData::setSensorControls(const ControlList &sensorControls) +{ + ControlList ctrls(sensorControls); + sensor_->setControls(&ctrls); +} + +/* Retrieve all source pads connected to a sink pad through active routes. */ +std::vector<const MediaPad *> SimpleCameraData::routedSourcePads(MediaPad *sink) +{ + MediaEntity *entity = sink->entity(); + std::unique_ptr<V4L2Subdevice> subdev = + std::make_unique<V4L2Subdevice>(entity); + + int ret = subdev->open(); + if (ret < 0) + return {}; + + V4L2Subdevice::Routing routing = {}; + ret = subdev->getRouting(&routing, V4L2Subdevice::ActiveFormat); + if (ret < 0) + return {}; + + std::vector<const MediaPad *> pads; + + for (const V4L2Subdevice::Route &route : routing) { + if (sink->index() != route.sink.pad || + !(route.flags & V4L2_SUBDEV_ROUTE_FL_ACTIVE)) + continue; + + const MediaPad *pad = entity->getPadByIndex(route.source.pad); + if (!pad) { + LOG(SimplePipeline, Warning) + << "Entity " << entity->name() + << " has invalid route source pad " + << route.source.pad; + } + + pads.push_back(pad); + } + + return pads; +} + /* ----------------------------------------------------------------------------- * Camera Configuration */ @@ -782,17 +952,45 @@ SimpleCameraConfiguration::SimpleCameraConfiguration(Camera *camera, { } +namespace { + +static Size adjustSize(const Size &requestedSize, const SizeRange &supportedSizes) +{ + ASSERT(supportedSizes.min <= supportedSizes.max); + + if (supportedSizes.min == supportedSizes.max) + return supportedSizes.max; + + unsigned int hStep = supportedSizes.hStep; + unsigned int vStep = supportedSizes.vStep; + + if (hStep == 0) + hStep = supportedSizes.max.width - supportedSizes.min.width; + if (vStep == 0) + vStep = supportedSizes.max.height - supportedSizes.min.height; + + Size adjusted = requestedSize.boundedTo(supportedSizes.max) + .expandedTo(supportedSizes.min); + + return adjusted.shrunkBy(supportedSizes.min) + .alignedDownTo(hStep, vStep) + .grownBy(supportedSizes.min); +} + +} /* namespace */ + CameraConfiguration::Status SimpleCameraConfiguration::validate() { + const CameraSensor *sensor = data_->sensor_.get(); Status status = Valid; if (config_.empty()) return Invalid; - if (transform != Transform::Identity) { - transform = Transform::Identity; + Orientation requestedOrientation = orientation; + combinedTransform_ = sensor->computeTransform(&orientation); + if (orientation != requestedOrientation) status = Adjusted; - } /* Cap the number of entries to the available streams. */ if (config_.size() > data_->streams_.size()) { @@ -897,10 +1095,19 @@ CameraConfiguration::Status SimpleCameraConfiguration::validate() } if (!pipeConfig_->outputSizes.contains(cfg.size)) { + Size adjustedSize = pipeConfig_->captureSize; + /* + * The converter (when present) may not be able to output + * a size identical to its input size. The capture size is thus + * not guaranteed to be a valid output size. In such cases, use + * the smaller valid output size closest to the requested. + */ + if (!pipeConfig_->outputSizes.contains(adjustedSize)) + adjustedSize = adjustSize(cfg.size, pipeConfig_->outputSizes); LOG(SimplePipeline, Debug) << "Adjusting size from " << cfg.size - << " to " << pipeConfig_->captureSize; - cfg.size = pipeConfig_->captureSize; + << " to " << adjustedSize; + cfg.size = adjustedSize; status = Adjusted; } @@ -912,13 +1119,16 @@ CameraConfiguration::Status SimpleCameraConfiguration::validate() /* Set the stride, frameSize and bufferCount. */ if (needConversion_) { std::tie(cfg.stride, cfg.frameSize) = - data_->converter_->strideAndFrameSize(cfg.pixelFormat, - cfg.size); + data_->converter_ + ? data_->converter_->strideAndFrameSize(cfg.pixelFormat, + cfg.size) + : data_->swIsp_->strideAndFrameSize(cfg.pixelFormat, + cfg.size); if (cfg.stride == 0) return Invalid; } else { V4L2DeviceFormat format; - format.fourcc = V4L2PixelFormat::fromPixelFormat(cfg.pixelFormat); + format.fourcc = data_->video_->toV4L2PixelFormat(cfg.pixelFormat); format.size = cfg.size; int ret = data_->video_->tryFormat(&format); @@ -944,12 +1154,12 @@ SimplePipelineHandler::SimplePipelineHandler(CameraManager *manager) { } -CameraConfiguration *SimplePipelineHandler::generateConfiguration(Camera *camera, - const StreamRoles &roles) +std::unique_ptr<CameraConfiguration> +SimplePipelineHandler::generateConfiguration(Camera *camera, Span<const StreamRole> roles) { SimpleCameraData *data = cameraData(camera); - CameraConfiguration *config = - new SimpleCameraConfiguration(camera, data); + std::unique_ptr<CameraConfiguration> config = + std::make_unique<SimpleCameraConfiguration>(camera, data); if (roles.empty()) return config; @@ -1020,15 +1230,16 @@ int SimplePipelineHandler::configure(Camera *camera, CameraConfiguration *c) const SimpleCameraData::Configuration *pipeConfig = config->pipeConfig(); V4L2SubdeviceFormat format{}; - format.mbus_code = pipeConfig->code; + format.code = pipeConfig->code; format.size = pipeConfig->sensorSize; - ret = data->setupFormats(&format, V4L2Subdevice::ActiveFormat); + ret = data->setupFormats(&format, V4L2Subdevice::ActiveFormat, + config->combinedTransform()); if (ret < 0) return ret; /* Configure the video node. */ - V4L2PixelFormat videoFormat = V4L2PixelFormat::fromPixelFormat(pipeConfig->captureFormat); + V4L2PixelFormat videoFormat = video->toV4L2PixelFormat(pipeConfig->captureFormat); V4L2DeviceFormat captureFormat; captureFormat.fourcc = videoFormat; @@ -1055,14 +1266,14 @@ int SimplePipelineHandler::configure(Camera *camera, CameraConfiguration *c) /* Configure the converter if needed. */ std::vector<std::reference_wrapper<StreamConfiguration>> outputCfgs; - data->useConverter_ = config->needConversion(); + data->useConversion_ = config->needConversion(); for (unsigned int i = 0; i < config->size(); ++i) { StreamConfiguration &cfg = config->at(i); cfg.setStream(&data->streams_[i]); - if (data->useConverter_) + if (data->useConversion_) outputCfgs.push_back(cfg); } @@ -1075,7 +1286,10 @@ int SimplePipelineHandler::configure(Camera *camera, CameraConfiguration *c) inputCfg.stride = captureFormat.planes[0].bpl; inputCfg.bufferCount = kNumInternalBuffers; - return data->converter_->configure(inputCfg, outputCfgs); + return data->converter_ + ? data->converter_->configure(inputCfg, outputCfgs) + : data->swIsp_->configure(inputCfg, outputCfgs, + data->sensor_->controls()); } int SimplePipelineHandler::exportFrameBuffers(Camera *camera, Stream *stream, @@ -1088,9 +1302,12 @@ int SimplePipelineHandler::exportFrameBuffers(Camera *camera, Stream *stream, * Export buffers on the converter or capture video node, depending on * whether the converter is used or not. */ - if (data->useConverter_) - return data->converter_->exportBuffers(data->streamIndex(stream), - count, buffers); + if (data->useConversion_) + return data->converter_ + ? data->converter_->exportBuffers(data->streamIndex(stream), + count, buffers) + : data->swIsp_->exportBuffers(data->streamIndex(stream), + count, buffers); else return data->video_->exportBuffers(count, buffers); } @@ -1109,13 +1326,13 @@ int SimplePipelineHandler::start(Camera *camera, [[maybe_unused]] const ControlL return -EBUSY; } - if (data->useConverter_) { + if (data->useConversion_) { /* * When using the converter allocate a fixed number of internal * buffers. */ ret = video->allocateBuffers(kNumInternalBuffers, - &data->converterBuffers_); + &data->conversionBuffers_); } else { /* Otherwise, prepare for using buffers from the only stream. */ Stream *stream = &data->streams_[0]; @@ -1134,15 +1351,21 @@ int SimplePipelineHandler::start(Camera *camera, [[maybe_unused]] const ControlL return ret; } - if (data->useConverter_) { - ret = data->converter_->start(); + if (data->useConversion_) { + if (data->converter_) + ret = data->converter_->start(); + else if (data->swIsp_) + ret = data->swIsp_->start(); + else + ret = 0; + if (ret < 0) { stop(camera); return ret; } /* Queue all internal buffers for capture. */ - for (std::unique_ptr<FrameBuffer> &buffer : data->converterBuffers_) + for (std::unique_ptr<FrameBuffer> &buffer : data->conversionBuffers_) video->queueBuffer(buffer.get()); } @@ -1154,15 +1377,19 @@ void SimplePipelineHandler::stopDevice(Camera *camera) SimpleCameraData *data = cameraData(camera); V4L2VideoDevice *video = data->video_; - if (data->useConverter_) - data->converter_->stop(); + if (data->useConversion_) { + if (data->converter_) + data->converter_->stop(); + else if (data->swIsp_) + data->swIsp_->stop(); + } video->streamOff(); video->releaseBuffers(); video->bufferReady.disconnect(data, &SimpleCameraData::bufferReady); - data->converterBuffers_.clear(); + data->conversionBuffers_.clear(); releasePipeline(data); } @@ -1180,7 +1407,7 @@ int SimplePipelineHandler::queueRequestDevice(Camera *camera, Request *request) * queue, it will be handed to the converter in the capture * completion handler. */ - if (data->useConverter_) { + if (data->useConversion_) { buffers.emplace(data->streamIndex(stream), buffer); } else { ret = data->video_->queueBuffer(buffer); @@ -1189,8 +1416,8 @@ int SimplePipelineHandler::queueRequestDevice(Camera *camera, Request *request) } } - if (data->useConverter_) - data->converterQueue_.push(std::move(buffers)); + if (data->useConversion_) + data->conversionQueue_.push(std::move(buffers)); return 0; } @@ -1260,6 +1487,37 @@ std::vector<MediaEntity *> SimplePipelineHandler::locateSensors() return sensors; } +int SimplePipelineHandler::resetRoutingTable(V4L2Subdevice *subdev) +{ + /* Reset the media entity routing table to its default state. */ + V4L2Subdevice::Routing routing = {}; + + int ret = subdev->getRouting(&routing, V4L2Subdevice::TryFormat); + if (ret) + return ret; + + ret = subdev->setRouting(&routing, V4L2Subdevice::ActiveFormat); + if (ret) + return ret; + + /* + * If the routing table is empty we won't be able to meaningfully use + * the subdev. + */ + if (routing.empty()) { + LOG(SimplePipeline, Error) + << "Default routing table of " << subdev->deviceNode() + << " is empty"; + return -EINVAL; + } + + LOG(SimplePipeline, Debug) + << "Routing table of " << subdev->deviceNode() + << " reset to " << routing; + + return 0; +} + bool SimplePipelineHandler::match(DeviceEnumerator *enumerator) { const SimplePipelineInfo *info = nullptr; @@ -1286,6 +1544,8 @@ bool SimplePipelineHandler::match(DeviceEnumerator *enumerator) } } + swIspEnabled_ = info->swIspEnabled; + /* Locate the sensors. */ std::vector<MediaEntity *> sensors = locateSensors(); if (sensors.empty()) { @@ -1352,6 +1612,23 @@ bool SimplePipelineHandler::match(DeviceEnumerator *enumerator) << ": " << strerror(-ret); return false; } + + if (subdev->caps().hasStreams()) { + /* + * Reset the routing table to its default state + * to make sure entities are enumerate according + * to the defaul routing configuration. + */ + ret = resetRoutingTable(subdev.get()); + if (ret) { + LOG(SimplePipeline, Error) + << "Failed to reset routes for " + << subdev->deviceNode() << ": " + << strerror(-ret); + return false; + } + } + break; default: @@ -1455,6 +1732,6 @@ void SimplePipelineHandler::releasePipeline(SimpleCameraData *data) } } -REGISTER_PIPELINE_HANDLER(SimplePipelineHandler) +REGISTER_PIPELINE_HANDLER(SimplePipelineHandler, "simple") } /* namespace libcamera */ diff --git a/src/libcamera/pipeline/uvcvideo/uvcvideo.cpp b/src/libcamera/pipeline/uvcvideo/uvcvideo.cpp index 53b2f23a..8a7409fc 100644 --- a/src/libcamera/pipeline/uvcvideo/uvcvideo.cpp +++ b/src/libcamera/pipeline/uvcvideo/uvcvideo.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * uvcvideo.cpp - Pipeline handler for uvcvideo devices + * Pipeline handler for uvcvideo devices */ #include <algorithm> @@ -46,8 +46,16 @@ public: ControlInfoMap::Map *ctrls); void bufferReady(FrameBuffer *buffer); + const std::string &id() const { return id_; } + std::unique_ptr<V4L2VideoDevice> video_; Stream stream_; + std::map<PixelFormat, std::vector<SizeRange>> formats_; + +private: + bool generateId(); + + std::string id_; }; class UVCCameraConfiguration : public CameraConfiguration @@ -66,8 +74,8 @@ class PipelineHandlerUVC : public PipelineHandler public: PipelineHandlerUVC(CameraManager *manager); - CameraConfiguration *generateConfiguration(Camera *camera, - const StreamRoles &roles) override; + std::unique_ptr<CameraConfiguration> generateConfiguration(Camera *camera, + Span<const StreamRole> roles) override; int configure(Camera *camera, CameraConfiguration *config) override; int exportFrameBuffers(Camera *camera, Stream *stream, @@ -81,8 +89,6 @@ public: bool match(DeviceEnumerator *enumerator) override; private: - std::string generateId(const UVCCameraData *data); - int processControl(ControlList *controls, unsigned int id, const ControlValue &value); int processControls(UVCCameraData *data, Request *request); @@ -105,8 +111,8 @@ CameraConfiguration::Status UVCCameraConfiguration::validate() if (config_.empty()) return Invalid; - if (transform != Transform::Identity) { - transform = Transform::Identity; + if (orientation != Orientation::Rotate0) { + orientation = Orientation::Rotate0; status = Adjusted; } @@ -149,7 +155,7 @@ CameraConfiguration::Status UVCCameraConfiguration::validate() cfg.bufferCount = 4; V4L2DeviceFormat format; - format.fourcc = V4L2PixelFormat::fromPixelFormat(cfg.pixelFormat); + format.fourcc = data_->video_->toV4L2PixelFormat(cfg.pixelFormat); format.size = cfg.size; int ret = data_->video_->tryFormat(&format); @@ -159,6 +165,11 @@ CameraConfiguration::Status UVCCameraConfiguration::validate() cfg.stride = format.planes[0].bpl; cfg.frameSize = format.planes[0].size; + if (cfg.colorSpace != format.colorSpace) { + cfg.colorSpace = format.colorSpace; + status = Adjusted; + } + return status; } @@ -167,24 +178,18 @@ PipelineHandlerUVC::PipelineHandlerUVC(CameraManager *manager) { } -CameraConfiguration *PipelineHandlerUVC::generateConfiguration(Camera *camera, - const StreamRoles &roles) +std::unique_ptr<CameraConfiguration> +PipelineHandlerUVC::generateConfiguration(Camera *camera, + Span<const StreamRole> roles) { UVCCameraData *data = cameraData(camera); - CameraConfiguration *config = new UVCCameraConfiguration(data); + std::unique_ptr<CameraConfiguration> config = + std::make_unique<UVCCameraConfiguration>(data); if (roles.empty()) return config; - V4L2VideoDevice::Formats v4l2Formats = data->video_->formats(); - std::map<PixelFormat, std::vector<SizeRange>> deviceFormats; - for (const auto &format : v4l2Formats) { - PixelFormat pixelFormat = format.first.toPixelFormat(); - if (pixelFormat.isValid()) - deviceFormats[pixelFormat] = format.second; - } - - StreamFormats formats(deviceFormats); + StreamFormats formats(data->formats_); StreamConfiguration cfg(formats); cfg.pixelFormat = formats.pixelformats().front(); @@ -205,7 +210,7 @@ int PipelineHandlerUVC::configure(Camera *camera, CameraConfiguration *config) int ret; V4L2DeviceFormat format; - format.fourcc = V4L2PixelFormat::fromPixelFormat(cfg.pixelFormat); + format.fourcc = data->video_->toV4L2PixelFormat(cfg.pixelFormat); format.size = cfg.size; ret = data->video_->setFormat(&format); @@ -213,7 +218,7 @@ int PipelineHandlerUVC::configure(Camera *camera, CameraConfiguration *config) return ret; if (format.size != cfg.size || - format.fourcc != V4L2PixelFormat::fromPixelFormat(cfg.pixelFormat)) + format.fourcc != data->video_->toV4L2PixelFormat(cfg.pixelFormat)) return -EINVAL; cfg.setStream(&data->stream_); @@ -340,12 +345,8 @@ int PipelineHandlerUVC::processControls(UVCCameraData *data, Request *request) { ControlList controls(data->video_->controls()); - for (auto it : request->controls()) { - unsigned int id = it.first; - ControlValue &value = it.second; - + for (const auto &[id, value] : request->controls()) processControl(&controls, id, value); - } for (const auto &ctrl : controls) LOG(UVC, Debug) @@ -383,69 +384,6 @@ int PipelineHandlerUVC::queueRequestDevice(Camera *camera, Request *request) return 0; } -std::string PipelineHandlerUVC::generateId(const UVCCameraData *data) -{ - const std::string path = data->video_->devicePath(); - - /* Create a controller ID from first device described in firmware. */ - std::string controllerId; - std::string searchPath = path; - while (true) { - std::string::size_type pos = searchPath.rfind('/'); - if (pos <= 1) { - LOG(UVC, Error) << "Can not find controller ID"; - return {}; - } - - searchPath = searchPath.substr(0, pos); - - controllerId = sysfs::firmwareNodePath(searchPath); - if (!controllerId.empty()) - break; - } - - /* - * Create a USB ID from the device path which has the known format: - * - * path = bus, "-", ports, ":", config, ".", interface ; - * bus = number ; - * ports = port, [ ".", ports ] ; - * port = number ; - * config = number ; - * interface = number ; - * - * Example: 3-2.4:1.0 - * - * The bus is not guaranteed to be stable and needs to be stripped from - * the USB ID. The final USB ID is built up of the ports, config and - * interface properties. - * - * Example 2.4:1.0. - */ - std::string usbId = utils::basename(path.c_str()); - usbId = usbId.substr(usbId.find('-') + 1); - - /* Creata a device ID from the USB devices vendor and product ID. */ - std::string deviceId; - for (const char *name : { "idVendor", "idProduct" }) { - std::ifstream file(path + "/../" + name); - - if (!file.is_open()) - return {}; - - std::string value; - std::getline(file, value); - file.close(); - - if (!deviceId.empty()) - deviceId += ":"; - - deviceId += value; - } - - return controllerId + "-" + usbId + "-" + deviceId; -} - bool PipelineHandlerUVC::match(DeviceEnumerator *enumerator) { MediaDevice *media; @@ -461,12 +399,7 @@ bool PipelineHandlerUVC::match(DeviceEnumerator *enumerator) return false; /* Create and register the camera. */ - std::string id = generateId(data.get()); - if (id.empty()) { - LOG(UVC, Error) << "Failed to generate camera ID"; - return false; - } - + std::string id = data->id(); std::set<Stream *> streams{ &data->stream_ }; std::shared_ptr<Camera> camera = Camera::create(std::move(data), id, streams); @@ -501,6 +434,39 @@ int UVCCameraData::init(MediaDevice *media) video_->bufferReady.connect(this, &UVCCameraData::bufferReady); + /* Generate the camera ID. */ + if (!generateId()) { + LOG(UVC, Error) << "Failed to generate camera ID"; + return -EINVAL; + } + + /* + * Populate the map of supported formats, and infer the camera sensor + * resolution from the largest size it advertises. + */ + Size resolution; + for (const auto &format : video_->formats()) { + PixelFormat pixelFormat = format.first.toPixelFormat(); + if (!pixelFormat.isValid()) + continue; + + formats_[pixelFormat] = format.second; + + const std::vector<SizeRange> &sizeRanges = format.second; + for (const SizeRange &sizeRange : sizeRanges) { + if (sizeRange.max > resolution) + resolution = sizeRange.max; + } + } + + if (formats_.empty()) { + LOG(UVC, Error) + << "Camera " << id_ << " (" << media->model() + << ") doesn't expose any supported format"; + return -EINVAL; + } + + /* Populate the camera properties. */ properties_.set(properties::Model, utils::toAscii(media->model())); /* @@ -531,19 +497,6 @@ int UVCCameraData::init(MediaDevice *media) properties_.set(properties::Location, location); - /* - * Get the current format in order to initialize the sensor array - * properties. - */ - Size resolution; - for (const auto &it : video_->formats()) { - const std::vector<SizeRange> &sizeRanges = it.second; - for (const SizeRange &sizeRange : sizeRanges) { - if (sizeRange.max > resolution) - resolution = sizeRange.max; - } - } - properties_.set(properties::PixelArraySize, resolution); properties_.set(properties::PixelArrayActiveAreas, { Rectangle(resolution) }); @@ -562,6 +515,70 @@ int UVCCameraData::init(MediaDevice *media) return 0; } +bool UVCCameraData::generateId() +{ + const std::string path = video_->devicePath(); + + /* Create a controller ID from first device described in firmware. */ + std::string controllerId; + std::string searchPath = path; + while (true) { + std::string::size_type pos = searchPath.rfind('/'); + if (pos <= 1) { + LOG(UVC, Error) << "Can not find controller ID"; + return false; + } + + searchPath = searchPath.substr(0, pos); + + controllerId = sysfs::firmwareNodePath(searchPath); + if (!controllerId.empty()) + break; + } + + /* + * Create a USB ID from the device path which has the known format: + * + * path = bus, "-", ports, ":", config, ".", interface ; + * bus = number ; + * ports = port, [ ".", ports ] ; + * port = number ; + * config = number ; + * interface = number ; + * + * Example: 3-2.4:1.0 + * + * The bus is not guaranteed to be stable and needs to be stripped from + * the USB ID. The final USB ID is built up of the ports, config and + * interface properties. + * + * Example 2.4:1.0. + */ + std::string usbId = utils::basename(path.c_str()); + usbId = usbId.substr(usbId.find('-') + 1); + + /* Creata a device ID from the USB devices vendor and product ID. */ + std::string deviceId; + for (const char *name : { "idVendor", "idProduct" }) { + std::ifstream file(path + "/../" + name); + + if (!file.is_open()) + return false; + + std::string value; + std::getline(file, value); + file.close(); + + if (!deviceId.empty()) + deviceId += ":"; + + deviceId += value; + } + + id_ = controllerId + "-" + usbId + "-" + deviceId; + return true; +} + void UVCCameraData::addControl(uint32_t cid, const ControlInfo &v4l2Info, ControlInfoMap::Map *ctrls) { @@ -692,6 +709,6 @@ void UVCCameraData::bufferReady(FrameBuffer *buffer) pipe()->completeRequest(request); } -REGISTER_PIPELINE_HANDLER(PipelineHandlerUVC) +REGISTER_PIPELINE_HANDLER(PipelineHandlerUVC, "uvcvideo") } /* namespace libcamera */ diff --git a/src/libcamera/pipeline/vimc/vimc.cpp b/src/libcamera/pipeline/vimc/vimc.cpp index 3379ac5c..c7650432 100644 --- a/src/libcamera/pipeline/vimc/vimc.cpp +++ b/src/libcamera/pipeline/vimc/vimc.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2018, Google Inc. * - * vimc.cpp - Pipeline handler for the vimc device + * Pipeline handler for the vimc device */ #include <algorithm> @@ -54,7 +54,7 @@ public: int init(); int allocateMockIPABuffers(); void bufferReady(FrameBuffer *buffer); - void paramsBufferReady(unsigned int id); + void paramsBufferReady(unsigned int id, const Flags<ipa::vimc::TestFlag> flags); MediaDevice *media_; std::unique_ptr<CameraSensor> sensor_; @@ -84,8 +84,8 @@ class PipelineHandlerVimc : public PipelineHandler public: PipelineHandlerVimc(CameraManager *manager); - CameraConfiguration *generateConfiguration(Camera *camera, - const StreamRoles &roles) override; + std::unique_ptr<CameraConfiguration> generateConfiguration(Camera *camera, + Span<const StreamRole> roles) override; int configure(Camera *camera, CameraConfiguration *config) override; int exportFrameBuffers(Camera *camera, Stream *stream, @@ -128,8 +128,8 @@ CameraConfiguration::Status VimcCameraConfiguration::validate() if (config_.empty()) return Invalid; - if (transform != Transform::Identity) { - transform = Transform::Identity; + if (orientation != Orientation::Rotate0) { + orientation = Orientation::Rotate0; status = Adjusted; } @@ -171,7 +171,7 @@ CameraConfiguration::Status VimcCameraConfiguration::validate() cfg.bufferCount = 4; V4L2DeviceFormat format; - format.fourcc = V4L2PixelFormat::fromPixelFormat(cfg.pixelFormat); + format.fourcc = data_->video_->toV4L2PixelFormat(cfg.pixelFormat); format.size = cfg.size; int ret = data_->video_->tryFormat(&format); @@ -189,11 +189,13 @@ PipelineHandlerVimc::PipelineHandlerVimc(CameraManager *manager) { } -CameraConfiguration *PipelineHandlerVimc::generateConfiguration(Camera *camera, - const StreamRoles &roles) +std::unique_ptr<CameraConfiguration> +PipelineHandlerVimc::generateConfiguration(Camera *camera, + Span<const StreamRole> roles) { VimcCameraData *data = cameraData(camera); - CameraConfiguration *config = new VimcCameraConfiguration(data); + std::unique_ptr<CameraConfiguration> config = + std::make_unique<VimcCameraConfiguration>(data); if (roles.empty()) return config; @@ -242,7 +244,7 @@ int PipelineHandlerVimc::configure(Camera *camera, CameraConfiguration *config) /* The scaler hardcodes a x3 scale-up ratio. */ V4L2SubdeviceFormat subformat = {}; - subformat.mbus_code = MEDIA_BUS_FMT_SGRBG8_1X8; + subformat.code = MEDIA_BUS_FMT_SGRBG8_1X8; subformat.size = { cfg.size.width / 3, cfg.size.height / 3 }; ret = data->sensor_->setFormat(&subformat); @@ -253,7 +255,7 @@ int PipelineHandlerVimc::configure(Camera *camera, CameraConfiguration *config) if (ret) return ret; - subformat.mbus_code = pixelformats.find(cfg.pixelFormat)->second; + subformat.code = pixelformats.find(cfg.pixelFormat)->second; ret = data->debayer_->setFormat(1, &subformat); if (ret) return ret; @@ -275,7 +277,7 @@ int PipelineHandlerVimc::configure(Camera *camera, CameraConfiguration *config) return ret; V4L2DeviceFormat format; - format.fourcc = V4L2PixelFormat::fromPixelFormat(cfg.pixelFormat); + format.fourcc = data->video_->toV4L2PixelFormat(cfg.pixelFormat); format.size = cfg.size; ret = data->video_->setFormat(&format); @@ -283,7 +285,7 @@ int PipelineHandlerVimc::configure(Camera *camera, CameraConfiguration *config) return ret; if (format.size != cfg.size || - format.fourcc != V4L2PixelFormat::fromPixelFormat(cfg.pixelFormat)) + format.fourcc != data->video_->toV4L2PixelFormat(cfg.pixelFormat)) return -EINVAL; /* @@ -378,7 +380,7 @@ int PipelineHandlerVimc::processControls(VimcCameraData *data, Request *request) { ControlList controls(data->sensor_->controls()); - for (auto it : request->controls()) { + for (const auto &it : request->controls()) { unsigned int id = it.first; unsigned int offset; uint32_t cid; @@ -471,7 +473,15 @@ bool PipelineHandlerVimc::match(DeviceEnumerator *enumerator) data->ipa_->paramsBufferReady.connect(data.get(), &VimcCameraData::paramsBufferReady); std::string conf = data->ipa_->configurationFile("vimc.conf"); - data->ipa_->init(IPASettings{ conf, data->sensor_->model() }); + Flags<ipa::vimc::TestFlag> inFlags = ipa::vimc::TestFlag::Flag2; + Flags<ipa::vimc::TestFlag> outFlags; + data->ipa_->init(IPASettings{ conf, data->sensor_->model() }, + ipa::vimc::IPAOperationInit, inFlags, &outFlags); + + LOG(VIMC, Debug) + << "Flag 1 was " + << (outFlags & ipa::vimc::TestFlag::Flag1 ? "" : "not ") + << "set"; /* Create and register the camera. */ std::set<Stream *> streams{ &data->stream_ }; @@ -598,7 +608,7 @@ int VimcCameraData::allocateMockIPABuffers() constexpr unsigned int kBufCount = 2; V4L2DeviceFormat format; - format.fourcc = V4L2PixelFormat::fromPixelFormat(formats::BGR888); + format.fourcc = video_->toV4L2PixelFormat(formats::BGR888); format.size = Size (160, 120); int ret = video_->setFormat(&format); @@ -608,10 +618,11 @@ int VimcCameraData::allocateMockIPABuffers() return video_->exportBuffers(kBufCount, &mockIPABufs_); } -void VimcCameraData::paramsBufferReady([[maybe_unused]] unsigned int id) +void VimcCameraData::paramsBufferReady([[maybe_unused]] unsigned int id, + [[maybe_unused]] const Flags<ipa::vimc::TestFlag> flags) { } -REGISTER_PIPELINE_HANDLER(PipelineHandlerVimc) +REGISTER_PIPELINE_HANDLER(PipelineHandlerVimc, "vimc") } /* namespace libcamera */ diff --git a/src/libcamera/pipeline_handler.cpp b/src/libcamera/pipeline_handler.cpp index 7ebd76ad..5ea2ca78 100644 --- a/src/libcamera/pipeline_handler.cpp +++ b/src/libcamera/pipeline_handler.cpp @@ -2,12 +2,13 @@ /* * Copyright (C) 2018, Google Inc. * - * pipeline_handler.cpp - Pipeline handler infrastructure + * Pipeline handler infrastructure */ #include "libcamera/internal/pipeline_handler.h" #include <chrono> +#include <sys/stat.h> #include <sys/sysmacros.h> #include <libcamera/base/log.h> @@ -15,10 +16,11 @@ #include <libcamera/base/utils.h> #include <libcamera/camera.h> -#include <libcamera/camera_manager.h> #include <libcamera/framebuffer.h> +#include <libcamera/property_ids.h> #include "libcamera/internal/camera.h" +#include "libcamera/internal/camera_manager.h" #include "libcamera/internal/device_enumerator.h" #include "libcamera/internal/framebuffer.h" #include "libcamera/internal/media_device.h" @@ -64,11 +66,10 @@ LOG_DEFINE_CATEGORY(Pipeline) * * In order to honour the std::enable_shared_from_this<> contract, * PipelineHandler instances shall never be constructed manually, but always - * through the PipelineHandlerFactory::create() function implemented by the - * respective factories. + * through the PipelineHandlerFactoryBase::create() function. */ PipelineHandler::PipelineHandler(CameraManager *manager) - : manager_(manager), lockOwner_(false) + : manager_(manager), useCount_(0) { } @@ -143,58 +144,89 @@ MediaDevice *PipelineHandler::acquireMediaDevice(DeviceEnumerator *enumerator, } /** - * \brief Lock all media devices acquired by the pipeline + * \brief Acquire exclusive access to the pipeline handler for the process * - * This function shall not be called from pipeline handler implementation, as - * the Camera class handles locking directly. + * This function locks all the media devices used by the pipeline to ensure + * that no other process can access them concurrently. + * + * Access to a pipeline handler may be acquired recursively from within the + * same process. Every successful acquire() call shall be matched with a + * release() call. This allows concurrent access to the same pipeline handler + * from different cameras within the same process. + * + * Pipeline handlers shall not call this function directly as the Camera class + * handles access internally. * * \context This function is \threadsafe. * - * \return True if the devices could be locked, false otherwise - * \sa unlock() - * \sa MediaDevice::lock() + * \return True if the pipeline handler was acquired, false if another process + * has already acquired it + * \sa release() */ -bool PipelineHandler::lock() +bool PipelineHandler::acquire() { MutexLocker locker(lock_); - /* Do not allow nested locking in the same libcamera instance. */ - if (lockOwner_) - return false; + if (useCount_) { + ++useCount_; + return true; + } for (std::shared_ptr<MediaDevice> &media : mediaDevices_) { if (!media->lock()) { - unlock(); + unlockMediaDevices(); return false; } } - lockOwner_ = true; - + ++useCount_; return true; } /** - * \brief Unlock all media devices acquired by the pipeline + * \brief Release exclusive access to the pipeline handler + * \param[in] camera The camera for which to release data + * + * This function releases access to the pipeline handler previously acquired by + * a call to acquire(). Every release() call shall match a previous successful + * acquire() call. Calling this function on a pipeline handler that hasn't been + * acquired results in undefined behaviour. * - * This function shall not be called from pipeline handler implementation, as - * the Camera class handles locking directly. + * Pipeline handlers shall not call this function directly as the Camera class + * handles access internally. * * \context This function is \threadsafe. * - * \sa lock() + * \sa acquire() */ -void PipelineHandler::unlock() +void PipelineHandler::release(Camera *camera) { MutexLocker locker(lock_); - if (!lockOwner_) - return; + ASSERT(useCount_); + + unlockMediaDevices(); + releaseDevice(camera); + + --useCount_; +} + +/** + * \brief Release resources associated with this camera + * \param[in] camera The camera for which to release resources + * + * Pipeline handlers may override this in order to perform cleanup operations + * when a camera is released, such as freeing memory. + */ +void PipelineHandler::releaseDevice([[maybe_unused]] Camera *camera) +{ +} + +void PipelineHandler::unlockMediaDevices() +{ for (std::shared_ptr<MediaDevice> &media : mediaDevices_) media->unlock(); - - lockOwner_ = false; } /** @@ -217,8 +249,7 @@ void PipelineHandler::unlock() * handler. * * \return A valid CameraConfiguration if the requested roles can be satisfied, - * or a null pointer otherwise. The ownership of the returned configuration is - * passed to the caller. + * or a null pointer otherwise. */ /** @@ -312,6 +343,8 @@ void PipelineHandler::stop(Camera *camera) /* Make sure no requests are pending. */ Camera::Private *data = camera->_d(); ASSERT(data->queuedRequests_.empty()); + + data->requestSequence_ = 0; } /** @@ -504,6 +537,62 @@ void PipelineHandler::completeRequest(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 + * + * This function locates a named platform configuration file and returns + * its absolute path to the pipeline handler. It searches the following + * directories, in order: + * + * - If libcamera is not installed, the src/libcamera/pipeline/\<subdir\>/data/ + * directory within the source tree ; otherwise + * - The system data (share/libcamera/pipeline/\<subdir\>) directory. + * + * The system directories are not searched if libcamera is not installed. + * + * \return The full path to the pipeline handler configuration file, or an empty + * string if no configuration file can be found + */ +std::string PipelineHandler::configurationFile(const std::string &subdir, + const std::string &name) const +{ + std::string confPath; + struct stat statbuf; + int ret; + + std::string root = utils::libcameraSourcePath(); + if (!root.empty()) { + /* + * When libcamera is used before it is installed, load + * configuration files from the source directory. The + * configuration files are then located in the 'data' + * subdirectory of the corresponding pipeline handler. + */ + std::string confDir = root + "src/libcamera/pipeline/"; + confPath = confDir + subdir + "/data/" + name; + + LOG(Pipeline, Info) + << "libcamera is not installed. Loading platform configuration file from '" + << confPath << "'"; + } else { + /* Else look in the system locations. */ + confPath = std::string(LIBCAMERA_DATA_DIR) + + "/pipeline/" + subdir + '/' + name; + } + + ret = stat(confPath.c_str(), &statbuf); + 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() << "'"; + + return std::string(); +} + +/** * \brief Register a camera to the camera manager and pipeline handler * \param[in] camera The camera to be added * @@ -524,7 +613,7 @@ void PipelineHandler::registerCamera(std::shared_ptr<Camera> camera) * Walk the entity list and map the devnums of all capture video nodes * to the camera. */ - std::vector<dev_t> devnums; + std::vector<int64_t> devnums; for (const std::shared_ptr<MediaDevice> &media : mediaDevices_) { for (const MediaEntity *entity : media->entities()) { if (entity->pads().size() == 1 && @@ -536,7 +625,14 @@ void PipelineHandler::registerCamera(std::shared_ptr<Camera> camera) } } - manager_->addCamera(std::move(camera), devnums); + /* + * Store the associated devices as a property of the camera to allow + * systems to identify which devices are managed by libcamera. + */ + Camera::Private *data = camera->_d(); + data->properties_.set(properties::SystemDevices, devnums); + + manager_->_d()->addCamera(std::move(camera)); } /** @@ -553,7 +649,7 @@ void PipelineHandler::registerCamera(std::shared_ptr<Camera> camera) */ void PipelineHandler::hotplugMediaDevice(MediaDevice *media) { - media->disconnected.connect(this, [=]() { mediaDeviceDisconnected(media); }); + media->disconnected.connect(this, [this, media] { mediaDeviceDisconnected(media); }); } /** @@ -597,13 +693,13 @@ void PipelineHandler::disconnect() */ std::vector<std::weak_ptr<Camera>> cameras{ std::move(cameras_) }; - for (std::weak_ptr<Camera> ptr : cameras) { + for (const std::weak_ptr<Camera> &ptr : cameras) { std::shared_ptr<Camera> camera = ptr.lock(); if (!camera) continue; camera->disconnect(); - manager_->removeCamera(camera); + manager_->_d()->removeCamera(camera); } } @@ -624,27 +720,25 @@ void PipelineHandler::disconnect() */ /** - * \class PipelineHandlerFactory - * \brief Registration of PipelineHandler classes and creation of instances + * \class PipelineHandlerFactoryBase + * \brief Base class for pipeline handler factories * - * To facilitate discovery and instantiation of PipelineHandler classes, the - * PipelineHandlerFactory class maintains a registry of pipeline handler - * classes. Each PipelineHandler subclass shall register itself using the - * REGISTER_PIPELINE_HANDLER() macro, which will create a corresponding - * instance of a PipelineHandlerFactory subclass and register it with the - * static list of factories. + * The PipelineHandlerFactoryBase class is the base of all specializations of + * the PipelineHandlerFactory class template. It implements the factory + * registration, maintains a registry of factories, and provides access to the + * registered factories. */ /** - * \brief Construct a pipeline handler factory + * \brief Construct a pipeline handler factory base * \param[in] name Name of the pipeline handler class * - * Creating an instance of the factory registers is with the global list of + * Creating an instance of the factory base registers it with the global list of * factories, accessible through the factories() function. * * The factory \a name is used for debug purpose and shall be unique. */ -PipelineHandlerFactory::PipelineHandlerFactory(const char *name) +PipelineHandlerFactoryBase::PipelineHandlerFactoryBase(const char *name) : name_(name) { registerType(this); @@ -657,15 +751,15 @@ PipelineHandlerFactory::PipelineHandlerFactory(const char *name) * \return A shared pointer to a new instance of the PipelineHandler subclass * corresponding to the factory */ -std::shared_ptr<PipelineHandler> PipelineHandlerFactory::create(CameraManager *manager) +std::shared_ptr<PipelineHandler> PipelineHandlerFactoryBase::create(CameraManager *manager) const { - PipelineHandler *handler = createInstance(manager); + std::unique_ptr<PipelineHandler> handler = createInstance(manager); handler->name_ = name_.c_str(); - return std::shared_ptr<PipelineHandler>(handler); + return std::shared_ptr<PipelineHandler>(std::move(handler)); } /** - * \fn PipelineHandlerFactory::name() + * \fn PipelineHandlerFactoryBase::name() * \brief Retrieve the factory name * \return The factory name */ @@ -677,9 +771,10 @@ std::shared_ptr<PipelineHandler> PipelineHandlerFactory::create(CameraManager *m * The caller is responsible to guarantee the uniqueness of the pipeline handler * name. */ -void PipelineHandlerFactory::registerType(PipelineHandlerFactory *factory) +void PipelineHandlerFactoryBase::registerType(PipelineHandlerFactoryBase *factory) { - std::vector<PipelineHandlerFactory *> &factories = PipelineHandlerFactory::factories(); + std::vector<PipelineHandlerFactoryBase *> &factories = + PipelineHandlerFactoryBase::factories(); factories.push_back(factory); } @@ -688,34 +783,77 @@ void PipelineHandlerFactory::registerType(PipelineHandlerFactory *factory) * \brief Retrieve the list of all pipeline handler factories * \return the list of pipeline handler factories */ -std::vector<PipelineHandlerFactory *> &PipelineHandlerFactory::factories() +std::vector<PipelineHandlerFactoryBase *> &PipelineHandlerFactoryBase::factories() { /* * The static factories map is defined inside the function to ensure * it gets initialized on first use, without any dependency on * link order. */ - static std::vector<PipelineHandlerFactory *> factories; + static std::vector<PipelineHandlerFactoryBase *> factories; return factories; } /** - * \fn PipelineHandlerFactory::createInstance() - * \brief Create an instance of the PipelineHandler corresponding to the factory - * \param[in] manager The camera manager + * \brief Return the factory for the pipeline handler with name \a name + * \param[in] name The pipeline handler name + * \return The factory of the pipeline with name \a name, or nullptr if not found + */ +const PipelineHandlerFactoryBase *PipelineHandlerFactoryBase::getFactoryByName(const std::string &name) +{ + const std::vector<PipelineHandlerFactoryBase *> &factories = + PipelineHandlerFactoryBase::factories(); + + auto iter = std::find_if(factories.begin(), + factories.end(), + [&name](const PipelineHandlerFactoryBase *f) { + return f->name() == name; + }); + + if (iter != factories.end()) + return *iter; + + return nullptr; +} + +/** + * \class PipelineHandlerFactory + * \brief Registration of PipelineHandler classes and creation of instances + * \tparam _PipelineHandler The pipeline handler class type for this factory * - * This virtual function is implemented by the REGISTER_PIPELINE_HANDLER() - * macro. It creates a pipeline handler instance associated with the camera - * \a manager. + * To facilitate discovery and instantiation of PipelineHandler classes, the + * PipelineHandlerFactory class implements auto-registration of pipeline + * handlers. Each PipelineHandler subclass shall register itself using the + * REGISTER_PIPELINE_HANDLER() macro, which will create a corresponding + * instance of a PipelineHandlerFactory and register it with the static list of + * factories. + */ + +/** + * \fn PipelineHandlerFactory::PipelineHandlerFactory(const char *name) + * \brief Construct a pipeline handler factory + * \param[in] name Name of the pipeline handler class * - * \return a pointer to a newly constructed instance of the PipelineHandler - * subclass corresponding to the factory + * Creating an instance of the factory registers it with the global list of + * factories, accessible through the factories() function. + * + * The factory \a name is used for debug purpose and shall be unique. + */ + +/** + * \fn PipelineHandlerFactory::createInstance() const + * \brief Create an instance of the PipelineHandler corresponding to the factory + * \param[in] manager The camera manager + * \return A unique pointer to a newly constructed instance of the + * PipelineHandler subclass corresponding to the factory */ /** * \def REGISTER_PIPELINE_HANDLER * \brief Register a pipeline handler with the pipeline handler factory * \param[in] handler Class name of PipelineHandler derived class to register + * \param[in] name Name assigned to the pipeline handler, matching the pipeline + * subdirectory name in the source tree. * * Register a PipelineHandler subclass with the factory and make it available to * try and match devices. diff --git a/src/libcamera/pixel_format.cpp b/src/libcamera/pixel_format.cpp index 80c22072..314179a8 100644 --- a/src/libcamera/pixel_format.cpp +++ b/src/libcamera/pixel_format.