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AgeCommit message (Expand)Author
2019-05-23libcamera: camera: Return a pointer from generateConfiguration()Laurent Pinchart
2019-05-23libcamera: Refactor the camera configuration storage and APILaurent Pinchart
2019-05-23libcamera: Use stream roles directly instead of StreamUsageLaurent Pinchart
2019-05-23libcamera: camera: Rename configureStreams() and streamConfiguration()Laurent Pinchart
2019-05-21test: ipa: add IPAModule testsPaul Elder
2019-05-17test: v4l2_device: Switch most tests to vimcNiklas Söderlund
2019-05-17test: v4l2_device: Reset media links and set a resolutionNiklas Söderlund
2019-05-17test: v4l2_device: Allow each test to specify which device and entity to testNiklas Söderlund
2019-05-17test: v4l2_device: Implement functions inside class definition in cpp filesNiklas Söderlund
2019-05-17test: v4l2_device: Order class sectionsNiklas Söderlund
2019-05-17test: media_device: Add test for acquire() and release()Niklas Söderlund
2019-05-17test: media_device: Create a common MediaDeviceTest base classNiklas Söderlund
2019-05-17libcamera: media_device: Handle media device fd in acquire() and release()Niklas Söderlund
2019-05-17libcamera: media_device: Open and close media device inside populate()Niklas Söderlund
2019-05-17libcamera: Always check return value of MediaDevice::acquire()Niklas Söderlund
2019-04-30test: Unify naming of configurations in testsLaurent Pinchart
2019-04-30libcamera: Use the Size class through libcameraLaurent Pinchart
2019-04-29libcamera: Don't ignore the return value of read() and write()Laurent Pinchart
2019-04-27test: signal: Exercise the signal delivery code paths for ObjectLaurent Pinchart
2019-04-26test: v4l2_subdevice: Remove std::move() that prevents copy elisionLaurent Pinchart
2019-04-18libcamera: v4l2_subdevice: Add method to retrieve the media entityLaurent Pinchart
2019-04-18test: geometry: Add tests for Size class comparison operatorsLaurent Pinchart
2019-04-18libcamera: geometry: Use Size to store min and max in SizeRangeLaurent Pinchart
2019-04-09libcamera: Switch to CameraConfigurationNiklas Söderlund
2019-04-05libcamera: camera: Add support for stream usagesNiklas Söderlund
2019-04-05libcamera: Make geometry.h a public headerNiklas Söderlund
2019-04-04test: camera: Remove test for bad Stream IDsNiklas Söderlund
2019-04-04test: camera: Remove streams argument from configurationValid()Niklas Söderlund
2019-04-02libcamera: v4l2_subdevice: Rename deviceName() methodJacopo Mondi
2019-03-14test: camera: Add state machine testNiklas Söderlund
2019-03-14test: camera: Add capture testNiklas Söderlund
2019-03-14test: camera: Add setting of configuration testNiklas Söderlund
2019-03-14test: camera: Add read default configuration testNiklas Söderlund
2019-03-02test: v4l2_subdevice: Add ListFormat testJacopo Mondi
2019-03-01test: v4l2_device: Add format handling testJacopo Mondi
2019-03-01test: v4l2_subdevice: Add format handling testJacopo Mondi
2019-02-13test: v4l2_device: Provide buffer sharing testKieran Bingham
2019-02-13test: v4l2_device: release capture device resourcesKieran Bingham
2019-02-13test: v4l2_device: Rename dev_ to capture_Kieran Bingham
2019-02-13libcamera: v4l2_device: Simplify exportBuffers()Kieran Bingham
2019-02-13test: v4l2_device: capture_async: End test at 30 framesKieran Bingham
2019-02-13test: v4l2_device: Use VIVID capture streamKieran Bingham
2019-02-13libcamera: signal: Disconnect signal automatically on slot deletionLaurent Pinchart
2019-02-06test: v4l2_device: Provide asynchronous capture testKieran Bingham
2019-02-06test: v4l2_device: Add StreamOn/StreamOff testKieran Bingham
2019-02-06test: v4l2_device: Add request_buffers testKieran Bingham
2019-02-06test: v4l2_device: Use DeviceEnumerator to find a UVCVideoKieran Bingham
2019-01-24libcamera: device_enumerator: Reference-count MediaDevice instancesLaurent Pinchart
2019-01-23tests: event-dispatcher: Add processEvents() interruption testLaurent Pinchart
2019-01-23tests: Test event dispatcher interruption by signalLaurent Pinchart
generated by cgit v1.2.1 (git 2.18.0) at 2025-03-02 07:47:04 +0000
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/* SPDX-License-Identifier: LGPL-2.1-or-later */
/*
 * Copyright (C) 2020, Google Inc.
 *
 * ipu3.cpp - IPU3 Image Processing Algorithms
 */

