From 726e9274ea95fa46352556d340c5793a8da51fcd Mon Sep 17 00:00:00 2001 From: Naushir Patuck Date: Wed, 3 May 2023 13:20:27 +0100 Subject: pipeline: ipa: raspberrypi: Refactor and move the Raspberry Pi code Split the Raspberry Pi pipeline handler and IPA source code into common and VC4/BCM2835 specific file structures. For the pipeline handler, the common code files now live in src/libcamera/pipeline/rpi/common/ and the VC4-specific files in src/libcamera/pipeline/rpi/vc4/. For the IPA, the common code files now live in src/ipa/rpi/{cam_helper,controller}/ and the vc4 specific files in src/ipa/rpi/vc4/. With this change, the camera tuning files are now installed under share/libcamera/ipa/rpi/vc4/. To build the pipeline and IPA, the meson configuration options have now changed from "raspberrypi" to "rpi/vc4": meson setup build -Dipas=rpi/vc4 -Dpipelines=rpi/vc4 Signed-off-by: Naushir Patuck Reviewed-by: Jacopo Mondi Reviewed-by: Laurent Pinchart Signed-off-by: Laurent Pinchart --- src/ipa/raspberrypi/controller/rpi/af.h | 165 -------------------------------- 1 file changed, 165 deletions(-) delete mode 100644 src/ipa/raspberrypi/controller/rpi/af.h (limited to 'src/ipa/raspberrypi/controller/rpi/af.h') diff --git a/src/ipa/raspberrypi/controller/rpi/af.h b/src/ipa/raspberrypi/controller/rpi/af.h deleted file mode 100644 index 6d2bae67..00000000 --- a/src/ipa/raspberrypi/controller/rpi/af.h +++ /dev/null @@ -1,165 +0,0 @@ -/* SPDX-License-Identifier: BSD-2-Clause */ -/* - * Copyright (C) 2022-2023, Raspberry Pi Ltd - * - * af.h - 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 const &wins) override; - void setMode(AfMode mode) override; - AfMode getMode() const override; - bool setLensPosition(double dioptres, int32_t *hwpos) override; - std::optional 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 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 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 scanData_; - AfState reportState_; -}; - -} // namespace RPiController -- cgit v1.2.1