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * pixel_format.cpp - libcamera Pixel Format + * libcamera Pixel Format */ #include <libcamera/formats.h> diff --git a/src/libcamera/process.cpp b/src/libcamera/process.cpp index 0e6b4e1d..86d27b2d 100644 --- a/src/libcamera/process.cpp +++ b/src/libcamera/process.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * process.cpp - Process object + * Process object */ #include "libcamera/internal/process.h" @@ -263,7 +263,9 @@ int Process::start(const std::string &path, closeAllFdsExcept(fds); - unsetenv("LIBCAMERA_LOG_FILE"); + const char *file = utils::secure_getenv("LIBCAMERA_LOG_FILE"); + if (file && strcmp(file, "syslog")) + unsetenv("LIBCAMERA_LOG_FILE"); const char **argv = new const char *[args.size() + 2]; unsigned int len = args.size(); diff --git a/src/libcamera/property_ids.cpp.in b/src/libcamera/property_ids.cpp.in index f917e334..8b274c38 100644 --- a/src/libcamera/property_ids.cpp.in +++ b/src/libcamera/property_ids.cpp.in @@ -23,14 +23,7 @@ namespace properties { ${controls_doc} -/** - * \brief Namespace for libcamera draft properties - */ -namespace draft { - -${draft_controls_doc} - -} /* namespace draft */ +${vendor_controls_doc} #ifndef __DOXYGEN__ /* @@ -39,11 +32,8 @@ ${draft_controls_doc} */ ${controls_def} -namespace draft { - -${draft_controls_def} +${vendor_controls_def} -} /* namespace draft */ #endif /** diff --git a/src/libcamera/property_ids.yaml b/src/libcamera/property_ids_core.yaml index 11b7ebdc..834454a4 100644 --- a/src/libcamera/property_ids.yaml +++ b/src/libcamera/property_ids_core.yaml @@ -2,8 +2,9 @@ # # Copyright (C) 2019, Google Inc. # -%YAML 1.2 +%YAML 1.1 --- +vendor: libcamera controls: - Location: type: int32_t @@ -29,10 +30,10 @@ controls: - Rotation: type: int32_t description: | - The camera rotation is expressed as the angular difference in degrees - between two reference systems, one relative to the camera module, and - one defined on the external world scene to be captured when projected - on the image sensor pixel array. + The camera physical mounting rotation. It is expressed as the angular + difference in degrees between two reference systems, one relative to the + camera module, and one defined on the external world scene to be + captured when projected on the image sensor pixel array. A camera sensor has a 2-dimensional reference system 'Rc' defined by its pixel array read-out order. The origin is set to the first pixel @@ -690,37 +691,14 @@ controls: that is twice that of the full resolution mode. This value will be valid after the configure method has returned successfully. - # ---------------------------------------------------------------------------- - # Draft properties section - - - ColorFilterArrangement: - type: int32_t - draft: true + - SystemDevices: + type: int64_t + size: [n] description: | - The arrangement of color filters on sensor; represents the colors in the - top-left 2x2 section of the sensor, in reading order. Currently - identical to ANDROID_SENSOR_INFO_COLOR_FILTER_ARRANGEMENT. - enum: - - name: RGGB - value: 0 - description: RGGB Bayer pattern - - name: GRBG - value: 1 - description: GRBG Bayer pattern - - name: GBRG - value: 2 - description: GBRG Bayer pattern - - name: BGGR - value: 3 - description: BGGR Bayer pattern - - name: RGB - value: 4 - description: | - Sensor is not Bayer; output has 3 16-bit values for each pixel, - instead of just 1 16-bit value per pixel. - - name: MONO - value: 5 - description: | - Sensor is not Bayer; output consists of a single colour channel. + A list of integer values of type dev_t denoting the major and minor + device numbers of the underlying devices used in the operation of this + camera. + + Different cameras may report identical devices. ... diff --git a/src/libcamera/property_ids_draft.yaml b/src/libcamera/property_ids_draft.yaml new file mode 100644 index 00000000..62f0e242 --- /dev/null +++ b/src/libcamera/property_ids_draft.yaml @@ -0,0 +1,39 @@ +# SPDX-License-Identifier: LGPL-2.1-or-later +# +# Copyright (C) 2019, Google Inc. +# +%YAML 1.1 +--- +vendor: draft +controls: + - ColorFilterArrangement: + type: int32_t + vendor: draft + description: | + The arrangement of color filters on sensor; represents the colors in the + top-left 2x2 section of the sensor, in reading order. Currently + identical to ANDROID_SENSOR_INFO_COLOR_FILTER_ARRANGEMENT. + enum: + - name: RGGB + value: 0 + description: RGGB Bayer pattern + - name: GRBG + value: 1 + description: GRBG Bayer pattern + - name: GBRG + value: 2 + description: GBRG Bayer pattern + - name: BGGR + value: 3 + description: BGGR Bayer pattern + - name: RGB + value: 4 + description: | + Sensor is not Bayer; output has 3 16-bit values for each pixel, + instead of just 1 16-bit value per pixel. + - name: MONO + value: 5 + description: | + Sensor is not Bayer; output consists of a single colour channel. + +... diff --git a/src/libcamera/proxy/worker/meson.build b/src/libcamera/proxy/worker/meson.build index 70c8760a..aa4d9cd7 100644 --- a/src/libcamera/proxy/worker/meson.build +++ b/src/libcamera/proxy/worker/meson.build @@ -1,6 +1,6 @@ # SPDX-License-Identifier: CC0-1.0 -proxy_install_dir = get_option('libexecdir') / 'libcamera' +proxy_install_dir = libcamera_libexecdir # generate {pipeline}_ipa_proxy_worker.cpp foreach mojom : ipa_mojoms diff --git a/src/libcamera/pub_key.cpp b/src/libcamera/pub_key.cpp index 9bb08fda..f1d73a5c 100644 --- a/src/libcamera/pub_key.cpp +++ b/src/libcamera/pub_key.cpp @@ -2,12 +2,17 @@ /* * Copyright (C) 2020, Google Inc. * - * pub_key.cpp - Public key signature verification + * Public key signature verification */ #include "libcamera/internal/pub_key.h" -#if HAVE_GNUTLS +#if HAVE_CRYPTO +#include <openssl/evp.h> +#include <openssl/rsa.h> +#include <openssl/sha.h> +#include <openssl/x509.h> +#elif HAVE_GNUTLS #include <gnutls/abstract.h> #endif @@ -33,7 +38,14 @@ namespace libcamera { PubKey::PubKey([[maybe_unused]] Span<const uint8_t> key) : valid_(false) { -#if HAVE_GNUTLS +#if HAVE_CRYPTO + const uint8_t *data = key.data(); + pubkey_ = d2i_PUBKEY(nullptr, &data, key.size()); + if (!pubkey_) + return; + + valid_ = true; +#elif HAVE_GNUTLS int ret = gnutls_pubkey_init(&pubkey_); if (ret < 0) return; @@ -52,7 +64,9 @@ PubKey::PubKey([[maybe_unused]] Span<const uint8_t> key) PubKey::~PubKey() { -#if HAVE_GNUTLS +#if HAVE_CRYPTO + EVP_PKEY_free(pubkey_); +#elif HAVE_GNUTLS gnutls_pubkey_deinit(pubkey_); #endif } @@ -76,7 +90,35 @@ PubKey::~PubKey() bool PubKey::verify([[maybe_unused]] Span<const uint8_t> data, [[maybe_unused]] Span<const uint8_t> sig) const { -#if HAVE_GNUTLS + if (!valid_) + return false; + +#if HAVE_CRYPTO + /* + * Create and initialize a public key algorithm context for signature + * verification. + */ + EVP_PKEY_CTX *ctx = EVP_PKEY_CTX_new(pubkey_, nullptr); + if (!ctx) + return false; + + if (EVP_PKEY_verify_init(ctx) <= 0 || + EVP_PKEY_CTX_set_rsa_padding(ctx, RSA_PKCS1_PADDING) <= 0 || + EVP_PKEY_CTX_set_signature_md(ctx, EVP_sha256()) <= 0) { + EVP_PKEY_CTX_free(ctx); + return false; + } + + /* Calculate the SHA256 digest of the data. */ + uint8_t digest[SHA256_DIGEST_LENGTH]; + SHA256(data.data(), data.size(), digest); + + /* Decrypt the signature and verify it matches the digest. */ + int ret = EVP_PKEY_verify(ctx, sig.data(), sig.size(), digest, + SHA256_DIGEST_LENGTH); + EVP_PKEY_CTX_free(ctx); + return ret == 1; +#elif HAVE_GNUTLS const gnutls_datum_t gnuTlsData{ const_cast<unsigned char *>(data.data()), static_cast<unsigned int>(data.size()) diff --git a/src/libcamera/request.cpp b/src/libcamera/request.cpp index 51d74b29..cfb451e9 100644 --- a/src/libcamera/request.cpp +++ b/src/libcamera/request.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * request.cpp - Capture request handling + * Capture request handling */ #include "libcamera/internal/request.h" @@ -158,9 +158,12 @@ void Request::Private::cancel() } /** - * \copydoc Request::reuse() + * \brief Reset the request internal data to default values + * + * After calling this function, all request internal data will have default + * values as if the Request::Private instance had just been constructed. */ -void Request::Private::reuse() +void Request::Private::reset() { sequence_ = 0; cancelled_ = false; @@ -349,7 +352,7 @@ Request::Request(Camera *camera, uint64_t cookie) camera->_d()->validator()); /** - * \todo: Add a validator for metadata controls. + * \todo Add a validator for metadata controls. */ metadata_ = new ControlList(controls::controls); @@ -380,7 +383,7 @@ void Request::reuse(ReuseFlag flags) { LIBCAMERA_TRACEPOINT(request_reuse, this); - _d()->reuse(); + _d()->reset(); if (flags & ReuseBuffers) { for (auto pair : bufferMap_) { @@ -526,8 +529,8 @@ FrameBuffer *Request::findBuffer(const Stream *stream) const * * When requests are queued, they are given a sequential number to track the * order in which requests are queued to a camera. This number counts all - * requests given to a camera through its lifetime, and is not reset to zero - * between camera stop/start sequences. + * requests given to a camera and is reset to zero between camera stop/start + * sequences. * * It can be used to support debugging and identifying the flow of requests * through a pipeline, but does not guarantee to represent the sequence number diff --git a/src/libcamera/camera_sensor.cpp b/src/libcamera/sensor/camera_sensor.cpp index d055c16a..c6d7f801 100644 --- a/src/libcamera/camera_sensor.cpp +++ b/src/libcamera/sensor/camera_sensor.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * camera_sensor.cpp - A camera sensor + * A camera sensor */ #include "libcamera/internal/camera_sensor.h" @@ -15,6 +15,8 @@ #include <math.h> #include <string.h> +#include <libcamera/camera.h> +#include <libcamera/orientation.h> #include <libcamera/property_ids.h> #include <libcamera/base/utils.h> @@ -55,7 +57,8 @@ LOG_DEFINE_CATEGORY(CameraSensor) */ CameraSensor::CameraSensor(const MediaEntity *entity) : entity_(entity), pad_(UINT_MAX), staticProps_(nullptr), - bayerFormat_(nullptr), properties_(properties::properties) + bayerFormat_(nullptr), supportFlips_(false), + flipsAlterBayerOrder_(false), properties_(properties::properties) { } @@ -152,7 +155,12 @@ int CameraSensor::init() */ if (entity_->device()->driver() == "vimc") { initVimcDefaultProperties(); - return initProperties(); + + ret = initProperties(); + if (ret) + return ret; + + return discoverAncillaryDevices(); } /* Get the color filter array pattern (only for RAW sensors). */ @@ -176,9 +184,48 @@ int CameraSensor::init() if (ret) return ret; + /* + * Set HBLANK to the minimum to start with a well-defined line length, + * allowing IPA modules that do not modify HBLANK to use the sensor + * minimum line length in their calculations. + */ + const struct v4l2_query_ext_ctrl *hblankInfo = subdev_->controlInfo(V4L2_CID_HBLANK); + if (hblankInfo && !(hblankInfo->flags & V4L2_CTRL_FLAG_READ_ONLY)) { + ControlList ctrl(subdev_->controls()); + + ctrl.set(V4L2_CID_HBLANK, static_cast<int32_t>(hblankInfo->minimum)); + ret = subdev_->setControls(&ctrl); + if (ret) + return ret; + } + return applyTestPatternMode(controls::draft::TestPatternModeEnum::TestPatternModeOff); } +int CameraSensor::generateId() +{ + const std::string devPath = subdev_->devicePath(); + + /* Try to get ID from firmware description. */ + id_ = sysfs::firmwareNodePath(devPath); + if (!id_.empty()) + return 0; + + /* + * Virtual sensors not described in firmware + * + * Verify it's a platform device and construct ID from the device path + * and model of sensor. + */ + if (devPath.find("/sys/devices/platform/", 0) == 0) { + id_ = devPath.substr(strlen("/sys/devices/")) + " " + model(); + return 0; + } + + LOG(CameraSensor, Error) << "Can't generate sensor ID"; + return -EINVAL; +} + int CameraSensor::validateSensorDriver() { int err = 0; @@ -217,6 +264,26 @@ int CameraSensor::validateSensorDriver() } /* + * Verify if sensor supports horizontal/vertical flips + * + * \todo Handle horizontal and vertical flips independently. + */ + const struct v4l2_query_ext_ctrl *hflipInfo = subdev_->controlInfo(V4L2_CID_HFLIP); + const struct v4l2_query_ext_ctrl *vflipInfo = subdev_->controlInfo(V4L2_CID_VFLIP); + if (hflipInfo && !(hflipInfo->flags & V4L2_CTRL_FLAG_READ_ONLY) && + vflipInfo && !(vflipInfo->flags & V4L2_CTRL_FLAG_READ_ONLY)) { + supportFlips_ = true; + + if (hflipInfo->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT || + vflipInfo->flags & V4L2_CTRL_FLAG_MODIFY_LAYOUT) + flipsAlterBayerOrder_ = true; + } + + if (!supportFlips_) + LOG(CameraSensor, Debug) + << "Camera sensor does not support horizontal/vertical flip"; + + /* * Make sure the required selection targets are supported. * * Failures in reading any of the targets are not deemed to be fatal, @@ -275,6 +342,7 @@ int CameraSensor::validateSensorDriver() * required by the CameraSensor class. */ static constexpr uint32_t mandatoryControls[] = { + V4L2_CID_ANALOGUE_GAIN, V4L2_CID_EXPOSURE, V4L2_CID_HBLANK, V4L2_CID_PIXEL_RATE, @@ -384,18 +452,18 @@ int CameraSensor::initProperties() /* Retrieve and register properties from the kernel interface. */ const ControlInfoMap &controls = subdev_->controls(); - int32_t propertyValue; const auto &orientation = controls.find(V4L2_CID_CAMERA_ORIENTATION); if (orientation != controls.end()) { int32_t v4l2Orientation = orientation->second.def().get<int32_t>(); + int32_t propertyValue; switch (v4l2Orientation) { default: LOG(CameraSensor, Warning) << "Unsupported camera location " << v4l2Orientation << ", setting to External"; - /* Fall-through */ + [[fallthrough]]; case V4L2_CAMERA_ORIENTATION_EXTERNAL: propertyValue = properties::CameraLocationExternal; break; @@ -413,8 +481,27 @@ int CameraSensor::initProperties() const auto &rotationControl = controls.find(V4L2_CID_CAMERA_SENSOR_ROTATION); if (rotationControl != controls.end()) { - propertyValue = rotationControl->second.def().get<int32_t>(); + int32_t propertyValue = rotationControl->second.def().get<int32_t>(); + + /* + * Cache the Transform associated with the camera mounting + * rotation for later use in computeTransform(). + */ + bool success; + mountingOrientation_ = orientationFromRotation(propertyValue, &success); + if (!success) { + LOG(CameraSensor, Warning) + << "Invalid rotation of " << propertyValue + << " degrees - ignoring"; + mountingOrientation_ = Orientation::Rotate0; + } + properties_.set(properties::Rotation, propertyValue); + } else { + LOG(CameraSensor, Warning) + << "Rotation control not available, default to 0 degrees"; + properties_.set(properties::Rotation, 0); + mountingOrientation_ = Orientation::Rotate0; } properties_.set(properties::PixelArraySize, pixelArraySize_); @@ -467,8 +554,8 @@ int CameraSensor::discoverAncillaryDevices() ret = focusLens_->init(); if (ret) { LOG(CameraSensor, Error) - << "CameraLens initialisation failed"; - return ret; + << "Lens initialisation failed, lens disabled"; + focusLens_.reset(); } break; @@ -510,6 +597,21 @@ int CameraSensor::discoverAncillaryDevices() */ /** + * \fn CameraSensor::device() + * \brief Retrieve the camera sensor device + * \todo Remove this function by integrating DelayedControl with CameraSensor + * \return The camera sensor device + */ + +/** + * \fn CameraSensor::focusLens() + * \brief Retrieve the focus lens controller + * + * \return The focus lens controller. nullptr if no focus lens controller is + * connected to the sensor + */ + +/** * \fn CameraSensor::mbusCodes() * \brief Retrieve the media bus codes supported by the camera sensor * @@ -562,64 +664,6 @@ Size CameraSensor::resolution() const } /** - * \fn CameraSensor::testPatternModes() - * \brief Retrieve all the supported test pattern modes of the camera sensor - * The test pattern mode values correspond to the controls::TestPattern control. - * - * \return The list of test pattern modes - */ - -/** - * \brief Set the test pattern mode for the camera sensor - * \param[in] mode The test pattern mode - * - * The new \a mode is applied to the sensor if it differs from the active test - * pattern mode. Otherwise, this function is a no-op. Setting the same test - * pattern mode for every frame thus incurs no performance penalty. - */ -int CameraSensor::setTestPatternMode(controls::draft::TestPatternModeEnum mode) -{ - if (testPatternMode_ == mode) - return 0; - - if (testPatternModes_.empty()) { - LOG(CameraSensor, Error) - << "Camera sensor does not support test pattern modes."; - return -EINVAL; - } - - return applyTestPatternMode(mode); -} - -int CameraSensor::applyTestPatternMode(controls::draft::TestPatternModeEnum mode) -{ - if (testPatternModes_.empty()) - return 0; - - auto it = std::find(testPatternModes_.begin(), testPatternModes_.end(), - mode); - if (it == testPatternModes_.end()) { - LOG(CameraSensor, Error) << "Unsupported test pattern mode " - << mode; - return -EINVAL; - } - - LOG(CameraSensor, Debug) << "Apply test pattern mode " << mode; - - int32_t index = staticProps_->testPatternModes.at(mode); - ControlList ctrls{ controls() }; - ctrls.set(V4L2_CID_TEST_PATTERN, index); - - int ret = setControls(&ctrls); - if (ret) - return ret; - - testPatternMode_ = mode; - - return 0; -} - -/** * \brief Retrieve the best sensor format for a desired output * \param[in] mbusCodes The list of acceptable media bus codes * \param[in] size The desired size @@ -699,7 +743,7 @@ V4L2SubdeviceFormat CameraSensor::getFormat(const std::vector<unsigned int> &mbu } V4L2SubdeviceFormat format{ - .mbus_code = bestCode, + .code = bestCode, .size = *bestSize, .colorSpace = ColorSpace::Raw, }; @@ -710,96 +754,143 @@ V4L2SubdeviceFormat CameraSensor::getFormat(const std::vector<unsigned int> &mbu /** * \brief Set the sensor output format * \param[in] format The desired sensor output format + * \param[in] transform The transform to be applied on the sensor. + * Defaults to Identity. + * + * If flips are writable they are configured according to the desired Transform. + * Transform::Identity always corresponds to H/V flip being disabled if the + * controls are writable. Flips are set before the new format is applied as + * they can effectively change the Bayer pattern ordering. * * The ranges of any controls associated with the sensor are also updated. * * \return 0 on success or a negative error code otherwise */ -int CameraSensor::setFormat(V4L2SubdeviceFormat *format) +int CameraSensor::setFormat(V4L2SubdeviceFormat *format, Transform transform) { + /* Configure flips if the sensor supports that. */ + if (supportFlips_) { + ControlList flipCtrls(subdev_->controls()); + + flipCtrls.set(V4L2_CID_HFLIP, + static_cast<int32_t>(!!(transform & Transform::HFlip))); + flipCtrls.set(V4L2_CID_VFLIP, + static_cast<int32_t>(!!(transform & Transform::VFlip))); + + int ret = subdev_->setControls(&flipCtrls); + if (ret) + return ret; + } + + /* Apply format on the subdev. */ int ret = subdev_->setFormat(pad_, format); if (ret) return ret; - updateControlInfo(); + subdev_->updateControlInfo(); return 0; } /** - * \brief Retrieve the supported V4L2 controls and their information - * - * Control information is updated automatically to reflect the current sensor - * configuration when the setFormat() function is called, without invalidating - * any iterator on the ControlInfoMap. A manual update can also be forced by - * calling the updateControlInfo() function for pipeline handlers that change - * the sensor configuration wihtout using setFormat(). - * - * \return A map of the V4L2 controls supported by the sensor - */ -const ControlInfoMap &CameraSensor::controls() const -{ - return subdev_->controls(); -} - -/** - * \brief Read V4L2 controls from the sensor - * \param[in] ids The list of controls to read, specified by their ID - * - * This function reads the value of all controls contained in \a ids, and - * returns their values as a ControlList. The control identifiers are defined by - * the V4L2 specification (V4L2_CID_*). + * \brief Try the sensor output format + * \param[in] format The desired sensor output format * - * If any control in \a ids is not supported by the device, is disabled (i.e. - * has the V4L2_CTRL_FLAG_DISABLED flag set), or if any other error occurs - * during validation of the requested controls, no control is read and this - * function returns an empty control list. + * The ranges of any controls associated with the sensor are not updated. * - * \sa V4L2Device::getControls() + * \todo Add support for Transform by changing the format's Bayer ordering + * before calling subdev_->setFormat(). * - * \return The control values in a ControlList on success, or an empty list on - * error + * \return 0 on success or a negative error code otherwise */ -ControlList CameraSensor::getControls(const std::vector<uint32_t> &ids) +int CameraSensor::tryFormat(V4L2SubdeviceFormat *format) const { - return subdev_->getControls(ids); + return subdev_->setFormat(pad_, format, + V4L2Subdevice::Whence::TryFormat); } /** - * \brief Write V4L2 controls to the sensor - * \param[in] ctrls The list of controls to write + * \brief Apply a sensor configuration to the camera sensor + * \param[in] config The sensor configuration + * \param[in] transform The transform to be applied on the sensor. + * Defaults to Identity + * \param[out] sensorFormat Format applied to the sensor (optional) * - * This function writes the value of all controls contained in \a ctrls, and - * stores the values actually applied to the device in the corresponding \a - * ctrls entry. The control identifiers are defined by the V4L2 specification - * (V4L2_CID_*). + * Apply to the camera sensor the configuration \a config. * - * If any control in \a ctrls is not supported by the device, is disabled (i.e. - * has the V4L2_CTRL_FLAG_DISABLED flag set), is read-only, or if any other - * error occurs during validation of the requested controls, no control is - * written and this function returns -EINVAL. + * \todo The configuration shall be fully populated and if any of the fields + * specified cannot be applied exactly, an error code is returned. * - * If an error occurs while writing the controls, the index of the first - * control that couldn't be written is returned. All controls below that index - * are written and their values are updated in \a ctrls, while all other - * controls are not written and their values are not changed. - * - * \sa V4L2Device::setControls() - * - * \return 0 on success or an error code otherwise - * \retval -EINVAL One of the control is not supported or not accessible - * \retval i The index of the control that failed + * \return 0 if \a config is applied correctly to the camera sensor, a negative + * error code otherwise */ -int CameraSensor::setControls(ControlList *ctrls) +int CameraSensor::applyConfiguration(const SensorConfiguration &config, + Transform transform, + V4L2SubdeviceFormat *sensorFormat) { - return subdev_->setControls(ctrls); -} + if (!config.isValid()) { + LOG(CameraSensor, Error) << "Invalid sensor configuration"; + return -EINVAL; + } -/** - * \fn CameraSensor::device() - * \brief Retrieve the camera sensor device - * \todo Remove this function by integrating DelayedControl with CameraSensor - * \return The camera sensor device - */ + std::vector<unsigned int> filteredCodes; + std::copy_if(mbusCodes_.begin(), mbusCodes_.end(), + std::back_inserter(filteredCodes), + [&config](unsigned int mbusCode) { + BayerFormat bayer = BayerFormat::fromMbusCode(mbusCode); + if (bayer.bitDepth == config.bitDepth) + return true; + return false; + }); + if (filteredCodes.empty()) { + LOG(CameraSensor, Error) + << "Cannot find any format with bit depth " + << config.bitDepth; + return -EINVAL; + } + + /* + * Compute the sensor's data frame size by applying the cropping + * rectangle, subsampling and output crop to the sensor's pixel array + * size. + * + * \todo The actual size computation is for now ignored and only the + * output size is considered. This implies that resolutions obtained + * with two different cropping/subsampling will look identical and + * only the first found one will be considered. + */ + V4L2SubdeviceFormat subdevFormat = {}; + for (unsigned int code : filteredCodes) { + for (const Size &size : sizes(code)) { + if (size.width != config.outputSize.width || + size.height != config.outputSize.height) + continue; + + subdevFormat.code = code; + subdevFormat.size = size; + break; + } + } + if (!subdevFormat.code) { + LOG(CameraSensor, Error) << "Invalid output size in sensor configuration"; + return -EINVAL; + } + + int ret = setFormat(&subdevFormat, transform); + if (ret) + return ret; + + /* + * Return to the caller the format actually applied to the sensor. + * This is relevant if transform has changed the bayer pattern order. + */ + if (sensorFormat) + *sensorFormat = subdevFormat; + + /* \todo Handle AnalogCrop. Most sensors do not support set_selection */ + /* \todo Handle scaling in the digital domain. */ + + return 0; +} /** * \fn CameraSensor::properties() @@ -819,10 +910,6 @@ int CameraSensor::setControls(ControlList *ctrls) * Sensor information is only available for raw sensors. When called for a YUV * sensor, this function returns -EINVAL. * - * Pipeline handlers that do not change the sensor format using the setFormat() - * function may need to call updateControlInfo() beforehand, to ensure all the - * control ranges are up to date. - * * \return 0 on success, a negative error code otherwise */ int CameraSensor::sensorInfo(IPACameraSensorInfo *info) const @@ -866,9 +953,13 @@ int CameraSensor::sensorInfo(IPACameraSensorInfo *info) const ret = subdev_->getFormat(pad_, &format); if (ret) return ret; - info->bitsPerPixel = format.bitsPerPixel(); + + info->bitsPerPixel = MediaBusFormatInfo::info(format.code).bitsPerPixel; info->outputSize = format.size; + std::optional<int32_t> cfa = properties_.get(properties::draft::ColorFilterArrangement); + info->cfaPattern = cfa ? *cfa : properties::draft::RGB; + /* * Retrieve the pixel rate, line length and minimum/maximum frame * duration through V4L2 controls. Support for the V4L2_CID_PIXEL_RATE, @@ -883,10 +974,12 @@ int CameraSensor::sensorInfo(IPACameraSensorInfo *info) const return -EINVAL; } - int32_t hblank = ctrls.get(V4L2_CID_HBLANK).get<int32_t>(); - info->lineLength = info->outputSize.width + hblank; info->pixelRate = ctrls.get(V4L2_CID_PIXEL_RATE).get<int64_t>(); + const ControlInfo hblank = ctrls.infoMap()->at(V4L2_CID_HBLANK); + info->minLineLength = info->outputSize.width + hblank.min().get<int32_t>(); + info->maxLineLength = info->outputSize.width + hblank.max().get<int32_t>(); + const ControlInfo vblank = ctrls.infoMap()->at(V4L2_CID_VBLANK); info->minFrameLength = info->outputSize.height + vblank.min().get<int32_t>(); info->maxFrameLength = info->outputSize.height + vblank.max().get<int32_t>(); @@ -895,50 +988,220 @@ int CameraSensor::sensorInfo(IPACameraSensorInfo *info) const } /** - * \fn void CameraSensor::updateControlInfo() - * \brief Update the sensor's ControlInfoMap in case they have changed - * \sa V4L2Device::updateControlInfo() + * \brief Compute the Transform that gives the requested \a orientation + * \param[inout] orientation The desired image orientation + * + * This function computes the Transform that the pipeline handler should apply + * to the CameraSensor to obtain the requested \a orientation. + * + * The intended caller of this function is the validate() implementation of + * pipeline handlers, that pass in the application requested + * CameraConfiguration::orientation and obtain a Transform to apply to the + * camera sensor, likely at configure() time. + * + * If the requested \a orientation cannot be obtained, the \a orientation + * parameter is adjusted to report the current image orientation and + * Transform::Identity is returned. + * + * If the requested \a orientation can be obtained, the function computes a + * Transform and does not adjust \a orientation. + * + * Pipeline handlers are expected to verify if \a orientation has been + * adjusted by this function and set the CameraConfiguration::status to + * Adjusted accordingly. + * + * \return A Transform instance that applied to the CameraSensor produces images + * with \a orientation */ -void CameraSensor::updateControlInfo() +Transform CameraSensor::computeTransform(Orientation *orientation) const { - subdev_->updateControlInfo(); + /* + * If we cannot do any flips we cannot change the native camera mounting + * orientation. + */ + if (!supportFlips_) { + *orientation = mountingOrientation_; + return Transform::Identity; + } + + /* + * Now compute the required transform to obtain 'orientation' starting + * from the mounting rotation. + * + * As a note: + * orientation / mountingOrientation_ = transform + * mountingOrientation_ * transform = orientation + */ + Transform transform = *orientation / mountingOrientation_; + + /* + * If transform contains any Transpose we cannot do it, so adjust + * 'orientation' to report the image native orientation and return Identity. + */ + if (!!(transform & Transform::Transpose)) { + *orientation = mountingOrientation_; + return Transform::Identity; + } + + return transform; } /** - * \fn CameraSensor::focusLens() - * \brief Retrieve the focus lens controller + * \brief Compute the Bayer order that results from the given Transform + * \param[in] t The Transform to apply to the sensor * - * \return The focus lens controller. nullptr if no focus lens controller is - * connected to the sensor + * Some sensors change their Bayer order when they are h-flipped or v-flipped. + * This function computes and returns the Bayer order that would result from the + * given transform applied to the sensor. + * + * This function is valid only when the sensor produces raw Bayer formats. + * + * \return The Bayer order produced by the sensor when the Transform is applied */ +BayerFormat::Order CameraSensor::bayerOrder(Transform t) const +{ + /* Return a defined by meaningless value for non-Bayer sensors. */ + if (!bayerFormat_) + return BayerFormat::Order::BGGR; -std::string CameraSensor::logPrefix() const + if (!flipsAlterBayerOrder_) + return bayerFormat_->order; + + /* + * Apply the transform to the native (i.e. untransformed) Bayer order, + * using the rest of the Bayer format supplied by the caller. + */ + return bayerFormat_->transform(t).order; +} + +/** + * \brief Retrieve the supported V4L2 controls and their information + * + * Control information is updated automatically to reflect the current sensor + * configuration when the setFormat() function is called, without invalidating + * any iterator on the ControlInfoMap. + * + * \return A map of the V4L2 controls supported by the sensor + */ +const ControlInfoMap &CameraSensor::controls() const { - return "'" + entity_->name() + "'"; + return subdev_->controls(); } -int CameraSensor::generateId() +/** + * \brief Read V4L2 controls from the sensor + * \param[in] ids The list of controls to read, specified by their ID + * + * This function reads the value of all controls contained in \a ids, and + * returns their values as a ControlList. The control identifiers are defined by + * the V4L2 specification (V4L2_CID_*). + * + * If any control in \a ids is not supported by the device, is disabled (i.e. + * has the V4L2_CTRL_FLAG_DISABLED flag set), or if any other error occurs + * during validation of the requested controls, no control is read and this + * function returns an empty control list. + * + * \sa V4L2Device::getControls() + * + * \return The control values in a ControlList on success, or an empty list on + * error + */ +ControlList CameraSensor::getControls(const std::vector<uint32_t> &ids) { - const std::string devPath = subdev_->devicePath(); + return subdev_->getControls(ids); +} - /* Try to get ID from firmware description. */ - id_ = sysfs::firmwareNodePath(devPath); - if (!id_.empty()) +/** + * \brief Write V4L2 controls to the sensor + * \param[in] ctrls The list of controls to write + * + * This function writes the value of all controls contained in \a ctrls, and + * stores the values actually applied to the device in the corresponding \a + * ctrls entry. The control identifiers are defined by the V4L2 specification + * (V4L2_CID_*). + * + * If any control in \a ctrls is not supported by the device, is disabled (i.e. + * has the V4L2_CTRL_FLAG_DISABLED flag set), is read-only, or if any other + * error occurs during validation of the requested controls, no control is + * written and this function returns -EINVAL. + * + * If an error occurs while writing the controls, the index of the first + * control that couldn't be written is returned. All controls below that index + * are written and their values are updated in \a ctrls, while all other + * controls are not written and their values are not changed. + * + * \sa V4L2Device::setControls() + * + * \return 0 on success or an error code otherwise + * \retval -EINVAL One of the control is not supported or not accessible + * \retval i The index of the control that failed + */ +int CameraSensor::setControls(ControlList *ctrls) +{ + return subdev_->setControls(ctrls); +} + +/** + * \fn CameraSensor::testPatternModes() + * \brief Retrieve all the supported test pattern modes of the camera sensor + * The test pattern mode values correspond to the controls::TestPattern control. + * + * \return The list of test pattern modes + */ + +/** + * \brief Set the test pattern mode for the camera sensor + * \param[in] mode The test pattern mode + * + * The new \a mode is applied to the sensor if it differs from the active test + * pattern mode. Otherwise, this function is a no-op. Setting the same test + * pattern mode for every frame thus incurs no performance penalty. + */ +int CameraSensor::setTestPatternMode(controls::draft::TestPatternModeEnum mode) +{ + if (testPatternMode_ == mode) return 0; - /* - * Virtual sensors not described in firmware - * - * Verify it's a platform device and construct ID from the device path - * and model of sensor. - */ - if (devPath.find("/sys/devices/platform/", 0) == 0) { - id_ = devPath.substr(strlen("/sys/devices/")) + " " + model(); + if (testPatternModes_.empty()) { + LOG(CameraSensor, Error) + << "Camera sensor does not support test pattern modes."; + return -EINVAL; + } + + return applyTestPatternMode(mode); +} + +int CameraSensor::applyTestPatternMode(controls::draft::TestPatternModeEnum mode) +{ + if (testPatternModes_.empty()) return 0; + + auto it = std::find(testPatternModes_.begin(), testPatternModes_.end(), + mode); + if (it == testPatternModes_.end()) { + LOG(CameraSensor, Error) << "Unsupported test pattern mode " + << mode; + return -EINVAL; } - LOG(CameraSensor, Error) << "Can't generate sensor ID"; - return -EINVAL; + LOG(CameraSensor, Debug) << "Apply test pattern mode " << mode; + + int32_t index = staticProps_->testPatternModes.at(mode); + ControlList ctrls{ controls() }; + ctrls.set(V4L2_CID_TEST_PATTERN, index); + + int ret = setControls(&ctrls); + if (ret) + return ret; + + testPatternMode_ = mode; + + return 0; +} + +std::string CameraSensor::logPrefix() const +{ + return "'" + entity_->name() + "'"; } } /* namespace libcamera */ diff --git a/src/libcamera/camera_sensor_properties.cpp b/src/libcamera/sensor/camera_sensor_properties.cpp index e5f27f06..b18524d8 100644 --- a/src/libcamera/camera_sensor_properties.cpp +++ b/src/libcamera/sensor/camera_sensor_properties.