#include <algorithm>
#include <array>
#include <cmath>
#include <limits>
#include <map>
#include <memory>
#include <stdint.h>
#include <utility>
#include <vector>

#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>

#include <libcamera/control_ids.h>
#include <libcamera/framebuffer.h>
#include <libcamera/ipa/ipa_interface.h>
#include <libcamera/ipa/ipa_module_info.h>
#include <libcamera/ipa/ipu3_ipa_interface.h>
#include <libcamera/request.h>

#include "libcamera/internal/mapped_framebuffer.h"
#include "libcamera/internal/yaml_parser.h"

#include "algorithms/af.h"
#include "algorithms/agc.h"
#include "algorithms/algorithm.h"
#include "algorithms/awb.h"
#include "algorithms/blc.h"
#include "algorithms/tone_mapping.h"
#include "libipa/camera_sensor_helper.h"

#include "ipa_context.h"

/* Minimum grid width, expressed as a number of cells */
static constexpr uint32_t kMinGridWidth = 16;
/* Maximum grid width, expressed as a number of cells */
static constexpr uint32_t kMaxGridWidth = 80;
/* Minimum grid height, expressed as a number of cells */
static constexpr uint32_t kMinGridHeight = 16;
/* Maximum grid height, expressed as a number of cells */
static constexpr uint32_t kMaxGridHeight = 60;
/* log2 of the minimum grid cell width and height, in pixels */
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)

using namespace std::literals::chrono_literals;

namespace ipa::ipu3 {

/**
 * \brief The IPU3 IPA implementation
 *
 * The IPU3 Pipeline defines an IPU3-specific interface for communication
 * between the PipelineHandler and the IPA module.
 *
 * We extend the IPAIPU3Interface to implement our algorithms and handle
 * calls from the IPU3 PipelineHandler to satisfy requests from the
 * application.
 *
 * At initialisation time, a CameraSensorHelper is instantiated to support
 * camera-specific calculations, while the default controls are computed, and
 * 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
 * best grid for the statistics based on the pipeline handler Bayer Down Scaler
 * output size.
 *
 * Two main events are then handled to operate the IPU3 ImgU by populating its
 * parameter buffer, and adapting the settings of the sensor attached to the
 * IPU3 CIO2 through sensor-specific V4L2 controls.
 *
 * In fillParamsBuffer(), we populate the ImgU parameter buffer with
 * settings to configure the device in preparation for handling the frame
 * queued in the Request.
 *
 * When the frame has completed processing, the ImgU will generate a statistics
 * buffer which is given to the IPA with processStatsBuffer(). In this we run the
 * algorithms to parse the statistics and cache any results for the next
 * fillParamsBuffer() call.
 *
 * The individual algorithms are split into modular components that are called
 * iteratively to allow them to process statistics from the ImgU in the order
 * defined in the tuning data file.
 *
 * 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)
 *
 * AWB is implemented using a Greyworld algorithm, and calculates the red and
 * blue gains to apply to generate a neutral grey frame overall.
 *
 * AGC is handled by calculating a histogram of the green channel to estimate an
 * analogue gain and shutter time which will provide a well exposed frame. A
 * low-pass IIR filter is used to smooth the changes to the sensor to reduce
 * perceivable steps.
 *
 * The tone mapping algorithm provides a gamma correction table to improve the
 * contrast of the scene.
 *
 * The black level compensation algorithm subtracts a hardcoded black level from
 * all pixels.
 *
 * The IPU3 ImgU has further processing blocks to support image quality
 * improvements through bayer and temporal noise reductions, however those are
 * not supported in the current implementation, and will use default settings as
 * provided by the kernel driver.
 *
 * Demosaicing is operating with the default parameters and could be further
 * optimised to provide improved sharpening coefficients, checker artifact
 * removal, and false color correction.
 *
 * Additional image enhancements can be made by providing lens and
 * sensor-specific tuning to adapt for Black Level compensation (BLC), Lens
 * shading correction (SHD) and Color correction (CCM).
 */
class IPAIPU3 : public IPAIPU3Interface, public Module
{
public:
	IPAIPU3();

	int init(const IPASettings &settings,
		 const IPACameraSensorInfo &sensorInfo,
		 const ControlInfoMap &sensorControls,
		 ControlInfoMap *ipaControls) override;

	int start() override;
	void stop() override;

	int configure(const IPAConfigInfo &configInfo,
		      ControlInfoMap *ipaControls) override;

	void mapBuffers(const std::vector<IPABuffer> &buffers) override;
	void unmapBuffers(const std::vector<unsigned int> &ids) override;

	void queueRequest(const uint32_t frame, const ControlList &controls) override;
	void fillParamsBuffer(const uint32_t frame, const uint32_t bufferId) override;
	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);

	std::map<unsigned int, MappedFrameBuffer> buffers_;

	ControlInfoMap sensorCtrls_;
	ControlInfoMap lensCtrls_;

	IPACameraSensorInfo sensorInfo_;

