From 726e9274ea95fa46352556d340c5793a8da51fcd Mon Sep 17 00:00:00 2001
From: Naushir Patuck <naush@raspberrypi.com>
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 <naush@raspberrypi.com>
Reviewed-by: Jacopo Mondi <jacopo.mondi@ideasonboard.com>
Reviewed-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
Signed-off-by: Laurent Pinchart <laurent.pinchart@ideasonboard.com>
---
src/ipa/rpi/README.md | 25 +
src/ipa/rpi/cam_helper/cam_helper.cpp | 265 ++++
src/ipa/rpi/cam_helper/cam_helper.h | 132 ++
src/ipa/rpi/cam_helper/cam_helper_imx219.cpp | 115 ++
src/ipa/rpi/cam_helper/cam_helper_imx290.cpp | 68 +
src/ipa/rpi/cam_helper/cam_helper_imx296.cpp | 83 ++
src/ipa/rpi/cam_helper/cam_helper_imx477.cpp | 197 +++
src/ipa/rpi/cam_helper/cam_helper_imx519.cpp | 196 +++
src/ipa/rpi/cam_helper/cam_helper_imx708.cpp | 359 +++++
src/ipa/rpi/cam_helper/cam_helper_ov5647.cpp | 109 ++
src/ipa/rpi/cam_helper/cam_helper_ov9281.cpp | 66 +
src/ipa/rpi/cam_helper/md_parser.h | 155 +++
src/ipa/rpi/cam_helper/md_parser_smia.cpp | 149 +++
src/ipa/rpi/cam_helper/meson.build | 26 +
src/ipa/rpi/controller/af_algorithm.h | 76 ++
src/ipa/rpi/controller/af_status.h | 35 +
src/ipa/rpi/controller/agc_algorithm.h | 33 +
src/ipa/rpi/controller/agc_status.h | 37 +
src/ipa/rpi/controller/algorithm.cpp | 56 +
src/ipa/rpi/controller/algorithm.h | 68 +
src/ipa/rpi/controller/alsc_status.h | 22 +
src/ipa/rpi/controller/awb_algorithm.h | 25 +
src/ipa/rpi/controller/awb_status.h | 20 +
src/ipa/rpi/controller/black_level_status.h | 15 +
src/ipa/rpi/controller/camera_mode.h | 59 +
src/ipa/rpi/controller/ccm_algorithm.h | 21 +
src/ipa/rpi/controller/ccm_status.h | 14 +
src/ipa/rpi/controller/contrast_algorithm.h | 22 +
src/ipa/rpi/controller/contrast_status.h | 20 +
src/ipa/rpi/controller/controller.cpp | 181 +++
src/ipa/rpi/controller/controller.h | 73 +
src/ipa/rpi/controller/denoise_algorithm.h | 23 +
src/ipa/rpi/controller/denoise_status.h | 16 +
src/ipa/rpi/controller/device_status.cpp | 31 +
src/ipa/rpi/controller/device_status.h | 43 +
src/ipa/rpi/controller/dpc_status.h | 13 +
src/ipa/rpi/controller/geq_status.h | 14 +
src/ipa/rpi/controller/histogram.cpp | 64 +
src/ipa/rpi/controller/histogram.h | 53 +
src/ipa/rpi/controller/lux_status.h | 23 +
src/ipa/rpi/controller/meson.build | 29 +
src/ipa/rpi/controller/metadata.h | 126 ++
src/ipa/rpi/controller/noise_status.h | 14 +
src/ipa/rpi/controller/pdaf_data.h | 24 +
src/ipa/rpi/controller/pwl.cpp | 269 ++++
src/ipa/rpi/controller/pwl.h | 127 ++
src/ipa/rpi/controller/region_stats.h | 123 ++
src/ipa/rpi/controller/rpi/af.cpp | 797 +++++++++++
src/ipa/rpi/controller/rpi/af.h | 165 +++
src/ipa/rpi/controller/rpi/agc.cpp | 922 +++++++++++++
src/ipa/rpi/controller/rpi/agc.h | 133 ++
src/ipa/rpi/controller/rpi/alsc.cpp | 865 ++++++++++++
src/ipa/rpi/controller/rpi/alsc.h | 174 +++
src/ipa/rpi/controller/rpi/awb.cpp | 734 ++++++++++
src/ipa/rpi/controller/rpi/awb.h | 191 +++
src/ipa/rpi/controller/rpi/black_level.cpp | 66 +
src/ipa/rpi/controller/rpi/black_level.h | 30 +
src/ipa/rpi/controller/rpi/ccm.cpp | 199 +++
src/ipa/rpi/controller/rpi/ccm.h | 75 ++
src/ipa/rpi/controller/rpi/contrast.cpp | 181 +++
src/ipa/rpi/controller/rpi/contrast.h | 51 +
src/ipa/rpi/controller/rpi/dpc.cpp | 59 +
src/ipa/rpi/controller/rpi/dpc.h | 32 +
src/ipa/rpi/controller/rpi/focus.h | 28 +
src/ipa/rpi/controller/rpi/geq.cpp | 89 ++
src/ipa/rpi/controller/rpi/geq.h | 34 +
src/ipa/rpi/controller/rpi/lux.cpp | 115 ++