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * camera_sensor_properties.cpp - Database of camera sensor properties + * Database of camera sensor properties */ #include "libcamera/internal/camera_sensor_properties.h" @@ -52,6 +52,15 @@ LOG_DEFINE_CATEGORY(CameraSensorProperties) const CameraSensorProperties *CameraSensorProperties::get(const std::string &sensor) { static const std::map<std::string, const CameraSensorProperties> sensorProps = { + { "ar0521", { + .unitCellSize = { 2200, 2200 }, + .testPatternModes = { + { controls::draft::TestPatternModeOff, 0 }, + { controls::draft::TestPatternModeSolidColor, 1 }, + { controls::draft::TestPatternModeColorBars, 2 }, + { controls::draft::TestPatternModeColorBarsFadeToGray, 3 }, + }, + } }, { "hi846", { .unitCellSize = { 1120, 1120 }, .testPatternModes = { @@ -90,6 +99,10 @@ const CameraSensorProperties *CameraSensorProperties::get(const std::string &sen { controls::draft::TestPatternModePn9, 4 }, }, } }, + { "imx283", { + .unitCellSize = { 2400, 2400 }, + .testPatternModes = {}, + } }, { "imx290", { .unitCellSize = { 2900, 2900 }, .testPatternModes = {}, @@ -98,10 +111,58 @@ const CameraSensorProperties *CameraSensorProperties::get(const std::string &sen .unitCellSize = { 3450, 3450 }, .testPatternModes = {}, } }, + { "imx327", { + .unitCellSize = { 2900, 2900 }, + .testPatternModes = {}, + } }, + { "imx335", { + .unitCellSize = { 2000, 2000 }, + .testPatternModes = {}, + } }, + { "imx415", { + .unitCellSize = { 1450, 1450 }, + .testPatternModes = {}, + } }, { "imx477", { .unitCellSize = { 1550, 1550 }, .testPatternModes = {}, } }, + { "imx519", { + .unitCellSize = { 1220, 1220 }, + .testPatternModes = { + { controls::draft::TestPatternModeOff, 0 }, + { controls::draft::TestPatternModeSolidColor, 2 }, + { controls::draft::TestPatternModePn9, 4 }, + /* + * The driver reports ColorBars and ColorBarsFadeToGray as well but + * these two patterns do not comply with MIPI CCS v1.1 (Section 10.1). + */ + }, + } }, + { "imx708", { + .unitCellSize = { 1400, 1400 }, + .testPatternModes = { + { controls::draft::TestPatternModeOff, 0 }, + { controls::draft::TestPatternModeColorBars, 1 }, + { controls::draft::TestPatternModeSolidColor, 2 }, + { controls::draft::TestPatternModeColorBarsFadeToGray, 3 }, + { controls::draft::TestPatternModePn9, 4 }, + }, + } }, + { "ov2685", { + .unitCellSize = { 1750, 1750 }, + .testPatternModes = { + { controls::draft::TestPatternModeOff, 0 }, + { controls::draft::TestPatternModeColorBars, 1}, + { controls::draft::TestPatternModeColorBarsFadeToGray, 2 }, + /* + * No corresponding test pattern mode for: + * 3: "Random Data" + * 4: "Black White Square" + * 5: "Color Square" + */ + }, + } }, { "ov2740", { .unitCellSize = { 1400, 1400 }, .testPatternModes = { @@ -109,6 +170,19 @@ const CameraSensorProperties *CameraSensorProperties::get(const std::string &sen { controls::draft::TestPatternModeColorBars, 1}, }, } }, + { "ov4689", { + .unitCellSize = { 2000, 2000 }, + .testPatternModes = { + { controls::draft::TestPatternModeOff, 0 }, + { controls::draft::TestPatternModeColorBars, 1}, + { controls::draft::TestPatternModeColorBarsFadeToGray, 2}, + /* + * No corresponding test patterns in + * MIPI CCS specification for sensor's + * colorBarType2 and colorBarType3. + */ + }, + } }, { "ov5640", { .unitCellSize = { 1400, 1400 }, .testPatternModes = { @@ -146,6 +220,32 @@ const CameraSensorProperties *CameraSensorProperties::get(const std::string &sen */ }, } }, + { "ov64a40", { + .unitCellSize = { 1008, 1008 }, + .testPatternModes = { + { controls::draft::TestPatternModeOff, 0 }, + { controls::draft::TestPatternModeColorBars, 1 }, + { controls::draft::TestPatternModeColorBarsFadeToGray, 2 }, + /* + * No corresponding test patter mode + * 3: "Vertical Color Bar Type 3", + * 4: "Vertical Color Bar Type 4" + */ + }, + } }, + { "ov8858", { + .unitCellSize = { 1120, 1120 }, + .testPatternModes = { + { controls::draft::TestPatternModeOff, 0 }, + { controls::draft::TestPatternModeColorBars, 1 }, + { controls::draft::TestPatternModeColorBarsFadeToGray, 2 }, + /* + * No corresponding test patter mode + * 3: "Vertical Color Bar Type 3", + * 4: "Vertical Color Bar Type 4" + */ + }, + } }, { "ov8865", { .unitCellSize = { 1400, 1400 }, .testPatternModes = { diff --git a/src/libcamera/sensor/meson.build b/src/libcamera/sensor/meson.build new file mode 100644 index 00000000..bf4b131a --- /dev/null +++ b/src/libcamera/sensor/meson.build @@ -0,0 +1,6 @@ +# SPDX-License-Identifier: CC0-1.0 + +libcamera_sources += files([ + 'camera_sensor.cpp', + 'camera_sensor_properties.cpp', +]) diff --git a/src/libcamera/shared_mem_object.cpp b/src/libcamera/shared_mem_object.cpp new file mode 100644 index 00000000..809fbdaf --- /dev/null +++ b/src/libcamera/shared_mem_object.cpp @@ -0,0 +1,242 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2023 Raspberry Pi Ltd + * Copyright (C) 2024 Andrei Konovalov + * Copyright (C) 2024 Dennis Bonke + * Copyright (C) 2024 Ideas on Board Oy + * + * Helpers for shared memory allocations + */ + +#include "libcamera/internal/shared_mem_object.h" + +#include <stddef.h> +#include <stdint.h> +#include <sys/mman.h> +#include <sys/syscall.h> +#include <sys/types.h> +#include <unistd.h> + +/** + * \file shared_mem_object.cpp + * \brief Helpers for shared memory allocations + */ + +namespace libcamera { + +/** + * \class SharedMem + * \brief Helper class to allocate and manage memory shareable between processes + * + * SharedMem manages memory suitable for sharing between processes. When an + * instance is constructed, it allocates a memory buffer of the requested size + * backed by an anonymous file, using the memfd API. + * + * The allocated memory is exposed by the mem() function. If memory allocation + * fails, the function returns an empty Span. This can be also checked using the + * bool() operator. + * + * The file descriptor for the backing file is exposed as a SharedFD by the fd() + * function. It can be shared with other processes across IPC boundaries, which + * can then map the memory with mmap(). + * + * A single memfd is created for every SharedMem. If there is a need to allocate + * a large number of objects in shared memory, these objects should be grouped + * together and use the shared memory allocated by a single SharedMem object if + * possible. This will help to minimize the number of created memfd's. + */ + +SharedMem::SharedMem() = default; + +/** + * \brief Construct a SharedMem with memory of the given \a size + * \param[in] name Name of the SharedMem + * \param[in] size Size of the shared memory to allocate and map + * + * The \a name is used for debugging purpose only. Multiple SharedMem instances + * can have the same name. + */ +SharedMem::SharedMem(const std::string &name, std::size_t size) +{ +#if HAVE_MEMFD_CREATE + int fd = memfd_create(name.c_str(), MFD_CLOEXEC); +#else + int fd = syscall(SYS_memfd_create, name.c_str(), MFD_CLOEXEC); +#endif + if (fd < 0) + return; + + fd_ = SharedFD(std::move(fd)); + if (!fd_.isValid()) + return; + + if (ftruncate(fd_.get(), size) < 0) { + fd_ = SharedFD(); + return; + } + + void *mem = mmap(nullptr, size, PROT_READ | PROT_WRITE, MAP_SHARED, + fd_.get(), 0); + if (mem == MAP_FAILED) { + fd_ = SharedFD(); + return; + } + + mem_ = { static_cast<uint8_t *>(mem), size }; +} + +/** + * \brief Move constructor for SharedMem + * \param[in] rhs The object to move + */ +SharedMem::SharedMem(SharedMem &&rhs) +{ + this->fd_ = std::move(rhs.fd_); + this->mem_ = rhs.mem_; + rhs.mem_ = {}; +} + +/** + * \brief Destroy the SharedMem instance + * + * Destroying an instance invalidates the memory mapping exposed with mem(). + * Other mappings of the backing file, created in this or other processes with + * mmap(), remain valid. + * + * Similarly, other references to the backing file descriptor created by copying + * the SharedFD returned by fd() remain valid. The underlying memory will be + * freed only when all file descriptors that reference the anonymous file get + * closed. + */ +SharedMem::~SharedMem() +{ + if (!mem_.empty()) + munmap(mem_.data(), mem_.size_bytes()); +} + +/** + * \brief Move assignment operator for SharedMem + * \param[in] rhs The object to move + */ +SharedMem &SharedMem::operator=(SharedMem &&rhs) +{ + this->fd_ = std::move(rhs.fd_); + this->mem_ = rhs.mem_; + rhs.mem_ = {}; + return *this; +} + +/** + * \fn const SharedFD &SharedMem::fd() const + * \brief Retrieve the file descriptor for the underlying shared memory + * \return The file descriptor, or an invalid SharedFD if allocation failed + */ + +/** + * \fn Span<uint8_t> SharedMem::mem() const + * \brief Retrieve the underlying shared memory + * \return The memory buffer, or an empty Span if allocation failed + */ + +/** + * \fn SharedMem::operator bool() + * \brief Check if the shared memory allocation succeeded + * \return True if allocation of the shared memory succeeded, false otherwise + */ + +/** + * \class SharedMemObject + * \brief Helper class to allocate an object in shareable memory + * \tparam The object type + * + * The SharedMemObject class is a specialization of the SharedMem class that + * wraps an object of type \a T and constructs it in shareable memory. It uses + * the same underlying memory allocation and sharing mechanism as the SharedMem + * class. + * + * The wrapped object is constructed at the same time as the SharedMemObject + * instance, by forwarding the arguments passed to the SharedMemObject + * constructor. The underlying memory allocation is sized to the object \a T + * size. The bool() operator should be used to check the allocation was + * successful. The object can be accessed using the dereference operators + * operator*() and operator->(). + * + * While no restriction on the type \a T is enforced, not all types are suitable + * for sharing between multiple processes. Most notably, any object type that + * contains pointer or reference members will likely cause issues. Even if those + * members refer to other members of the same object, the shared memory will be + * mapped at different addresses in different processes, and the pointers will + * not be valid. + * + * A new anonymous file is created for every SharedMemObject instance. If there + * is a need to share a large number of small objects, these objects should be + * grouped into a single larger object to limit the number of file descriptors. + * + * To share the object with other processes, see the SharedMem documentation. + */ + +/** + * \var SharedMemObject::kSize + * \brief The size of the object stored in shared memory + */ + +/** + * \fn SharedMemObject::SharedMemObject(const std::string &name, Args &&...args) + * \brief Construct a SharedMemObject + * \param[in] name Name of the SharedMemObject + * \param[in] args Arguments to pass to the constructor of the object T + * + * The \a name is used for debugging purpose only. Multiple SharedMem instances + * can have the same name. + */ + +/** + * \fn SharedMemObject::SharedMemObject(SharedMemObject<T> &&rhs) + * \brief Move constructor for SharedMemObject + * \param[in] rhs The object to move + */ + +/** + * \fn SharedMemObject::~SharedMemObject() + * \brief Destroy the SharedMemObject instance + * + * Destroying a SharedMemObject calls the wrapped T object's destructor. While + * the underlying memory may not be freed immediately if other mappings have + * been created manually (see SharedMem::~SharedMem() for more information), the + * stored object may be modified. Depending on the ~T() destructor, accessing + * the object after destruction of the SharedMemObject causes undefined + * behaviour. It is the responsibility of the user of this class to synchronize + * with other users who have access to the shared object. + */ + +/** + * \fn SharedMemObject::operator=(SharedMemObject<T> &&rhs) + * \brief Move assignment operator for SharedMemObject + * \param[in] rhs The SharedMemObject object to take the data from + * + * Moving a SharedMemObject does not affect the stored object. + */ + +/** + * \fn SharedMemObject::operator->() + * \brief Dereference the stored object + * \return Pointer to the stored object + */ + +/** + * \fn const T *SharedMemObject::operator->() const + * \copydoc SharedMemObject::operator-> + */ + +/** + * \fn SharedMemObject::operator*() + * \brief Dereference the stored object + * \return Reference to the stored object + */ + +/** + * \fn const T &SharedMemObject::operator*() const + * \copydoc SharedMemObject::operator* + */ + +} /* namespace libcamera */ diff --git a/src/libcamera/software_isp/TODO b/src/libcamera/software_isp/TODO new file mode 100644 index 00000000..4fcee39b --- /dev/null +++ b/src/libcamera/software_isp/TODO @@ -0,0 +1,279 @@ +1. Setting F_SEAL_SHRINK and F_SEAL_GROW after ftruncate() + +>> SharedMem::SharedMem(const std::string &name, std::size_t size) +>> : name_(name), size_(size), mem_(nullptr) +>> +>> ... +>> +>> if (ftruncate(fd_.get(), size_) < 0) +>> return; +> +> Should we set the GROW and SHRINK seals (in a separate patch) ? + +Yes, this can be done. +Setting F_SEAL_SHRINK and F_SEAL_GROW after the ftruncate() call above could catch +some potential errors related to improper access to the shared memory allocated by +the SharedMemObject. + +--- + +2. Reconsider stats sharing + +>>> +void SwStatsCpu::finishFrame(void) +>>> +{ +>>> + *sharedStats_ = stats_; +>> +>> Is it more efficient to copy the stats instead of operating directly on +>> the shared memory ? +> +> I inherited doing things this way from Andrey. I kept this because +> we don't really have any synchronization with the IPA reading this. +> +> So the idea is to only touch this when the next set of statistics +> is ready since we don't know when the IPA is done with accessing +> the previous set of statistics ... +> +> This is both something which seems mostly a theoretic problem, +> yet also definitely something which I think we need to fix. +> +> Maybe use a ringbuffer of stats buffers and pass the index into +> the ringbuffer to the emit signal ? + +That would match how we deal with hardware ISPs, and I think that's a +good idea. It will help decoupling the processing side from the IPA. + +--- + +3. Remove statsReady signal + +> class SwStatsCpu +> { +> /** +> * \brief Signals that the statistics are ready +> */ +> Signal<> statsReady; + +But better, I wonder if the signal could be dropped completely. The +SwStatsCpu class does not operate asynchronously. Shouldn't whoever +calls the finishFrame() function then handle emitting the signal ? + +Now, the trouble is that this would be the DebayerCpu class, whose name +doesn't indicate as a prime candidate to handle stats. However, it +already exposes a getStatsFD() function, so we're already calling for +trouble :-) Either that should be moved to somewhere else, or the class +should be renamed. Considering that the class applies colour gains in +addition to performing the interpolation, it may be more of a naming +issue. + +Removing the signal and refactoring those classes doesn't have to be +addressed now, I think it would be part of a larger refactoring +(possibly also considering platforms that have no ISP but can produce +stats in hardware, such as the i.MX7), but please keep it on your radar. + +--- + +4. Hide internal representation of gains from callers + +> struct DebayerParams { +> static constexpr unsigned int kGain10 = 256; + +Forcing the caller to deal with the internal representation of gains +isn't nice, especially given that it precludes implementing gains of +different precisions in different backend. Wouldn't it be better to pass +the values as floating point numbers, and convert them to the internal +representation in the implementation of process() before using them ? + +--- + +5. Store ISP parameters in per-frame buffers + +> /** +> * \fn void Debayer::process(FrameBuffer *input, FrameBuffer *output, DebayerParams params) +> * \brief Process the bayer data into the requested format. +> * \param[in] input The input buffer. +> * \param[in] output The output buffer. +> * \param[in] params The parameters to be used in debayering. +> * +> * \note DebayerParams is passed by value deliberately so that a copy is passed +> * when this is run in another thread by invokeMethod(). +> */ + +Possibly something to address later, by storing ISP parameters in +per-frame buffers like we do for hardware ISPs. + +--- + +6. Input buffer copying configuration + +> DebayerCpu::DebayerCpu(std::unique_ptr<SwStatsCpu> stats) +> : stats_(std::move(stats)), gammaCorrection_(1.0) +> { +> enableInputMemcpy_ = true; + +Set this appropriately and/or make it configurable. + +--- + +7. Performance measurement configuration + +> void DebayerCpu::process(FrameBuffer *input, FrameBuffer *output, DebayerParams params) +> /* Measure before emitting signals */ +> if (measuredFrames_ < DebayerCpu::kLastFrameToMeasure && +> ++measuredFrames_ > DebayerCpu::kFramesToSkip) { +> timespec frameEndTime = {}; +> clock_gettime(CLOCK_MONOTONIC_RAW, &frameEndTime); +> frameProcessTime_ += timeDiff(frameEndTime, frameStartTime); +> if (measuredFrames_ == DebayerCpu::kLastFrameToMeasure) { +> const unsigned int measuredFrames = DebayerCpu::kLastFrameToMeasure - +> DebayerCpu::kFramesToSkip; +> LOG(Debayer, Info) +> << "Processed " << measuredFrames +> << " frames in " << frameProcessTime_ / 1000 << "us, " +> << frameProcessTime_ / (1000 * measuredFrames) +> << " us/frame"; +> } +> } + +I wonder if there would be a way to control at runtime when/how to +perform those measurements. Maybe that's a bit overkill. + +--- + +8. DebayerCpu cleanups + +> >> class DebayerCpu : public Debayer, public Object +> >> const SharedFD &getStatsFD() { return stats_->getStatsFD(); } +> > +> > This, +> +> Note the statistics pass-through stuff is sort of a necessary evil +> since we want one main loop going over the data line by line and +> doing both debayering as well as stats while the line is still +> hot in the l2 cache. And things like the process2() and process4() +> loops are highly CPU debayering specific so I don't think we should +> move those out of the CpuDebayer code. + +Yes, that I understood from the review. "necessary evil" is indeed the +right term :-) I expect it will take quite some design skills to balance +the need for performances and the need for a maintainable architecture. + +> > plus the fact that this class handles colour gains and gamma, +> > makes me thing we have either a naming issue, or an architecture issue. +> +> I agree that this does a bit more then debayering, although +> the debayering really is the main thing it does. +> +> I guess the calculation of the rgb lookup tables which do the +> color gains and gamma could be moved outside of this class, +> that might even be beneficial for GPU based debayering assuming +> that that is going to use rgb lookup tables too (it could +> implement actual color gains + gamma correction in some different +> way). +> +> I think this falls under the lets wait until we have a GPU +> based SoftISP MVP/POC and then do some refactoring to see which +> bits should go where. + +--- + +8. Decouple pipeline and IPA naming + +> The current src/ipa/meson.build assumes the IPA name to match the +> pipeline name. For this reason "-Dipas=simple" is used for the +> Soft IPA module. + +This should be addressed. + +--- + +9. Doxyfile cleanup + +>> diff --git a/Documentation/Doxyfile.in b/Documentation/Doxyfile.in +>> index a86ea6c1..2be8d47b 100644 +>> --- a/Documentation/Doxyfile.in +>> +++ b/Documentation/Doxyfile.in +>> @@ -44,6 +44,7 @@ EXCLUDE = @TOP_SRCDIR@/include/libcamera/base/span.h \ +>> @TOP_SRCDIR@/src/libcamera/pipeline/ \ +>> @TOP_SRCDIR@/src/libcamera/tracepoints.cpp \ +>> @TOP_BUILDDIR@/include/libcamera/internal/tracepoints.h \ +>> + @TOP_BUILDDIR@/include/libcamera/ipa/soft_ipa_interface.h \ +> Why is this needed ? +> +>> @TOP_BUILDDIR@/src/libcamera/proxy/ +>> EXCLUDE_PATTERNS = @TOP_BUILDDIR@/include/libcamera/ipa/*_serializer.h \ +>> diff --git a/include/libcamera/ipa/meson.build b/include/libcamera/ipa/meson.build +>> index f3b4881c..3352d08f 100644 +>> --- a/include/libcamera/ipa/meson.build +>> +++ b/include/libcamera/ipa/meson.build +>> @@ -65,6 +65,7 @@ pipeline_ipa_mojom_mapping = { +>> 'ipu3': 'ipu3.mojom', +>> 'rkisp1': 'rkisp1.mojom', +>> 'rpi/vc4': 'raspberrypi.mojom', +>> + 'simple': 'soft.mojom', +>> 'vimc': 'vimc.mojom', +>> } +>> diff --git a/include/libcamera/ipa/soft.mojom b/include/libcamera/ipa/soft.mojom +>> new file mode 100644 +>> index 00000000..c249bd75 +>> --- /dev/null +>> +++ b/include/libcamera/ipa/soft.mojom +>> @@ -0,0 +1,28 @@ +>> +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +>> + +>> +/* +>> + * \todo Document the interface and remove the related EXCLUDE_PATTERNS entry. +> Ah that's why. + +Yes, because, well... all the other IPAs were doing that... + +> It doesn't have to be done before merging, but could you +> address this sooner than later ? + +--- + +10. Switch to libipa/algorithm.h API in processStats + +>> void IPASoftSimple::processStats(const ControlList &sensorControls) +>> +> Do you envision switching to the libipa/algorithm.h API at some point ? + +At some point, yes. + +--- + +11. Improve handling the sensor controls which take effect with a delay + +> void IPASoftSimple::processStats(const ControlList &sensorControls) +> { +> ... +> /* +> * AE / AGC, use 2 frames delay to make sure that the exposure and +> * the gain set have applied to the camera sensor. +> */ +> if (ignore_updates_ > 0) { +> --ignore_updates_; +> return; +> } + +This could be handled better with DelayedControls. + +--- + +12. Use DelayedControls class in ispStatsReady() + +> void SimpleCameraData::ispStatsReady() +> { +> swIsp_->processStats(sensor_->getControls({ V4L2_CID_ANALOGUE_GAIN, +> V4L2_CID_EXPOSURE })); + +You should use the DelayedControls class. + +--- + +13. Improve black level and colour gains application + +I think the black level should eventually be moved before debayering, and +ideally the colour gains as well. I understand the need for optimizations to +lower the CPU consumption, but at the same time I don't feel comfortable +building up on top of an implementation that may work a bit more by chance than +by correctness, as that's not very maintainable. diff --git a/src/libcamera/software_isp/debayer.cpp b/src/libcamera/software_isp/debayer.cpp new file mode 100644 index 00000000..efe75ea8 --- /dev/null +++ b/src/libcamera/software_isp/debayer.cpp @@ -0,0 +1,132 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2023, Linaro Ltd + * Copyright (C) 2023, Red Hat Inc. + * + * Authors: + * Hans de Goede <hdegoede@redhat.com> + * + * debayer base class + */ + +#include "debayer.h" + +namespace libcamera { + +/** + * \struct DebayerParams + * \brief Struct to hold the debayer parameters. + */ + +/** + * \var DebayerParams::kGain10 + * \brief const value for 1.0 gain + */ + +/** + * \var DebayerParams::gainR + * \brief Red gain + * + * 128 = 0.5, 256 = 1.0, 512 = 2.0, etc. + */ + +/** + * \var DebayerParams::gainG + * \brief Green gain + * + * 128 = 0.5, 256 = 1.0, 512 = 2.0, etc. + */ + +/** + * \var DebayerParams::gainB + * \brief Blue gain + * + * 128 = 0.5, 256 = 1.0, 512 = 2.0, etc. + */ + +/** + * \var DebayerParams::gamma + * \brief Gamma correction, 1.0 is no correction + */ + +/** + * \class Debayer + * \brief Base debayering class + * + * Base class that provides functions for setting up the debayering process. + */ + +LOG_DEFINE_CATEGORY(Debayer) + +Debayer::~Debayer() +{ +} + +/** + * \fn int Debayer::configure(const StreamConfiguration &inputCfg, const std::vector<std::reference_wrapper<StreamConfiguration>> &outputCfgs) + * \brief Configure the debayer object according to the passed in parameters. + * \param[in] inputCfg The input configuration. + * \param[in] outputCfgs The output configurations. + * + * \return 0 on success, a negative errno on failure. + */ + +/** + * \fn Size Debayer::patternSize(PixelFormat inputFormat) + * \brief Get the width and height at which the bayer pattern repeats. + * \param[in] inputFormat The input format. + * + * Valid sizes are: 2x2, 4x2 or 4x4. + * + * \return Pattern size or an empty size for unsupported inputFormats. + */ + +/** + * \fn std::vector<PixelFormat> Debayer::formats(PixelFormat inputFormat) + * \brief Get the supported output formats. + * \param[in] inputFormat The input format. + * + * \return All supported output formats or an empty vector if there are none. + */ + +/** + * \fn std::tuple<unsigned int, unsigned int> Debayer::strideAndFrameSize(const PixelFormat &outputFormat, const Size &size) + * \brief Get the stride and the frame size. + * \param[in] outputFormat The output format. + * \param[in] size The output size. + * + * \return A tuple of the stride and the frame size, or a tuple with 0,0 if + * there is no valid output config. + */ + +/** + * \fn void Debayer::process(FrameBuffer *input, FrameBuffer *output, DebayerParams params) + * \brief Process the bayer data into the requested format. + * \param[in] input The input buffer. + * \param[in] output The output buffer. + * \param[in] params The parameters to be used in debayering. + * + * \note DebayerParams is passed by value deliberately so that a copy is passed + * when this is run in another thread by invokeMethod(). + */ + +/** + * \fn virtual SizeRange Debayer::sizes(PixelFormat inputFormat, const Size &inputSize) + * \brief Get the supported output sizes for the given input format and size. + * \param[in] inputFormat The input format. + * \param[in] inputSize The input size. + * + * \return The valid size ranges or an empty range if there are none. + */ + +/** + * \var Signal<FrameBuffer *> Debayer::inputBufferReady + * \brief Signals when the input buffer is ready. + */ + +/** + * \var Signal<FrameBuffer *> Debayer::outputBufferReady + * \brief Signals when the output buffer is ready. + */ + +} /* namespace libcamera */ diff --git a/src/libcamera/software_isp/debayer.h b/src/libcamera/software_isp/debayer.h new file mode 100644 index 00000000..c151fe5d --- /dev/null +++ b/src/libcamera/software_isp/debayer.h @@ -0,0 +1,54 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2023, Linaro Ltd + * Copyright (C) 2023, Red Hat Inc. + * + * Authors: + * Hans de Goede <hdegoede@redhat.com> + * + * debayering base class + */ + +#pragma once + +#include <stdint.h> + +#include <libcamera/base/log.h> +#include <libcamera/base/signal.h> + +#include <libcamera/geometry.h> +#include <libcamera/stream.h> + +#include "libcamera/internal/software_isp/debayer_params.h" + +namespace libcamera { + +class FrameBuffer; + +LOG_DECLARE_CATEGORY(Debayer) + +class Debayer +{ +public: + virtual ~Debayer() = 0; + + virtual int configure(const StreamConfiguration &inputCfg, + const std::vector<std::reference_wrapper<StreamConfiguration>> &outputCfgs) = 0; + + virtual std::vector<PixelFormat> formats(PixelFormat inputFormat) = 0; + + virtual std::tuple<unsigned int, unsigned int> + strideAndFrameSize(const PixelFormat &outputFormat, const Size &size) = 0; + + virtual void process(FrameBuffer *input, FrameBuffer *output, DebayerParams params) = 0; + + virtual SizeRange sizes(PixelFormat inputFormat, const Size &inputSize) = 0; + + Signal<FrameBuffer *> inputBufferReady; + Signal<FrameBuffer *> outputBufferReady; + +private: + virtual Size patternSize(PixelFormat inputFormat) = 0; +}; + +} /* namespace libcamera */ diff --git a/src/libcamera/software_isp/debayer_cpu.cpp b/src/libcamera/software_isp/debayer_cpu.cpp new file mode 100644 index 00000000..8254bbe9 --- /dev/null +++ b/src/libcamera/software_isp/debayer_cpu.cpp @@ -0,0 +1,807 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2023, Linaro Ltd + * Copyright (C) 2023, Red Hat Inc. + * + * Authors: + * Hans de Goede <hdegoede@redhat.com> + * + * CPU based debayering class + */ + +#include "debayer_cpu.h" + +#include <math.h> +#include <stdlib.h> +#include <time.h> + +#include <libcamera/formats.h> + +#include "libcamera/internal/bayer_format.h" +#include "libcamera/internal/framebuffer.h" +#include "libcamera/internal/mapped_framebuffer.h" + +namespace libcamera { + +/** + * \class DebayerCpu + * \brief Class for debayering on the CPU + * + * Implementation for CPU based debayering + */ + +/** + * \brief Constructs a DebayerCpu object + * \param[in] stats Pointer to the stats object to use + */ +DebayerCpu::DebayerCpu(std::unique_ptr<SwStatsCpu> stats) + : stats_(std::move(stats)), gammaCorrection_(1.0), blackLevel_(0) +{ + /* + * Reading from uncached buffers may be very slow. + * In such a case, it's better to copy input buffer data to normal memory. + * But in case of cached buffers, copying the data is unnecessary overhead. + * enable_input_memcpy_ makes this behavior configurable. At the moment, we + * always set it to true as the safer choice but this should be changed in + * future. + */ + enableInputMemcpy_ = true; + + /* Initialize gamma to 1.0 curve */ + for (unsigned int i = 0; i < kGammaLookupSize; i++) + gamma_[i] = i / (kGammaLookupSize / kRGBLookupSize); + + for (unsigned int i = 0; i < kMaxLineBuffers; i++) + lineBuffers_[i] = nullptr; +} + +DebayerCpu::~DebayerCpu() +{ + for (unsigned int i = 0; i < kMaxLineBuffers; i++) + free(lineBuffers_[i]); +} + +#define DECLARE_SRC_POINTERS(pixel_t) \ + const pixel_t *prev = (const pixel_t *)src[0] + xShift_; \ + const pixel_t *curr = (const pixel_t *)src[1] + xShift_; \ + const pixel_t *next = (const pixel_t *)src[2] + xShift_; + +/* + * 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))]; \ + x++; + +/* + * 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))]; \ + x++; + +/* + * 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))]; \ + x++; + +/* + * 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)]; \ + x++; + +void DebayerCpu::debayer8_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]) +{ + DECLARE_SRC_POINTERS(uint8_t) + + for (int x = 0; x < (int)window_.width;) { + BGGR_BGR888(1, 1, 1) + GBRG_BGR888(1, 1, 1) + } +} + +void DebayerCpu::debayer8_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]) +{ + DECLARE_SRC_POINTERS(uint8_t) + + for (int x = 0; x < (int)window_.width;) { + GRBG_BGR888(1, 1, 1) + RGGB_BGR888(1, 1, 1) + } +} + +void DebayerCpu::debayer10_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]) +{ + DECLARE_SRC_POINTERS(uint16_t) + + for (int x = 0; x < (int)window_.width;) { + /* divide values by 4 for 10 -> 8 bpp value */ + BGGR_BGR888(1, 1, 4) + GBRG_BGR888(1, 1, 4) + } +} + +void DebayerCpu::debayer10_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]) +{ + DECLARE_SRC_POINTERS(uint16_t) + + for (int x = 0; x < (int)window_.width;) { + /* divide values by 4 for 10 -> 8 bpp value */ + GRBG_BGR888(1, 1, 4) + RGGB_BGR888(1, 1, 4) + } +} + +void DebayerCpu::debayer12_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]) +{ + DECLARE_SRC_POINTERS(uint16_t) + + for (int x = 0; x < (int)window_.width;) { + /* divide values by 16 for 12 -> 8 bpp value */ + BGGR_BGR888(1, 1, 16) + GBRG_BGR888(1, 1, 16) + } +} + +void DebayerCpu::debayer12_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]) +{ + DECLARE_SRC_POINTERS(uint16_t) + + for (int x = 0; x < (int)window_.width;) { + /* divide values by 16 for 12 -> 8 bpp value */ + GRBG_BGR888(1, 1, 16) + RGGB_BGR888(1, 1, 16) + } +} + +void DebayerCpu::debayer10P_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]) +{ + const int widthInBytes = window_.width * 5 / 4; + const uint8_t *prev = src[0]; + const uint8_t *curr = src[1]; + const uint8_t *next = src[2]; + + /* + * For the first pixel getting a pixel from the previous column uses + * x - 2 to skip the 5th byte with least-significant bits for 4 pixels. + * Same for last pixel (uses x + 2) and looking at the next column. + */ + for (int x = 0; x < widthInBytes;) { + /* First pixel */ + BGGR_BGR888(2, 1, 1) + /* Second pixel BGGR -> GBRG */ + GBRG_BGR888(1, 1, 1) + /* Same thing for third and fourth pixels */ + BGGR_BGR888(1, 1, 1) + GBRG_BGR888(1, 2, 1) + /* Skip 5th src byte with 4 x 2 least-significant-bits */ + x++; + } +} + +void DebayerCpu::debayer10P_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]) +{ + const int widthInBytes = window_.width * 5 / 4; + const uint8_t *prev = src[0]; + const uint8_t *curr = src[1]; + const uint8_t *next = src[2]; + + for (int x = 0; x < widthInBytes;) { + /* First pixel */ + GRBG_BGR888(2, 1, 1) + /* Second pixel GRBG -> RGGB */ + RGGB_BGR888(1, 1, 1) + /* Same thing for third and fourth pixels */ + GRBG_BGR888(1, 1, 1) + RGGB_BGR888(1, 2, 1) + /* Skip 5th src byte with 4 x 2 least-significant-bits */ + x++; + } +} + +void DebayerCpu::debayer10P_GBGB_BGR888(uint8_t *dst, const uint8_t *src[]) +{ + const int widthInBytes = window_.width * 5 / 4; + const uint8_t *prev = src[0]; + const uint8_t *curr = src[1]; + const uint8_t *next = src[2]; + + for (int x = 0; x < widthInBytes;) { + /* Even pixel */ + GBRG_BGR888(2, 1, 1) + /* Odd pixel GBGR -> BGGR */ + BGGR_BGR888(1, 1, 1) + /* Same thing for next 2 pixels */ + GBRG_BGR888(1, 1, 1) + BGGR_BGR888(1, 2, 1) + /* Skip 5th src byte with 4 x 2 least-significant-bits */ + x++; + } +} + +void DebayerCpu::debayer10P_RGRG_BGR888(uint8_t *dst, const uint8_t *src[]) +{ + const int widthInBytes = window_.width * 5 / 4; + const uint8_t *prev = src[0]; + const uint8_t *curr = src[1]; + const uint8_t *next = src[2]; + + for (int x = 0; x < widthInBytes;) { + /* Even pixel */ + RGGB_BGR888(2, 1, 1) + /* Odd pixel RGGB -> GRBG */ + GRBG_BGR888(1, 1, 1) + /* Same thing for next 2 pixels */ + RGGB_BGR888(1, 1, 1) + GRBG_BGR888(1, 2, 1) + /* Skip 5th src byte with 4 x 2 least-significant-bits */ + x++; + } +} + +static bool isStandardBayerOrder(BayerFormat::Order order) +{ + return order == BayerFormat::BGGR || order == BayerFormat::GBRG || + order == BayerFormat::GRBG || order == BayerFormat::RGGB; +} + +/* + * Setup the Debayer object according to the passed in parameters. + * Return 0 on success, a negative errno value on failure + * (unsupported parameters). + */ +int DebayerCpu::getInputConfig(PixelFormat inputFormat, DebayerInputConfig &config) +{ + BayerFormat bayerFormat = + BayerFormat::fromPixelFormat(inputFormat); + + if ((bayerFormat.bitDepth == 8 || bayerFormat.bitDepth == 10 || bayerFormat.bitDepth == 12) && + bayerFormat.packing == BayerFormat::Packing::None && + isStandardBayerOrder(bayerFormat.order)) { + config.bpp = (bayerFormat.bitDepth + 7) & ~7; + config.patternSize.width = 2; + config.patternSize.height = 2; + config.outputFormats = std::vector<PixelFormat>({ formats::RGB888, formats::BGR888 }); + return 0; + } + + if (bayerFormat.bitDepth == 10 && + bayerFormat.packing == BayerFormat::Packing::CSI2 && + isStandardBayerOrder(bayerFormat.order)) { + config.bpp = 10; + config.patternSize.width = 4; /* 5 bytes per *4* pixels */ + config.patternSize.height = 2; + config.outputFormats = std::vector<PixelFormat>({ formats::RGB888, formats::BGR888 }); + return 0; + } + + LOG(Debayer, Info) + << "Unsupported input format " << inputFormat.toString(); + return -EINVAL; +} + +int DebayerCpu::getOutputConfig(PixelFormat outputFormat, DebayerOutputConfig &config) +{ + if (outputFormat == formats::RGB888 || outputFormat == formats::BGR888) { + config.bpp = 24; + return 0; + } + + LOG(Debayer, Info) + << "Unsupported output format " << outputFormat.toString(); + return -EINVAL; +} + +/* + * Check for standard Bayer orders and set xShift_ and swap debayer0/1, so that + * a single pair of BGGR debayer functions can be used for all 4 standard orders. + */ +int DebayerCpu::setupStandardBayerOrder(BayerFormat::Order order) +{ + switch (order) { + case BayerFormat::BGGR: + break; + case BayerFormat::GBRG: + xShift_ = 1; /* BGGR -> GBRG */ + break; + case BayerFormat::GRBG: + std::swap(debayer0_, debayer1_); /* BGGR -> GRBG */ + break; + case BayerFormat::RGGB: + xShift_ = 1; /* BGGR -> GBRG */ + std::swap(debayer0_, debayer1_); /* GBRG -> RGGB */ + break; + default: + return -EINVAL; + } + + return 0; +} + +int DebayerCpu::setDebayerFunctions(PixelFormat inputFormat, PixelFormat outputFormat) +{ + BayerFormat bayerFormat = + BayerFormat::fromPixelFormat(inputFormat); + + xShift_ = 0; + swapRedBlueGains_ = false; + + auto invalidFmt = []() -> int { + LOG(Debayer, Error) << "Unsupported input output format combination"; + return -EINVAL; + }; + + switch (outputFormat) { + case formats::RGB888: + break; + case formats::BGR888: + /* Swap R and B in bayer order to generate BGR888 instead of RGB888 */ + swapRedBlueGains_ = true; + + switch (bayerFormat.order) { + case BayerFormat::BGGR: + bayerFormat.order = BayerFormat::RGGB; + break; + case BayerFormat::GBRG: + bayerFormat.order = BayerFormat::GRBG; + break; + case BayerFormat::GRBG: + bayerFormat.order = BayerFormat::GBRG; + break; + case BayerFormat::RGGB: + bayerFormat.order = BayerFormat::BGGR; + break; + default: + return invalidFmt(); + } + break; + default: + return invalidFmt(); + } + + if ((bayerFormat.bitDepth == 8 || bayerFormat.bitDepth == 10 || bayerFormat.bitDepth == 12) && + bayerFormat.packing == BayerFormat::Packing::None && + isStandardBayerOrder(bayerFormat.order)) { + switch (bayerFormat.bitDepth) { + case 8: + debayer0_ = &DebayerCpu::debayer8_BGBG_BGR888; + debayer1_ = &DebayerCpu::debayer8_GRGR_BGR888; + break; + case 10: + debayer0_ = &DebayerCpu::debayer10_BGBG_BGR888; + debayer1_ = &DebayerCpu::debayer10_GRGR_BGR888; + break; + case 12: + debayer0_ = &DebayerCpu::debayer12_BGBG_BGR888; + debayer1_ = &DebayerCpu::debayer12_GRGR_BGR888; + break; + } + setupStandardBayerOrder(bayerFormat.order); + return 0; + } + + if (bayerFormat.bitDepth == 10 && + bayerFormat.packing == BayerFormat::Packing::CSI2) { + switch (bayerFormat.order) { + case BayerFormat::BGGR: + debayer0_ = &DebayerCpu::debayer10P_BGBG_BGR888; + debayer1_ = &DebayerCpu::debayer10P_GRGR_BGR888; + return 0; + case BayerFormat::GBRG: + debayer0_ = &DebayerCpu::debayer10P_GBGB_BGR888; + debayer1_ = &DebayerCpu::debayer10P_RGRG_BGR888; + return 0; + case BayerFormat::GRBG: + debayer0_ = &DebayerCpu::debayer10P_GRGR_BGR888; + debayer1_ = &DebayerCpu::debayer10P_BGBG_BGR888; + return 0; + case BayerFormat::RGGB: + debayer0_ = &DebayerCpu::debayer10P_RGRG_BGR888; + debayer1_ = &DebayerCpu::debayer10P_GBGB_BGR888; + return 0; + default: + break; + } + } + + return invalidFmt(); +} + +int DebayerCpu::configure(const StreamConfiguration &inputCfg, + const std::vector<std::reference_wrapper<StreamConfiguration>> &outputCfgs) +{ + if (getInputConfig(inputCfg.pixelFormat, inputConfig_) != 0) + return -EINVAL; + + if (stats_->configure(inputCfg) != 0) + return -EINVAL; + + const Size &statsPatternSize = stats_->patternSize(); + if (inputConfig_.patternSize.width != statsPatternSize.width || + inputConfig_.patternSize.height != statsPatternSize.height) { + LOG(Debayer, Error) + << "mismatching stats and debayer pattern sizes for " + << inputCfg.pixelFormat.toString(); + return -EINVAL; + } + + inputConfig_.stride = inputCfg.stride; + + if (outputCfgs.size() != 1) { + LOG(Debayer, Error) + << "Unsupported number of output streams: " + << outputCfgs.size(); + return -EINVAL; + } + + const StreamConfiguration &outputCfg = outputCfgs[0]; + SizeRange outSizeRange = sizes(inputCfg.pixelFormat, inputCfg.size); + std::tie(outputConfig_.stride, outputConfig_.frameSize) = + strideAndFrameSize(outputCfg.pixelFormat, outputCfg.size); + + if (!outSizeRange.contains(outputCfg.size) || outputConfig_.stride != outputCfg.stride) { + LOG(Debayer, Error) + << "Invalid output size/stride: " + << "\n " << outputCfg.size << " (" << outSizeRange << ")" + << "\n " << outputCfg.stride << " (" << outputConfig_.stride << ")"; + return -EINVAL; + } + + if (setDebayerFunctions(inputCfg.pixelFormat, outputCfg.pixelFormat) != 0) + return -EINVAL; + + window_.x = ((inputCfg.size.width - outputCfg.size.width) / 2) & + ~(inputConfig_.patternSize.width - 1); + window_.y = ((inputCfg.size.height - outputCfg.size.height) / 2) & + ~(inputConfig_.patternSize.height - 1); + window_.width = outputCfg.size.width; + window_.height = outputCfg.size.height; + + /* Don't pass x,y since process() already adjusts src before passing it */ + stats_->setWindow(Rectangle(window_.size())); + + /* pad with patternSize.Width on both left and right side */ + lineBufferPadding_ = inputConfig_.patternSize.width * inputConfig_.bpp / 8; + lineBufferLength_ = window_.width * inputConfig_.bpp / 8 + + 2 * lineBufferPadding_; + for (unsigned