	/* Interface to the Camera Helper */
	std::unique_ptr<CameraSensorHelper> camHelper_;

	/* 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
 */
void IPAIPU3::updateSessionConfiguration(const ControlInfoMap &sensorControls)
{
	const ControlInfo vBlank = sensorControls.find(V4L2_CID_VBLANK)->second;
	context_.configuration.sensor.defVBlank = vBlank.def().get<int32_t>();

	const ControlInfo &v4l2Exposure = sensorControls.find(V4L2_CID_EXPOSURE)->second;
	int32_t minExposure = v4l2Exposure.min().get<int32_t>();
	int32_t maxExposure = v4l2Exposure.max().get<int32_t>();

	const ControlInfo &v4l2Gain = sensorControls.find(V4L2_CID_ANALOGUE_GAIN)->second;
	int32_t minGain = v4l2Gain.min().get<int32_t>();
	int32_t maxGain = v4l2Gain.max().get<int32_t>();

	/* Clear the IPA context before the streaming session. */
	context_.configuration = {};
	context_.activeState = {};
	context_.frameContexts.clear();

	/*
	 * When the AGC computes the new exposure values for a frame, it needs
	 * to know the limits for shutter speed and analogue gain.
	 * As it depends on the sensor, update it with the controls.
	 *
	 * \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);
}

/**
 * \brief Compute camera controls using the sensor information and the sensor
 * V4L2 controls
 *
 * Some of the camera controls are computed by the pipeline handler, some others
 * by the IPA module which is in charge of handling, for example, the exposure
 * time and the frame duration.
 *
 * This function computes:
 * - controls::ExposureTime
 * - controls::FrameDurationLimits
 */
void IPAIPU3::updateControls(const IPACameraSensorInfo &sensorInfo,
			     const ControlInfoMap &sensorControls,
			     ControlInfoMap *ipaControls)
{
	ControlInfoMap::Map controls{};
	double lineDuration = context_.configuration.sensor.lineDuration.get<std::micro>();

	/*
	 * Compute exposure time limits by using line length and pixel rate
	 * converted to microseconds. Use the V4L2_CID_EXPOSURE control to get
	 * exposure min, max and default and convert it from lines to
	 * microseconds.
	 */
	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;
	controls[&controls::ExposureTime] = ControlInfo(minExposure, maxExposure,
							defExposure);

	/*
	 * 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);
	}

	controls[&controls::FrameDurationLimits] = ControlInfo(frameDurations[0],
							       frameDurations[1],
							       frameDurations[2]);

	*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
 * handler, computes the limits of the controls it handles and returns
 * them in the \a ipaControls output parameter.
 */
int IPAIPU3::init(const IPASettings &settings,
		  const IPACameraSensorInfo &sensorInfo,
		  const ControlInfoMap &sensorControls,
		  ControlInfoMap *ipaControls)
{
	camHelper_ = CameraSensorHelperFactory::create(settings.sensorModel);
	if (camHelper_ == nullptr) {
		LOG(IPAIPU3, Error)
			<< "Failed to create camera sensor helper for "
			<< settings.sensorModel;
		return -ENODEV;
	}

	/* Clean context */
	context_.configuration = {};
	context_.configuration.sensor.lineDuration = sensorInfo.lineLength * 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;
	}

	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);

	return 0;
}

/**
 * \brief Perform any processing required before the first frame
 */
int IPAIPU3::start()
{
	/*
	 * Set the sensors V4L2 controls before the first frame to ensure that
	 * we have an expected and known configuration from the start.
	 */
	setControls(0);

	return 0;
}

/**
 * \brief Ensure that all processing has completed
 */
void IPAIPU3::stop()
{
	context_.frameContexts.clear();
}

/**
 * \brief Calculate a grid for the AWB statistics
 *
 * This function calculates a grid for the AWB algorithm in the IPU3 firmware.
 * Its input is the BDS output size calculated in the ImgU.
 * It is limited for now to the simplest method: find the lesser error
 * with the width/height and respective log2 width/height of the cells.
 *
 * \todo The frame is divided into cells which can be 8x8 => 64x64.
 * As a smaller cell improves the algorithm precision, adapting the
 * x_start and y_start parameters of the grid would provoke a loss of
 * some pixels but would also result in more accurate algorithms.
 */
void IPAIPU3::calculateBdsGrid(const Size &bdsOutputSize)
{
	Size best;
	Size bestLog2;

	/* Set the BDS output size in the IPAConfiguration structure */
	context_.configuration.grid.bdsOutputSize = bdsOutputSize;

	uint32_t minError = std::numeric_limits<uint32_t>::max();
	for (uint32_t shift = kMinCellSizeLog2; shift <= kMaxCellSizeLog2; ++shift) {
		uint32_t width = std::clamp(bdsOutputSize.width >> shift,
					    kMinGridWidth,
					    kMaxGridWidth);

		width = width << shift;