int i = 0; + i < (inputConfig_.patternSize.height + 1) && enableInputMemcpy_; + i++) { + free(lineBuffers_[i]); + lineBuffers_[i] = (uint8_t *)malloc(lineBufferLength_); + if (!lineBuffers_[i]) + return -ENOMEM; + } + + measuredFrames_ = 0; + frameProcessTime_ = 0; + + return 0; +} + +/* + * Get width and height at which the bayer-pattern repeats. + * Return pattern-size or an empty Size for an unsupported inputFormat. + */ +Size DebayerCpu::patternSize(PixelFormat inputFormat) +{ + DebayerCpu::DebayerInputConfig config; + + if (getInputConfig(inputFormat, config) != 0) + return {}; + + return config.patternSize; +} + +std::vector<PixelFormat> DebayerCpu::formats(PixelFormat inputFormat) +{ + DebayerCpu::DebayerInputConfig config; + + if (getInputConfig(inputFormat, config) != 0) + return std::vector<PixelFormat>(); + + return config.outputFormats; +} + +std::tuple<unsigned int, unsigned int> +DebayerCpu::strideAndFrameSize(const PixelFormat &outputFormat, const Size &size) +{ + DebayerCpu::DebayerOutputConfig config; + + if (getOutputConfig(outputFormat, config) != 0) + return std::make_tuple(0, 0); + + /* round up to multiple of 8 for 64 bits alignment */ + unsigned int stride = (size.width * config.bpp / 8 + 7) & ~7; + + return std::make_tuple(stride, stride * size.height); +} + +void DebayerCpu::setupInputMemcpy(const uint8_t *linePointers[]) +{ + const unsigned int patternHeight = inputConfig_.patternSize.height; + + if (!enableInputMemcpy_) + return; + + for (unsigned int i = 0; i < patternHeight; i++) { + memcpy(lineBuffers_[i], linePointers[i + 1] - lineBufferPadding_, + lineBufferLength_); + linePointers[i + 1] = lineBuffers_[i] + lineBufferPadding_; + } + + /* Point lineBufferIndex_ to first unused lineBuffer */ + lineBufferIndex_ = patternHeight; +} + +void DebayerCpu::shiftLinePointers(const uint8_t *linePointers[], const uint8_t *src) +{ + const unsigned int patternHeight = inputConfig_.patternSize.height; + + for (unsigned int i = 0; i < patternHeight; i++) + linePointers[i] = linePointers[i + 1]; + + linePointers[patternHeight] = src + + (patternHeight / 2) * (int)inputConfig_.stride; +} + +void DebayerCpu::memcpyNextLine(const uint8_t *linePointers[]) +{ + const unsigned int patternHeight = inputConfig_.patternSize.height; + + if (!enableInputMemcpy_) + return; + + memcpy(lineBuffers_[lineBufferIndex_], linePointers[patternHeight] - lineBufferPadding_, + lineBufferLength_); + linePointers[patternHeight] = lineBuffers_[lineBufferIndex_] + lineBufferPadding_; + + lineBufferIndex_ = (lineBufferIndex_ + 1) % (patternHeight + 1); +} + +void DebayerCpu::process2(const uint8_t *src, uint8_t *dst) +{ + unsigned int yEnd = window_.y + window_.height; + /* Holds [0] previous- [1] current- [2] next-line */ + const uint8_t *linePointers[3]; + + /* Adjust src to top left corner of the window */ + src += window_.y * inputConfig_.stride + window_.x * inputConfig_.bpp / 8; + + /* [x] becomes [x - 1] after initial shiftLinePointers() call */ + if (window_.y) { + linePointers[1] = src - inputConfig_.stride; /* previous-line */ + linePointers[2] = src; + } else { + /* window_.y == 0, use the next line as prev line */ + linePointers[1] = src + inputConfig_.stride; + linePointers[2] = src; + /* Last 2 lines also need special handling */ + yEnd -= 2; + } + + setupInputMemcpy(linePointers); + + for (unsigned int y = window_.y; y < yEnd; y += 2) { + shiftLinePointers(linePointers, src); + memcpyNextLine(linePointers); + stats_->processLine0(y, linePointers); + (this->*debayer0_)(dst, linePointers); + src += inputConfig_.stride; + dst += outputConfig_.stride; + + shiftLinePointers(linePointers, src); + memcpyNextLine(linePointers); + (this->*debayer1_)(dst, linePointers); + src += inputConfig_.stride; + dst += outputConfig_.stride; + } + + if (window_.y == 0) { + shiftLinePointers(linePointers, src); + memcpyNextLine(linePointers); + stats_->processLine0(yEnd, linePointers); + (this->*debayer0_)(dst, linePointers); + src += inputConfig_.stride; + dst += outputConfig_.stride; + + shiftLinePointers(linePointers, src); + /* next line may point outside of src, use prev. */ + linePointers[2] = linePointers[0]; + (this->*debayer1_)(dst, linePointers); + src += inputConfig_.stride; + dst += outputConfig_.stride; + } +} + +void DebayerCpu::process4(const uint8_t *src, uint8_t *dst) +{ + const unsigned int yEnd = window_.y + window_.height; + /* + * This holds pointers to [0] 2-lines-up [1] 1-line-up [2] current-line + * [3] 1-line-down [4] 2-lines-down. + */ + const uint8_t *linePointers[5]; + + /* Adjust src to top left corner of the window */ + src += window_.y * inputConfig_.stride + window_.x * inputConfig_.bpp / 8; + + /* [x] becomes [x - 1] after initial shiftLinePointers() call */ + linePointers[1] = src - 2 * inputConfig_.stride; + linePointers[2] = src - inputConfig_.stride; + linePointers[3] = src; + linePointers[4] = src + inputConfig_.stride; + + setupInputMemcpy(linePointers); + + for (unsigned int y = window_.y; y < yEnd; y += 4) { + shiftLinePointers(linePointers, src); + memcpyNextLine(linePointers); + stats_->processLine0(y, linePointers); + (this->*debayer0_)(dst, linePointers); + src += inputConfig_.stride; + dst += outputConfig_.stride; + + shiftLinePointers(linePointers, src); + memcpyNextLine(linePointers); + (this->*debayer1_)(dst, linePointers); + src += inputConfig_.stride; + dst += outputConfig_.stride; + + shiftLinePointers(linePointers, src); + memcpyNextLine(linePointers); + stats_->processLine2(y, linePointers); + (this->*debayer2_)(dst, linePointers); + src += inputConfig_.stride; + dst += outputConfig_.stride; + + shiftLinePointers(linePointers, src); + memcpyNextLine(linePointers); + (this->*debayer3_)(dst, linePointers); + src += inputConfig_.stride; + dst += outputConfig_.stride; + } +} + +static inline int64_t timeDiff(timespec &after, timespec &before) +{ + return (after.tv_sec - before.tv_sec) * 1000000000LL + + (int64_t)after.tv_nsec - (int64_t)before.tv_nsec; +} + +void DebayerCpu::process(FrameBuffer *input, FrameBuffer *output, DebayerParams params) +{ + timespec frameStartTime; + + if (measuredFrames_ < DebayerCpu::kLastFrameToMeasure) { + frameStartTime = {}; + clock_gettime(CLOCK_MONOTONIC_RAW, &frameStartTime); + } + + /* Apply DebayerParams */ + if (params.gamma != gammaCorrection_ || params.blackLevel != blackLevel_) { + const unsigned int blackIndex = + params.blackLevel * kGammaLookupSize / 256; + std::fill(gamma_.begin(), gamma_.begin() + blackIndex, 0); + const float divisor = kGammaLookupSize - blackIndex - 1.0; + for (unsigned int i = blackIndex; i < kGammaLookupSize; i++) + gamma_[i] = UINT8_MAX * powf((i - blackIndex) / divisor, params.gamma); + + gammaCorrection_ = params.gamma; + blackLevel_ = params.blackLevel; + } + + if (swapRedBlueGains_) + std::swap(params.gainR, params.gainB); + + for (unsigned int i = 0; i < kRGBLookupSize; i++) { + constexpr unsigned int div = + kRGBLookupSize * DebayerParams::kGain10 / kGammaLookupSize; + unsigned int idx; + + /* Apply gamma after gain! */ + idx = std::min({ i * params.gainR / div, (kGammaLookupSize - 1) }); + red_[i] = gamma_[idx]; + + idx = std::min({ i * params.gainG / div, (kGammaLookupSize - 1) }); + green_[i] = gamma_[idx]; + + idx = std::min({ i * params.gainB / div, (kGammaLookupSize - 1) }); + blue_[i] = gamma_[idx]; + } + + /* Copy metadata from the input buffer */ + FrameMetadata &metadata = output->_d()->metadata(); + metadata.status = input->metadata().status; + metadata.sequence = input->metadata().sequence; + metadata.timestamp = input->metadata().timestamp; + + MappedFrameBuffer in(input, MappedFrameBuffer::MapFlag::Read); + MappedFrameBuffer out(output, MappedFrameBuffer::MapFlag::Write); + if (!in.isValid() || !out.isValid()) { + LOG(Debayer, Error) << "mmap-ing buffer(s) failed"; + metadata.status = FrameMetadata::FrameError; + return; + } + + stats_->startFrame(); + + if (inputConfig_.patternSize.height == 2) + process2(in.planes()[0].data(), out.planes()[0].data()); + else + process4(in.planes()[0].data(), out.planes()[0].data()); + + metadata.planes()[0].bytesused = out.planes()[0].size(); + + /* Measure before emitting signals */ + if (measuredFrames_ < DebayerCpu::kLastFrameToMeasure && + ++measuredFrames_ > DebayerCpu::kFramesToSkip) { + timespec frameEndTime = {}; + clock_gettime(CLOCK_MONOTONIC_RAW, &frameEndTime); + frameProcessTime_ += timeDiff(frameEndTime, frameStartTime); + if (measuredFrames_ == DebayerCpu::kLastFrameToMeasure) { + const unsigned int measuredFrames = DebayerCpu::kLastFrameToMeasure - + DebayerCpu::kFramesToSkip; + LOG(Debayer, Info) + << "Processed " << measuredFrames + << " frames in " << frameProcessTime_ / 1000 << "us, " + << frameProcessTime_ / (1000 * measuredFrames) + << " us/frame"; + } + } + + stats_->finishFrame(); + outputBufferReady.emit(output); + inputBufferReady.emit(input); +} + +SizeRange DebayerCpu::sizes(PixelFormat inputFormat, const Size &inputSize) +{ + Size patternSize = this->patternSize(inputFormat); + unsigned int borderHeight = patternSize.height; + + if (patternSize.isNull()) + return {}; + + /* No need for top/bottom border with a pattern height of 2 */ + if (patternSize.height == 2) + borderHeight = 0; + + /* + * For debayer interpolation a border is kept around the entire image + * and the minimum output size is pattern-height x pattern-width. + */ + if (inputSize.width < (3 * patternSize.width) || + inputSize.height < (2 * borderHeight + patternSize.height)) { + LOG(Debayer, Warning) + << "Input format size too small: " << inputSize.toString(); + return {}; + } + + return SizeRange(Size(patternSize.width, patternSize.height), + Size((inputSize.width - 2 * patternSize.width) & ~(patternSize.width - 1), + (inputSize.height - 2 * borderHeight) & ~(patternSize.height - 1)), + patternSize.width, patternSize.height); +} + +} /* namespace libcamera */ diff --git a/src/libcamera/software_isp/debayer_cpu.h b/src/libcamera/software_isp/debayer_cpu.h new file mode 100644 index 00000000..de216fe3 --- /dev/null +++ b/src/libcamera/software_isp/debayer_cpu.h @@ -0,0 +1,158 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2023, Linaro Ltd + * Copyright (C) 2023, Red Hat Inc. + * + * Authors: + * Hans de Goede <hdegoede@redhat.com> + * + * CPU based debayering header + */ + +#pragma once + +#include <memory> +#include <stdint.h> +#include <vector> + +#include <libcamera/base/object.h> + +#include "libcamera/internal/bayer_format.h" + +#include "debayer.h" +#include "swstats_cpu.h" + +namespace libcamera { + +class DebayerCpu : public Debayer, public Object +{ +public: + DebayerCpu(std::unique_ptr<SwStatsCpu> stats); + ~DebayerCpu(); + + int configure(const StreamConfiguration &inputCfg, + const std::vector<std::reference_wrapper<StreamConfiguration>> &outputCfgs); + Size patternSize(PixelFormat inputFormat); + std::vector<PixelFormat> formats(PixelFormat input); + std::tuple<unsigned int, unsigned int> + strideAndFrameSize(const PixelFormat &outputFormat, const Size &size); + void process(FrameBuffer *input, FrameBuffer *output, DebayerParams params); + SizeRange sizes(PixelFormat inputFormat, const Size &inputSize); + + /** + * \brief Get the file descriptor for the statistics + * + * \return the file descriptor pointing to the statistics + */ + const SharedFD &getStatsFD() { return stats_->getStatsFD(); } + + /** + * \brief Get the output frame size + * + * \return The output frame size + */ + unsigned int frameSize() { return outputConfig_.frameSize; } + +private: + /** + * \brief Called to debayer 1 line of Bayer input data to output format + * \param[out] dst Pointer to the start of the output line to write + * \param[in] src The input data + * + * Input data is an array of (patternSize_.height + 1) src + * pointers each pointing to a line in the Bayer source. The middle + * element of the array will point to the actual line being processed. + * Earlier element(s) will point to the previous line(s) and later + * element(s) to the next line(s). + * + * These functions take an array of src pointers, rather than + * a single src pointer + a stride for the source, so that when the src + * is slow uncached memory it can be copied to faster memory before + * debayering. Debayering a standard 2x2 Bayer pattern requires access + * to the previous and next src lines for interpolating the missing + * colors. To allow copying the src lines only once 3 temporary buffers + * each holding a single line are used, re-using the oldest buffer for + * the next line and the pointers are swizzled so that: + * src[0] = previous-line, src[1] = currrent-line, src[2] = next-line. + * This way the 3 pointers passed to the debayer functions form + * a sliding window over the src avoiding the need to copy each + * line more than once. + * + * Similarly for bayer patterns which repeat every 4 lines, 5 src + * pointers are passed holding: src[0] = 2-lines-up, src[1] = 1-line-up + * src[2] = current-line, src[3] = 1-line-down, src[4] = 2-lines-down. + */ + using debayerFn = void (DebayerCpu::*)(uint8_t *dst, const uint8_t *src[]); + + /* 8-bit raw bayer format */ + void debayer8_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]); + void debayer8_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]); + /* unpacked 10-bit raw bayer format */ + void debayer10_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]); + void debayer10_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]); + /* unpacked 12-bit raw bayer format */ + void debayer12_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]); + void debayer12_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]); + /* CSI-2 packed 10-bit raw bayer format (all the 4 orders) */ + void debayer10P_BGBG_BGR888(uint8_t *dst, const uint8_t *src[]); + void debayer10P_GRGR_BGR888(uint8_t *dst, const uint8_t *src[]); + void debayer10P_GBGB_BGR888(uint8_t *dst, const uint8_t *src[]); + void debayer10P_RGRG_BGR888(uint8_t *dst, const uint8_t *src[]); + + struct DebayerInputConfig { + Size patternSize; + unsigned int bpp; /* Memory used per pixel, not precision */ + unsigned int stride; + std::vector<PixelFormat> outputFormats; + }; + + struct DebayerOutputConfig { + unsigned int bpp; /* Memory used per pixel, not precision */ + unsigned int stride; + unsigned int frameSize; + }; + + int getInputConfig(PixelFormat inputFormat, DebayerInputConfig &config); + int getOutputConfig(PixelFormat outputFormat, DebayerOutputConfig &config); + int setupStandardBayerOrder(BayerFormat::Order order); + int setDebayerFunctions(PixelFormat inputFormat, PixelFormat outputFormat); + void setupInputMemcpy(const uint8_t *linePointers[]); + void shiftLinePointers(const uint8_t *linePointers[], const uint8_t *src); + void memcpyNextLine(const uint8_t *linePointers[]); + void process2(const uint8_t *src, uint8_t *dst); + void process4(const uint8_t *src, uint8_t *dst); + + static constexpr unsigned int kGammaLookupSize = 1024; + static constexpr unsigned int kRGBLookupSize = 256; + /* Max. supported Bayer pattern height is 4, debayering this requires 5 lines */ + static constexpr unsigned int kMaxLineBuffers = 5; + + std::array<uint8_t, kGammaLookupSize> gamma_; + std::array<uint8_t, kRGBLookupSize> red_; + std::array<uint8_t, kRGBLookupSize> green_; + std::array<uint8_t, kRGBLookupSize> blue_; + debayerFn debayer0_; + debayerFn debayer1_; + debayerFn debayer2_; + debayerFn debayer3_; + Rectangle window_; + DebayerInputConfig inputConfig_; + DebayerOutputConfig outputConfig_; + std::unique_ptr<SwStatsCpu> stats_; + uint8_t *lineBuffers_[kMaxLineBuffers]; + unsigned int lineBufferLength_; + unsigned int lineBufferPadding_; + unsigned int lineBufferIndex_; + unsigned int xShift_; /* Offset of 0/1 applied to window_.x */ + bool enableInputMemcpy_; + bool swapRedBlueGains_; + float gammaCorrection_; + unsigned int blackLevel_; + unsigned int measuredFrames_; + int64_t frameProcessTime_; + /* Skip 30 frames for things to stabilize then measure 30 frames */ + static constexpr unsigned int kFramesToSkip = 30; + static constexpr unsigned int kLastFrameToMeasure = 60; +}; + +} /* namespace libcamera */ diff --git a/src/libcamera/software_isp/meson.build b/src/libcamera/software_isp/meson.build new file mode 100644 index 00000000..f7c66e28 --- /dev/null +++ b/src/libcamera/software_isp/meson.build @@ -0,0 +1,15 @@ +# SPDX-License-Identifier: CC0-1.0 + +softisp_enabled = pipelines.contains('simple') +summary({'SoftISP support' : softisp_enabled}, section : 'Configuration') + +if not softisp_enabled + subdir_done() +endif + +libcamera_sources += files([ + 'debayer.cpp', + 'debayer_cpu.cpp', + 'software_isp.cpp', + 'swstats_cpu.cpp', +]) diff --git a/src/libcamera/software_isp/software_isp.cpp b/src/libcamera/software_isp/software_isp.cpp new file mode 100644 index 00000000..c9b6be56 --- /dev/null +++ b/src/libcamera/software_isp/software_isp.cpp @@ -0,0 +1,357 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2023, Linaro Ltd + * + * Simple software ISP implementation + */ + +#include "libcamera/internal/software_isp/software_isp.h" + +#include <sys/mman.h> +#include <sys/types.h> +#include <unistd.h> + +#include <libcamera/formats.h> +#include <libcamera/stream.h> + +#include "libcamera/internal/bayer_format.h" +#include "libcamera/internal/framebuffer.h" +#include "libcamera/internal/ipa_manager.h" +#include "libcamera/internal/mapped_framebuffer.h" + +#include "debayer_cpu.h" + +/** + * \file software_isp.cpp + * \brief Simple software ISP implementation + */ + +namespace libcamera { + +LOG_DEFINE_CATEGORY(SoftwareIsp) + +/** + * \class SoftwareIsp + * \brief Class for the Software ISP + */ + +/** + * \var SoftwareIsp::inputBufferReady + * \brief A signal emitted when the input frame buffer completes + */ + +/** + * \var SoftwareIsp::outputBufferReady + * \brief A signal emitted when the output frame buffer completes + */ + +/** + * \var SoftwareIsp::ispStatsReady + * \brief A signal emitted when the statistics for IPA are ready + */ + +/** + * \var SoftwareIsp::setSensorControls + * \brief A signal emitted when the values to write to the sensor controls are + * ready + */ + +/** + * \brief Constructs SoftwareIsp object + * \param[in] pipe The pipeline handler in use + * \param[in] sensor Pointer to the CameraSensor instance owned by the pipeline + * handler + */ +SoftwareIsp::SoftwareIsp(PipelineHandler *pipe, const CameraSensor *sensor) + : debayerParams_{ DebayerParams::kGain10, DebayerParams::kGain10, + DebayerParams::kGain10, 0.5f, 0 }, + dmaHeap_(DmaHeap::DmaHeapFlag::Cma | DmaHeap::DmaHeapFlag::System) +{ + if (!dmaHeap_.isValid()) { + LOG(SoftwareIsp, Error) << "Failed to create DmaHeap object"; + return; + } + + sharedParams_ = SharedMemObject<DebayerParams>("softIsp_params"); + if (!sharedParams_) { + LOG(SoftwareIsp, Error) << "Failed to create shared memory for parameters"; + return; + } + + auto stats = std::make_unique<SwStatsCpu>(); + if (!stats->isValid()) { + LOG(SoftwareIsp, Error) << "Failed to create SwStatsCpu object"; + return; + } + stats->statsReady.connect(this, &SoftwareIsp::statsReady); + + debayer_ = std::make_unique<DebayerCpu>(std::move(stats)); + debayer_->inputBufferReady.connect(this, &SoftwareIsp::inputReady); + debayer_->outputBufferReady.connect(this, &SoftwareIsp::outputReady); + + ipa_ = IPAManager::createIPA<ipa::soft::IPAProxySoft>(pipe, 0, 0); + if (!ipa_) { + LOG(SoftwareIsp, Error) + << "Creating IPA for software ISP failed"; + debayer_.reset(); + return; + } + + /* + * The API tuning file is made from the sensor name. If the tuning file + * isn't found, fall back to the 'uncalibrated' file. + */ + std::string ipaTuningFile = ipa_->configurationFile(sensor->model() + ".yaml"); + if (ipaTuningFile.empty()) + ipaTuningFile = ipa_->configurationFile("uncalibrated.yaml"); + + int ret = ipa_->init(IPASettings{ ipaTuningFile, sensor->model() }, + debayer_->getStatsFD(), + sharedParams_.fd(), + sensor->controls()); + if (ret) { + LOG(SoftwareIsp, Error) << "IPA init failed"; + debayer_.reset(); + return; + } + + ipa_->setIspParams.connect(this, &SoftwareIsp::saveIspParams); + ipa_->setSensorControls.connect(this, &SoftwareIsp::setSensorCtrls); + + debayer_->moveToThread(&ispWorkerThread_); +} + +SoftwareIsp::~SoftwareIsp() +{ + /* make sure to destroy the DebayerCpu before the ispWorkerThread_ is gone */ + debayer_.reset(); +} + +/** + * \fn int SoftwareIsp::loadConfiguration([[maybe_unused]] const std::string &filename) + * \brief Load a configuration from a file + * \param[in] filename The file to load the configuration data from + * + * Currently is a stub doing nothing and always returning "success". + * + * \return 0 on success + */ + +/** + * \brief Process the statistics gathered + * \param[in] sensorControls The sensor controls + * + * Requests the IPA to calculate new parameters for ISP and new control + * values for the sensor. + */ +void SoftwareIsp::processStats(const ControlList &sensorControls) +{ + ASSERT(ipa_); + ipa_->processStats(sensorControls); +} + +/** + * \brief Check the validity of Software Isp object + * \return True if Software Isp is valid, false otherwise + */ +bool SoftwareIsp::isValid() const +{ + return !!debayer_; +} + +/** + * \brief Get the output formats supported for the given input format + * \param[in] inputFormat The input format + * \return All the supported output formats or an empty vector if there are none + */ +std::vector<PixelFormat> SoftwareIsp::formats(PixelFormat inputFormat) +{ + ASSERT(debayer_); + + return debayer_->formats(inputFormat); +} + +/** + * \brief Get the supported output sizes for the given input format and size + * \param[in] inputFormat The input format + * \param[in] inputSize The input frame size + * \return The valid size range or an empty range if there are none + */ +SizeRange SoftwareIsp::sizes(PixelFormat inputFormat, const Size &inputSize) +{ + ASSERT(debayer_); + + return debayer_->sizes(inputFormat, inputSize); +} + +/** + * Get the output stride and the frame size in bytes for the given output format and size + * \param[in] outputFormat The output format + * \param[in] size The output size (width and height in pixels) + * \return A tuple of the stride and the frame size in bytes, or a tuple of 0,0 + * if there is no valid output config + */ +std::tuple<unsigned int, unsigned int> +SoftwareIsp::strideAndFrameSize(const PixelFormat &outputFormat, const Size &size) +{ + ASSERT(debayer_); + + return debayer_->strideAndFrameSize(outputFormat, size); +} + +/** + * \brief Configure the SoftwareIsp object according to the passed in parameters + * \param[in] inputCfg The input configuration + * \param[in] outputCfgs The output configurations + * \param[in] sensorControls ControlInfoMap of the controls supported by the sensor + * \return 0 on success, a negative errno on failure + */ +int SoftwareIsp::configure(const StreamConfiguration &inputCfg, + const std::vector<std::reference_wrapper<StreamConfiguration>> &outputCfgs, + const ControlInfoMap &sensorControls) +{ + ASSERT(ipa_ && debayer_); + + int ret = ipa_->configure(sensorControls); + if (ret < 0) + return ret; + + return debayer_->configure(inputCfg, outputCfgs); +} + +/** + * \brief Export the buffers from the Software ISP + * \param[in] output Output stream index exporting the buffers + * \param[in] count Number of buffers to allocate + * \param[out] buffers Vector to store the allocated buffers + * \return The number of allocated buffers on success or a negative error code + * otherwise + */ +int SoftwareIsp::exportBuffers(unsigned int output, unsigned int count, + std::vector<std::unique_ptr<FrameBuffer>> *buffers) +{ + ASSERT(debayer_ != nullptr); + + /* single output for now */ + if (output >= 1) + return -EINVAL; + + for (unsigned int i = 0; i < count; i++) { + const std::string name = "frame-" + std::to_string(i); + const size_t frameSize = debayer_->frameSize(); + + FrameBuffer::Plane outPlane; + outPlane.fd = SharedFD(dmaHeap_.alloc(name.c_str(), frameSize)); + if (!outPlane.fd.isValid()) { + LOG(SoftwareIsp, Error) + << "failed to allocate a dma_buf"; + return -ENOMEM; + } + outPlane.offset = 0; + outPlane.length = frameSize; + + std::vector<FrameBuffer::Plane> planes{ outPlane }; + buffers->emplace_back(std::make_unique<FrameBuffer>(std::move(planes))); + } + + return count; +} + +/** + * \brief Queue buffers to Software ISP + * \param[in] input The input framebuffer + * \param[in] outputs The container holding the output stream indexes and + * their respective frame buffer outputs + * \return 0 on success, a negative errno on failure + */ +int SoftwareIsp::queueBuffers(FrameBuffer *input, + const std::map<unsigned int, FrameBuffer *> &outputs) +{ + unsigned int mask = 0; + + /* + * Validate the outputs as a sanity check: at least one output is + * required, all outputs must reference a valid stream and no two + * outputs can reference the same stream. + */ + if (outputs.empty()) + return -EINVAL; + + for (auto [index, buffer] : outputs) { + if (!buffer) + return -EINVAL; + if (index >= 1) /* only single stream atm */ + return -EINVAL; + if (mask & (1 << index)) + return -EINVAL; + + mask |= 1 << index; + } + + process(input, outputs.at(0)); + + return 0; +} + +/** + * \brief Starts the Software ISP streaming operation + * \return 0 on success, any other value indicates an error + */ +int SoftwareIsp::start() +{ + int ret = ipa_->start(); + if (ret) + return ret; + + ispWorkerThread_.start(); + return 0; +} + +/** + * \brief Stops the Software ISP streaming operation + */ +void SoftwareIsp::stop() +{ + ispWorkerThread_.exit(); + ispWorkerThread_.wait(); + + ipa_->stop(); +} + +/** + * \brief Passes the input framebuffer to the ISP worker to process + * \param[in] input The input framebuffer + * \param[out] output The framebuffer to write the processed frame to + */ +void SoftwareIsp::process(FrameBuffer *input, FrameBuffer *output) +{ + debayer_->invokeMethod(&DebayerCpu::process, + ConnectionTypeQueued, input, output, debayerParams_); +} + +void SoftwareIsp::saveIspParams() +{ + debayerParams_ = *sharedParams_; +} + +void SoftwareIsp::setSensorCtrls(const ControlList &sensorControls) +{ + setSensorControls.emit(sensorControls); +} + +void SoftwareIsp::statsReady() +{ + ispStatsReady.emit(); +} + +void SoftwareIsp::inputReady(FrameBuffer *input) +{ + inputBufferReady.emit(input); +} + +void SoftwareIsp::outputReady(FrameBuffer *output) +{ + outputBufferReady.emit(output); +} + +} /* namespace libcamera */ diff --git a/src/libcamera/software_isp/swstats_cpu.cpp b/src/libcamera/software_isp/swstats_cpu.cpp new file mode 100644 index 00000000..815c4d4f --- /dev/null +++ b/src/libcamera/software_isp/swstats_cpu.cpp @@ -0,0 +1,432 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2023, Linaro Ltd + * Copyright (C) 2023, Red Hat Inc. + * + * Authors: + * Hans de Goede <hdegoede@redhat.com> + * + * CPU based software statistics implementation + */ + +#include "swstats_cpu.h" + +#include <libcamera/base/log.h> + +#include <libcamera/stream.h> + +#include "libcamera/internal/bayer_format.h" + +namespace libcamera { + +/** + * \class SwStatsCpu + * \brief Class for gathering statistics on the CPU + * + * CPU based software ISP statistics implementation. + * + * This class offers a configure function + functions to gather statistics on a + * line by line basis. This allows CPU based software debayering to interleave + * debayering and statistics gathering on a line by line basis while the input + * data is still hot in the cache. + * + * It is also possible to specify a window over which to gather statistics + * instead of processing the whole frame. + */ + +/** + * \fn bool SwStatsCpu::isValid() const + * \brief Gets whether the statistics object is valid + * + * \return True if it's valid, false otherwise + */ + +/** + * \fn const SharedFD &SwStatsCpu::getStatsFD() + * \brief Get the file descriptor for the statistics + * + * \return The file descriptor + */ + +/** + * \fn const Size &SwStatsCpu::patternSize() + * \brief Get the pattern size + * + * For some input-formats, e.g. Bayer data, processing is done multiple lines + * and/or columns at a time. Get width and height at which the (bayer) pattern + * repeats. Window values are rounded down to a multiple of this and the height + * also indicates if processLine2() should be called or not. + * This may only be called after a successful configure() call. + * + * \return The pattern size + */ + +/** + * \fn void SwStatsCpu::processLine0(unsigned int y, const uint8_t *src[]) + * \brief Process line 0 + * \param[in] y The y coordinate. + * \param[in] src The input data. + * + * This function processes line 0 for input formats with + * patternSize height == 1. + * It'll process line 0 and 1 for input formats with patternSize height >= 2. + * This function may only be called after a successful setWindow() call. + */ + +/** + * \fn void SwStatsCpu::processLine2(unsigned int y, const uint8_t *src[]) + * \brief Process line 2 and 3 + * \param[in] y The y coordinate. + * \param[in] src The input data. + * + * This function processes line 2 and 3 for input formats with + * patternSize height == 4. + * This function may only be called after a successful setWindow() call. + */ + +/** + * \var Signal<> SwStatsCpu::statsReady + * \brief Signals that the statistics are ready + */ + +/** + * \typedef SwStatsCpu::statsProcessFn + * \brief Called when there is data to get statistics from + * \param[in] src The input data + * + * These functions take an array of (patternSize_.height + 1) src + * pointers each pointing to a line in the source image. The middle + * element of the array will point to the actual line being processed. + * Earlier element(s) will point to the previous line(s) and later + * element(s) to the next line(s). + * + * See the documentation of DebayerCpu::debayerFn for more details. + */ + +/** + * \var unsigned int SwStatsCpu::ySkipMask_ + * \brief Skip lines where this bitmask is set in y + */ + +/** + * \var Rectangle SwStatsCpu::window_ + * \brief Statistics window, set by setWindow(), used every line + */ + +/** + * \var Size SwStatsCpu::patternSize_ + * \brief The size of the bayer pattern + * + * Valid sizes are: 2x2, 4x2 or 4x4. + */ + +/** + * \var unsigned int SwStatsCpu::xShift_ + * \brief The offset of x, applied to window_.x for bayer variants + * + * This can either be 0 or 1. + */ + +LOG_DEFINE_CATEGORY(SwStatsCpu) + +SwStatsCpu::SwStatsCpu() + : sharedStats_("softIsp_stats") +{ + if (!sharedStats_) + LOG(SwStatsCpu, Error) + << "Failed to create shared memory for statistics"; +} + +static constexpr unsigned int kRedYMul = 77; /* 0.299 * 256 */ +static constexpr unsigned int kGreenYMul = 150; /* 0.587 * 256 */ +static constexpr unsigned int kBlueYMul = 29; /* 0.114 * 256 */ + +#define SWSTATS_START_LINE_STATS(pixel_t) \ + pixel_t r, g, g2, b; \ + uint64_t yVal; \ + \ + uint64_t sumR = 0; \ + uint64_t sumG = 0; \ + uint64_t sumB = 0; + +#define SWSTATS_ACCUMULATE_LINE_STATS(div) \ + sumR += r; \ + sumG += g; \ + sumB += b; \ + \ + yVal = r * kRedYMul; \ + yVal += g * kGreenYMul; \ + yVal += b * kBlueYMul; \ + stats_.yHistogram[yVal * SwIspStats::kYHistogramSize / (256 * 256 * (div))]++; + +#define SWSTATS_FINISH_LINE_STATS() \ + stats_.sumR_ += sumR; \ + stats_.sumG_ += sumG; \ + stats_.sumB_ += sumB; + +void SwStatsCpu::statsBGGR8Line0(const uint8_t *src[]) +{ + const uint8_t *src0 = src[1] + window_.x; + const uint8_t *src1 = src[2] + window_.x; + + SWSTATS_START_LINE_STATS(uint8_t) + + if (swapLines_) + std::swap(src0, src1); + + /* x += 4 sample every other 2x2 block */ + for (int x = 0; x < (int)window_.width; x += 4) { + b = src0[x]; + g = src0[x + 1]; + g2 = src1[x]; + r = src1[x + 1]; + + g = (g + g2) / 2; + + SWSTATS_ACCUMULATE_LINE_STATS(1) + } + + SWSTATS_FINISH_LINE_STATS() +} + +void SwStatsCpu::statsBGGR10Line0(const uint8_t *src[]) +{ + const uint16_t *src0 = (const uint16_t *)src[1] + window_.x; + const uint16_t *src1 = (const uint16_t *)src[2] + window_.x; + + SWSTATS_START_LINE_STATS(uint16_t) + + if (swapLines_) + std::swap(src0, src1); + + /* x += 4 sample every other 2x2 block */ + for (int x = 0; x < (int)window_.width; x += 4) { + b = src0[x]; + g = src0[x + 1]; + g2 = src1[x]; + r = src1[x + 1]; + + g = (g + g2) / 2; + + /* divide Y by 4 for 10 -> 8 bpp value */ + SWSTATS_ACCUMULATE_LINE_STATS(4) + } + + SWSTATS_FINISH_LINE_STATS() +} + +void SwStatsCpu::statsBGGR12Line0(const uint8_t *src[]) +{ + const uint16_t *src0 = (const uint16_t *)src[1] + window_.x; + const uint16_t *src1 = (const uint16_t *)src[2] + window_.x; + + SWSTATS_START_LINE_STATS(uint16_t) + + if (swapLines_) + std::swap(src0, src1); + + /* x += 4 sample every other 2x2 block */ + for (int x = 0; x < (int)window_.width; x += 4) { + b = src0[x]; + g = src0[x + 1]; + g2 = src1[x]; + r = src1[x + 1]; + + g = (g + g2) / 2; + + /* divide Y by 16 for 12 -> 8 bpp value */ + SWSTATS_ACCUMULATE_LINE_STATS(16) + } + + SWSTATS_FINISH_LINE_STATS() +} + +void SwStatsCpu::statsBGGR10PLine0(const uint8_t *src[]) +{ + const uint8_t *src0 = src[1] + window_.x * 5 / 4; + const uint8_t *src1 = src[2] + window_.x * 5 / 4; + const int widthInBytes = window_.width * 5 / 4; + + if (swapLines_) + std::swap(src0, src1); + + SWSTATS_START_LINE_STATS(uint8_t) + + /* x += 5 sample every other 2x2 block */ + for (int x = 0; x < widthInBytes; x += 5) { + /* BGGR */ + b = src0[x]; + g = src0[x + 1]; + g2 = src1[x]; + r = src1[x + 1]; + g = (g + g2) / 2; + /* Data is already 8 bits, divide by 1 */ + SWSTATS_ACCUMULATE_LINE_STATS(1) + } + + SWSTATS_FINISH_LINE_STATS() +} + +void SwStatsCpu::statsGBRG10PLine0(const uint8_t *src[]) +{ + const uint8_t *src0 = src[1] + window_.x * 5 / 4; + const uint8_t *src1 = src[2] + window_.x * 5 / 4; + const int widthInBytes = window_.width * 5 / 4; + + if (swapLines_) + std::swap(src0, src1); + + SWSTATS_START_LINE_STATS(uint8_t) + + /* x += 5 sample every other 2x2 block */ + for (int x = 0; x < widthInBytes; x += 5) { + /* GBRG */ + g = src0[x]; + b = src0[x + 1]; + r = src1[x]; + g2 = src1[x + 1]; + g = (g + g2) / 2; + /* Data is already 8 bits, divide by 1 */ + SWSTATS_ACCUMULATE_LINE_STATS(1) + } + + SWSTATS_FINISH_LINE_STATS() +} + +/** + * \brief Reset state to start statistics gathering for a new frame + * + * This may only be called after a successful setWindow() call. + */ +void SwStatsCpu::startFrame(void) +{ + if (window_.width == 0) + LOG(SwStatsCpu, Error) << "Calling startFrame() without setWindow()"; + + stats_.sumR_ = 0; + stats_.sumB_ = 0; + stats_.sumG_ = 0; + stats_.yHistogram.fill(0); +} + +/** + * \brief Finish statistics calculation for the current frame + * + * This may only be called after a successful setWindow() call. + */ +void SwStatsCpu::finishFrame(void) +{ + *sharedStats_ = stats_; + statsReady.emit(); +} + +/** + * \brief Setup SwStatsCpu object for standard Bayer orders + * \param[in] order The Bayer order + * + * Check if order is a standard Bayer order and setup xShift_ and swapLines_ + * so that a single BGGR stats function can be used for all 4 standard orders. + */ +int SwStatsCpu::setupStandardBayerOrder(BayerFormat::Order order) +{ + switch (order) { + case BayerFormat::BGGR: + xShift_ = 0; + swapLines_ = false; + break; + case BayerFormat::GBRG: + xShift_ = 1; /* BGGR -> GBRG */ + swapLines_ = false; + break; + case BayerFormat::GRBG: + xShift_ = 0; + swapLines_ = true; /* BGGR -> GRBG */ + break; + case BayerFormat::RGGB: + xShift_ = 1; /* BGGR -> GBRG */ + swapLines_ = true; /* GBRG -> RGGB */ + break; + default: + return -EINVAL; + } + + patternSize_.height = 2; + patternSize_.width = 2; + ySkipMask_ = 0x02; /* Skip every 3th and 4th line */ + return 0; +} + +/** + * \brief Configure the statistics object for the passed in input format + * \param[in] inputCfg The input format + * + * \return 0 on success, a negative errno value on failure + */ +int SwStatsCpu::configure(const StreamConfiguration &inputCfg) +{ + BayerFormat bayerFormat = + BayerFormat::fromPixelFormat(inputCfg.pixelFormat); + + if (bayerFormat.packing == BayerFormat::Packing::None && + setupStandardBayerOrder(bayerFormat.order) == 0) { + switch (bayerFormat.bitDepth) { + case 8: + stats0_ = &SwStatsCpu::statsBGGR8Line0; + return 0; + case 10: + stats0_ = &SwStatsCpu::statsBGGR10Line0; + return 0; + case 12: + stats0_ = &SwStatsCpu::statsBGGR12Line0; + return 0; + } + } + + if (bayerFormat.bitDepth == 10 && + bayerFormat.packing == BayerFormat::Packing::CSI2) { + patternSize_.height = 2; + patternSize_.width = 4; /* 5 bytes per *4* pixels */ + /* Skip every 3th and 4th line, sample every other 2x2 block */ + ySkipMask_ = 0x02; + xShift_ = 0; + + switch (bayerFormat.order) { + case BayerFormat::BGGR: + case BayerFormat::GRBG: + stats0_ = &SwStatsCpu::statsBGGR10PLine0; + swapLines_ = bayerFormat.order == BayerFormat::GRBG; + return 0; + case BayerFormat::GBRG: + case BayerFormat::RGGB: + stats0_ = &SwStatsCpu::statsGBRG10PLine0; + swapLines_ = bayerFormat.order == BayerFormat::RGGB; + return 0; + default: + break; + } + } + + LOG(SwStatsCpu, Info) + << "Unsupported input format " << inputCfg.pixelFormat.toString(); + return -EINVAL; +} + +/** + * \brief Specify window coordinates over which to gather statistics + * \param[in] window The window object. + */ +void SwStatsCpu::setWindow(const Rectangle &window) +{ + window_ = window; + + window_.x &= ~(patternSize_.width - 1); + window_.x += xShift_; + window_.y &= ~(patternSize_.height - 1); + + /* width_ - xShift_ to make sure the window fits */ + window_.width -= xShift_; + window_.width &= ~(patternSize_.width - 1); + window_.height &= ~(patternSize_.height - 1); +} + +} /* namespace libcamera */ diff --git a/src/libcamera/software_isp/swstats_cpu.h b/src/libcamera/software_isp/swstats_cpu.h new file mode 100644 index 00000000..363e326f --- /dev/null +++ b/src/libcamera/software_isp/swstats_cpu.h @@ -0,0 +1,97 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2023, Linaro Ltd + * Copyright (C) 2023, Red Hat Inc. + * + * Authors: + * Hans de Goede <hdegoede@redhat.com> + * + * CPU based software statistics implementation + */ + +#pragma once + +#include <stdint.h> + +#include <libcamera/base/signal.h> + +#include <libcamera/geometry.h> + +#include "libcamera/internal/bayer_format.h" +#include "libcamera/internal/shared_mem_object.h" +#include "libcamera/internal/software_isp/swisp_stats.h" + +namespace libcamera { + +class PixelFormat; +struct StreamConfiguration; + +class SwStatsCpu +{ +public: + SwStatsCpu(); + ~SwStatsCpu() = default; + + bool isValid() const { return sharedStats_.fd().isValid(); } + + const SharedFD &getStatsFD() { return sharedStats_.fd(); } + + const Size &patternSize() { return patternSize_; } + + int configure(const StreamConfiguration &inputCfg); + void setWindow(const Rectangle &window); + void startFrame(); + void finishFrame(); + + void processLine0(unsigned int y, const uint8_t *src[]) + { + if ((y & ySkipMask_) || y < static_cast<unsigned int>(window_.y) || + y >= (window_.y + window_.height)) + return; + + (this->*stats0_)(src); + } + + void processLine2(unsigned int y, const uint8_t *src[]) + { + if ((y & ySkipMask_) || y < static_cast<unsigned int>(window_.y) || + y >= (window_.y + window_.height)) + return; + + (this->*stats2_)(src); + } + + Signal<> statsReady; + +private: + using statsProcessFn = void (SwStatsCpu::*)(const uint8_t *src[]); + + int setupStandardBayerOrder(BayerFormat::Order order); + /* Bayer 8 bpp unpacked */ + void statsBGGR8Line0(const uint8_t *src[]); + /* Bayer 10 bpp unpacked */ + void statsBGGR10Line0(const uint8_t *src[]); + /* Bayer 12 bpp unpacked */ + void statsBGGR12Line0(const uint8_t *src[]); + /* Bayer 10 bpp packed */ + void statsBGGR10PLine0(const uint8_t *src[]); + void statsGBRG10PLine0(const uint8_t *src[]); + + /* Variables set by configure(), used every line */ + statsProcessFn stats0_; + statsProcessFn stats2_; + bool swapLines_; + + unsigned int ySkipMask_; + + Rectangle window_; + + Size patternSize_; + + unsigned int xShift_; + + SharedMemObject<SwIspStats> sharedStats_; + SwIspStats stats_; +}; + +} /* namespace libcamera */ diff --git a/src/libcamera/source_paths.cpp b/src/libcamera/source_paths.cpp index 19689585..1af5386a 100644 --- a/src/libcamera/source_paths.cpp +++ b/src/libcamera/source_paths.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2021, Google Inc. * - * source_paths.cpp - Identify libcamera source and build paths + * Identify libcamera source and build paths */ #include "libcamera/internal/source_paths.h" diff --git a/src/libcamera/stream.cpp b/src/libcamera/stream.cpp index 686e693b..053cc4b8 100644 --- a/src/libcamera/stream.cpp +++ b/src/libcamera/stream.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * stream.cpp - Video stream for a Camera + * Video stream for a Camera */ #include <libcamera/stream.h> @@ -311,7 +311,8 @@ StreamConfiguration::StreamConfiguration(const StreamFormats &formats) * The stride value reports the number of bytes between the beginning of * successive lines in an image buffer for this stream. The value is * valid after successfully validating the configuration with a call to - * CameraConfiguration::validate(). + * CameraConfiguration::validate(). For compressed formats (such as MJPEG), + * this value will be zero. */ /** @@ -418,9 +419,23 @@ std::string StreamConfiguration::toString() const */ /** - * \typedef StreamRoles - * \brief A vector of StreamRole + * \brief Insert a text representation of a StreamRole into an output stream + * \param[in] out The output stream + * \param[in] role The StreamRole + * \return The output stream \a out */ +std::ostream &operator<<(std::ostream &out, StreamRole role) +{ + static constexpr std::array<const char *, 4> names{ + "Raw", + "StillCapture", + "VideoRecording", + "Viewfinder", + }; + + out << names[utils::to_underlying(role)]; + return out; +} /** * \class Stream diff --git a/src/libcamera/sysfs.cpp b/src/libcamera/sysfs.cpp index 44c3331b..3d9885b0 100644 --- a/src/libcamera/sysfs.cpp +++ b/src/libcamera/sysfs.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * sysfs.cpp - Miscellaneous utility functions to access sysfs + * Miscellaneous utility functions to access sysfs */ #include "libcamera/internal/sysfs.h" diff --git a/src/libcamera/tracepoints.cpp b/src/libcamera/tracepoints.cpp index 0173b75a..90662d12 100644 --- a/src/libcamera/tracepoints.cpp +++ b/src/libcamera/tracepoints.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * tracepoints.cpp - Tracepoints with lttng + * Tracepoints with lttng */ #define TRACEPOINT_CREATE_PROBES #define TRACEPOINT_DEFINE diff --git a/src/libcamera/transform.cpp b/src/libcamera/transform.cpp index 99a043ba..9fe8b562 100644 --- a/src/libcamera/transform.cpp +++ b/src/libcamera/transform.cpp @@ -1,12 +1,14 @@ /* SPDX-License-Identifier: LGPL-2.1-or-later */ /* - * Copyright (C) 2020, Raspberry Pi (Trading) Limited + * Copyright (C) 2020, Raspberry Pi Ltd * - * transform.cpp - 2D plane transforms. + * 2D plane transforms. */ #include <libcamera/transform.h> +#include <libcamera/orientation.h> + /** * \file transform.h * \brief Enum to represent and manipulate 2D plane transforms @@ -187,24 +189,24 @@ Input image | | goes to output image | | */ /** - * \brief Compose two transforms together - * \param[in] t1 The second transform - * \param[in] t0 The first transform + * \brief Compose two transforms by applying \a t0 first then \a t1 + * \param[in] t0 The first transform to apply + * \param[in] t1 The second transform to apply * - * Composing transforms follows the usual mathematical convention for - * composing functions. That is, when performing `t1 * t0`, \a t0 is applied - * first, and then \a t1. - * For example, `Transpose * HFlip` performs `HFlip` first and then the - * `Transpose` yielding `Rot270`, as shown below. + * Compose two transforms into a transform that is equivalent to first applying + * \a t0 and then applying \a t1. For example, `HFlip * Transpose` performs + * `HFlip` first and then the `Transpose` yielding `Rot270`, as shown below. ~~~ A-B B-A B-D Input image | | -> HFLip -> | | -> Transpose -> | | = Rot270 C-D D-C A-C ~~~ - * Note that composition is generally non-commutative for Transforms, - * and not the same as XOR-ing the underlying bit representations. + * Note that composition is generally non-commutative for Transforms, and not + * the same as XOR-ing the underlying bit representations. + * + * \return A Transform equivalent to applying \a t0 and then \a t1 */ -Transform operator*(Transform t1, Transform t0) +Transform operator*(Transform t0, Transform t1) { /* * Reorder the operations so that we imagine doing t0's transpose @@ -299,6 +301,91 @@ Transform transformFromRotation(int angle, bool *success) return Transform::Identity; } +namespace { + +/** + * \brief Return the transform representing \a orientation + * \param[in] orientation The orientation to convert + * \return The transform corresponding to \a orientation + */ +Transform transformFromOrientation(const Orientation &orientation) +{ + switch (orientation) { + case Orientation::Rotate0: + return Transform::Identity; + case Orientation::Rotate0Mirror: + return Transform::HFlip; + case Orientation::Rotate180: + return Transform::Rot180; + case Orientation::Rotate180Mirror: + return Transform::VFlip; + case Orientation::Rotate90Mirror: + return Transform::Transpose; + case Orientation::Rotate90: + return Transform::Rot90; + case Orientation::Rotate270Mirror: + return Transform::Rot180Transpose; + case Orientation::Rotate270: + return Transform::Rot270; + } + + return Transform::Identity; +} + +} /* namespace */ + +/** + * \brief Return the Transform that applied to \a o2 gives \a o1 + * \param o1 The Orientation to obtain + * \param o2 The base Orientation + * + * This operation can be used to easily compute the Transform to apply to a + * base orientation \a o2 to get the desired orientation \a o1. + * + * \return A Transform that applied to \a o2 gives \a o1 + */ +Transform operator/(const Orientation &o1, const Orientation &o2) +{ + Transform t1 = transformFromOrientation(o1); + Transform t2 = transformFromOrientation(o2); + + return -t2 * t1; +} + +/** + * \brief Apply the Transform \a t on the orientation \a o + * \param o The orientation + * \param t The transform to apply on \a o + * \return The Orientation resulting from applying \a t on \a o + */ +Orientation operator*(const Orientation &o, const Transform &t) +{ + /* + * Apply a Transform corresponding to the orientation first and + * then apply \a t to it. + */ + switch (transformFromOrientation(o) * t) { + case Transform::Identity: + return Orientation::Rotate0; + case Transform::HFlip: + return Orientation::Rotate0Mirror; + case Transform::VFlip: + return Orientation::Rotate180Mirror; + case Transform::Rot180: + return Orientation::Rotate180; + case Transform::Transpose: + return Orientation::Rotate90Mirror; + case Transform::Rot270: + return Orientation::Rotate270; + case Transform::Rot90: + return Orientation::Rotate90; + case Transform::Rot180Transpose: + return Orientation::Rotate270Mirror; + } + + return Orientation::Rotate0; +} + /** * \brief Return a character string describing the transform * \param[in] t The transform to be described. diff --git a/src/libcamera/v4l2_device.cpp b/src/libcamera/v4l2_device.cpp index 3fc8438f..4a2048cf 100644 --- a/src/libcamera/v4l2_device.cpp +++ b/src/libcamera/v4l2_device.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * v4l2_device.cpp - Common base for V4L2 video devices and subdevices + * Common base for V4L2 video devices and subdevices */ #include "libcamera/internal/v4l2_device.h" @@ -24,6 +24,7 @@ #include <libcamera/base/log.h> #include <libcamera/base/utils.h> +#include "libcamera/internal/formats.h" #include "libcamera/internal/sysfs.h" /** @@ -85,18 +86,18 @@ int V4L2Device::open(unsigned int flags) return -EBUSY; } - UniqueFD fd(syscall(SYS_openat, AT_FDCWD, deviceNode_.c_str(), flags)); + UniqueFD fd(syscall(SYS_openat, AT_FDCWD, deviceNode_.c_str(), + flags | O_CLOEXEC)); if (!fd.isValid()) { int ret = -errno; - LOG(V4L2, Error) << "Failed to open V4L2 device: " + LOG(V4L2, Error) << "Failed to open V4L2 device '" + << deviceNode_ << "': " << strerror(-ret); return ret; } setFd(std::move(fd)); - listControls(); - return 0; } @@ -127,6 +128,8 @@ int V4L2Device::setFd(UniqueFD fd) fdEventNotifier_->activated.connect(this, &V4L2Device::eventAvailable); fdEventNotifier_->setEnabled(false); + listControls(); + return 0; } @@ -242,7 +245,8 @@ ControlList V4L2Device::getControls(const std::vector<uint32_t> &ids) } /* A specific control failed. */ - LOG(V4L2, Error) << "Unable to read control " << errorIdx + const unsigned int id = v4l2Ctrls[errorIdx].id; + LOG(V4L2, Error) << "Unable to read control " << utils::hex(id) << ": " << strerror(-ret); v4l2Ctrls.resize(errorIdx); @@ -352,7 +356,8 @@ int V4L2Device::setControls(ControlList *ctrls) } /* A specific control failed. */ - LOG(V4L2, Error) << "Unable to set control " << errorIdx + const unsigned int id = v4l2Ctrls[errorIdx].id; + LOG(V4L2, Error) << "Unable to set control " << utils::hex(id) << ": " << strerror(-ret); v4l2Ctrls.resize(errorIdx); @@ -525,7 +530,7 @@ std::unique_ptr<ControlId> V4L2Device::v4l2ControlId(const v4l2_query_ext_ctrl & * \param[in] ctrl The v4l2_query_ext_ctrl that represents a V4L2 control * \return A ControlInfo that represents \a ctrl */ -ControlInfo V4L2Device::v4l2ControlInfo(const v4l2_query_ext_ctrl &ctrl) +std::optional<ControlInfo> V4L2Device::v4l2ControlInfo(const v4l2_query_ext_ctrl &ctrl) { switch (ctrl.type) { case V4L2_CTRL_TYPE_U8: @@ -562,14 +567,14 @@ ControlInfo V4L2Device::v4l2ControlInfo(const v4l2_query_ext_ctrl &ctrl) * * \return A ControlInfo that represents \a ctrl */ -ControlInfo V4L2Device::v4l2MenuControlInfo(const struct v4l2_query_ext_ctrl &ctrl) +std::optional<ControlInfo> V4L2Device::v4l2MenuControlInfo(const struct v4l2_query_ext_ctrl &ctrl) { std::vector<ControlValue> indices; struct v4l2_querymenu menu = {}; menu.id = ctrl.id; if (ctrl.minimum < 0) - return ControlInfo(); + return std::nullopt; for (int32_t index = ctrl.minimum; index <= ctrl.maximum; ++index) { menu.index = index; @@ -579,6 +584,14 @@ ControlInfo V4L2Device::v4l2MenuControlInfo(const struct v4l2_query_ext_ctrl &ct indices.push_back(index); } + /* + * Some faulty UVC devices are known to return an empty menu control. + * Controls without a menu option can not be set, or read, so they are + * not exposed. + */ + if (indices.size() == 0) + return std::nullopt; + return ControlInfo(indices, ControlValue(static_cast<int32_t>(ctrl.default_value))); } @@ -627,7 +640,17 @@ void V4L2Device::listControls() controlIdMap_[ctrl.id] = controlIds_.back().get(); controlInfo_.emplace(ctrl.id, ctrl); - ctrls.emplace(controlIds_.back().get(), v4l2ControlInfo(ctrl)); + std::optional<ControlInfo> info = v4l2ControlInfo(ctrl); + + if (!info) { + LOG(V4L2, Error) + << "Control " << ctrl.name + << " cannot be registered"; + + continue; + } + + ctrls.emplace(controlIds_.back().get(), *info); } controls_ = ControlInfoMap(std::move(ctrls), controlIdMap_); @@ -666,7 +689,7 @@ void V4L2Device::updateControlInfo() continue; } - info = v4l2ControlInfo(ctrl); + info = *v4l2ControlInfo(ctrl); } } @@ -745,8 +768,12 @@ void V4L2Device::eventAvailable() static const std::map<uint32_t, ColorSpace> v4l2ToColorSpace = { { V4L2_COLORSPACE_RAW, ColorSpace::Raw }, - { V4L2_COLORSPACE_JPEG, ColorSpace::Jpeg }, - { V4L2_COLORSPACE_SRGB, ColorSpace::Srgb }, + { V4L2_COLORSPACE_SRGB, { + ColorSpace::Primaries::Rec709, + ColorSpace::TransferFunction::Srgb, + ColorSpace::YcbcrEncoding::Rec601, + ColorSpace::Range::Limited } }, + { V4L2_COLORSPACE_JPEG, ColorSpace::Sycc }, { V4L2_COLORSPACE_SMPTE170M, ColorSpace::Smpte170m }, { V4L2_COLORSPACE_REC709, ColorSpace::Rec709 }, { V4L2_COLORSPACE_BT2020, ColorSpace::Rec2020 }, @@ -771,8 +798,7 @@ static const std::map<uint32_t, ColorSpace::Range> v4l2ToRange = { static const std::vector<std::pair<ColorSpace, v4l2_colorspace>> colorSpaceToV4l2 = { { ColorSpace::Raw, V4L2_COLORSPACE_RAW }, - { ColorSpace::Jpeg, V4L2_COLORSPACE_JPEG }, - { ColorSpace::Srgb, V4L2_COLORSPACE_SRGB }, + { ColorSpace::Sycc, V4L2_COLORSPACE_JPEG }, { ColorSpace::Smpte170m, V4L2_COLORSPACE_SMPTE170M }, { ColorSpace::Rec709, V4L2_COLORSPACE_REC709 }, { ColorSpace::Rec2020, V4L2_COLORSPACE_BT2020 }, @@ -792,6 +818,8 @@ static const std::map<ColorSpace::TransferFunction, v4l2_xfer_func> transferFunc }; static const std::map<ColorSpace::YcbcrEncoding, v4l2_ycbcr_encoding> ycbcrEncodingToV4l2 = { + /* V4L2 has no "none" encoding. */ + { ColorSpace::YcbcrEncoding::None, V4L2_YCBCR_ENC_DEFAULT }, { ColorSpace::YcbcrEncoding::Rec601, V4L2_YCBCR_ENC_601 }, { ColorSpace::YcbcrEncoding::Rec709, V4L2_YCBCR_ENC_709 }, { ColorSpace::YcbcrEncoding::Rec2020, V4L2_YCBCR_ENC_BT2020 }, @@ -805,6 +833,7 @@ static const std::map<ColorSpace::Range, v4l2_quantization> rangeToV4l2 = { /** * \brief Convert the color space fields in a V4L2 format to a ColorSpace * \param[in] v4l2Format A V4L2 format containing color space information + * \param[in] colourEncoding Type of colour encoding * * The colorspace, ycbcr_enc, xfer_func and quantization fields within a * V4L2 format structure are converted to a corresponding ColorSpace. @@ -816,7 +845,8 @@ static const std::map<ColorSpace::Range, v4l2_quantization> rangeToV4l2 = { * \retval std::nullopt One or more V4L2 color space fields were not recognised */ template<typename T> -std::optional<ColorSpace> V4L2Device::toColorSpace(const T &v4l2Format) +std::optional<ColorSpace> V4L2Device::toColorSpace(const T &v4l2Format, + PixelFormatInfo::ColourEncoding colourEncoding) { auto itColor = v4l2ToColorSpace.find(v4l2Format.colorspace); if (itColor == v4l2ToColorSpace.end()) @@ -839,6 +869,14 @@ std::optional<ColorSpace> V4L2Device::toColorSpace(const T &v4l2Format) return std::nullopt; colorSpace.ycbcrEncoding = itYcbcrEncoding->second; + + /* + * V4L2 has no "none" encoding, override the value returned by + * the kernel for non-YUV formats as YCbCr encoding isn't + * applicable in that case. + */ + if (colourEncoding != PixelFormatInfo::ColourEncodingYUV) + colorSpace.ycbcrEncoding = ColorSpace::YcbcrEncoding::None; } if (v4l2Format.quantization != V4L2_QUANTIZATION_DEFAULT) { @@ -847,14 +885,24 @@ std::optional<ColorSpace> V4L2Device::toColorSpace(const T &v4l2Format) return std::nullopt; colorSpace.range = itRange->second; + + /* + * "Limited" quantization range is only meant for YUV formats. + * Override the range to "Full" for all other formats. + */ + if (colourEncoding != PixelFormatInfo::ColourEncodingYUV) + colorSpace.range = ColorSpace::Range::Full; } return colorSpace; } -template std::optional<ColorSpace> V4L2Device::toColorSpace(const struct v4l2_pix_format &); -template std::optional<ColorSpace> V4L2Device::toColorSpace(const struct v4l2_pix_format_mplane &); -template std::optional<ColorSpace> V4L2Device::toColorSpace(const struct v4l2_mbus_framefmt &); +template std::optional<ColorSpace> V4L2Device::toColorSpace(const struct v4l2_pix_format &, + PixelFormatInfo::ColourEncoding); +template std::optional<ColorSpace> V4L2Device::toColorSpace(const struct v4l2_pix_format_mplane &, + PixelFormatInfo::ColourEncoding); +template std::optional<ColorSpace> V4L2Device::toColorSpace(const struct v4l2_mbus_framefmt &, + PixelFormatInfo::ColourEncoding); /** * \brief Fill in the color space fields of a V4L2 format from a ColorSpace diff --git a/src/libcamera/v4l2_pixelformat.cpp b/src/libcamera/v4l2_pixelformat.cpp index 58fc4e9d..70568335 100644 --- a/src/libcamera/v4l2_pixelformat.cpp +++ b/src/libcamera/v4l2_pixelformat.cpp @@ -1,9 +1,9 @@ /* SPDX-License-Identifier: LGPL-2.1-or-later */ /* * Copyright (C) 2019, Google Inc. - * Copyright (C) 2020, Raspberry Pi (Trading) Ltd. + * Copyright (C) 2020, Raspberry Pi Ltd * - * v4l2_pixelformat.cpp - V4L2 Pixel Format + * V4L2 Pixel Format */ #include "libcamera/internal/v4l2_pixelformat.h" @@ -71,6 +71,10 @@ const std::map<V4L2PixelFormat, V4L2PixelFormat::Info> vpf2pf{ { formats::BGRA8888, "32-bit ARGB 8-8-8-8" } }, { V4L2PixelFormat(V4L2_PIX_FMT_BGRA32), { formats::RGBA8888, "32-bit ABGR 8-8-8-8" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_RGB48), + { formats::BGR161616, "48-bit RGB 16-16-16" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_BGR48), + { formats::RGB161616, "48-bit BGR 16-16-16" } }, /* YUV packed formats. */ { V4L2PixelFormat(V4L2_PIX_FMT_YUYV), @@ -81,6 +85,10 @@ const std::map<V4L2PixelFormat, V4L2PixelFormat::Info> vpf2pf{ { formats::UYVY, "UYVY 4:2:2" } }, { V4L2PixelFormat(V4L2_PIX_FMT_VYUY), { formats::VYUY, "VYUY 4:2:2" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_YUVA32), + { formats::AVUY8888, "32-bit YUVA 8-8-8-8" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_YUVX32), + { formats::XVUY8888, "32-bit YUVX 8-8-8-8" } }, /* YUV planar formats. */ { V4L2PixelFormat(V4L2_PIX_FMT_NV16), @@ -119,7 +127,7 @@ const std::map<V4L2PixelFormat, V4L2PixelFormat::Info> vpf2pf{ { formats::YVU422, "Planar YVU 4:2:2 (N-C)" } }, { V4L2PixelFormat(V4L2_PIX_FMT_YUV444M), { formats::YUV444, "Planar YUV 4:4:4 (N-C)" } }, - { V4L2PixelFormat(V4L2_PIX_FMT_YUV444M), + { V4L2PixelFormat(V4L2_PIX_FMT_YVU444M), { formats::YVU444, "Planar YVU 4:4:4 (N-C)" } }, /* Greyscale formats. */ @@ -127,8 +135,12 @@ const std::map<V4L2PixelFormat, V4L2PixelFormat::Info> vpf2pf{ { formats::R8, "8-bit Greyscale" } }, { V4L2PixelFormat(V4L2_PIX_FMT_Y10), { formats::R10, "10-bit Greyscale" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_Y10P), + { formats::R10_CSI2P, "10-bit Greyscale Packed" } }, { V4L2PixelFormat(V4L2_PIX_FMT_Y12), { formats::R12, "12-bit Greyscale" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_Y16), + { formats::R16, "16-bit Greyscale" } }, /* Bayer formats. */ { V4L2PixelFormat(V4L2_PIX_FMT_SBGGR8), @@ -171,6 +183,22 @@ const std::map<V4L2PixelFormat, V4L2PixelFormat::Info> vpf2pf{ { formats::SGRBG12_CSI2P, "12-bit Bayer GRGR/BGBG Packed" } }, { V4L2PixelFormat(V4L2_PIX_FMT_SRGGB12P), { formats::SRGGB12_CSI2P, "12-bit Bayer RGRG/GBGB Packed" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_SBGGR14), + { formats::SBGGR14, "14-bit Bayer BGBG/GRGR" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_SGBRG14), + { formats::SGBRG14, "14-bit Bayer GBGB/RGRG" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_SGRBG14), + { formats::SGRBG14, "14-bit Bayer GRGR/BGBG" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_SRGGB14), + { formats::SRGGB14, "14-bit Bayer RGRG/GBGB" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_SBGGR14P), + { formats::SBGGR14_CSI2P, "14-bit Bayer BGBG/GRGR Packed" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_SGBRG14P), + { formats::SGBRG14_CSI2P, "14-bit Bayer GBGB/RGRG Packed" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_SGRBG14P), + { formats::SGRBG14_CSI2P, "14-bit Bayer GRGR/BGBG Packed" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_SRGGB14P), + { formats::SRGGB14_CSI2P, "14-bit Bayer RGRG/GBGB Packed" } }, { V4L2PixelFormat(V4L2_PIX_FMT_SBGGR16), { formats::SBGGR16, "16-bit Bayer BGBG/GRGR" } }, { V4L2PixelFormat(V4L2_PIX_FMT_SGBRG16), @@ -179,10 +207,22 @@ const std::map<V4L2PixelFormat, V4L2PixelFormat::Info> vpf2pf{ { formats::SGRBG16, "16-bit Bayer GRGR/BGBG" } }, { V4L2PixelFormat(V4L2_PIX_FMT_SRGGB16), { formats::SRGGB16, "16-bit Bayer RGRG/GBGB" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_BGGR), + { formats::BGGR_PISP_COMP1, "16-bit Bayer BGBG/GRGR PiSP Compress Mode 1" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_GBRG), + { formats::GBRG_PISP_COMP1, "16-bit Bayer GBGB/RGRG PiSP Compress Mode 1" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_GRBG), + { formats::GRBG_PISP_COMP1, "16-bit Bayer GRGR/BGBG PiSP Compress Mode 1" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_RGGB), + { formats::RGGB_PISP_COMP1, "16-bit Bayer RGRG/GBGB PiSP Compress Mode 1" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_PISP_COMP1_MONO), + { formats::MONO_PISP_COMP1, "16-bit Mono PiSP Compress Mode 1" } }, /* Compressed formats. */ { V4L2PixelFormat(V4L2_PIX_FMT_MJPEG), { formats::MJPEG, "Motion-JPEG" } }, + { V4L2PixelFormat(V4L2_PIX_FMT_JPEG), + { formats::MJPEG, "JPEG JFIF" } }, }; } /* namespace */ @@ -286,15 +326,23 @@ const char *V4L2PixelFormat::description() const /** * \brief Convert the V4L2 pixel format to the corresponding PixelFormat + * \param[in] warn When true, log a warning message if the V4L2 pixel format + * isn't known + * + * Users of this function might try to convert a V4L2PixelFormat to a + * PixelFormat just to check if the format is supported or not. In that case, + * they can suppress the warning message by setting the \a warn argument to + * false to not pollute the log with unnecessary messages. + * * \return The PixelFormat corresponding to the V4L2 pixel format */ -PixelFormat V4L2PixelFormat::toPixelFormat() const +PixelFormat V4L2PixelFormat::toPixelFormat(bool warn) const { const auto iter = vpf2pf.find(*this); if (iter == vpf2pf.end()) { - LOG(V4L2, Warning) - << "Unsupported V4L2 pixel format " - << toString(); + if (warn) + LOG(V4L2, Warning) << "Unsupported V4L2 pixel format " + << toString(); return PixelFormat(); } @@ -302,26 +350,24 @@ PixelFormat V4L2PixelFormat::toPixelFormat() const } /** - * \brief Convert \a pixelFormat to its corresponding V4L2PixelFormat + * \brief Retrieve the list of V4L2PixelFormat associated with \a pixelFormat * \param[in] pixelFormat The PixelFormat to convert - * \param[in] multiplanar V4L2 Multiplanar API support flag * - * Multiple V4L2 formats may exist for one PixelFormat when the format uses - * multiple planes, as V4L2 defines separate 4CCs for contiguous and separate - * planes formats. Set the \a multiplanar parameter to false to select a format - * with contiguous planes, or to true to select a format with non-contiguous - * planes. + * Multiple V4L2 formats may exist for one PixelFormat as V4L2 defines separate + * 4CCs for contiguous and non-contiguous versions of the same image format. * - * \return The V4L2PixelFormat corresponding to \a pixelFormat + * \return The list of V4L2PixelFormat corresponding to \a pixelFormat */ -V4L2PixelFormat V4L2PixelFormat::fromPixelFormat(const PixelFormat &pixelFormat, - bool multiplanar) +const std::vector<V4L2PixelFormat> & +V4L2PixelFormat::fromPixelFormat(const PixelFormat &pixelFormat) { + static const std::vector<V4L2PixelFormat> empty; + const PixelFormatInfo &info = PixelFormatInfo::info(pixelFormat); if (!info.isValid()) - return V4L2PixelFormat(); + return empty; - return multiplanar ? info.v4l2Formats.multi : info.v4l2Formats.single; + return info.v4l2Formats; } /** diff --git a/src/libcamera/v4l2_subdevice.cpp b/src/libcamera/v4l2_subdevice.cpp index 98a3911a..6da77775 100644 --- a/src/libcamera/v4l2_subdevice.cpp +++ b/src/libcamera/v4l2_subdevice.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * v4l2_subdevice.cpp - V4L2 Subdevice + * V4L2 Subdevice */ #include "libcamera/internal/v4l2_subdevice.h" @@ -23,6 +23,7 @@ #include <libcamera/base/log.h> #include <libcamera/base/utils.h> +#include "libcamera/internal/formats.h" #include "libcamera/internal/media_device.h" #include "libcamera/internal/media_object.h" @@ -35,105 +36,727 @@ namespace libcamera { LOG_DECLARE_CATEGORY(V4L2) -namespace { - -/* - * \struct V4L2SubdeviceFormatInfo +/** + * \class MediaBusFormatInfo * \brief Information about media bus formats - * \param bitsPerPixel Bits per pixel - * \param name Name of MBUS format + * + * The MediaBusFormatInfo class groups together information describing a media + * bus format. It facilitates handling of media bus formats by providing data + * commonly used in pipeline handlers. + * + * \var MediaBusFormatInfo::name + * \brief The format name as a human-readable string, used as the text + * representation of the format + * + * \var MediaBusFormatInfo::code + * \brief The media bus format code described by this instance (MEDIA_BUS_FMT_*) + * + * \var MediaBusFormatInfo::type + * \brief The media bus format type + * + * \var MediaBusFormatInfo::bitsPerPixel + * \brief The average number of bits per pixel + * + * The number of bits per pixel averages the total number of bits for all + * colour components over the whole image, excluding any padding bits or + * padding pixels. + * + * For formats that transmit multiple or fractional pixels per sample, the + * value will differ from the bus width. + * + * Formats that don't have a fixed number of bits per pixel, such as compressed + * formats, or device-specific embedded data formats, report 0 in this field. + * + * \var MediaBusFormatInfo::colourEncoding + * \brief The colour encoding type + * + * This field is valid for Type::Image formats only. */ -struct V4L2SubdeviceFormatInfo { - unsigned int bitsPerPixel; - const char *name; -}; -/* - * \var formatInfoMap - * \brief A map that associates V4L2SubdeviceFormatInfo struct to V4L2 media - * bus codes - */ -const std::map<uint32_t, V4L2SubdeviceFormatInfo> formatInfoMap = { - { MEDIA_BUS_FMT_RGB444_2X8_PADHI_BE, { 16, "RGB444_2X8_PADHI_BE" } }, - { MEDIA_BUS_FMT_RGB444_2X8_PADHI_LE, { 16, "RGB444_2X8_PADHI_LE" } }, - { MEDIA_BUS_FMT_RGB555_2X8_PADHI_BE, { 16, "RGB555_2X8_PADHI_BE" } }, - { MEDIA_BUS_FMT_RGB555_2X8_PADHI_LE, { 16, "RGB555_2X8_PADHI_LE" } }, - { MEDIA_BUS_FMT_RGB565_1X16, { 16, "RGB565_1X16" } }, - { MEDIA_BUS_FMT_BGR565_2X8_BE, { 16, "BGR565_2X8_BE" } }, - { MEDIA_BUS_FMT_BGR565_2X8_LE, { 16, "BGR565_2X8_LE" } }, - { MEDIA_BUS_FMT_RGB565_2X8_BE, { 16, "RGB565_2X8_BE" } }, - { MEDIA_BUS_FMT_RGB565_2X8_LE, { 16, "RGB565_2X8_LE" } }, - { MEDIA_BUS_FMT_RGB666_1X18, { 18, "RGB666_1X18" } }, - { MEDIA_BUS_FMT_RGB888_1X24, { 24, "RGB888_1X24" } }, - { MEDIA_BUS_FMT_RGB888_2X12_BE, { 24, "RGB888_2X12_BE" } }, - { MEDIA_BUS_FMT_RGB888_2X12_LE, { 24, "RGB888_2X12_LE" } }, - { MEDIA_BUS_FMT_ARGB8888_1X32, { 32, "ARGB8888_1X32" } }, - { MEDIA_BUS_FMT_Y8_1X8, { 8, "Y8_1X8" } }, - { MEDIA_BUS_FMT_UV8_1X8, { 8, "UV8_1X8" } }, - { MEDIA_BUS_FMT_UYVY8_1_5X8, { 12, "UYVY8_1_5X8" } }, - { MEDIA_BUS_FMT_VYUY8_1_5X8, { 12, "VYUY8_1_5X8" } }, - { MEDIA_BUS_FMT_YUYV8_1_5X8, { 12, "YUYV8_1_5X8" } }, - { MEDIA_BUS_FMT_YVYU8_1_5X8, { 12, "YVYU8_1_5X8" } }, - { MEDIA_BUS_FMT_UYVY8_2X8, { 16, "UYVY8_2X8" } }, - { MEDIA_BUS_FMT_VYUY8_2X8, { 16, "VYUY8_2X8" } }, - { MEDIA_BUS_FMT_YUYV8_2X8, { 16, "YUYV8_2X8" } }, - { MEDIA_BUS_FMT_YVYU8_2X8, { 16, "YVYU8_2X8" } }, - { MEDIA_BUS_FMT_Y10_1X10, { 10, "Y10_1X10" } }, - { MEDIA_BUS_FMT_UYVY10_2X10, { 20, "UYVY10_2X10" } }, - { MEDIA_BUS_FMT_VYUY10_2X10, { 20, "VYUY10_2X10" } }, - { MEDIA_BUS_FMT_YUYV10_2X10, { 20, "YUYV10_2X10" } }, - { MEDIA_BUS_FMT_YVYU10_2X10, { 20, "YVYU10_2X10" } }, - { MEDIA_BUS_FMT_Y12_1X12, { 12, "Y12_1X12" } }, - { MEDIA_BUS_FMT_UYVY8_1X16, { 16, "UYVY8_1X16" } }, - { MEDIA_BUS_FMT_VYUY8_1X16, { 16, "VYUY8_1X16" } }, - { MEDIA_BUS_FMT_YUYV8_1X16, { 16, "YUYV8_1X16" } }, - { MEDIA_BUS_FMT_YVYU8_1X16, { 16, "YVYU8_1X16" } }, - { MEDIA_BUS_FMT_YDYUYDYV8_1X16, { 16, "YDYUYDYV8_1X16" } }, - { MEDIA_BUS_FMT_UYVY10_1X20, { 20, "UYVY10_1X20" } }, - { MEDIA_BUS_FMT_VYUY10_1X20, { 20, "VYUY10_1X20" } }, - { MEDIA_BUS_FMT_YUYV10_1X20, { 20, "YUYV10_1X20" } }, - { MEDIA_BUS_FMT_YVYU10_1X20, { 20, "YVYU10_1X20" } }, - { MEDIA_BUS_FMT_YUV8_1X24, { 24, "YUV8_1X24" } }, - { MEDIA_BUS_FMT_YUV10_1X30, { 30, "YUV10_1X30" } }, - { MEDIA_BUS_FMT_AYUV8_1X32, { 32, "AYUV8_1X32" } }, - { MEDIA_BUS_FMT_UYVY12_2X12, { 24, "UYVY12_2X12" } }, - { MEDIA_BUS_FMT_VYUY12_2X12, { 24, "VYUY12_2X12" } }, - { MEDIA_BUS_FMT_YUYV12_2X12, { 24, "YUYV12_2X12" } }, - { MEDIA_BUS_FMT_YVYU12_2X12, { 24, "YVYU12_2X12" } }, - { MEDIA_BUS_FMT_UYVY12_1X24, { 24, "UYVY12_1X24" } }, - { MEDIA_BUS_FMT_VYUY12_1X24, { 24, "VYUY12_1X24" } }, - { MEDIA_BUS_FMT_YUYV12_1X24, { 24, "YUYV12_1X24" } }, - { MEDIA_BUS_FMT_YVYU12_1X24, { 24, "YVYU12_1X24" } }, - { MEDIA_BUS_FMT_SBGGR8_1X8, { 8, "SBGGR8_1X8" } }, - { MEDIA_BUS_FMT_SGBRG8_1X8, { 8, "SGBRG8_1X8" } }, - { MEDIA_BUS_FMT_SGRBG8_1X8, { 8, "SGRBG8_1X8" } }, - { MEDIA_BUS_FMT_SRGGB8_1X8, { 8, "SRGGB8_1X8" } }, - { MEDIA_BUS_FMT_SBGGR10_ALAW8_1X8, { 8, "SBGGR10_ALAW8_1X8" } }, - { MEDIA_BUS_FMT_SGBRG10_ALAW8_1X8, { 8, "SGBRG10_ALAW8_1X8" } }, - { MEDIA_BUS_FMT_SGRBG10_ALAW8_1X8, { 8, "SGRBG10_ALAW8_1X8" } }, - { MEDIA_BUS_FMT_SRGGB10_ALAW8_1X8, { 8, "SRGGB10_ALAW8_1X8" } }, - { MEDIA_BUS_FMT_SBGGR10_DPCM8_1X8, { 8, "SBGGR10_DPCM8_1X8" } }, - { MEDIA_BUS_FMT_SGBRG10_DPCM8_1X8, { 8, "SGBRG10_DPCM8_1X8" } }, - { MEDIA_BUS_FMT_SGRBG10_DPCM8_1X8, { 8, "SGRBG10_DPCM8_1X8" } }, - { MEDIA_BUS_FMT_SRGGB10_DPCM8_1X8, { 8, "SRGGB10_DPCM8_1X8" } }, - { MEDIA_BUS_FMT_SBGGR10_2X8_PADHI_BE, { 16, "SBGGR10_2X8_PADHI_BE" } }, - { MEDIA_BUS_FMT_SBGGR10_2X8_PADHI_LE, { 16, "SBGGR10_2X8_PADHI_LE" } }, - { MEDIA_BUS_FMT_SBGGR10_2X8_PADLO_BE, { 16, "SBGGR10_2X8_PADLO_BE" } }, - { MEDIA_BUS_FMT_SBGGR10_2X8_PADLO_LE, { 16, "SBGGR10_2X8_PADLO_LE" } }, - { MEDIA_BUS_FMT_SBGGR10_1X10, { 10, "SBGGR10_1X10" } }, - { MEDIA_BUS_FMT_SGBRG10_1X10, { 10, "SGBRG10_1X10" } }, - { MEDIA_BUS_FMT_SGRBG10_1X10, { 10, "SGRBG10_1X10" } }, - { MEDIA_BUS_FMT_SRGGB10_1X10, { 10, "SRGGB10_1X10" } }, - { MEDIA_BUS_FMT_SBGGR12_1X12, { 12, "SBGGR12_1X12" } }, - { MEDIA_BUS_FMT_SGBRG12_1X12, { 12, "SGBRG12_1X12" } }, - { MEDIA_BUS_FMT_SGRBG12_1X12, { 12, "SGRBG12_1X12" } }, - { MEDIA_BUS_FMT_SRGGB12_1X12, { 12, "SRGGB12_1X12" } }, - { MEDIA_BUS_FMT_AHSV8888_1X32, { 32, "AHSV8888_1X32" } }, +/** + * \enum MediaBusFormatInfo::Type + * \brief The format type + * + * \var MediaBusFormatInfo::Type::Image + * \brief The format describes image data + * + * \var MediaBusFormatInfo::Type::Metadata + * \brief The format describes generic metadata + * + * \var MediaBusFormatInfo::Type::EmbeddedData + * \brief The format describes sensor embedded data + */ + +namespace { + +const std::map<uint32_t, MediaBusFormatInfo> mediaBusFormatInfo{ + /* This table is sorted to match the order in linux/media-bus-format.h */ + { MEDIA_BUS_FMT_RGB444_2X8_PADHI_BE, { + .name = "RGB444_2X8_PADHI_BE", + .code = MEDIA_BUS_FMT_RGB444_2X8_PADHI_BE, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + } }, + { MEDIA_BUS_FMT_RGB444_2X8_PADHI_LE, { + .name = "RGB444_2X8_PADHI_LE", + .code = MEDIA_BUS_FMT_RGB444_2X8_PADHI_LE, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + } }, + { MEDIA_BUS_FMT_RGB555_2X8_PADHI_BE, { + .name = "RGB555_2X8_PADHI_BE", + .code = MEDIA_BUS_FMT_RGB555_2X8_PADHI_BE, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + } }, + { MEDIA_BUS_FMT_RGB555_2X8_PADHI_LE, { + .name = "RGB555_2X8_PADHI_LE", + .code = MEDIA_BUS_FMT_RGB555_2X8_PADHI_LE, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + } }, + { MEDIA_BUS_FMT_RGB565_1X16, { + .name = "RGB565_1X16", + .code = MEDIA_BUS_FMT_RGB565_1X16, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + } }, + { MEDIA_BUS_FMT_BGR565_2X8_BE, { + .name = "BGR565_2X8_BE", + .code = MEDIA_BUS_FMT_BGR565_2X8_BE, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + } }, + { MEDIA_BUS_FMT_BGR565_2X8_LE, { + .name = "BGR565_2X8_LE", + .code = MEDIA_BUS_FMT_BGR565_2X8_LE, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + } }, + { MEDIA_BUS_FMT_RGB565_2X8_BE, { + .name = "RGB565_2X8_BE", + .code = MEDIA_BUS_FMT_RGB565_2X8_BE, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + } }, + { MEDIA_BUS_FMT_RGB565_2X8_LE, { + .name = "RGB565_2X8_LE", + .code = MEDIA_BUS_FMT_RGB565_2X8_LE, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + } }, + { MEDIA_BUS_FMT_RGB666_1X18, { + .name = "RGB666_1X18", + .code = MEDIA_BUS_FMT_RGB666_1X18, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 18, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + } }, + { MEDIA_BUS_FMT_BGR888_1X24, { + .name = "BGR888_1X24", + .code = MEDIA_BUS_FMT_BGR888_1X24, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 24, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + } }, + { MEDIA_BUS_FMT_RGB888_1X24, { + .name = "RGB888_1X24", + .code = MEDIA_BUS_FMT_RGB888_1X24, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 24, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + } }, + { MEDIA_BUS_FMT_RGB888_2X12_BE, { + .name = "RGB888_2X12_BE", + .code = MEDIA_BUS_FMT_RGB888_2X12_BE, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 24, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + } }, + { MEDIA_BUS_FMT_RGB888_2X12_LE, { + .name = "RGB888_2X12_LE", + .code = MEDIA_BUS_FMT_RGB888_2X12_LE, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 24, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + } }, + { MEDIA_BUS_FMT_ARGB8888_1X32, { + .name = "ARGB8888_1X32", + .code = MEDIA_BUS_FMT_ARGB8888_1X32, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 32, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + } }, + { MEDIA_BUS_FMT_Y8_1X8, { + .name = "Y8_1X8", + .code = MEDIA_BUS_FMT_Y8_1X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_UV8_1X8, { + .name = "UV8_1X8", + .code = MEDIA_BUS_FMT_UV8_1X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_UYVY8_1_5X8, { + .name = "UYVY8_1_5X8", + .code = MEDIA_BUS_FMT_UYVY8_1_5X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 12, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_VYUY8_1_5X8, { + .name = "VYUY8_1_5X8", + .code = MEDIA_BUS_FMT_VYUY8_1_5X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 12, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_YUYV8_1_5X8, { + .name = "YUYV8_1_5X8", + .code = MEDIA_BUS_FMT_YUYV8_1_5X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 12, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_YVYU8_1_5X8, { + .name = "YVYU8_1_5X8", + .code = MEDIA_BUS_FMT_YVYU8_1_5X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 12, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_UYVY8_2X8, { + .name = "UYVY8_2X8", + .code = MEDIA_BUS_FMT_UYVY8_2X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_VYUY8_2X8, { + .name = "VYUY8_2X8", + .code = MEDIA_BUS_FMT_VYUY8_2X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_YUYV8_2X8, { + .name = "YUYV8_2X8", + .code = MEDIA_BUS_FMT_YUYV8_2X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_YVYU8_2X8, { + .name = "YVYU8_2X8", + .code = MEDIA_BUS_FMT_YVYU8_2X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_Y10_1X10, { + .name = "Y10_1X10", + .code = MEDIA_BUS_FMT_Y10_1X10, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 10, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_UYVY10_2X10, { + .name = "UYVY10_2X10", + .code = MEDIA_BUS_FMT_UYVY10_2X10, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 20, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_VYUY10_2X10, { + .name = "VYUY10_2X10", + .code = MEDIA_BUS_FMT_VYUY10_2X10, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 20, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_YUYV10_2X10, { + .name = "YUYV10_2X10", + .code = MEDIA_BUS_FMT_YUYV10_2X10, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 20, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_YVYU10_2X10, { + .name = "YVYU10_2X10", + .code = MEDIA_BUS_FMT_YVYU10_2X10, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 20, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_Y12_1X12, { + .name = "Y12_1X12", + .code = MEDIA_BUS_FMT_Y12_1X12, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 12, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_Y16_1X16, { + .name = "Y16_1X16", + .code = MEDIA_BUS_FMT_Y16_1X16, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_UYVY8_1X16, { + .name = "UYVY8_1X16", + .code = MEDIA_BUS_FMT_UYVY8_1X16, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_VYUY8_1X16, { + .name = "VYUY8_1X16", + .code = MEDIA_BUS_FMT_VYUY8_1X16, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_YUYV8_1X16, { + .name = "YUYV8_1X16", + .code = MEDIA_BUS_FMT_YUYV8_1X16, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_YVYU8_1X16, { + .name = "YVYU8_1X16", + .code = MEDIA_BUS_FMT_YVYU8_1X16, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_YDYUYDYV8_1X16, { + .name = "YDYUYDYV8_1X16", + .code = MEDIA_BUS_FMT_YDYUYDYV8_1X16, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_UYVY10_1X20, { + .name = "UYVY10_1X20", + .code = MEDIA_BUS_FMT_UYVY10_1X20, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 20, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_VYUY10_1X20, { + .name = "VYUY10_1X20", + .code = MEDIA_BUS_FMT_VYUY10_1X20, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 20, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_YUYV10_1X20, { + .name = "YUYV10_1X20", + .code = MEDIA_BUS_FMT_YUYV10_1X20, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 20, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_YVYU10_1X20, { + .name = "YVYU10_1X20", + .code = MEDIA_BUS_FMT_YVYU10_1X20, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 20, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_YUV8_1X24, { + .name = "YUV8_1X24", + .code = MEDIA_BUS_FMT_YUV8_1X24, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 24, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_YUV10_1X30, { + .name = "YUV10_1X30", + .code = MEDIA_BUS_FMT_YUV10_1X30, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 30, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_AYUV8_1X32, { + .name = "AYUV8_1X32", + .code = MEDIA_BUS_FMT_AYUV8_1X32, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 32, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_UYVY12_2X12, { + .name = "UYVY12_2X12", + .code = MEDIA_BUS_FMT_UYVY12_2X12, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 24, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_VYUY12_2X12, { + .name = "VYUY12_2X12", + .code = MEDIA_BUS_FMT_VYUY12_2X12, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 24, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_YUYV12_2X12, { + .name = "YUYV12_2X12", + .code = MEDIA_BUS_FMT_YUYV12_2X12, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 24, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_YVYU12_2X12, { + .name = "YVYU12_2X12", + .code = MEDIA_BUS_FMT_YVYU12_2X12, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 24, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_UYVY12_1X24, { + .name = "UYVY12_1X24", + .code = MEDIA_BUS_FMT_UYVY12_1X24, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 24, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_VYUY12_1X24, { + .name = "VYUY12_1X24", + .code = MEDIA_BUS_FMT_VYUY12_1X24, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 24, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_YUYV12_1X24, { + .name = "YUYV12_1X24", + .code = MEDIA_BUS_FMT_YUYV12_1X24, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 24, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_YVYU12_1X24, { + .name = "YVYU12_1X24", + .code = MEDIA_BUS_FMT_YVYU12_1X24, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 24, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_SBGGR8_1X8, { + .name = "SBGGR8_1X8", + .code = MEDIA_BUS_FMT_SBGGR8_1X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SGBRG8_1X8, { + .name = "SGBRG8_1X8", + .code = MEDIA_BUS_FMT_SGBRG8_1X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SGRBG8_1X8, { + .name = "SGRBG8_1X8", + .code = MEDIA_BUS_FMT_SGRBG8_1X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SRGGB8_1X8, { + .name = "SRGGB8_1X8", + .code = MEDIA_BUS_FMT_SRGGB8_1X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SBGGR10_ALAW8_1X8, { + .name = "SBGGR10_ALAW8_1X8", + .code = MEDIA_BUS_FMT_SBGGR10_ALAW8_1X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SGBRG10_ALAW8_1X8, { + .name = "SGBRG10_ALAW8_1X8", + .code = MEDIA_BUS_FMT_SGBRG10_ALAW8_1X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SGRBG10_ALAW8_1X8, { + .name = "SGRBG10_ALAW8_1X8", + .code = MEDIA_BUS_FMT_SGRBG10_ALAW8_1X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SRGGB10_ALAW8_1X8, { + .name = "SRGGB10_ALAW8_1X8", + .code = MEDIA_BUS_FMT_SRGGB10_ALAW8_1X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SBGGR10_DPCM8_1X8, { + .name = "SBGGR10_DPCM8_1X8", + .code = MEDIA_BUS_FMT_SBGGR10_DPCM8_1X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SGBRG10_DPCM8_1X8, { + .name = "SGBRG10_DPCM8_1X8", + .code = MEDIA_BUS_FMT_SGBRG10_DPCM8_1X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SGRBG10_DPCM8_1X8, { + .name = "SGRBG10_DPCM8_1X8", + .code = MEDIA_BUS_FMT_SGRBG10_DPCM8_1X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SRGGB10_DPCM8_1X8, { + .name = "SRGGB10_DPCM8_1X8", + .code = MEDIA_BUS_FMT_SRGGB10_DPCM8_1X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SBGGR10_2X8_PADHI_BE, { + .name = "SBGGR10_2X8_PADHI_BE", + .code = MEDIA_BUS_FMT_SBGGR10_2X8_PADHI_BE, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SBGGR10_2X8_PADHI_LE, { + .name = "SBGGR10_2X8_PADHI_LE", + .code = MEDIA_BUS_FMT_SBGGR10_2X8_PADHI_LE, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SBGGR10_2X8_PADLO_BE, { + .name = "SBGGR10_2X8_PADLO_BE", + .code = MEDIA_BUS_FMT_SBGGR10_2X8_PADLO_BE, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SBGGR10_2X8_PADLO_LE, { + .name = "SBGGR10_2X8_PADLO_LE", + .code = MEDIA_BUS_FMT_SBGGR10_2X8_PADLO_LE, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SBGGR10_1X10, { + .name = "SBGGR10_1X10", + .code = MEDIA_BUS_FMT_SBGGR10_1X10, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 10, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SGBRG10_1X10, { + .name = "SGBRG10_1X10", + .code = MEDIA_BUS_FMT_SGBRG10_1X10, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 10, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SGRBG10_1X10, { + .name = "SGRBG10_1X10", + .code = MEDIA_BUS_FMT_SGRBG10_1X10, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 10, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SRGGB10_1X10, { + .name = "SRGGB10_1X10", + .code = MEDIA_BUS_FMT_SRGGB10_1X10, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 10, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SBGGR12_1X12, { + .name = "SBGGR12_1X12", + .code = MEDIA_BUS_FMT_SBGGR12_1X12, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 12, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SGBRG12_1X12, { + .name = "SGBRG12_1X12", + .code = MEDIA_BUS_FMT_SGBRG12_1X12, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 12, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SGRBG12_1X12, { + .name = "SGRBG12_1X12", + .code = MEDIA_BUS_FMT_SGRBG12_1X12, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 12, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SRGGB12_1X12, { + .name = "SRGGB12_1X12", + .code = MEDIA_BUS_FMT_SRGGB12_1X12, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 12, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SBGGR14_1X14, { + .name = "SBGGR14_1X14", + .code = MEDIA_BUS_FMT_SBGGR14_1X14, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 14, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SGBRG14_1X14, { + .name = "SGBRG14_1X14", + .code = MEDIA_BUS_FMT_SGBRG14_1X14, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 14, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SGRBG14_1X14, { + .name = "SGRBG14_1X14", + .code = MEDIA_BUS_FMT_SGRBG14_1X14, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 14, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SRGGB14_1X14, { + .name = "SRGGB14_1X14", + .code = MEDIA_BUS_FMT_SRGGB14_1X14, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 14, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, + { MEDIA_BUS_FMT_SBGGR16_1X16, { + .name = "SBGGR16_1X16", + .code = MEDIA_BUS_FMT_SBGGR16_1X16, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW + } }, + { MEDIA_BUS_FMT_SGBRG16_1X16, { + .name = "SGBRG16_1X16", + .code = MEDIA_BUS_FMT_SGBRG16_1X16, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW + } }, + { MEDIA_BUS_FMT_SGRBG16_1X16, { + .name = "SGRBG16_1X16", + .code = MEDIA_BUS_FMT_SGRBG16_1X16, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW + } }, + { MEDIA_BUS_FMT_SRGGB16_1X16, { + .name = "SRGGB16_1X16", + .code = MEDIA_BUS_FMT_SRGGB16_1X16, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 16, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW + } }, + /* \todo Clarify colour encoding for HSV formats */ + { MEDIA_BUS_FMT_AHSV8888_1X32, { + .name = "AHSV8888_1X32", + .code = MEDIA_BUS_FMT_AHSV8888_1X32, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 32, + .colourEncoding = PixelFormatInfo::ColourEncodingRGB, + } }, + { MEDIA_BUS_FMT_JPEG_1X8, { + .name = "JPEG_1X8", + .code = MEDIA_BUS_FMT_JPEG_1X8, + .type = MediaBusFormatInfo::Type::Image, + .bitsPerPixel = 8, + .colourEncoding = PixelFormatInfo::ColourEncodingYUV, + } }, + { MEDIA_BUS_FMT_METADATA_FIXED, { + .name = "METADATA_FIXED", + .code = MEDIA_BUS_FMT_METADATA_FIXED, + .type = MediaBusFormatInfo::Type::Metadata, + .bitsPerPixel = 0, + .colourEncoding = PixelFormatInfo::ColourEncodingRAW, + } }, }; } /* namespace */ /** + * \fn bool MediaBusFormatInfo::isValid() const + * \brief Check if the media bus format info is valid + * \return True if the media bus format info is valid, false otherwise + */ + +/** + * \brief Retrieve information about a media bus format + * \param[in] code The media bus format code + * \return The MediaBusFormatInfo describing the \a code if known, or an invalid + * MediaBusFormatInfo otherwise + */ +const MediaBusFormatInfo &MediaBusFormatInfo::info(uint32_t code) +{ + static const MediaBusFormatInfo invalid{}; + + const auto it = mediaBusFormatInfo.find(code); + if (it == mediaBusFormatInfo.end()) { + LOG(V4L2, Warning) + << "Unsupported media bus format " + << utils::hex(code, 4); + return invalid; + } + + return it->second; +} + +/** + * \struct V4L2SubdeviceCapability + * \brief struct v4l2_subdev_capability object wrapper and helpers + * + * The V4L2SubdeviceCapability structure manages the information returned by the + * VIDIOC_SUBDEV_QUERYCAP ioctl. + */ + +/** + * \fn V4L2SubdeviceCapability::isReadOnly() + * \brief Retrieve if a subdevice is registered as read-only + * + * A V4L2 subdevice is registered as read-only if V4L2_SUBDEV_CAP_RO_SUBDEV + * is listed as part of its capabilities. + * + * \return True if the subdevice is registered as read-only, false otherwise + */ + +/** + * \fn V4L2SubdeviceCapability::hasStreams() + * \brief Retrieve if a subdevice supports the V4L2 streams API + * \return True if the subdevice supports the streams API, false otherwise + */ + +/** * \struct V4L2SubdeviceFormat * \brief The V4L2 sub-device image format and sizes * @@ -162,7 +785,7 @@ const std::map<uint32_t, V4L2SubdeviceFormatInfo> formatInfoMap = { */ /** - * \var V4L2SubdeviceFormat::mbus_code + * \var V4L2SubdeviceFormat::code * \brief The image format bus code */ @@ -199,23 +822,6 @@ const std::string V4L2SubdeviceFormat::toString() const } /** - * \brief Retrieve the number of bits per pixel for the V4L2 subdevice format - * \return The number of bits per pixel for the format, or 0 if the format is - * not supported - */ -uint8_t V4L2SubdeviceFormat::bitsPerPixel() const -{ - const auto it = formatInfoMap.find(mbus_code); - if (it == formatInfoMap.end()) { - LOG(V4L2, Error) << "No information available for format '" - << *this << "'"; - return 0; - } - - return it->second.bitsPerPixel; -} - -/** * \brief Insert a text representation of a V4L2SubdeviceFormat into an output * stream * \param[in] out The output stream @@ -226,10 +832,10 @@ std::ostream &operator<<(std::ostream &out, const V4L2SubdeviceFormat &f) { out << f.size << "-"; - const auto it = formatInfoMap.find(f.mbus_code); + const auto it = mediaBusFormatInfo.find(f.code); - if (it == formatInfoMap.end()) - out << utils::hex(f.mbus_code, 4); + if (it == mediaBusFormatInfo.end()) + out << utils::hex(f.code, 4); else out << it->second.name; @@ -265,6 +871,134 @@ std::ostream &operator<<(std::ostream &out, const V4L2SubdeviceFormat &f) */ /** + * \class V4L2Subdevice::Stream + * \brief V4L2 subdevice stream + * + * This class identifies a subdev stream, by bundling the pad number with the + * stream number. It is used in all stream-aware functions of the V4L2Subdevice + * class to identify the stream the functions operate on. + * + * \var V4L2Subdevice::Stream::pad + * \brief The 0-indexed pad number + * + * \var V4L2Subdevice::Stream::stream + * \brief The stream number + */ + +/** + * \fn V4L2Subdevice::Stream::Stream() + * \brief Construct a Stream with pad and stream set to 0 + */ + +/** + * \fn V4L2Subdevice::Stream::Stream(unsigned int pad, unsigned int stream) + * \brief Construct a Stream with a given \a pad and \a stream number + * \param[in] pad The indexed pad number + * \param[in] stream The stream number + */ + +/** + * \brief Compare streams for equality + * \return True if the two streams are equal, false otherwise + */ +bool operator==(const V4L2Subdevice::Stream &lhs, const V4L2Subdevice::Stream &rhs) +{ + return lhs.pad == rhs.pad && lhs.stream == rhs.stream; +} + +/** + * \fn bool operator!=(const V4L2Subdevice::Stream &lhs, const V4L2Subdevice::Stream &rhs) + * \brief Compare streams for inequality + * \return True if the two streams are not equal, false otherwise + */ + +/** + * \brief Insert a text representation of a V4L2Subdevice::Stream into an + * output stream + * \param[in] out The output stream + * \param[in] stream The V4L2Subdevice::Stream + * \return The output stream \a out + */ +std::ostream &operator<<(std::ostream &out, const V4L2Subdevice::Stream &stream) +{ + out << stream.pad << "/" << stream.stream; + + return out; +} + +/** + * \class V4L2Subdevice::Route + * \brief V4L2 subdevice routing table entry + * + * This class models a route in the subdevice routing table. It is similar to + * the v4l2_subdev_route structure, but uses the V4L2Subdevice::Stream class + * for easier usage with the V4L2Subdevice stream-aware functions. + * + * \var V4L2Subdevice::Route::sink + * \brief The sink stream of the route + * + * \var V4L2Subdevice::Route::source + * \brief The source stream of the route + * + * \var V4L2Subdevice::Route::flags + * \brief The route flags (V4L2_SUBDEV_ROUTE_FL_*) + */ + +/** + * \fn V4L2Subdevice::Route::Route() + * \brief Construct a Route with default streams + */ + +/** + * \fn V4L2Subdevice::Route::Route(const Stream &sink, const Stream &source, + * uint32_t flags) + * \brief Construct a Route from \a sink to \a source + * \param[in] sink The sink stream + * \param[in] source The source stream + * \param[in] flags The route flags + */ + +/** + * \brief Insert a text representation of a V4L2Subdevice::Route into an + * output stream + * \param[in] out The output stream + * \param[in] route The V4L2Subdevice::Route + * \return The output stream \a out + */ +std::ostream &operator<<(std::ostream &out, const V4L2Subdevice::Route &route) +{ + out << route.sink << " -> " << route.source + << " (" << utils::hex(route.flags) << ")"; + + return out; +} + +/** + * \typedef V4L2Subdevice::Routing + * \brief V4L2 subdevice routing table + * + * This class stores a subdevice routing table as a vector of routes. + */ + +/** + * \brief Insert a text representation of a V4L2Subdevice::Routing into an + * output stream + * \param[in] out The output stream + * \param[in] routing The V4L2Subdevice::Routing + * \return The output stream \a out + */ +std::ostream &operator<<(std::ostream &out, const V4L2Subdevice::Routing &routing) +{ + for (const auto &[i, route] : utils::enumerate(routing)) { + out << "[" << i << "] " << route; + if (i != routing.size() - 1) + out << ", "; + } + + return out; +} + +/** * \brief Create a V4L2 subdevice from a MediaEntity using its device node * path */ @@ -284,7 +1018,40 @@ V4L2Subdevice::~V4L2Subdevice() */ int V4L2Subdevice::open() { - return V4L2Device::open(O_RDWR); + int ret = V4L2Device::open(O_RDWR); + if (ret) + return ret; + + /* + * Try to query the subdev capabilities. The VIDIOC_SUBDEV_QUERYCAP API + * was introduced in kernel v5.8, ENOTTY errors must be ignored to + * support older kernels. + */ + caps_ = {}; + ret = ioctl(VIDIOC_SUBDEV_QUERYCAP, &caps_); + if (ret < 0 && errno != ENOTTY) { + ret = -errno; + LOG(V4L2, Error) + << "Unable to query capabilities: " << strerror(-ret); + return ret; + } + + /* If the subdev supports streams, enable the streams API. */ + if (caps_.hasStreams()) { + struct v4l2_subdev_client_capability clientCaps{}; + clientCaps.capabilities = V4L2_SUBDEV_CLIENT_CAP_STREAMS; + + ret = ioctl(VIDIOC_SUBDEV_S_CLIENT_CAP, &clientCaps); + if (ret < 0) { + ret = -errno; + LOG(V4L2, Error) + << "Unable to set client capabilities: " + << strerror(-ret); + return ret; + } + } + + return 0; } /** @@ -295,7 +1062,7 @@ int V4L2Subdevice::open() /** * \brief Get selection rectangle \a rect for \a target - * \param[in] pad The 0-indexed pad number the rectangle is retrieved from + * \param[in] stream The stream the rectangle is retrieved from * \param[in] target The selection target defined by the V4L2_SEL_TGT_* flags * \param[out] rect The retrieved selection rectangle * @@ -303,13 +1070,14 @@ int V4L2Subdevice::open() * * \return 0 on success or a negative error code otherwise */ -int V4L2Subdevice::getSelection(unsigned int pad, unsigned int target, +int V4L2Subdevice::getSelection(const Stream &stream, unsigned int target, Rectangle *rect) { struct v4l2_subdev_selection sel = {}; sel.which = V4L2_SUBDEV_FORMAT_ACTIVE; - sel.pad = pad; + sel.pad = stream.pad; + sel.stream = stream.stream; sel.target = target; sel.flags = 0; @@ -317,7 +1085,7 @@ int V4L2Subdevice::getSelection(unsigned int pad, unsigned int target, if (ret < 0) { LOG(V4L2, Error) << "Unable to get rectangle " << target << " on pad " - << pad << ": " << strerror(-ret); + << stream << ": " << strerror(-ret); return ret; } @@ -330,8 +1098,19 @@ int V4L2Subdevice::getSelection(unsigned int pad, unsigned int target, } /** + * \fn V4L2Subdevice::getSelection(unsigned int pad, unsigned int target, + * Rectangle *rect) + * \brief Get selection rectangle \a rect for \a target + * \param[in] pad The 0-indexed pad number the rectangle is retrieved from + * \param[in] target The selection target defined by the V4L2_SEL_TGT_* flags + * \param[out] rect The retrieved selection rectangle + * + * \return 0 on success or a negative error code otherwise + */ + +/** * \brief Set selection rectangle \a rect for \a target - * \param[in] pad The 0-indexed pad number the rectangle is to be applied to + * \param[in] stream The stream the rectangle is to be applied to * \param[in] target The selection target defined by the V4L2_SEL_TGT_* flags * \param[inout] rect The selection rectangle to be applied * @@ -339,13 +1118,14 @@ int V4L2Subdevice::getSelection(unsigned int pad, unsigned int target, * * \return 0 on success or a negative error code otherwise */ -int V4L2Subdevice::setSelection(unsigned int pad, unsigned int target, +int V4L2Subdevice::setSelection(const Stream &stream, unsigned int target, Rectangle *rect) { struct v4l2_subdev_selection sel = {}; sel.which = V4L2_SUBDEV_FORMAT_ACTIVE; - sel.pad = pad; + sel.pad = stream.pad; + sel.stream = stream.stream; sel.target = target; sel.flags = 0; @@ -358,7 +1138,7 @@ int V4L2Subdevice::setSelection(unsigned int pad, unsigned int target, if (ret < 0) { LOG(V4L2, Error) << "Unable to set rectangle " << target << " on pad " - << pad << ": " << strerror(-ret); + << stream << ": " << strerror(-ret); return ret; } @@ -369,26 +1149,40 @@ int V4L2Subdevice::setSelection(unsigned int pad, unsigned int target, return 0; } + /** - * \brief Enumerate all media bus codes and frame sizes on a \a pad - * \param[in] pad The 0-indexed pad number to enumerate formats on + * \fn V4L2Subdevice::setSelection(unsigned int pad, unsigned int target, + * Rectangle *rect) + * \brief Set selection rectangle \a rect for \a target + * \param[in] pad The 0-indexed pad number the rectangle is to be applied to + * \param[in] target The selection target defined by the V4L2_SEL_TGT_* flags + * \param[inout] rect The selection rectangle to be applied + * + * \todo Define a V4L2SelectionTarget enum for the selection target + * + * \return 0 on success or a negative error code otherwise + */ + +/** + * \brief Enumerate all media bus codes and frame sizes on a \a stream + * \param[in] stream The stream to enumerate formats for * * Enumerate all media bus codes and frame sizes supported by the subdevice on - * a \a pad. + * a \a stream. * * \return A list of the supported device formats */ -V4L2Subdevice::Formats V4L2Subdevice::formats(unsigned int pad) +V4L2Subdevice::Formats V4L2Subdevice::formats(const Stream &stream) { Formats formats; - if (pad >= entity_->pads().size()) { - LOG(V4L2, Error) << "Invalid pad: " << pad; + if (stream.pad >= entity_->pads().size()) { + LOG(V4L2, Error) << "Invalid pad: " << stream.pad; return {}; } - for (unsigned int code : enumPadCodes(pad)) { - std::vector<SizeRange> sizes = enumPadSizes(pad, code); + for (unsigned int code : enumPadCodes(stream)) { + std::vector<SizeRange> sizes = enumPadSizes(stream, code); if (sizes.empty()) return {}; @@ -396,7 +1190,7 @@ V4L2Subdevice::Formats V4L2Subdevice::formats(unsigned int pad) if (!inserted.second) { LOG(V4L2, Error) << "Could not add sizes for media bus code " - << code << " on pad " << pad; + << code << " on pad " << stream.pad; return {}; } } @@ -405,79 +1199,273 @@ V4L2Subdevice::Formats V4L2Subdevice::formats(unsigned int pad) } /** - * \brief Retrieve the image format set on one of the V4L2 subdevice pads - * \param[in] pad The 0-indexed pad number the format is to be retrieved from + * \fn V4L2Subdevice::formats(unsigned int pad) + * \brief Enumerate all media bus codes and frame sizes on a \a pad + * \param[in] pad The 0-indexed pad number to enumerate formats on + * + * Enumerate all media bus codes and frame sizes supported by the subdevice on + * a \a pad + * + * \return A list of the supported device formats + */ + +std::optional<ColorSpace> V4L2Subdevice::toColorSpace(const v4l2_mbus_framefmt &format) const +{ + /* + * Only image formats have a color space, for other formats (such as + * metadata formats) the color space concept isn't applicable. V4L2 + * subdev drivers return a colorspace set to V4L2_COLORSPACE_DEFAULT in + * that case (as well as for image formats when the driver hasn't + * bothered implementing color space support). Check the colorspace + * field here and return std::nullopt directly to avoid logging a + * warning. + */ + if (format.colorspace == V4L2_COLORSPACE_DEFAULT) + return std::nullopt; + + PixelFormatInfo::ColourEncoding colourEncoding; + const MediaBusFormatInfo &info = MediaBusFormatInfo::info(format.code); + if (info.isValid()) { + colourEncoding = info.colourEncoding; + } else { + LOG(V4L2, Warning) + << "Unknown subdev format " + << utils::hex(format.code, 4) + << ", defaulting to RGB encoding"; + + colourEncoding = PixelFormatInfo::ColourEncodingRGB; + } + + return V4L2Device::toColorSpace(format, colourEncoding); +} + +/** + * \brief Retrieve the image format set on one of the V4L2 subdevice streams + * \param[in] stream The stream the format is to be retrieved from * \param[out] format The image bus format * \param[in] whence The format to get, \ref V4L2Subdevice::ActiveFormat * "ActiveFormat" or \ref V4L2Subdevice::TryFormat "TryFormat" * \return 0 on success or a negative error code otherwise */ -int V4L2Subdevice::getFormat(unsigned int pad, V4L2SubdeviceFormat *format, +int V4L2Subdevice::getFormat(const Stream &stream, V4L2SubdeviceFormat *format, Whence whence) { struct v4l2_subdev_format subdevFmt = {}; - subdevFmt.which = whence == ActiveFormat ? V4L2_SUBDEV_FORMAT_ACTIVE - : V4L2_SUBDEV_FORMAT_TRY; - subdevFmt.pad = pad; + subdevFmt.which = whence; + subdevFmt.pad = stream.pad; + subdevFmt.stream = stream.stream; int ret = ioctl(VIDIOC_SUBDEV_G_FMT, &subdevFmt); if (ret) { LOG(V4L2, Error) - << "Unable to get format on pad " << pad - << ": " << strerror(-ret); + << "Unable to get format on pad " << stream << ": " + << strerror(-ret); return ret; } format->size.width = subdevFmt.format.width; format->size.height = subdevFmt.format.height; - format->mbus_code = subdevFmt.format.code; + format->code = subdevFmt.format.code; format->colorSpace = toColorSpace(subdevFmt.format); return 0; } /** + * \fn V4L2Subdevice::getFormat(unsigned int pad, V4L2SubdeviceFormat *format, + * Whence whence) + * \brief Retrieve the image format set on one of the V4L2 subdevice pads + * \param[in] pad The 0-indexed pad number the format is to be retrieved from + * \param[out] format The image bus format + * \param[in] whence The format to get, \ref V4L2Subdevice::ActiveFormat + * "ActiveFormat" or \ref V4L2Subdevice::TryFormat "TryFormat" + * \return 0 on success or a negative error code otherwise + */ + +/** * \brief Set an image format on one of the V4L2 subdevice pads - * \param[in] pad The 0-indexed pad number the format is to be applied to - * \param[inout] format The image bus format to apply to the subdevice's pad + * \param[in] stream The stream the format is to be applied to + * \param[inout] format The image bus format to apply to the stream * \param[in] whence The format to set, \ref V4L2Subdevice::ActiveFormat * "ActiveFormat" or \ref V4L2Subdevice::TryFormat "TryFormat" * - * Apply the requested image format to the desired media pad and return the + * Apply the requested image format to the desired stream and return the * actually applied format parameters, as getFormat() would do. * * \return 0 on success or a negative error code otherwise */ -int V4L2Subdevice::setFormat(unsigned int pad, V4L2SubdeviceFormat *format, +int V4L2Subdevice::setFormat(const Stream &stream, V4L2SubdeviceFormat *format, Whence whence) { struct v4l2_subdev_format subdevFmt = {}; - subdevFmt.which = whence == ActiveFormat ? V4L2_SUBDEV_FORMAT_ACTIVE - : V4L2_SUBDEV_FORMAT_TRY; - subdevFmt.pad = pad; + subdevFmt.which = whence; + subdevFmt.pad = stream.pad; + subdevFmt.stream = stream.stream; subdevFmt.format.width = format->size.width; subdevFmt.format.height = format->size.height; - subdevFmt.format.code = format->mbus_code; + subdevFmt.format.code = format->code; subdevFmt.format.field = V4L2_FIELD_NONE; - fromColorSpace(format->colorSpace, subdevFmt.format); + if (format->colorSpace) { + fromColorSpace(format->colorSpace, subdevFmt.format); + + /* The CSC flag is only applicable to source pads. */ + if (entity_->pads()[stream.pad]->flags() & MEDIA_PAD_FL_SOURCE) + subdevFmt.format.flags |= V4L2_MBUS_FRAMEFMT_SET_CSC; + } int ret = ioctl(VIDIOC_SUBDEV_S_FMT, &subdevFmt); if (ret) { LOG(V4L2, Error) - << "Unable to set format on pad " << pad - << ": " << strerror(-ret); + << "Unable to set format on pad " << stream << ": " + << strerror(-ret); return ret; } format->size.width = subdevFmt.format.width; format->size.height = subdevFmt.format.height; - format->mbus_code = subdevFmt.format.code; + format->code = subdevFmt.format.code; format->colorSpace = toColorSpace(subdevFmt.format); return 0; } /** + * \fn V4L2Subdevice::setFormat(unsigned int pad, V4L2SubdeviceFormat *format, + * Whence whence) + * \brief Set an image format on one of the V4L2 subdevice pads + * \param[in] pad The 0-indexed pad number the format is to be applied to + * \param[inout] format The image bus format to apply to the subdevice's pad + * \param[in] whence The format to set, \ref V4L2Subdevice::ActiveFormat + * "ActiveFormat" or \ref V4L2Subdevice::TryFormat "TryFormat" + * + * Apply the requested image format to the desired media pad and return the + * actually applied format parameters, as getFormat() would do. + * + * \return 0 on success or a negative error code otherwise + */ + +namespace { + +void routeFromKernel(V4L2Subdevice::Route &route, + const struct v4l2_subdev_route &kroute) +{ + route.sink.pad = kroute.sink_pad; + route.sink.stream = kroute.sink_stream; + route.source.pad = kroute.source_pad; + route.source.stream = kroute.source_stream; + route.flags = kroute.flags; +} + +void routeToKernel(const V4L2Subdevice::Route &route, + struct v4l2_subdev_route &kroute) +{ + kroute.sink_pad = route.sink.pad; + kroute.sink_stream = route.sink.stream; + kroute.source_pad = route.source.pad; + kroute.source_stream = route.source.stream; + kroute.flags = route.flags; +} + +} /* namespace */ + +/** + * \brief Retrieve the subdevice's internal routing table + * \param[out] routing The routing table + * \param[in] whence The routing table to get, \ref V4L2Subdevice::ActiveFormat + * "ActiveFormat" or \ref V4L2Subdevice::TryFormat "TryFormat" + * + * \return 0 on success or a negative error code otherwise + */ +int V4L2Subdevice::getRouting(Routing *routing, Whence whence) +{ + routing->clear(); + + if (!caps_.hasStreams()) + return 0; + + struct v4l2_subdev_routing rt = {}; + + rt.which = whence; + + int ret = ioctl(VIDIOC_SUBDEV_G_ROUTING, &rt); + if (ret == 0 || ret == -ENOTTY) + return ret; + + if (ret != -ENOSPC) { + LOG(V4L2, Error) + << "Failed to retrieve number of routes: " + << strerror(-ret); + return ret; + } + + std::vector<struct v4l2_subdev_route> routes{ rt.num_routes }; + rt.routes = reinterpret_cast<uintptr_t>(routes.data()); + + ret = ioctl(VIDIOC_SUBDEV_G_ROUTING, &rt); + if (ret) { + LOG(V4L2, Error) + << "Failed to retrieve routes: " << strerror(-ret); + return ret; + } + + if (rt.num_routes != routes.size()) { + LOG(V4L2, Error) << "Invalid number of routes"; + return -EINVAL; + } + + routing->resize(rt.num_routes); + + for (const auto &[i, route] : utils::enumerate(routes)) + routeFromKernel((*routing)[i], route); + + return 0; +} + +/** + * \brief Set a routing table on the V4L2 subdevice + * \param[inout] routing The routing table + * \param[in] whence The routing table to set, \ref V4L2Subdevice::ActiveFormat + * "ActiveFormat" or \ref V4L2Subdevice::TryFormat "TryFormat" + * + * Apply to the V4L2 subdevice the routing table \a routing and update its + * content to reflect the actually applied routing table as getRouting() would + * do. + * + * \return 0 on success or a negative error code otherwise + */ +int V4L2Subdevice::setRouting(Routing *routing, Whence whence) +{ + if (!caps_.hasStreams()) { + routing->clear(); + return 0; + } + + std::vector<struct v4l2_subdev_route> routes{ routing->size() }; + + for (const auto &[i, route] : utils::enumerate(*routing)) + routeToKernel(route, routes[i]); + + struct v4l2_subdev_routing rt = {}; + rt.which = whence; + rt.num_routes = routes.size(); + rt.routes = reinterpret_cast<uintptr_t>(routes.data()); + + int ret = ioctl(VIDIOC_SUBDEV_S_ROUTING, &rt); + if (ret) { + LOG(V4L2, Error) << "Failed to set routes: " << strerror(-ret); + return ret; + } + + routes.resize(rt.num_routes); + routing->resize(rt.num_routes); + + for (const auto &[i, route] : utils::enumerate(routes)) + routeFromKernel((*routing)[i], route); + + return 0; +} + +/** * \brief Retrieve the model name of the device * * The model name allows identification of the specific device model. This can @@ -530,6 +1518,12 @@ const std::string &V4L2Subdevice::model() } /** + * \fn V4L2Subdevice::caps() + * \brief Retrieve the subdevice V4L2 capabilities + * \return The subdevice V4L2 capabilities + */ + +/** * \brief Create a new video subdevice instance from \a entity in media device * \a media * \param[in] media The media device where the entity is registered @@ -553,14 +1547,15 @@ std::string V4L2Subdevice::logPrefix() const return "'" + entity_->name() + "'"; } -std::vector<unsigned int> V4L2Subdevice::enumPadCodes(unsigned int pad) +std::vector<unsigned int> V4L2Subdevice::enumPadCodes(const Stream &stream) { std::vector<unsigned int> codes; int ret; for (unsigned int index = 0; ; index++) { struct v4l2_subdev_mbus_code_enum mbusEnum = {}; - mbusEnum.pad = pad; + mbusEnum.pad = stream.pad; + mbusEnum.stream = stream.stream; mbusEnum.index = index; mbusEnum.which = V4L2_SUBDEV_FORMAT_ACTIVE; @@ -573,7 +1568,7 @@ std::vector<unsigned int> V4L2Subdevice::enumPadCodes(unsigned int pad) if (ret < 0 && ret != -EINVAL) { LOG(V4L2, Error) - << "Unable to enumerate formats on pad " << pad + << "Unable to enumerate formats on pad " << stream << ": " << strerror(-ret); return {}; } @@ -581,7 +1576,7 @@ std::vector<unsigned int> V4L2Subdevice::enumPadCodes(unsigned int pad) return codes; } -std::vector<SizeRange> V4L2Subdevice::enumPadSizes(unsigned int pad, +std::vector<SizeRange> V4L2Subdevice::enumPadSizes(const Stream &stream, unsigned int code) { std::vector<SizeRange> sizes; @@ -590,7 +1585,8 @@ std::vector<SizeRange> V4L2Subdevice::enumPadSizes(unsigned int pad, for (unsigned int index = 0;; index++) { struct v4l2_subdev_frame_size_enum sizeEnum = {}; sizeEnum.index = index; - sizeEnum.pad = pad; + sizeEnum.pad = stream.pad; + sizeEnum.stream = stream.stream; sizeEnum.code = code; sizeEnum.which = V4L2_SUBDEV_FORMAT_ACTIVE; @@ -604,7 +1600,7 @@ std::vector<SizeRange> V4L2Subdevice::enumPadSizes(unsigned int pad, if (ret < 0 && ret != -EINVAL && ret != -ENOTTY) { LOG(V4L2, Error) - << "Unable to enumerate sizes on pad " << pad + << "Unable to enumerate sizes on pad " << stream << ": " << strerror(-ret); return {}; } diff --git a/src/libcamera/v4l2_videodevice.cpp b/src/libcamera/v4l2_videodevice.cpp index 63911339..4947aa3d 100644 --- a/src/libcamera/v4l2_videodevice.cpp +++ b/src/libcamera/v4l2_videodevice.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * v4l2_videodevice.cpp - V4L2 Video Device + * V4L2 Video Device */ #include "libcamera/internal/v4l2_videodevice.h" @@ -633,13 +633,9 @@ int V4L2VideoDevice::open() << "Opened device " << caps_.bus_info() << ": " << caps_.driver() << ": " << caps_.card(); - ret = getFormat(&format_); - if (ret) { - LOG(V4L2, Error) << "Failed to get format"; + ret = initFormats(); + if (ret) return ret; - } - - formatInfo_ = &PixelFormatInfo::info(format_.fourcc); return 0; } @@ -726,7 +722,24 @@ int V4L2VideoDevice::open(SharedFD handle, enum v4l2_buf_type type) << "Opened device " << caps_.bus_info() << ": " << caps_.driver() << ": " << caps_.card(); - ret = getFormat(&format_); + ret = initFormats(); + if (ret) + return ret; + + return 0; +} + +int V4L2VideoDevice::initFormats() +{ + const std::vector<V4L2PixelFormat> &deviceFormats = enumPixelformats(0); + if (deviceFormats.empty()) { + LOG(V4L2, Error) << "Failed to initialize device formats"; + return -EINVAL; + } + + pixelFormats_ = { deviceFormats.begin(), deviceFormats.end() }; + + int ret = getFormat(&format_); if (ret) { LOG(V4L2, Error) << "Failed to get format"; return ret; @@ -901,6 +914,13 @@ int V4L2VideoDevice::trySetFormatMeta(V4L2DeviceFormat *format, bool set) return 0; } +template<typename T> +std::optional<ColorSpace> V4L2VideoDevice::toColorSpace(const T &v4l2Format) +{ + V4L2PixelFormat fourcc{ v4l2Format.pixelformat }; + return V4L2Device::toColorSpace(v4l2Format, PixelFormatInfo::info(fourcc).colourEncoding); +} + int V4L2VideoDevice::getFormatMultiplane(V4L2DeviceFormat *format) { struct v4l2_format v4l2Format = {}; @@ -940,7 +960,12 @@ int V4L2VideoDevice::trySetFormatMultiplane(V4L2DeviceFormat *format, bool set) pix->pixelformat = format->fourcc; pix->num_planes = format->planesCount; pix->field = V4L2_FIELD_NONE; - fromColorSpace(format->colorSpace, *pix); + if (format->colorSpace) { + fromColorSpace(format->colorSpace, *pix); + + if (caps_.isVideoCapture()) + pix->flags |= V4L2_PIX_FMT_FLAG_SET_CSC; + } ASSERT(pix->num_planes <= std::size(pix->plane_fmt)); @@ -1010,7 +1035,12 @@ int V4L2VideoDevice::trySetFormatSingleplane(V4L2DeviceFormat *format, bool set) pix->pixelformat = format->fourcc; pix->bytesperline = format->planes[0].bpl; pix->field = V4L2_FIELD_NONE; - fromColorSpace(format->colorSpace, *pix); + if (format->colorSpace) { + fromColorSpace(format->colorSpace, *pix); + + if (caps_.isVideoCapture()) + pix->flags |= V4L2_PIX_FMT_FLAG_SET_CSC; + } ret = ioctl(set ? VIDIOC_S_FMT : VIDIOC_TRY_FMT, &v4l2Format); if (ret) { @@ -1441,7 +1471,7 @@ UniqueFD V4L2VideoDevice::exportDmabufFd(unsigned int index, expbuf.type = bufferType_; expbuf.index = index; expbuf.plane = plane; - expbuf.flags = O_RDWR; + expbuf.flags = O_CLOEXEC | O_RDWR; ret = ioctl(VIDIOC_EXPBUF, &expbuf); if (ret < 0) { @@ -1503,6 +1533,9 @@ int V4L2VideoDevice::importBuffers(unsigned int count) */ int V4L2VideoDevice::releaseBuffers() { + if (!cache_) + return 0; + LOG(V4L2, Debug) << "Releasing buffers"; delete cache_; @@ -1593,6 +1626,11 @@ int V4L2VideoDevice::queueBuffer(FrameBuffer *buffer) if (V4L2_TYPE_IS_OUTPUT(buf.type)) { const FrameMetadata &metadata = buffer->metadata(); + for (const auto &plane : metadata.planes()) { + if (!plane.bytesused) + LOG(V4L2, Warning) << "byteused == 0 is deprecated"; + } + if (numV4l2Planes != planes.size()) { /* * If we have a multi-planar buffer with a V4L2 @@ -1761,12 +1799,14 @@ FrameBuffer *V4L2VideoDevice::dequeueBuffer() watchdog_.start(std::chrono::duration_cast<std::chrono::milliseconds>(watchdogDuration_)); } - buffer->metadata_.status = buf.flags & V4L2_BUF_FLAG_ERROR - ? FrameMetadata::FrameError - : FrameMetadata::FrameSuccess; - buffer->metadata_.sequence = buf.sequence; - buffer->metadata_.timestamp = buf.timestamp.tv_sec * 1000000000ULL - + buf.timestamp.tv_usec * 1000ULL; + FrameMetadata &metadata = buffer->_d()->metadata(); + + metadata.status = buf.flags & V4L2_BUF_FLAG_ERROR + ? FrameMetadata::FrameError + : FrameMetadata::FrameSuccess; + metadata.sequence = buf.sequence; + metadata.timestamp = buf.timestamp.tv_sec * 1000000000ULL + + buf.timestamp.tv_usec * 1000ULL; if (V4L2_TYPE_IS_OUTPUT(buf.type)) return buffer; @@ -1777,15 +1817,14 @@ FrameBuffer *V4L2VideoDevice::dequeueBuffer() */ if (!firstFrame_) { if (buf.sequence) - LOG(V4L2, Warning) + LOG(V4L2, Info) << "Zero sequence expected for first frame (got " << buf.sequence << ")"; firstFrame_ = buf.sequence; } - buffer->metadata_.sequence -= firstFrame_.value(); + metadata.sequence -= firstFrame_.value(); unsigned int numV4l2Planes = multiPlanar ? buf.length : 1; - FrameMetadata &metadata = buffer->metadata_; if (numV4l2Planes != buffer->planes().size()) { /* @@ -1911,9 +1950,10 @@ int V4L2VideoDevice::streamOff() /* Send back all queued buffers. */ for (auto it : queuedBuffers_) { FrameBuffer *buffer = it.second; + FrameMetadata &metadata = buffer->_d()->metadata(); cache_->put(it.first); - buffer->metadata_.status = FrameMetadata::FrameCancelled; + metadata.status = FrameMetadata::FrameCancelled; bufferReady.emit(buffer); } @@ -1990,6 +2030,40 @@ V4L2VideoDevice::fromEntityName(const MediaDevice *media, } /** + * \brief Convert \a PixelFormat to a V4L2PixelFormat supported by the device + * \param[in] pixelFormat The PixelFormat to convert + * + * Convert \a pixelformat to a V4L2 FourCC that is known to be supported by + * the video device. + * + * A V4L2VideoDevice may support different V4L2 pixel formats that map the same + * PixelFormat. This is the case of the contiguous and non-contiguous variants + * of multiplanar formats, and with the V4L2 MJPEG and JPEG pixel formats. + * Converting a PixelFormat to a V4L2PixelFormat may thus have multiple answers. + * + * This function converts the \a pixelFormat using the list of V4L2 pixel + * formats that the V4L2VideoDevice supports. This guarantees that the returned + * V4L2PixelFormat will be valid for the device. If multiple matches are still + * possible, contiguous variants are preferred. If the \a pixelFormat is not + * supported by the device, the function returns an invalid V4L2PixelFormat. + * + * \return The V4L2PixelFormat corresponding to \a pixelFormat if supported by + * the device, or an invalid V4L2PixelFormat otherwise + */ +V4L2PixelFormat V4L2VideoDevice::toV4L2PixelFormat(const PixelFormat &pixelFormat) const +{ + const std::vector<V4L2PixelFormat> &v4l2PixelFormats = + V4L2PixelFormat::fromPixelFormat(pixelFormat); + + for (const V4L2PixelFormat &v4l2Format : v4l2PixelFormats) { + if (pixelFormats_.count(v4l2Format)) + return v4l2Format; + } + + return {}; +} + +/** * \class V4L2M2MDevice * \brief Memory-to-Memory video device * diff --git a/src/libcamera/version.cpp.in b/src/libcamera/version.cpp.in index 5aec08a1..bf5a2c30 100644 --- a/src/libcamera/version.cpp.in +++ b/src/libcamera/version.cpp.in @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * version.cpp - libcamera version + * libcamera version * * This file is auto-generated. Do not edit. */ diff --git a/src/libcamera/yaml_parser.cpp b/src/libcamera/yaml_parser.cpp index 5c45e44e..55f81916 100644 --- a/src/libcamera/yaml_parser.cpp +++ b/src/libcamera/yaml_parser.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2022, Google Inc. * - * yaml_parser.cpp - libcamera YAML parsing helper + * libcamera YAML parsing helper */ #include "libcamera/internal/yaml_parser.h" @@ -31,12 +31,6 @@ namespace { /* Empty static YamlObject as a safe result for invalid operations */ static const YamlObject empty; -void setOk(bool *ok, bool result) -{ - if (ok) - *ok = result; -} - } /* namespace */ /** @@ -91,7 +85,6 @@ std::size_t YamlObject::size() const { switch (type_) { case Type::Dictionary: - return dictionary_.size(); case Type::List: return list_.size(); default: @@ -100,232 +93,293 @@ std::size_t YamlObject::size() const } /** - * \fn template<typename T> YamlObject::get<T>( - * const T &defaultValue, bool *ok) const + * \fn template<typename T> YamlObject::get<T>() const * \brief Parse the YamlObject as a \a T value - * \param[in] defaultValue The default value when failing to parse - * \param[out] ok The result of whether the parse succeeded * * This function parses the value of the YamlObject as a \a T object, and * returns the value. If parsing fails (usually because the YamlObject doesn't - * store a \a T value), the \a defaultValue is returned, and \a ok is set to - * false. Otherwise, the YamlObject value is returned, and \a ok is set to true. + * store a \a T value), std::nullopt is returned. + * + * \return The YamlObject value, or std::nullopt if parsing failed + */ + +/** + * \fn template<typename T> YamlObject::get<T>(const T &defaultValue) const + * \brief Parse the YamlObject as a \a T value + * \param[in] defaultValue The default value when failing to parse * - * The \a ok pointer is optional and can be a nullptr if the caller doesn't - * need to know if parsing succeeded. + * This function parses the value of the YamlObject as a \a T object, and + * returns the value. If parsing fails (usually because the YamlObject doesn't + * store a \a T value), the \a defaultValue is returned. * - * \return Value as a bool type + * \return The YamlObject value, or \a defaultValue if parsing failed */ #ifndef __DOXYGEN__ template<> -bool YamlObject::get(const bool &defaultValue, bool *ok) const +std::optional<bool> YamlObject::get() const { - setOk(ok, false); - if (type_ != Type::Value) - return defaultValue; + return std::nullopt; - if (value_ == "true") { - setOk(ok, true); + if (value_ == "true") return true; - } else if (value_ == "false") { - setOk(ok, true); + else if (value_ == "false") return false; - } - return defaultValue; + return std::nullopt; } -template<> -int16_t YamlObject::get(const int16_t &defaultValue, bool *ok) const -{ - setOk(ok, false); - - if (type_ != Type::Value) - return defaultValue; +namespace { - if (value_ == "") - return defaultValue; +bool parseSignedInteger(const std::string &str, long min, long max, + long *result) +{ + if (str == "") + return false; char *end; errno = 0; - int16_t value = std::strtol(value_.c_str(), &end, 10); + long value = std::strtol(str.c_str(), &end, 10); - if ('\0' != *end || errno == ERANGE || - value < std::numeric_limits<int16_t>::min() || - value > std::numeric_limits<int16_t>::max()) - return defaultValue; + if ('\0' != *end || errno == ERANGE || value < min || value > max) + return false; - setOk(ok, true); - return value; + *result = value; + return true; } -template<> -uint16_t YamlObject::get(const uint16_t &defaultValue, bool *ok) const +bool parseUnsignedInteger(const std::string &str, unsigned long max, + unsigned long *result) { - setOk(ok, false); - - if (type_ != Type::Value) - return defaultValue; - - if (value_ == "") - return defaultValue; + if (str == "") + return false; /* - * libyaml parses all scalar values as strings. When a string has - * leading spaces before a minus sign, for example " -10", strtoul - * skips leading spaces, accepts the leading minus sign, and the - * calculated digits are negated as if by unary minus. Rule it out in - * case the user gets a large number when the value is negative. + * strtoul() accepts strings representing a negative number, in which + * case it negates the converted value. We don't want to silently accept + * negative values and return a large positive number, so check for a + * minus sign (after optional whitespace) and return an error. */ - std::size_t found = value_.find_first_not_of(" \t"); - if (found != std::string::npos && value_[found] == '-') - return defaultValue; + std::size_t found = str.find_first_not_of(" \t"); + if (found != std::string::npos && str[found] == '-') + return false; char *end; errno = 0; - uint16_t value = std::strtoul(value_.c_str(), &end, 10); + unsigned long value = std::strtoul(str.c_str(), &end, 10); - if ('\0' != *end || errno == ERANGE || - value < std::numeric_limits<uint16_t>::min() || - value > std::numeric_limits<uint16_t>::max()) - return defaultValue; + if ('\0' != *end || errno == ERANGE || value > max) + return false; - setOk(ok, true); - return value; + *result = value; + return true; } +} /* namespace */ + template<> -int32_t YamlObject::get(const int32_t &defaultValue, bool *ok) const +std::optional<int8_t> YamlObject::get() const { - setOk(ok, false); - if (type_ != Type::Value) - return defaultValue; + return std::nullopt; - if (value_ == "") - return defaultValue; + long value; - char *end; + if (!parseSignedInteger(value_, std::numeric_limits<int8_t>::min(), + std::numeric_limits<int8_t>::max(), &value)) + return std::nullopt; - errno = 0; - long value = std::strtol(value_.c_str(), &end, 10); + return value; +} + +template<> +std::optional<uint8_t> YamlObject::get() const +{ + if (type_ != Type::Value) + return std::nullopt; - if ('\0' != *end || errno == ERANGE || - value < std::numeric_limits<int32_t>::min() || - value > std::numeric_limits<int32_t>::max()) - return defaultValue; + unsigned long value; + + if (!parseUnsignedInteger(value_, std::numeric_limits<uint8_t>::max(), + &value)) + return std::nullopt; - setOk(ok, true); return value; } template<> -uint32_t YamlObject::get(const uint32_t &defaultValue, bool *ok) const +std::optional<int16_t> YamlObject::get() const { - setOk(ok, false); + if (type_ != Type::Value) + return std::nullopt; + + long value; + + if (!parseSignedInteger(value_, std::numeric_limits<int16_t>::min(), + std::numeric_limits<int16_t>::max(), &value)) + return std::nullopt; + + return value; +} +template<> +std::optional<uint16_t> YamlObject::get() const +{ if (type_ != Type::Value) - return defaultValue; + return std::nullopt; - if (value_ == "") - return defaultValue; + unsigned long value; - /* - * libyaml parses all scalar values as strings. When a string has - * leading spaces before a minus sign, for example " -10", strtoul - * skips leading spaces, accepts the leading minus sign, and the - * calculated digits are negated as if by unary minus. Rule it out in - * case the user gets a large number when the value is negative. - */ - std::size_t found = value_.find_first_not_of(" \t"); - if (found != std::string::npos && value_[found] == '-') - return defaultValue; + if (!parseUnsignedInteger(value_, std::numeric_limits<uint16_t>::max(), + &value)) + return std::nullopt; - char *end; + return value; +} - errno = 0; - unsigned long value = std::strtoul(value_.c_str(), &end, 10); +template<> +std::optional<int32_t> YamlObject::get() const +{ + if (type_ != Type::Value) + return std::nullopt; + + long value; - if ('\0' != *end || errno == ERANGE || - value < std::numeric_limits<uint32_t>::min() || - value > std::numeric_limits<uint32_t>::max()) - return defaultValue; + if (!parseSignedInteger(value_, std::numeric_limits<int32_t>::min(), + std::numeric_limits<int32_t>::max(), &value)) + return std::nullopt; - setOk(ok, true); return value; } template<> -double YamlObject::get(const double &defaultValue, bool *ok) const +std::optional<uint32_t> YamlObject::get() const { - setOk(ok, false); + if (type_ != Type::Value) + return std::nullopt; + + unsigned long value; + if (!parseUnsignedInteger(value_, std::numeric_limits<uint32_t>::max(), + &value)) + return std::nullopt; + + return value; +} + +template<> +std::optional<double> YamlObject::get() const +{ if (type_ != Type::Value) - return defaultValue; + return std::nullopt; if (value_ == "") - return defaultValue; + return std::nullopt; char *end; errno = 0; - double value = std::strtod(value_.c_str(), &end); + double value = utils::strtod(value_.c_str(), &end); if ('\0' != *end || errno == ERANGE) - return defaultValue; + return std::nullopt; - setOk(ok, true); return value; } template<> -std::string YamlObject::get(const std::string &defaultValue, bool *ok) const +std::optional<std::string> YamlObject::get() const { - setOk(ok, false); - if (type_ != Type::Value) - return defaultValue; + return std::nullopt; - setOk(ok, true); return value_; } template<> -Size YamlObject::get(const Size &defaultValue, bool *ok) const +std::optional<Size> YamlObject::get() const { - setOk(ok, false); - if (type_ != Type::List) - return defaultValue; + return std::nullopt; if (list_.size() != 2) - return defaultValue; + return std::nullopt; - /* - * Add a local variable to validate each dimension in case - * that ok == nullptr. - */ - bool valid; - uint32_t width = list_[0]->get<uint32_t>(0, &valid); - if (!valid) - return defaultValue; + auto width = list_[0].value->get<uint32_t>(); + if (!width) + return std::nullopt; - uint32_t height = list_[1]->get<uint32_t>(0, &valid); - if (!valid) - return defaultValue; + auto height = list_[1].value->get<uint32_t>(); + if (!height) + return std::nullopt; - setOk(ok, true); - return Size(width, height); + return Size(*width, *height); } #endif /* __DOXYGEN__ */ /** + * \fn template<typename T> YamlObject::getList<T>() const + * \brief Parse the YamlObject as a list of \a T + * + * This function parses the value of the YamlObject as a list of \a T objects, + * and returns the value as a \a std::vector<T>. If parsing fails, std::nullopt + * is returned. + * + * \return The YamlObject value as a std::vector<T>, or std::nullopt if parsing + * failed + */ + +#ifndef __DOXYGEN__ + +template<typename T, + std::enable_if_t< + std::is_same_v<bool, T> || + std::is_same_v<double, T> || + std::is_same_v<int8_t, T> || + std::is_same_v<uint8_t, T> || + std::is_same_v<int16_t, T> || + std::is_same_v<uint16_t, T> || + std::is_same_v<int32_t, T> || + std::is_same_v<uint32_t, T> || + std::is_same_v<std::string, T> || + std::is_same_v<Size, T>> *> +std::optional<std::vector<T>> YamlObject::getList() const +{ + if (type_ != Type::List) + return std::nullopt; + + std::vector<T> values; + values.reserve(list_.size()); + + for (const YamlObject &entry : asList()) { + const auto value = entry.get<T>(); + if (!value) + return std::nullopt; + values.emplace_back(*value); + } + + return values; +} + +template std::optional<std::vector<bool>> YamlObject::getList<bool>() const; +template std::optional<std::vector<double>> YamlObject::getList<double>() const; +template std::optional<std::vector<int8_t>> YamlObject::getList<int8_t>() const; +template std::optional<std::vector<uint8_t>> YamlObject::getList<uint8_t>() const; +template std::optional<std::vector<int16_t>> YamlObject::getList<int16_t>() const; +template std::optional<std::vector<uint16_t>> YamlObject::getList<uint16_t>() const; +template std::optional<std::vector<int32_t>> YamlObject::getList<int32_t>() const; +template std::optional<std::vector<uint32_t>> YamlObject::getList<uint32_t>() const; +template std::optional<std::vector<std::string>> YamlObject::getList<std::string>() const; +template std::optional<std::vector<Size>> YamlObject::getList<Size>() const; + +#endif /* __DOXYGEN__ */ + +/** * \fn YamlObject::asDict() const * \brief Wrap a dictionary YamlObject in an adapter that exposes iterators * @@ -379,7 +433,7 @@ const YamlObject &YamlObject::operator[](std::size_t index) const if (type_ != Type::List || index >= size()) return empty; - return *list_[index]; + return *list_[index].value; } /** @@ -395,7 +449,7 @@ const YamlObject &YamlObject::operator[](std::size_t index) const */ bool YamlObject::contains(const std::string &key) const { - if (dictionary_.find(key) == dictionary_.end()) + if (dictionary_.find(std::ref(key)) == dictionary_.end()) return false; return true; @@ -622,7 +676,7 @@ int YamlParserContext::parseDictionaryOrList(YamlObject::Type type, * Add a safety counter to make sure we don't loop indefinitely in case * the YAML file is malformed. */ - for (unsigned int sentinel = 1000; sentinel; sentinel--) { + for (unsigned int sentinel = 2000; sentinel; sentinel--) { auto evt = nextEvent(); if (!evt) return -EINVAL; @@ -667,16 +721,16 @@ int YamlParserContext::parseNextYamlObject(YamlObject &yamlObject, EventPtr even yamlObject.type_ = YamlObject::Type::List; auto &list = yamlObject.list_; auto handler = [this, &list](EventPtr evt) { - list.emplace_back(new YamlObject()); - return parseNextYamlObject(*list.back(), std::move(evt)); + list.emplace_back(std::string{}, std::make_unique<YamlObject>()); + return parseNextYamlObject(*list.back().value, std::move(evt)); }; return parseDictionaryOrList(YamlObject::Type::List, handler); } case YAML_MAPPING_START_EVENT: { yamlObject.type_ = YamlObject::Type::Dictionary; - auto &dictionary = yamlObject.dictionary_; - auto handler = [this, &dictionary](EventPtr evtKey) { + auto &list = yamlObject.list_; + auto handler = [this, &list](EventPtr evtKey) { /* Parse key */ if (evtKey->type != YAML_SCALAR_EVENT) { LOG(YamlParser, Error) << "Expect key at line: " @@ -694,10 +748,19 @@ int YamlParserContext::parseNextYamlObject(YamlObject &yamlObject, EventPtr even if (!evtValue) return -EINVAL; - auto elem = dictionary.emplace(key, std::make_unique<YamlObject>()); - return parseNextYamlObject(*elem.first->second.get(), std::move(evtValue)); + auto &elem = list.emplace_back(std::move(key), + std::make_unique<YamlObject>()); + return parseNextYamlObject(*elem.value, std::move(evtValue)); }; - return parseDictionaryOrList(YamlObject::Type::Dictionary, handler); + int ret = parseDictionaryOrList(YamlObject::Type::Dictionary, handler); + if (ret) + return ret; + + auto &dictionary = yamlObject.dictionary_; + for (const auto &elem : list) + dictionary.emplace(elem.key, elem.value.get()); + + return 0; } default: @@ -753,6 +816,9 @@ int YamlParserContext::parseNextYamlObject(YamlObject &yamlObject, EventPtr even * The YamlParser::parse() function takes an open FILE, parses its contents, and * returns a pointer to a YamlObject corresponding to the root node of the YAML * document. + * + * The parser preserves the order of items in the YAML file, for both lists and + * dictionaries. */ /** @@ -775,7 +841,9 @@ std::unique_ptr<YamlObject> YamlParser::parse(File &file) std::unique_ptr<YamlObject> root(new YamlObject()); if (context.parseContent(*root)) { - LOG(YamlParser, Error) << "Failed to parse YAML content"; + LOG(YamlParser, Error) + << "Failed to parse YAML content from " + << file.fileName(); return nullptr; } diff --git a/src/meson.build b/src/meson.build index 34663a6f..165a77bb 100644 --- a/src/meson.build +++ b/src/meson.build @@ -3,6 +3,7 @@ # Cache system paths libcamera_datadir = get_option('datadir') / 'libcamera' libcamera_libdir = get_option('libdir') / 'libcamera' +libcamera_libexecdir = get_option('libexecdir') / 'libcamera' libcamera_sysconfdir = get_option('sysconfdir') / 'libcamera' config_h.set('LIBCAMERA_DATA_DIR', '"' + get_option('prefix') / libcamera_datadir + '"') @@ -14,7 +15,7 @@ summary({ }, section : 'Paths') # Module Signing -openssl = find_program('openssl', required : true) +openssl = find_program('openssl', required : false) if openssl.found() ipa_priv_key = custom_target('ipa-priv-key', output : ['ipa-priv-key.pem'], @@ -22,6 +23,7 @@ if openssl.found() config_h.set('HAVE_IPA_PUBKEY', 1) ipa_sign_module = true else + warning('openssl not found, all IPA modules will be isolated') ipa_sign_module = false endif @@ -31,10 +33,7 @@ subdir('libcamera') subdir('android') subdir('ipa') -subdir('lc-compliance') - -subdir('cam') -subdir('qcam') +subdir('apps') subdir('gstreamer') subdir('py') diff --git a/src/py/cam/cam.py b/src/py/cam/cam.py index 2ae89fa8..ff4b7f66 100755 --- a/src/py/cam/cam.py +++ b/src/py/cam/cam.py @@ -3,9 +3,6 @@ # SPDX-License-Identifier: GPL-2.0-or-later # Copyright (C) 2022, Tomi Valkeinen <tomi.valkeinen@ideasonboard.com> -# \todo Convert ctx and state dicts to proper classes, and move relevant -# functions to those classes. - from typing import Any import argparse import binascii @@ -26,6 +23,7 @@ class CameraContext: opt_metadata: bool opt_save_frames: bool opt_capture: int + opt_orientation: str stream_names: dict[libcam.Stream, str] streams: list[libcam.Stream] @@ -149,6 +147,21 @@ class CameraContext: if 'pixelformat' in stream_opts: stream_config.pixel_format = libcam.PixelFormat(stream_opts['pixelformat']) + if self.opt_orientation is not None: + orientation_map = { + 'rot0': libcam.Orientation.Rotate0, + 'rot180': libcam.Orientation.Rotate180, + 'mirror': libcam.Orientation.Rotate0Mirror, + 'flip': libcam.Orientation.Rotate180Mirror, + } + + orient = orientation_map.get(self.opt_orientation, None) + if orient is None: + print('Bad orientation: ', self.opt_orientation) + sys.exit(-1) + + camconfig.orientation = orient + stat = camconfig.validate() if stat == libcam.CameraConfiguration.Status.Invalid: @@ -161,9 +174,7 @@ class CameraContext: print('Camera configuration adjusted') - r = self.camera.configure(camconfig) - if r != 0: - raise Exception('Configure failed') + self.camera.configure(camconfig) self.stream_names = {} self.streams = [] @@ -178,12 +189,7 @@ class CameraContext: allocator = libcam.FrameBufferAllocator(self.camera) for stream in self.streams: - ret = allocator.allocate(stream) - if ret < 0: - print('Cannot allocate buffers') - exit(-1) - - allocated = len(allocator.buffers(stream)) + allocated = allocator.allocate(stream) print('{}-{}: Allocated {} buffers'.format(self.id, self.stream_names[stream], allocated)) @@ -208,10 +214,7 @@ class CameraContext: buffers = self.allocator.buffers(stream) buffer = buffers[buf_num] - ret = request.add_buffer(stream, buffer) - if ret < 0: - print('Can not set buffer for request') - exit(-1) + request.add_buffer(stream, buffer) requests.append(request) @@ -269,6 +272,11 @@ class CaptureState: ctx.last = ts ctx.fps = fps + if ctx.opt_metadata: + reqmeta = req.metadata + for ctrl, val in reqmeta.items(): + print(f'\t{ctrl} = {val}') + for stream, fb in buffers.items(): stream_name = ctx.stream_names[stream] @@ -287,11 +295,6 @@ class CaptureState: '/'.join([str(p.bytes_used) for p in meta.planes]), crcs)) - if ctx.opt_metadata: - reqmeta = req.metadata - for ctrl, val in reqmeta.items(): - print(f'\t{ctrl} = {val}') - if ctx.opt_save_frames: with libcamera.utils.MappedFrameBuffer(fb) as mfb: filename = 'frame-{}-{}-{}.data'.format(ctx.id, stream_name, ctx.reqs_completed) @@ -398,6 +401,7 @@ def main(): parser.add_argument('--metadata', nargs=0, type=bool, action=CustomAction, help='Print the metadata for completed requests') parser.add_argument('--strict-formats', type=bool, nargs=0, action=CustomAction, help='Do not allow requested stream format(s) to be adjusted') parser.add_argument('-s', '--stream', nargs='+', action=CustomAction) + parser.add_argument('-o', '--orientation', help='Desired image orientation (rot0, rot180, mirror, flip)') args = parser.parse_args() cm = libcam.CameraManager.singleton() @@ -421,6 +425,7 @@ def main(): ctx.opt_metadata = args.metadata.get(cam_idx, False) ctx.opt_strict_formats = args.strict_formats.get(cam_idx, False) ctx.opt_stream = args.stream.get(cam_idx, ['role=viewfinder']) + ctx.opt_orientation = args.orientation contexts.append(ctx) for ctx in contexts: @@ -434,7 +439,10 @@ def main(): if args.info: ctx.do_cmd_info() - if args.capture: + # Filter out capture contexts which are not marked for capture + contexts = [ctx for ctx in contexts if ctx.opt_capture > 0] + + if contexts: state = CaptureState(cm, contexts) if args.renderer == 'null': diff --git a/src/py/cam/helpers.py b/src/py/cam/helpers.py index 6b32a134..2d906667 100644 --- a/src/py/cam/helpers.py +++ b/src/py/cam/helpers.py @@ -117,14 +117,12 @@ def to_rgb(fmt, size, data): bayer_pattern = fmt[1:5] bitspp = int(fmt[5:]) - # \todo shifting leaves the lowest bits 0 if bitspp == 8: data = data.reshape((h, w)) - data = data.astype(np.uint16) << 8 + data = data.astype(np.uint16) elif bitspp in [10, 12]: data = data.view(np.uint16) data = data.reshape((h, w)) - data = data << (16 - bitspp) else: raise Exception('Bad bitspp:' + str(bitspp)) @@ -145,7 +143,7 @@ def to_rgb(fmt, size, data): b0 = (idx % 2, idx // 2) rgb = demosaic(data, r0, g0, g1, b0) - rgb = (rgb >> 8).astype(np.uint8) + rgb = (rgb >> (bitspp - 8)).astype(np.uint8) else: rgb = None diff --git a/src/py/examples/simple-cam.py b/src/py/examples/simple-cam.py index 2b81bb65..1cd1019d 100755 --- a/src/py/examples/simple-cam.py +++ b/src/py/examples/simple-cam.py @@ -19,8 +19,9 @@ TIMEOUT_SEC = 3 def handle_camera_event(cm): - # cm.get_ready_requests() will not block here, as we know there is an event - # to read. + # cm.get_ready_requests() returns the ready requests, which in our case + # should almost always return a single Request, but in some cases there + # could be multiple or none. reqs = cm.get_ready_requests() @@ -258,12 +259,7 @@ def main(): allocator = libcam.FrameBufferAllocator(camera) for cfg in config: - ret = allocator.allocate(cfg.stream) - if ret < 0: - print('Can\'t allocate buffers') - return -1 - - allocated = len(allocator.buffers(cfg.stream)) + allocated = allocator.allocate(cfg.stream) print(f'Allocated {allocated} buffers for stream') # -------------------------------------------------------------------- @@ -288,15 +284,9 @@ def main(): requests = [] for i in range(len(buffers)): request = camera.create_request() - if not request: - print('Can\'t create request') - return -1 buffer = buffers[i] - ret = request.add_buffer(stream, buffer) - if ret < 0: - print('Can\'t set buffer for request') - return -1 + request.add_buffer(stream, buffer) # Controls can be added to a request on a per frame basis. request.set_control(libcam.controls.Brightness, 0.5) diff --git a/src/py/examples/simple-capture.py b/src/py/examples/simple-capture.py index a6a9b33e..4b85408f 100755 --- a/src/py/examples/simple-capture.py +++ b/src/py/examples/simple-capture.py @@ -14,6 +14,7 @@ import argparse import libcamera as libcam +import selectors import sys # Number of frames to capture @@ -42,8 +43,7 @@ def main(): # Acquire the camera for our use - ret = cam.acquire() - assert ret == 0 + cam.acquire() # Configure the camera @@ -59,8 +59,7 @@ def main(): w, h = [int(v) for v in args.size.split('x')] stream_config.size = libcam.Size(w, h) - ret = cam.configure(cam_config) - assert ret == 0 + cam.configure(cam_config) print(f'Capturing {TOTAL_FRAMES} frames with {stream_config}') @@ -82,15 +81,13 @@ def main(): req = cam.create_request(i) buffer = allocator.buffers(stream)[i] - ret = req.add_buffer(stream, buffer) - assert ret == 0 + req.add_buffer(stream, buffer) reqs.append(req) # Start the camera - ret = cam.start() - assert ret == 0 + cam.start() # frames_queued and frames_done track the number of frames queued and done @@ -100,18 +97,24 @@ def main(): # Queue the requests to the camera for req in reqs: - ret = cam.queue_request(req) - assert ret == 0 + cam.queue_request(req) frames_queued += 1 # The main loop. Wait for the queued Requests to complete, process them, # and re-queue them again. + sel = selectors.DefaultSelector() + sel.register(cm.event_fd, selectors.EVENT_READ) + while frames_done < TOTAL_FRAMES: - # cm.get_ready_requests() blocks until there is an event and returns - # all the ready requests. Here we should almost always get a single + # cm.get_ready_requests() does not block, so we use a Selector to wait + # for a camera event. Here we should almost always get a single # Request, but in some cases there could be multiple or none. + events = sel.select() + if not events: + continue + reqs = cm.get_ready_requests() for req in reqs: @@ -147,13 +150,11 @@ def main(): # Stop the camera - ret = cam.stop() - assert ret == 0 + cam.stop() # Release the camera - ret = cam.release() - assert ret == 0 + cam.release() return 0 diff --git a/src/py/examples/simple-continuous-capture.py b/src/py/examples/simple-continuous-capture.py index fe78a2dd..e1cb931e 100755 --- a/src/py/examples/simple-continuous-capture.py +++ b/src/py/examples/simple-continuous-capture.py @@ -28,8 +28,7 @@ class CameraCaptureContext: # Acquire the camera for our use - ret = cam.acquire() - assert ret == 0 + cam.acquire() # Configure the camera @@ -37,8 +36,7 @@ class CameraCaptureContext: stream_config = cam_config.at(0) - ret = cam.configure(cam_config) - assert ret == 0 + cam.configure(cam_config) stream = stream_config.stream @@ -62,8 +60,7 @@ class CameraCaptureContext: req = cam.create_request(idx) buffer = allocator.buffers(stream)[i] - ret = req.add_buffer(stream, buffer) - assert ret == 0 + req.add_buffer(stream, buffer) self.reqs.append(req) @@ -73,13 +70,11 @@ class CameraCaptureContext: def uninit_camera(self): # Stop the camera - ret = self.cam.stop() - assert ret == 0 + self.cam.stop() # Release the camera - ret = self.cam.release() - assert ret == 0 + self.cam.release() # A container class for our state @@ -88,8 +83,9 @@ class CaptureContext: camera_contexts: list[CameraCaptureContext] = [] def handle_camera_event(self): - # cm.get_ready_requests() will not block here, as we know there is an event - # to read. + # cm.get_ready_requests() returns the ready requests, which in our case + # should almost always return a single Request, but in some cases there + # could be multiple or none. reqs = self.cm.get_ready_requests() @@ -144,8 +140,7 @@ class CaptureContext: for cam_ctx in self.camera_contexts: for req in cam_ctx.reqs: - ret = cam_ctx.cam.queue_request(req) - assert ret == 0 + cam_ctx.cam.queue_request(req) # Use Selector to wait for events from the camera and from the keyboard @@ -176,8 +171,7 @@ def main(): # Start the cameras for cam_ctx in ctx.camera_contexts: - ret = cam_ctx.cam.start() - assert ret == 0 + cam_ctx.cam.start() ctx.capture() diff --git a/src/py/libcamera/gen-py-controls.py b/src/py/libcamera/gen-py-controls.py index 99f3bbcf..8efbf95b 100755 --- a/src/py/libcamera/gen-py-controls.py +++ b/src/py/libcamera/gen-py-controls.py @@ -24,48 +24,57 @@ def find_common_prefix(strings): def generate_py(controls, mode): out = '' - for ctrl in controls: - name, ctrl = ctrl.popitem() - - if ctrl.get('draft'): - ns = 'libcamera::{}::draft::'.format(mode) - container = 'draft' - else: - ns = 'libcamera::{}::'.format(mode) - container = 'controls' + vendors_class_def = [] + vendor_defs = [] + vendors = [] + for vendor, ctrl_list in controls.items(): + for ctrls in ctrl_list: + name, ctrl = ctrls.popitem() + + if vendor not in vendors and vendor != 'libcamera': + vendor_mode_str = f'{vendor.capitalize()}{mode.capitalize()}' + vendors_class_def.append('class Py{}\n{{\n}};\n'.format(vendor_mode_str)) + vendor_defs.append('\tauto {} = py::class_<Py{}>(controls, \"{}\");'.format(vendor, vendor_mode_str, vendor)) + vendors.append(vendor) + + if vendor != 'libcamera': + ns = 'libcamera::{}::{}::'.format(mode, vendor) + container = vendor + else: + ns = 'libcamera::{}::'.format(mode) + container = 'controls' - out += f'\t{container}.def_readonly_static("{name}", static_cast<const libcamera::ControlId *>(&{ns}{name}));\n\n' + out += f'\t{container}.def_readonly_static("{name}", static_cast<const libcamera::ControlId *>(&{ns}{name}));\n\n' - enum = ctrl.get('enum') - if not enum: - continue + enum = ctrl.get('enum') + if not enum: + continue - cpp_enum = name + 'Enum' + cpp_enum = name + 'Enum' - out += '\tpy::enum_<{}{}>({}, \"{}\")\n'.format(ns, cpp_enum, container, cpp_enum) + out += '\tpy::enum_<{}{}>({}, \"{}\")\n'.format(ns, cpp_enum, container, cpp_enum) - if mode == 'controls': - # Adjustments for controls - if name == 'LensShadingMapMode': - prefix = 'LensShadingMapMode' - elif name == 'SceneFlicker': - # If we strip the prefix, we would get '50Hz', which is illegal name - prefix = '' + if mode == 'controls': + # Adjustments for controls + if name == 'LensShadingMapMode': + prefix = 'LensShadingMapMode' + else: + prefix = find_common_prefix([e['name'] for e in enum]) else: + # Adjustments for properties prefix = find_common_prefix([e['name'] for e in enum]) - else: - # Adjustments for properties - prefix = find_common_prefix([e['name'] for e in enum]) - for entry in enum: - cpp_enum = entry['name'] - py_enum = entry['name'][len(prefix):] + for entry in enum: + cpp_enum = entry['name'] + py_enum = entry['name'][len(prefix):] - out += '\t\t.value(\"{}\", {}{})\n'.format(py_enum, ns, cpp_enum) + out += '\t\t.value(\"{}\", {}{})\n'.format(py_enum, ns, cpp_enum) - out += '\t;\n\n' + out += '\t;\n\n' - return {'controls': out} + return {'controls': out, + 'vendors_class_def': '\n'.join(vendors_class_def), + 'vendors_defs': '\n'.join(vendor_defs)} def fill_template(template, data): @@ -78,22 +87,25 @@ def fill_template(template, data): def main(argv): # Parse command line arguments parser = argparse.ArgumentParser() - parser.add_argument('-o', dest='output', metavar='file', type=str, + parser.add_argument('--mode', '-m', type=str, required=True, + help='Mode is either "controls" or "properties"') + parser.add_argument('--output', '-o', metavar='file', type=str, help='Output file name. Defaults to standard output if not specified.') - parser.add_argument('input', type=str, - help='Input file name.') - parser.add_argument('template', type=str, + parser.add_argument('--template', '-t', type=str, required=True, help='Template file name.') - parser.add_argument('--mode', type=str, required=True, - help='Mode is either "controls" or "properties"') + parser.add_argument('input', type=str, nargs='+', + help='Input file name.') args = parser.parse_args(argv[1:]) if args.mode not in ['controls', 'properties']: print(f'Invalid mode option "{args.mode}"', file=sys.stderr) return -1 - data = open(args.input, 'rb').read() - controls = yaml.safe_load(data)['controls'] + controls = {} + for input in args.input: + data = open(input, 'rb').read() + vendor = yaml.safe_load(data)['vendor'] + controls[vendor] = yaml.safe_load(data)['controls'] data = generate_py(controls, args.mode) diff --git a/src/py/libcamera/meson.build b/src/py/libcamera/meson.build index eb884538..4807ca7d 100644 --- a/src/py/libcamera/meson.build +++ b/src/py/libcamera/meson.build @@ -7,42 +7,56 @@ if not py3_dep.found() subdir_done() endif -pycamera_enabled = true +pybind11_dep = dependency('pybind11', required : get_option('pycamera')) + +if not pybind11_dep.found() + pycamera_enabled = false + subdir_done() +endif -pybind11_proj = subproject('pybind11') -pybind11_dep = pybind11_proj.get_variable('pybind11_dep') +pycamera_enabled = true pycamera_sources = files([ + 'py_camera_manager.cpp', + 'py_color_space.cpp', 'py_enums.cpp', 'py_geometry.cpp', + 'py_helpers.cpp', 'py_main.cpp', + 'py_transform.cpp', ]) # Generate controls -gen_py_controls_input_files = files([ - '../../libcamera/control_ids.yaml', - 'py_controls_generated.cpp.in', -]) +gen_py_controls_input_files = [] +gen_py_controls_template = files('py_controls_generated.cpp.in') gen_py_controls = files('gen-py-controls.py') +foreach file : controls_files + gen_py_controls_input_files += files('../../libcamera/' + file) +endforeach + pycamera_sources += custom_target('py_gen_controls', input : gen_py_controls_input_files, output : ['py_controls_generated.cpp'], - command : [gen_py_controls, '--mode', 'controls', '-o', '@OUTPUT@', '@INPUT@']) + command : [gen_py_controls, '--mode', 'controls', '-o', '@OUTPUT@', + '-t', gen_py_controls_template, '@INPUT@']) # Generate properties -gen_py_property_enums_input_files = files([ - '../../libcamera/property_ids.yaml', - 'py_properties_generated.cpp.in', -]) +gen_py_property_enums_input_files = [] +gen_py_properties_template = files('py_properties_generated.cpp.in') + +foreach file : properties_files + gen_py_property_enums_input_files += files('../../libcamera/' + file) +endforeach pycamera_sources += custom_target('py_gen_properties', input : gen_py_property_enums_input_files, output : ['py_properties_generated.cpp'], - command : [gen_py_controls, '--mode', 'properties', '-o', '@OUTPUT@', '@INPUT@']) + command : [gen_py_controls, '--mode', 'properties', '-o', '@OUTPUT@', + '-t', gen_py_properties_template, '@INPUT@']) # Generate formats @@ -59,7 +73,7 @@ pycamera_sources += custom_target('py_gen_formats', command : [gen_py_formats, '-o', '@OUTPUT@', '@INPUT@']) pycamera_deps = [ - libcamera_public, + libcamera_private, py3_dep, pybind11_dep, ] @@ -68,7 +82,6 @@ pycamera_args = [ '-fvisibility=hidden', '-Wno-shadow', '-DPYBIND11_USE_SMART_HOLDER_AS_DEFAULT', - '-DLIBCAMERA_BASE_PRIVATE', ] destdir = get_option('libdir') / ('python' + py3_dep.version()) / 'site-packages' / 'libcamera' @@ -77,6 +90,7 @@ pycamera = shared_module('_libcamera', pycamera_sources, install : true, install_dir : destdir, + install_tag : 'python-runtime', name_prefix : '', dependencies : pycamera_deps, cpp_args : pycamera_args) @@ -86,13 +100,15 @@ pycamera = shared_module('_libcamera', run_command('ln', '-fsrT', files('__init__.py'), meson.current_build_dir() / '__init__.py', - check: true) + check : true) run_command('ln', '-fsrT', meson.current_source_dir() / 'utils', meson.current_build_dir() / 'utils', - check: true) + check : true) -install_data(['__init__.py'], install_dir : destdir) +install_data(['__init__.py'], + install_dir : destdir, + install_tag : 'python-runtime') # \todo Generate stubs when building. See https://peps.python.org/pep-0484/#stub-files # Note: Depends on pybind11-stubgen. To generate pylibcamera stubs: diff --git a/src/py/libcamera/py_camera_manager.cpp b/src/py/libcamera/py_camera_manager.cpp new file mode 100644 index 00000000..9ccb7aad --- /dev/null +++ b/src/py/libcamera/py_camera_manager.cpp @@ -0,0 +1,131 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Tomi Valkeinen <tomi.valkeinen@ideasonboard.com> + */ + +#include "py_camera_manager.h" + +#include <errno.h> +#include <memory> +#include <sys/eventfd.h> +#include <system_error> +#include <unistd.h> +#include <vector> + +#include "py_main.h" + +namespace py = pybind11; + +using namespace libcamera; + +PyCameraManager::PyCameraManager() +{ + LOG(Python, Debug) << "PyCameraManager()"; + + cameraManager_ = std::make_unique<CameraManager>(); + + int fd = eventfd(0, EFD_CLOEXEC | EFD_NONBLOCK); + if (fd == -1) + throw std::system_error(errno, std::generic_category(), + "Failed to create eventfd"); + + eventFd_ = UniqueFD(fd); + + int ret = cameraManager_->start(); + if (ret) + throw std::system_error(-ret, std::generic_category(), + "Failed to start CameraManager"); +} + +PyCameraManager::~PyCameraManager() +{ + LOG(Python, Debug) << "~PyCameraManager()"; +} + +py::list PyCameraManager::cameras() +{ + /* + * Create a list of Cameras, where each camera has a keep-alive to + * CameraManager. + */ + py::list l; + + for (auto &camera : cameraManager_->cameras()) { + py::object py_cm = py::cast(this); + py::object py_cam = py::cast(camera); + py::detail::keep_alive_impl(py_cam, py_cm); + l.append(py_cam); + } + + return l; +} + +std::vector<py::object> PyCameraManager::getReadyRequests() +{ + int ret = readFd(); + + if (ret == -EAGAIN) + return std::vector<py::object>(); + + if (ret != 0) + throw std::system_error(-ret, std::generic_category()); + + std::vector<py::object> py_reqs; + + for (Request *request : getCompletedRequests()) { + py::object o = py::cast(request); + /* Decrease the ref increased in Camera.queue_request() */ + o.dec_ref(); + py_reqs.push_back(o); + } + + return py_reqs; +} + +/* Note: Called from another thread */ +void PyCameraManager::handleRequestCompleted(Request *req) +{ + pushRequest(req); + writeFd(); +} + +void PyCameraManager::writeFd() +{ + uint64_t v = 1; + + size_t s = write(eventFd_.get(), &v, 8); + /* + * We should never fail, and have no simple means to manage the error, + * so let's log a fatal error. + */ + if (s != 8) + LOG(Python, Fatal) << "Unable to write to eventfd"; +} + +int PyCameraManager::readFd() +{ + uint8_t buf[8]; + + ssize_t ret = read(eventFd_.get(), buf, 8); + + if (ret == 8) + return 0; + else if (ret < 0) + return -errno; + else + return -EIO; +} + +void PyCameraManager::pushRequest(Request *req) +{ + MutexLocker guard(completedRequestsMutex_); + completedRequests_.push_back(req); +} + +std::vector<Request *> PyCameraManager::getCompletedRequests() +{ + std::vector<Request *> v; + MutexLocker guard(completedRequestsMutex_); + swap(v, completedRequests_); + return v; +} diff --git a/src/py/libcamera/py_camera_manager.h b/src/py/libcamera/py_camera_manager.h new file mode 100644 index 00000000..3574db23 --- /dev/null +++ b/src/py/libcamera/py_camera_manager.h @@ -0,0 +1,45 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Tomi Valkeinen <tomi.valkeinen@ideasonboard.com> + */ + +#pragma once + +#include <libcamera/base/mutex.h> + +#include <libcamera/libcamera.h> + +#include <pybind11/pybind11.h> + +using namespace libcamera; + +class PyCameraManager +{ +public: + PyCameraManager(); + ~PyCameraManager(); + + pybind11::list cameras(); + std::shared_ptr<Camera> get(const std::string &name) { return cameraManager_->get(name); } + + static const std::string &version() { return CameraManager::version(); } + + int eventFd() const { return eventFd_.get(); } + + std::vector<pybind11::object> getReadyRequests(); + + void handleRequestCompleted(Request *req); + +private: + std::unique_ptr<CameraManager> cameraManager_; + + UniqueFD eventFd_; + libcamera::Mutex completedRequestsMutex_; + std::vector<Request *> completedRequests_ + LIBCAMERA_TSA_GUARDED_BY(completedRequestsMutex_); + + void writeFd(); + int readFd(); + void pushRequest(Request *req); + std::vector<Request *> getCompletedRequests(); +}; diff --git a/src/py/libcamera/py_color_space.cpp b/src/py/libcamera/py_color_space.cpp new file mode 100644 index 00000000..5201121a --- /dev/null +++ b/src/py/libcamera/py_color_space.cpp @@ -0,0 +1,70 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Tomi Valkeinen <tomi.valkeinen@ideasonboard.com> + * + * Python bindings - Color Space classes + */ + +#include <libcamera/color_space.h> +#include <libcamera/libcamera.h> + +#include <pybind11/operators.h> +#include <pybind11/pybind11.h> +#include <pybind11/stl.h> + +namespace py = pybind11; + +using namespace libcamera; + +void init_py_color_space(py::module &m) +{ + auto pyColorSpace = py::class_<ColorSpace>(m, "ColorSpace"); + auto pyColorSpacePrimaries = py::enum_<ColorSpace::Primaries>(pyColorSpace, "Primaries"); + auto pyColorSpaceTransferFunction = py::enum_<ColorSpace::TransferFunction>(pyColorSpace, "TransferFunction"); + auto pyColorSpaceYcbcrEncoding = py::enum_<ColorSpace::YcbcrEncoding>(pyColorSpace, "YcbcrEncoding"); + auto pyColorSpaceRange = py::enum_<ColorSpace::Range>(pyColorSpace, "Range"); + + pyColorSpace + .def(py::init([](ColorSpace::Primaries primaries, + ColorSpace::TransferFunction transferFunction, + ColorSpace::YcbcrEncoding ycbcrEncoding, + ColorSpace::Range range) { + return ColorSpace(primaries, transferFunction, ycbcrEncoding, range); + }), py::arg("primaries"), py::arg("transferFunction"), + py::arg("ycbcrEncoding"), py::arg("range")) + .def(py::init([](ColorSpace &other) { return other; })) + .def("__str__", [](ColorSpace &self) { + return "<libcamera.ColorSpace '" + self.toString() + "'>"; + }) + .def_readwrite("primaries", &ColorSpace::primaries) + .def_readwrite("transferFunction", &ColorSpace::transferFunction) + .def_readwrite("ycbcrEncoding", &ColorSpace::ycbcrEncoding) + .def_readwrite("range", &ColorSpace::range) + .def_static("Raw", []() { return ColorSpace::Raw; }) + .def_static("Srgb", []() { return ColorSpace::Srgb; }) + .def_static("Sycc", []() { return ColorSpace::Sycc; }) + .def_static("Smpte170m", []() { return ColorSpace::Smpte170m; }) + .def_static("Rec709", []() { return ColorSpace::Rec709; }) + .def_static("Rec2020", []() { return ColorSpace::Rec2020; }); + + pyColorSpacePrimaries + .value("Raw", ColorSpace::Primaries::Raw) + .value("Smpte170m", ColorSpace::Primaries::Smpte170m) + .value("Rec709", ColorSpace::Primaries::Rec709) + .value("Rec2020", ColorSpace::Primaries::Rec2020); + + pyColorSpaceTransferFunction + .value("Linear", ColorSpace::TransferFunction::Linear) + .value("Srgb", ColorSpace::TransferFunction::Srgb) + .value("Rec709", ColorSpace::TransferFunction::Rec709); + + pyColorSpaceYcbcrEncoding + .value("Null", ColorSpace::YcbcrEncoding::None) + .value("Rec601", ColorSpace::YcbcrEncoding::Rec601) + .value("Rec709", ColorSpace::YcbcrEncoding::Rec709) + .value("Rec2020", ColorSpace::YcbcrEncoding::Rec2020); + + pyColorSpaceRange + .value("Full", ColorSpace::Range::Full) + .value("Limited", ColorSpace::Range::Limited); +} diff --git a/src/py/libcamera/py_controls_generated.cpp.in b/src/py/libcamera/py_controls_generated.cpp.in index cb8442ba..8d282ce5 100644 --- a/src/py/libcamera/py_controls_generated.cpp.in +++ b/src/py/libcamera/py_controls_generated.cpp.in @@ -9,7 +9,7 @@ #include <libcamera/control_ids.h> -#include <pybind11/smart_holder.h> +#include <pybind11/pybind11.h> namespace py = pybind11; @@ -17,14 +17,12 @@ class PyControls { }; -class PyDraftControls -{ -}; +${vendors_class_def} void init_py_controls_generated(py::module& m) { auto controls = py::class_<PyControls>(m, "controls"); - auto draft = py::class_<PyDraftControls>(controls, "draft"); +${vendors_defs} ${controls} } diff --git a/src/py/libcamera/py_enums.cpp b/src/py/libcamera/py_enums.cpp index 96d4beef..e25689c6 100644 --- a/src/py/libcamera/py_enums.cpp +++ b/src/py/libcamera/py_enums.cpp @@ -7,7 +7,7 @@ #include <libcamera/libcamera.h> -#include <pybind11/smart_holder.h> +#include <pybind11/pybind11.h> namespace py = pybind11; @@ -31,4 +31,14 @@ void init_py_enums(py::module &m) .value("String", ControlType::ControlTypeString) .value("Rectangle", ControlType::ControlTypeRectangle) .value("Size", ControlType::ControlTypeSize); + + py::enum_<Orientation>(m, "Orientation") + .value("Rotate0", Orientation::Rotate0) + .value("Rotate0Mirror", Orientation::Rotate0Mirror) + .value("Rotate180", Orientation::Rotate180) + .value("Rotate180Mirror", Orientation::Rotate180Mirror) + .value("Rotate90Mirror", Orientation::Rotate90Mirror) + .value("Rotate270", Orientation::Rotate270) + .value("Rotate270Mirror", Orientation::Rotate270Mirror) + .value("Rotate90", Orientation::Rotate90); } diff --git a/src/py/libcamera/py_formats_generated.cpp.in b/src/py/libcamera/py_formats_generated.cpp.in index b88807f3..a3f7f94d 100644 --- a/src/py/libcamera/py_formats_generated.cpp.in +++ b/src/py/libcamera/py_formats_generated.cpp.in @@ -9,7 +9,7 @@ #include <libcamera/formats.h> -#include <pybind11/smart_holder.h> +#include <pybind11/pybind11.h> namespace py = pybind11; diff --git a/src/py/libcamera/py_geometry.cpp b/src/py/libcamera/py_geometry.cpp index 84b0cb08..5c2aeac4 100644 --- a/src/py/libcamera/py_geometry.cpp +++ b/src/py/libcamera/py_geometry.cpp @@ -11,7 +11,7 @@ #include <libcamera/libcamera.h> #include <pybind11/operators.h> -#include <pybind11/smart_holder.h> +#include <pybind11/pybind11.h> #include <pybind11/stl.h> namespace py = pybind11; diff --git a/src/py/libcamera/py_helpers.cpp b/src/py/libcamera/py_helpers.cpp new file mode 100644 index 00000000..79891ab6 --- /dev/null +++ b/src/py/libcamera/py_helpers.cpp @@ -0,0 +1,97 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Tomi Valkeinen <tomi.valkeinen@ideasonboard.com> + */ + +#include "py_helpers.h" + +#include <libcamera/libcamera.h> + +#include <pybind11/functional.h> +#include <pybind11/stl.h> +#include <pybind11/stl_bind.h> + +namespace py = pybind11; + +using namespace libcamera; + +template<typename T> +static py::object valueOrTuple(const ControlValue &cv) +{ + if (cv.isArray()) { + const T *v = reinterpret_cast<const T *>(cv.data().data()); + auto t = py::tuple(cv.numElements()); + + for (size_t i = 0; i < cv.numElements(); ++i) + t[i] = v[i]; + + return std::move(t); + } + + return py::cast(cv.get<T>()); +} + +py::object controlValueToPy(const ControlValue &cv) +{ + switch (cv.type()) { + case ControlTypeBool: + return valueOrTuple<bool>(cv); + case ControlTypeByte: + return valueOrTuple<uint8_t>(cv); + case ControlTypeInteger32: + return valueOrTuple<int32_t>(cv); + case ControlTypeInteger64: + return valueOrTuple<int64_t>(cv); + case ControlTypeFloat: + return valueOrTuple<float>(cv); + case ControlTypeString: + return py::cast(cv.get<std::string>()); + case ControlTypeRectangle: + return valueOrTuple<Rectangle>(cv); + case ControlTypeSize: { + const Size *v = reinterpret_cast<const Size *>(cv.data().data()); + return py::cast(v); + } + case ControlTypeNone: + return py::none(); + default: + throw std::runtime_error("Unsupported ControlValue type"); + } +} + +template<typename T> +static ControlValue controlValueMaybeArray(const py::object &ob) +{ + if (py::isinstance<py::list>(ob) || py::isinstance<py::tuple>(ob)) { + std::vector<T> vec = ob.cast<std::vector<T>>(); + return ControlValue(Span<const T>(vec)); + } + + return ControlValue(ob.cast<T>()); +} + +ControlValue pyToControlValue(const py::object &ob, ControlType type) +{ + switch (type) { + case ControlTypeBool: + return ControlValue(ob.cast<bool>()); + case ControlTypeByte: + return controlValueMaybeArray<uint8_t>(ob); + case ControlTypeInteger32: + return controlValueMaybeArray<int32_t>(ob); + case ControlTypeInteger64: + return controlValueMaybeArray<int64_t>(ob); + case ControlTypeFloat: + return controlValueMaybeArray<float>(ob); + case ControlTypeString: + return ControlValue(ob.cast<std::string>()); + case ControlTypeRectangle: + return controlValueMaybeArray<Rectangle>(ob); + case ControlTypeSize: + return ControlValue(ob.cast<Size>()); + case ControlTypeNone: + return ControlValue(); + default: + throw std::runtime_error("Control type not implemented"); + } +} diff --git a/src/py/libcamera/py_helpers.h b/src/py/libcamera/py_helpers.h new file mode 100644 index 00000000..983969df --- /dev/null +++ b/src/py/libcamera/py_helpers.h @@ -0,0 +1,13 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Tomi Valkeinen <tomi.valkeinen@ideasonboard.com> + */ + +#pragma once + +#include <libcamera/libcamera.h> + +#include <pybind11/pybind11.h> + +pybind11::object controlValueToPy(const libcamera::ControlValue &cv); +libcamera::ControlValue pyToControlValue(const pybind11::object &ob, libcamera::ControlType type); diff --git a/src/py/libcamera/py_main.cpp b/src/py/libcamera/py_main.cpp index 505cc3dc..bce08218 100644 --- a/src/py/libcamera/py_main.cpp +++ b/src/py/libcamera/py_main.cpp @@ -5,132 +5,93 @@ * Python bindings */ -#include <mutex> +#include "py_main.h" + +#include <memory> #include <stdexcept> -#include <sys/eventfd.h> -#include <unistd.h> +#include <string> +#include <vector> #include <libcamera/base/log.h> #include <libcamera/libcamera.h> #include <pybind11/functional.h> -#include <pybind11/smart_holder.h> +#include <pybind11/pybind11.h> #include <pybind11/stl.h> #include <pybind11/stl_bind.h> +#include "py_camera_manager.h" +#include "py_helpers.h" + namespace py = pybind11; using namespace libcamera; -template<typename T> -static py::object valueOrTuple(const ControlValue &cv) -{ - if (cv.isArray()) { - const T *v = reinterpret_cast<const T *>(cv.data().data()); - auto t = py::tuple(cv.numElements()); +namespace libcamera { - for (size_t i = 0; i < cv.numElements(); ++i) - t[i] = v[i]; +LOG_DEFINE_CATEGORY(Python) - return std::move(t); - } - - return py::cast(cv.get<T>()); } -static py::object controlValueToPy(const ControlValue &cv) +/* + * This is a holder class used only for the Camera class, for the sole purpose + * of avoiding the compilation issue with Camera's private destructor. + * + * pybind11 requires a public destructor for classes held with shared_ptrs, even + * in cases where the public destructor is not strictly needed. The current + * understanding is that there are the following options to solve the problem: + * + * - Use pybind11 'smart_holder' branch. The downside is that 'smart_holder' + * is not the mainline branch, and not available in distributions. + * - https://github.com/pybind/pybind11/pull/2067 + * - Make the Camera destructor public + * - Something like the PyCameraSmartPtr here, which adds a layer, hiding the + * issue. + */ +template<typename T> +class PyCameraSmartPtr { - switch (cv.type()) { - case ControlTypeBool: - return valueOrTuple<bool>(cv); - case ControlTypeByte: - return valueOrTuple<uint8_t>(cv); - case ControlTypeInteger32: - return valueOrTuple<int32_t>(cv); - case ControlTypeInteger64: - return valueOrTuple<int64_t>(cv); - case ControlTypeFloat: - return valueOrTuple<float>(cv); - case ControlTypeString: - return py::cast(cv.get<std::string>()); - case ControlTypeRectangle: { - const Rectangle *v = reinterpret_cast<const Rectangle *>(cv.data().data()); - return py::cast(v); - } - case ControlTypeSize: { - const Size *v = reinterpret_cast<const Size *>(cv.data().data()); - return py::cast(v); +public: + using element_type = T; + + PyCameraSmartPtr() + { } - case ControlTypeNone: - default: - throw std::runtime_error("Unsupported ControlValue type"); + + explicit PyCameraSmartPtr(T *) + { + throw std::runtime_error("invalid SmartPtr constructor call"); } -} -template<typename T> -static ControlValue controlValueMaybeArray(const py::object &ob) -{ - if (py::isinstance<py::list>(ob) || py::isinstance<py::tuple>(ob)) { - std::vector<T> vec = ob.cast<std::vector<T>>(); - return ControlValue(Span<const T>(vec)); + explicit PyCameraSmartPtr(std::shared_ptr<T> p) + : ptr_(p) + { } - return ControlValue(ob.cast<T>()); -} + T *get() const { return ptr_.get(); } -static ControlValue pyToControlValue(const py::object &ob, ControlType type) -{ - switch (type) { - case ControlTypeBool: - return ControlValue(ob.cast<bool>()); - case ControlTypeByte: - return controlValueMaybeArray<uint8_t>(ob); - case ControlTypeInteger32: - return controlValueMaybeArray<int32_t>(ob); - case ControlTypeInteger64: - return controlValueMaybeArray<int64_t>(ob); - case ControlTypeFloat: - return controlValueMaybeArray<float>(ob); - case ControlTypeString: - return ControlValue(ob.cast<std::string>()); - case ControlTypeRectangle: - return ControlValue(ob.cast<Rectangle>()); - case ControlTypeSize: - return ControlValue(ob.cast<Size>()); - case ControlTypeNone: - default: - throw std::runtime_error("Control type not implemented"); - } -} + operator std::shared_ptr<T>() const { return ptr_; } -static std::weak_ptr<CameraManager> gCameraManager; -static int gEventfd; -static std::mutex gReqlistMutex; -static std::vector<Request *> gReqList; +private: + std::shared_ptr<T> ptr_; +}; -static void handleRequestCompleted(Request *req) -{ - { - std::lock_guard guard(gReqlistMutex); - gReqList.push_back(req); - } +PYBIND11_DECLARE_HOLDER_TYPE(T, PyCameraSmartPtr<T>) - uint64_t v = 1; - size_t s = write(gEventfd, &v, 8); - /* - * We should never fail, and have no simple means to manage the error, - * so let's use LOG(Fatal). - */ - if (s != 8) - LOG(Fatal) << "Unable to write to eventfd"; -} +/* + * Note: global C++ destructors can be ran on this before the py module is + * destructed. + */ +static std::weak_ptr<PyCameraManager> gCameraManager; -void init_py_enums(py::module &m); +void init_py_color_space(py::module &m); void init_py_controls_generated(py::module &m); +void init_py_enums(py::module &m); void init_py_formats_generated(py::module &m); void init_py_geometry(py::module &m); void init_py_properties_generated(py::module &m); +void init_py_transform(py::module &m); PYBIND11_MODULE(_libcamera, m) { @@ -138,6 +99,8 @@ PYBIND11_MODULE(_libcamera, m) init_py_controls_generated(m); init_py_geometry(m); init_py_properties_generated(m); + init_py_color_space(m); + init_py_transform(m); /* Forward declarations */ @@ -147,8 +110,9 @@ PYBIND11_MODULE(_libcamera, m) * https://pybind11.readthedocs.io/en/latest/advanced/misc.html#avoiding-c-types-in-docstrings */ - auto pyCameraManager = py::class_<CameraManager>(m, "CameraManager"); - auto pyCamera = py::class_<Camera>(m, "Camera"); + auto pyCameraManager = py::class_<PyCameraManager, std::shared_ptr<PyCameraManager>>(m, "CameraManager"); + auto pyCamera = py::class_<Camera, PyCameraSmartPtr<Camera>>(m, "Camera"); + auto pySensorConfiguration = py::class_<SensorConfiguration>(m, "SensorConfiguration"); auto pyCameraConfiguration = py::class_<CameraConfiguration>(m, "CameraConfiguration"); auto pyCameraConfigurationStatus = py::enum_<CameraConfiguration::Status>(pyCameraConfiguration, "Status"); auto pyStreamConfiguration = py::class_<StreamConfiguration>(m, "StreamConfiguration"); @@ -165,12 +129,6 @@ PYBIND11_MODULE(_libcamera, m) auto pyFrameMetadata = py::class_<FrameMetadata>(m, "FrameMetadata"); auto pyFrameMetadataStatus = py::enum_<FrameMetadata::Status>(pyFrameMetadata, "Status"); auto pyFrameMetadataPlane = py::class_<FrameMetadata::Plane>(pyFrameMetadata, "Plane"); - auto pyTransform = py::class_<Transform>(m, "Transform"); - auto pyColorSpace = py::class_<ColorSpace>(m, "ColorSpace"); - auto pyColorSpacePrimaries = py::enum_<ColorSpace::Primaries>(pyColorSpace, "Primaries"); - auto pyColorSpaceTransferFunction = py::enum_<ColorSpace::TransferFunction>(pyColorSpace, "TransferFunction"); - auto pyColorSpaceYcbcrEncoding = py::enum_<ColorSpace::YcbcrEncoding>(pyColorSpace, "YcbcrEncoding"); - auto pyColorSpaceRange = py::enum_<ColorSpace::Range>(pyColorSpace, "Range"); auto pyPixelFormat = py::class_<PixelFormat>(m, "PixelFormat"); init_py_formats_generated(m); @@ -181,113 +139,69 @@ PYBIND11_MODULE(_libcamera, m) /* Classes */ pyCameraManager .def_static("singleton", []() { - std::shared_ptr<CameraManager> cm = gCameraManager.lock(); - if (cm) - return cm; - - int fd = eventfd(0, 0); - if (fd == -1) - throw std::system_error(errno, std::generic_category(), - "Failed to create eventfd"); - - cm = std::shared_ptr<CameraManager>(new CameraManager, [](auto p) { - close(gEventfd); - gEventfd = -1; - delete p; - }); - - gEventfd = fd; - gCameraManager = cm; - - int ret = cm->start(); - if (ret) - throw std::system_error(-ret, std::generic_category(), - "Failed to start CameraManager"); - - return cm; - }) - - .def_property_readonly("version", &CameraManager::version) - - .def_property_readonly("event_fd", [](CameraManager &) { - return gEventfd; - }) - - .def("get_ready_requests", [](CameraManager &) { - uint8_t buf[8]; - - if (read(gEventfd, buf, 8) != 8) - throw std::system_error(errno, std::generic_category()); - - std::vector<Request *> v; - - { - std::lock_guard guard(gReqlistMutex); - swap(v, gReqList); - } - - std::vector<py::object> ret; + std::shared_ptr<PyCameraManager> cm = gCameraManager.lock(); - for (Request *req : v) { - py::object o = py::cast(req); - /* Decrease the ref increased in Camera.queue_request() */ - o.dec_ref(); - ret.push_back(o); + if (!cm) { + cm = std::make_shared<PyCameraManager>(); + gCameraManager = cm; } - return ret; + return cm; }) - .def("get", py::overload_cast<const std::string &>(&CameraManager::get), py::keep_alive<0, 1>()) + .def_property_readonly_static("version", [](py::object /* self */) { return PyCameraManager::version(); }) + .def("get", &PyCameraManager::get, py::keep_alive<0, 1>()) + .def_property_readonly("cameras", &PyCameraManager::cameras) - /* Create a list of Cameras, where each camera has a keep-alive to CameraManager */ - .def_property_readonly("cameras", [](CameraManager &self) { - py::list l; - - for (auto &c : self.cameras()) { - py::object py_cm = py::cast(self); - py::object py_cam = py::cast(c); - py::detail::keep_alive_impl(py_cam, py_cm); - l.append(py_cam); - } - - return l; - }); + .def_property_readonly("event_fd", &PyCameraManager::eventFd) + .def("get_ready_requests", &PyCameraManager::getReadyRequests); pyCamera .def_property_readonly("id", &Camera::id) - .def("acquire", &Camera::acquire) - .def("release", &Camera::release) + .def("acquire", [](Camera &self) { + int ret = self.acquire(); + if (ret) + throw std::system_error(-ret, std::generic_category(), + "Failed to acquire camera"); + }) + .def("release", [](Camera &self) { + int ret = self.release(); + if (ret) + throw std::system_error(-ret, std::generic_category(), + "Failed to release camera"); + }) .def("start", [](Camera &self, const std::unordered_map<const ControlId *, py::object> &controls) { /* \todo What happens if someone calls start() multiple times? */ - self.requestCompleted.connect(handleRequestCompleted); + auto cm = gCameraManager.lock(); + ASSERT(cm); + + self.requestCompleted.connect(cm.get(), &PyCameraManager::handleRequestCompleted); ControlList controlList(self.controls()); - for (const auto& [id, obj]: controls) { + for (const auto &[id, obj] : controls) { auto val = pyToControlValue(obj, id->type()); controlList.set(id->id(), val); } int ret = self.start(&controlList); if (ret) { - self.requestCompleted.disconnect(handleRequestCompleted); - return ret; + self.requestCompleted.disconnect(); + throw std::system_error(-ret, std::generic_category(), + "Failed to start camera"); } - - return 0; }, py::arg("controls") = std::unordered_map<const ControlId *, py::object>()) .def("stop", [](Camera &self) { int ret = self.stop(); - if (ret) - return ret; - self.requestCompleted.disconnect(handleRequestCompleted); + self.requestCompleted.disconnect(); - return 0; + if (ret) + throw std::system_error(-ret, std::generic_category(), + "Failed to stop camera"); }) .def("__str__", [](Camera &self) { @@ -295,10 +209,24 @@ PYBIND11_MODULE(_libcamera, m) }) /* Keep the camera alive, as StreamConfiguration contains a Stream* */ - .def("generate_configuration", &Camera::generateConfiguration, py::keep_alive<0, 1>()) - .def("configure", &Camera::configure) + .def("generate_configuration", [](Camera &self, const std::vector<StreamRole> &roles) { + return self.generateConfiguration(roles); + }, py::keep_alive<0, 1>()) + + .def("configure", [](Camera &self, CameraConfiguration *config) { + int ret = self.configure(config); + if (ret) + throw std::system_error(-ret, std::generic_category(), + "Failed to configure camera"); + }) - .def("create_request", &Camera::createRequest, py::arg("cookie") = 0) + .def("create_request", [](Camera &self, uint64_t cookie) { + std::unique_ptr<Request> req = self.createRequest(cookie); + if (!req) + throw std::system_error(ENOMEM, std::generic_category(), + "Failed to create request"); + return req; + }, py::arg("cookie") = 0) .def("queue_request", [](Camera &self, Request *req) { py::object py_req = py::cast(req); @@ -311,10 +239,11 @@ PYBIND11_MODULE(_libcamera, m) py_req.inc_ref(); int ret = self.queueRequest(req); - if (ret) + if (ret) { py_req.dec_ref(); - - return ret; + throw std::system_error(-ret, std::generic_category(), + "Failed to queue request"); + } }) .def_property_readonly("streams", [](Camera &self) { @@ -353,6 +282,40 @@ PYBIND11_MODULE(_libcamera, m) return ret; }); + pySensorConfiguration + .def(py::init<>()) + .def_readwrite("bit_depth", &SensorConfiguration::bitDepth) + .def_readwrite("analog_crop", &SensorConfiguration::analogCrop) + .def_property( + "binning", + [](SensorConfiguration &self) { + return py::make_tuple(self.binning.binX, self.binning.binY); + }, + [](SensorConfiguration &self, py::object value) { + auto vec = value.cast<std::vector<unsigned int>>(); + if (vec.size() != 2) + throw std::runtime_error("binning requires iterable of 2 values"); + self.binning.binX = vec[0]; + self.binning.binY = vec[1]; + }) + .def_property( + "skipping", + [](SensorConfiguration &self) { + return py::make_tuple(self.skipping.xOddInc, self.skipping.xEvenInc, + self.skipping.yOddInc, self.skipping.yEvenInc); + }, + [](SensorConfiguration &self, py::object value) { + auto vec = value.cast<std::vector<unsigned int>>(); + if (vec.size() != 4) + throw std::runtime_error("skipping requires iterable of 4 values"); + self.skipping.xOddInc = vec[0]; + self.skipping.xEvenInc = vec[1]; + self.skipping.yOddInc = vec[2]; + self.skipping.yEvenInc = vec[3]; + }) + .def_readwrite("output_size", &SensorConfiguration::outputSize) + .def("is_valid", &SensorConfiguration::isValid); + pyCameraConfiguration .def("__iter__", [](CameraConfiguration &self) { return py::make_iterator<py::return_value_policy::reference_internal>(self); @@ -365,7 +328,8 @@ PYBIND11_MODULE(_libcamera, m) py::return_value_policy::reference_internal) .def_property_readonly("size", &CameraConfiguration::size) .def_property_readonly("empty", &CameraConfiguration::empty) - .def_readwrite("transform", &CameraConfiguration::transform); + .def_readwrite("sensor_config", &CameraConfiguration::sensorConfig) + .def_readwrite("orientation", &CameraConfiguration::orientation); pyCameraConfigurationStatus .value("Valid", CameraConfiguration::Valid) @@ -391,8 +355,14 @@ PYBIND11_MODULE(_libcamera, m) .def("range", &StreamFormats::range); pyFrameBufferAllocator - .def(py::init<std::shared_ptr<Camera>>(), py::keep_alive<1, 2>()) - .def("allocate", &FrameBufferAllocator::allocate) + .def(py::init<PyCameraSmartPtr<Camera>>(), py::keep_alive<1, 2>()) + .def("allocate", [](FrameBufferAllocator &self, Stream *stream) { + int ret = self.allocate(stream); + if (ret < 0) + throw std::system_error(-ret, std::generic_category(), + "Failed to allocate buffers"); + return ret; + }) .def_property_readonly("allocated", &FrameBufferAllocator::allocated) /* Create a list of FrameBuffers, where each FrameBuffer has a keep-alive to FrameBufferAllocator */ .def("buffers", [](FrameBufferAllocator &self, Stream *stream) { @@ -469,11 +439,15 @@ PYBIND11_MODULE(_libcamera, m) pyRequest /* \todo Fence is not supported, so we cannot expose addBuffer() directly */ .def("add_buffer", [](Request &self, const Stream *stream, FrameBuffer *buffer) { - return self.addBuffer(stream, buffer); + int ret = self.addBuffer(stream, buffer); + if (ret) + throw std::system_error(-ret, std::generic_category(), + "Failed to add buffer"); }, py::keep_alive<1, 3>()) /* Request keeps Framebuffer alive */ .def_property_readonly("status", &Request::status) .def_property_readonly("buffers", &Request::buffers) .def_property_readonly("cookie", &Request::cookie) + .def_property_readonly("sequence", &Request::sequence) .def_property_readonly("has_pending_buffers", &Request::hasPendingBuffers) .def("set_control", [](Request &self, const ControlId &id, py::object value) { self.controls().set(id.id(), pyToControlValue(value, id.type())); @@ -526,109 +500,6 @@ PYBIND11_MODULE(_libcamera, m) pyFrameMetadataPlane .def_readwrite("bytes_used", &FrameMetadata::Plane::bytesused); - pyTransform - .def(py::init([](int rotation, bool hflip, bool vflip, bool transpose) { - bool ok; - - Transform t = transformFromRotation(rotation, &ok); - if (!ok) - throw std::invalid_argument("Invalid rotation"); - - if (hflip) - t ^= Transform::HFlip; - if (vflip) - t ^= Transform::VFlip; - if (transpose) - t ^= Transform::Transpose; - return t; - }), py::arg("rotation") = 0, py::arg("hflip") = false, - py::arg("vflip") = false, py::arg("transpose") = false) - .def(py::init([](Transform &other) { return other; })) - .def("__str__", [](Transform &self) { - return "<libcamera.Transform '" + std::string(transformToString(self)) + "'>"; - }) - .def_property("hflip", - [](Transform &self) { - return !!(self & Transform::HFlip); - }, - [](Transform &self, bool hflip) { - if (hflip) - self |= Transform::HFlip; - else - self &= ~Transform::HFlip; - }) - .def_property("vflip", - [](Transform &self) { - return !!(self & Transform::VFlip); - }, - [](Transform &self, bool vflip) { - if (vflip) - self |= Transform::VFlip; - else - self &= ~Transform::VFlip; - }) - .def_property("transpose", - [](Transform &self) { - return !!(self & Transform::Transpose); - }, - [](Transform &self, bool transpose) { - if (transpose) - self |= Transform::Transpose; - else - self &= ~Transform::Transpose; - }) - .def("inverse", [](Transform &self) { return -self; }) - .def("invert", [](Transform &self) { - self = -self; - }) - .def("compose", [](Transform &self, Transform &other) { - self = self * other; - }); - - pyColorSpace - .def(py::init([](ColorSpace::Primaries primaries, - ColorSpace::TransferFunction transferFunction, - ColorSpace::YcbcrEncoding ycbcrEncoding, - ColorSpace::Range range) { - return ColorSpace(primaries, transferFunction, ycbcrEncoding, range); - }), py::arg("primaries"), py::arg("transferFunction"), - py::arg("ycbcrEncoding"), py::arg("range")) - .def(py::init([](ColorSpace &other) { return other; })) - .def("__str__", [](ColorSpace &self) { - return "<libcamera.ColorSpace '" + self.toString() + "'>"; - }) - .def_readwrite("primaries", &ColorSpace::primaries) - .def_readwrite("transferFunction", &ColorSpace::transferFunction) - .def_readwrite("ycbcrEncoding", &ColorSpace::ycbcrEncoding) - .def_readwrite("range", &ColorSpace::range) - .def_static("Raw", []() { return ColorSpace::Raw; }) - .def_static("Jpeg", []() { return ColorSpace::Jpeg; }) - .def_static("Srgb", []() { return ColorSpace::Srgb; }) - .def_static("Smpte170m", []() { return ColorSpace::Smpte170m; }) - .def_static("Rec709", []() { return ColorSpace::Rec709; }) - .def_static("Rec2020", []() { return ColorSpace::Rec2020; }); - - pyColorSpacePrimaries - .value("Raw", ColorSpace::Primaries::Raw) - .value("Smpte170m", ColorSpace::Primaries::Smpte170m) - .value("Rec709", ColorSpace::Primaries::Rec709) - .value("Rec2020", ColorSpace::Primaries::Rec2020); - - pyColorSpaceTransferFunction - .value("Linear", ColorSpace::TransferFunction::Linear) - .value("Srgb", ColorSpace::TransferFunction::Srgb) - .value("Rec709", ColorSpace::TransferFunction::Rec709); - - pyColorSpaceYcbcrEncoding - .value("Null", ColorSpace::YcbcrEncoding::None) - .value("Rec601", ColorSpace::YcbcrEncoding::Rec601) - .value("Rec709", ColorSpace::YcbcrEncoding::Rec709) - .value("Rec2020", ColorSpace::YcbcrEncoding::Rec2020); - - pyColorSpaceRange - .value("Full", ColorSpace::Range::Full) - .value("Limited", ColorSpace::Range::Limited); - pyPixelFormat .def(py::init<>()) .def(py::init<uint32_t, uint64_t>()) diff --git a/src/py/libcamera/py_main.h b/src/py/libcamera/py_main.h new file mode 100644 index 00000000..5bb5f2d1 --- /dev/null +++ b/src/py/libcamera/py_main.h @@ -0,0 +1,14 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Tomi Valkeinen <tomi.valkeinen@ideasonboard.com> + */ + +#pragma once + +#include <libcamera/base/log.h> + +namespace libcamera { + +LOG_DECLARE_CATEGORY(Python) + +} diff --git a/src/py/libcamera/py_properties_generated.cpp.in b/src/py/libcamera/py_properties_generated.cpp.in index 044b2b2a..e3802b81 100644 --- a/src/py/libcamera/py_properties_generated.cpp.in +++ b/src/py/libcamera/py_properties_generated.cpp.in @@ -9,7 +9,7 @@ #include <libcamera/property_ids.h> -#include <pybind11/smart_holder.h> +#include <pybind11/pybind11.h> namespace py = pybind11; @@ -17,14 +17,12 @@ class PyProperties { }; -class PyDraftProperties -{ -}; +${vendors_class_def} void init_py_properties_generated(py::module& m) { auto controls = py::class_<PyProperties>(m, "properties"); - auto draft = py::class_<PyDraftProperties>(controls, "draft"); +${vendors_defs} ${controls} } diff --git a/src/py/libcamera/py_transform.cpp b/src/py/libcamera/py_transform.cpp new file mode 100644 index 00000000..f3a0bfaf --- /dev/null +++ b/src/py/libcamera/py_transform.cpp @@ -0,0 +1,81 @@ +/* SPDX-License-Identifier: LGPL-2.1-or-later */ +/* + * Copyright (C) 2022, Tomi Valkeinen <tomi.valkeinen@ideasonboard.com> + * + * Python bindings - Transform class + */ + +#include <libcamera/transform.h> +#include <libcamera/libcamera.h> + +#include <pybind11/operators.h> +#include <pybind11/pybind11.h> +#include <pybind11/stl.h> + +namespace py = pybind11; + +using namespace libcamera; + +void init_py_transform(py::module &m) +{ + auto pyTransform = py::class_<Transform>(m, "Transform"); + + pyTransform + .def(py::init([](int rotation, bool hflip, bool vflip, bool transpose) { + bool ok; + + Transform t = transformFromRotation(rotation, &ok); + if (!ok) + throw std::invalid_argument("Invalid rotation"); + + if (hflip) + t ^= Transform::HFlip; + if (vflip) + t ^= Transform::VFlip; + if (transpose) + t ^= Transform::Transpose; + return t; + }), py::arg("rotation") = 0, py::arg("hflip") = false, + py::arg("vflip") = false, py::arg("transpose") = false) + .def(py::init([](Transform &other) { return other; })) + .def("__str__", [](Transform &self) { + return "<libcamera.Transform '" + std::string(transformToString(self)) + "'>"; + }) + .def_property("hflip", + [](Transform &self) { + return !!(self & Transform::HFlip); + }, + [](Transform &self, bool hflip) { + if (hflip) + self |= Transform::HFlip; + else + self &= ~Transform::HFlip; + }) + .def_property("vflip", + [](Transform &self) { + return !!(self & Transform::VFlip); + }, + [](Transform &self, bool vflip) { + if (vflip) + self |= Transform::VFlip; + else + self &= ~Transform::VFlip; + }) + .def_property("transpose", + [](Transform &self) { + return !!(self & Transform::Transpose); + }, + [](Transform &self, bool transpose) { + if (transpose) + self |= Transform::Transpose; + else + self &= ~Transform::Transpose; + }) + .def("inverse", [](Transform &self) { return -self; }) + .def("invert", [](Transform &self) { + self = -self; + }) + .def("compose", [](Transform &self, Transform &other) { + self = self * other; + }); +} diff --git a/src/py/meson.build b/src/py/meson.build index 4ce9668c..a4586b4a 100644 --- a/src/py/meson.build +++ b/src/py/meson.build @@ -1 +1,3 @@ +# SPDX-License-Identifier: CC0-1.0 + subdir('libcamera') diff --git a/src/v4l2/meson.build b/src/v4l2/meson.build index f132103c..58f53bf3 100644 --- a/src/v4l2/meson.build +++ b/src/v4l2/meson.build @@ -24,6 +24,7 @@ v4l2_compat_cpp_args = [ '-U_FILE_OFFSET_BITS', '-D_FILE_OFFSET_BITS=32', '-D_LARGEFILE64_SOURCE', + '-U_TIME_BITS', '-fvisibility=hidden', ] @@ -31,6 +32,7 @@ v4l2_compat = shared_library('v4l2-compat', v4l2_compat_sources, name_prefix : '', install : true, + install_dir : libcamera_libexecdir, dependencies : [libcamera_private, libdl], cpp_args : v4l2_compat_cpp_args) @@ -38,9 +40,10 @@ v4l2_compat = shared_library('v4l2-compat', # adaptation layer. cdata = configuration_data() -cdata.set('LIBCAMERA_V4L2_SO', get_option('prefix') / get_option('libdir') / 'v4l2-compat.so') +cdata.set('LIBCAMERA_V4L2_SO', get_option('prefix') / libcamera_libexecdir / 'v4l2-compat.so') configure_file(input : 'libcamerify.in', output : 'libcamerify', configuration : cdata, - install_dir : get_option('bindir')) + install_dir : get_option('bindir'), + install_tag : 'bin') diff --git a/src/v4l2/v4l2_camera.cpp b/src/v4l2/v4l2_camera.cpp index e922b9e6..0f3b862f 100644 --- a/src/v4l2/v4l2_camera.cpp +++ b/src/v4l2/v4l2_camera.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * v4l2_camera.cpp - V4L2 compatibility camera + * V4L2 compatibility camera */ #include "v4l2_camera.h" @@ -71,11 +71,10 @@ std::vector<V4L2Camera::Buffer> V4L2Camera::completedBuffers() { std::vector<Buffer> v; - bufferLock_.lock(); + MutexLocker lock(bufferLock_); for (std::unique_ptr<Buffer> &metadata : completedBuffers_) v.push_back(*metadata.get()); completedBuffers_.clear(); - bufferLock_.unlock(); return v; } @@ -278,7 +277,7 @@ int V4L2Camera::qbuf(unsigned int index) void V4L2Camera::waitForBufferAvailable() { MutexLocker locker(bufferMutex_); - bufferCV_.wait(locker, [&] { + bufferCV_.wait(locker, [&]() LIBCAMERA_TSA_REQUIRES(bufferMutex_) { return bufferAvailableCount_ >= 1 || !isRunning_; }); if (isRunning_) diff --git a/src/v4l2/v4l2_camera.h b/src/v4l2/v4l2_camera.h index 03e74118..278cc33e 100644 --- a/src/v4l2/v4l2_camera.h +++ b/src/v4l2/v4l2_camera.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * v4l2_camera.h - V4L2 compatibility camera + * V4L2 compatibility camera */ #pragma once @@ -39,7 +39,7 @@ public: void bind(int efd); void unbind(); - std::vector<Buffer> completedBuffers(); + std::vector<Buffer> completedBuffers() LIBCAMERA_TSA_EXCLUDES(bufferLock_); int configure(libcamera::StreamConfiguration *streamConfigOut, const libcamera::Size &size, @@ -58,13 +58,14 @@ public: int qbuf(unsigned int index); - void waitForBufferAvailable(); - bool isBufferAvailable(); + void waitForBufferAvailable() LIBCAMERA_TSA_EXCLUDES(bufferMutex_); + bool isBufferAvailable() LIBCAMERA_TSA_EXCLUDES(bufferMutex_); bool isRunning(); private: - void requestComplete(libcamera::Request *request); + void requestComplete(libcamera::Request *request) + LIBCAMERA_TSA_EXCLUDES(bufferLock_); std::shared_ptr<libcamera::Camera> camera_; std::unique_ptr<libcamera::CameraConfiguration> config_; @@ -77,11 +78,12 @@ private: std::vector<std::unique_ptr<libcamera::Request>> requestPool_; std::deque<libcamera::Request *> pendingRequests_; - std::deque<std::unique_ptr<Buffer>> completedBuffers_; + std::deque<std::unique_ptr<Buffer>> completedBuffers_ + LIBCAMERA_TSA_GUARDED_BY(bufferLock_); int efd_; libcamera::Mutex bufferMutex_; libcamera::ConditionVariable bufferCV_; - unsigned int bufferAvailableCount_; + unsigned int bufferAvailableCount_ LIBCAMERA_TSA_GUARDED_BY(bufferMutex_); }; diff --git a/src/v4l2/v4l2_camera_file.cpp b/src/v4l2/v4l2_camera_file.cpp index 0a41587c..d8fe854b 100644 --- a/src/v4l2/v4l2_camera_file.cpp +++ b/src/v4l2/v4l2_camera_file.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * v4l2_camera_file.h - V4L2 compatibility camera file information + * V4L2 compatibility camera file information */ #include "v4l2_camera_file.h" diff --git a/src/v4l2/v4l2_camera_file.h b/src/v4l2/v4l2_camera_file.h index 1a7b6a63..1212989e 100644 --- a/src/v4l2/v4l2_camera_file.h +++ b/src/v4l2/v4l2_camera_file.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2020, Google Inc. * - * v4l2_camera_file.h - V4L2 compatibility camera file information + * V4L2 compatibility camera file information */ #pragma once diff --git a/src/v4l2/v4l2_camera_proxy.cpp b/src/v4l2/v4l2_camera_proxy.cpp index 26a227da..3f7c00a2 100644 --- a/src/v4l2/v4l2_camera_proxy.cpp +++ b/src/v4l2/v4l2_camera_proxy.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * v4l2_camera_proxy.cpp - Proxy to V4L2 compatibility camera + * Proxy to V4L2 compatibility camera */ #include "v4l2_camera_proxy.h" @@ -182,7 +182,7 @@ void V4L2CameraProxy::setFmtFromConfig(const StreamConfiguration &streamConfig) v4l2PixFormat_.width = size.width; v4l2PixFormat_.height = size.height; - v4l2PixFormat_.pixelformat = V4L2PixelFormat::fromPixelFormat(streamConfig.pixelFormat); + v4l2PixFormat_.pixelformat = V4L2PixelFormat::fromPixelFormat(streamConfig.pixelFormat)[0]; v4l2PixFormat_.field = V4L2_FIELD_NONE; v4l2PixFormat_.bytesperline = streamConfig.stride; v4l2PixFormat_.sizeimage = streamConfig.frameSize; @@ -290,7 +290,7 @@ int V4L2CameraProxy::vidioc_enum_fmt(V4L2CameraFile *file, struct v4l2_fmtdesc * return -EINVAL; PixelFormat format = streamConfig_.formats().pixelformats()[arg->index]; - V4L2PixelFormat v4l2Format = V4L2PixelFormat::fromPixelFormat(format); + V4L2PixelFormat v4l2Format = V4L2PixelFormat::fromPixelFormat(format)[0]; arg->flags = format == formats::MJPEG ? V4L2_FMT_FLAG_COMPRESSED : 0; utils::strlcpy(reinterpret_cast<char *>(arg->description), @@ -333,7 +333,7 @@ int V4L2CameraProxy::tryFormat(struct v4l2_format *arg) arg->fmt.pix.width = config.size.width; arg->fmt.pix.height = config.size.height; - arg->fmt.pix.pixelformat = V4L2PixelFormat::fromPixelFormat(config.pixelFormat); + arg->fmt.pix.pixelformat = V4L2PixelFormat::fromPixelFormat(config.pixelFormat)[0]; arg->fmt.pix.field = V4L2_FIELD_NONE; arg->fmt.pix.bytesperline = config.stride; arg->fmt.pix.sizeimage = config.frameSize; @@ -778,10 +778,20 @@ const std::set<unsigned long> V4L2CameraProxy::supportedIoctls_ = { VIDIOC_STREAMOFF, }; -int V4L2CameraProxy::ioctl(V4L2CameraFile *file, unsigned long request, void *arg) +int V4L2CameraProxy::ioctl(V4L2CameraFile *file, unsigned long longRequest, void *arg) { MutexLocker locker(proxyMutex_); + /* + * The Linux Kernel only processes 32 bits of an IOCTL. + * + * Prevent unexpected sign-extensions that could occur if applications + * use a signed int for the ioctl request, which would sign-extend to + * an incorrect value for unsigned longs on 64 bit architectures by + * explicitly casting as an unsigned int here. + */ + unsigned int request = longRequest; + if (!arg && (_IOC_DIR(request) & _IOC_WRITE)) { errno = EFAULT; return -1; diff --git a/src/v4l2/v4l2_camera_proxy.h b/src/v4l2/v4l2_camera_proxy.h index 76ca2d8a..3d8784df 100644 --- a/src/v4l2/v4l2_camera_proxy.h +++ b/src/v4l2/v4l2_camera_proxy.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * v4l2_camera_proxy.h - Proxy to V4L2 compatibility camera + * Proxy to V4L2 compatibility camera */ #pragma once @@ -27,13 +27,15 @@ class V4L2CameraProxy public: V4L2CameraProxy(unsigned int index, std::shared_ptr<libcamera::Camera> camera); - int open(V4L2CameraFile *file); - void close(V4L2CameraFile *file); + int open(V4L2CameraFile *file) LIBCAMERA_TSA_EXCLUDES(proxyMutex_); + void close(V4L2CameraFile *file) LIBCAMERA_TSA_EXCLUDES(proxyMutex_); void *mmap(V4L2CameraFile *file, void *addr, size_t length, int prot, - int flags, off64_t offset); - int munmap(V4L2CameraFile *file, void *addr, size_t length); + int flags, off64_t offset) LIBCAMERA_TSA_EXCLUDES(proxyMutex_); + int munmap(V4L2CameraFile *file, void *addr, size_t length) + LIBCAMERA_TSA_EXCLUDES(proxyMutex_); - int ioctl(V4L2CameraFile *file, unsigned long request, void *arg); + int ioctl(V4L2CameraFile *file, unsigned long request, void *arg) + LIBCAMERA_TSA_EXCLUDES(proxyMutex_); private: bool validateBufferType(uint32_t type); diff --git a/src/v4l2/v4l2_compat.cpp b/src/v4l2/v4l2_compat.cpp index 1765fb5d..8e2b7e92 100644 --- a/src/v4l2/v4l2_compat.cpp +++ b/src/v4l2/v4l2_compat.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * v4l2_compat.cpp - V4L2 compatibility layer + * V4L2 compatibility layer */ #include "v4l2_compat_manager.h" diff --git a/src/v4l2/v4l2_compat_manager.cpp b/src/v4l2/v4l2_compat_manager.cpp index 0f7575c5..6a00afb5 100644 --- a/src/v4l2/v4l2_compat_manager.cpp +++ b/src/v4l2/v4l2_compat_manager.cpp @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * v4l2_compat_manager.cpp - V4L2 compatibility manager + * V4L2 compatibility manager */ #include "v4l2_compat_manager.h" @@ -24,6 +24,7 @@ #include <libcamera/camera.h> #include <libcamera/camera_manager.h> +#include <libcamera/property_ids.h> #include "v4l2_camera_file.h" @@ -113,14 +114,35 @@ int V4L2CompatManager::getCameraIndex(int fd) if (ret < 0) return -1; - std::shared_ptr<Camera> target = cm_->get(statbuf.st_rdev); - if (!target) - return -1; + const dev_t devnum = statbuf.st_rdev; + /* + * Iterate each known camera and identify if it reports this nodes + * device number in its list of SystemDevices. + */ auto cameras = cm_->cameras(); for (auto [index, camera] : utils::enumerate(cameras)) { - if (camera == target) - return index; + Span<const int64_t> devices = camera->properties() + .get(properties::SystemDevices) + .value_or(Span<int64_t>{}); + + /* + * While there may be multiple cameras that could reference the + * same device node, we take a first match as a best effort for + * now. + * + * \todo Each camera can be accessed through any of the video + * device nodes that it uses. This may confuse applications. + * Consider reworking the V4L2 adaptation layer to instead + * expose each Camera instance through a single video device + * node (with a consistent and stable mapping). The other + * device nodes could possibly be hidden from the application + * by intercepting additional calls to the C library. + */ + for (const int64_t dev : devices) { + if (dev == static_cast<int64_t>(devnum)) + return index; + } } return -1; diff --git a/src/v4l2/v4l2_compat_manager.h b/src/v4l2/v4l2_compat_manager.h index 64af9a8c..f7c6f122 100644 --- a/src/v4l2/v4l2_compat_manager.h +++ b/src/v4l2/v4l2_compat_manager.h @@ -2,7 +2,7 @@ /* * Copyright (C) 2019, Google Inc. * - * v4l2_compat_manager.h - V4L2 compatibility manager + * V4L2 compatibility manager */ #pragma once |