src/ipa/rpi/controller/rpi/lux.h | 45 +
src/ipa/rpi/controller/rpi/noise.cpp | 89 ++
src/ipa/rpi/controller/rpi/noise.h | 32 +
src/ipa/rpi/controller/rpi/sdn.cpp | 80 ++
src/ipa/rpi/controller/rpi/sdn.h | 32 +
src/ipa/rpi/controller/rpi/sharpen.cpp | 92 ++
src/ipa/rpi/controller/rpi/sharpen.h | 34 +
src/ipa/rpi/controller/sharpen_algorithm.h | 21 +
src/ipa/rpi/controller/sharpen_status.h | 20 +
src/ipa/rpi/controller/statistics.h | 78 ++
src/ipa/rpi/meson.build | 13 +
src/ipa/rpi/vc4/data/imx219.json | 486 +++++++
src/ipa/rpi/vc4/data/imx219_noir.json | 402 ++++++
src/ipa/rpi/vc4/data/imx290.json | 200 +++
src/ipa/rpi/vc4/data/imx296.json | 537 ++++++++
src/ipa/rpi/vc4/data/imx296_mono.json | 233 ++++
src/ipa/rpi/vc4/data/imx378.json | 413 ++++++
src/ipa/rpi/vc4/data/imx477.json | 518 +++++++
src/ipa/rpi/vc4/data/imx477_noir.json | 429 ++++++
src/ipa/rpi/vc4/data/imx477_scientific.json | 479 +++++++
src/ipa/rpi/vc4/data/imx477_v1.json | 516 +++++++
src/ipa/rpi/vc4/data/imx519.json | 413 ++++++
src/ipa/rpi/vc4/data/imx708.json | 556 ++++++++
src/ipa/rpi/vc4/data/imx708_noir.json | 556 ++++++++
src/ipa/rpi/vc4/data/imx708_wide.json | 459 +++++++
src/ipa/rpi/vc4/data/imx708_wide_noir.json | 459 +++++++
src/ipa/rpi/vc4/data/meson.build | 26 +
src/ipa/rpi/vc4/data/ov5647.json | 487 +++++++
src/ipa/rpi/vc4/data/ov5647_noir.json | 403 ++++++
src/ipa/rpi/vc4/data/ov9281_mono.json | 123 ++
src/ipa/rpi/vc4/data/se327m12.json | 418 ++++++
src/ipa/rpi/vc4/data/uncalibrated.json | 118 ++
src/ipa/rpi/vc4/meson.build | 47 +
src/ipa/rpi/vc4/raspberrypi.cpp | 1853 ++++++++++++++++++++++++++
101 files changed, 19321 insertions(+)
create mode 100644 src/ipa/rpi/README.md
create mode 100644 src/ipa/rpi/cam_helper/cam_helper.cpp
create mode 100644 src/ipa/rpi/cam_helper/cam_helper.h
create mode 100644 src/ipa/rpi/cam_helper/cam_helper_imx219.cpp
create mode 100644 src/ipa/rpi/cam_helper/cam_helper_imx290.cpp
create mode 100644 src/ipa/rpi/cam_helper/cam_helper_imx296.cpp
create mode 100644 src/ipa/rpi/cam_helper/cam_helper_imx477.cpp
create mode 100644 src/ipa/rpi/cam_helper/cam_helper_imx519.cpp
create mode 100644 src/ipa/rpi/cam_helper/cam_helper_imx708.cpp
create mode 100644 src/ipa/rpi/cam_helper/cam_helper_ov5647.cpp
create mode 100644 src/ipa/rpi/cam_helper/cam_helper_ov9281.cpp
create mode 100644 src/ipa/rpi/cam_helper/md_parser.h
create mode 100644 src/ipa/rpi/cam_helper/md_parser_smia.cpp
create mode 100644 src/ipa/rpi/cam_helper/meson.build
create mode 100644 src/ipa/rpi/controller/af_algorithm.h
create mode 100644 src/ipa/rpi/controller/af_status.h
create mode 100644 src/ipa/rpi/controller/agc_algorithm.h
create mode 100644 src/ipa/rpi/controller/agc_status.h
create mode 100644 src/ipa/rpi/controller/algorithm.cpp
create mode 100644 src/ipa/rpi/controller/algorithm.h
create mode 100644 src/ipa/rpi/controller/alsc_status.h
create mode 100644 src/ipa/rpi/controller/awb_algorithm.h
create mode 100644 src/ipa/rpi/controller/awb_status.h
create mode 100644 src/ipa/rpi/controller/black_level_status.h
create mode 100644 src/ipa/rpi/controller/camera_mode.h
create mode 100644 src/ipa/rpi/controller/ccm_algorithm.h
create mode 100644 src/ipa/rpi/controller/ccm_status.h
create mode 100644 src/ipa/rpi/controller/contrast_algorithm.h
create mode 100644 src/ipa/rpi/controller/contrast_status.h
create mode 100644 src/ipa/rpi/controller/controller.cpp
create mode 100644 src/ipa/rpi/controller/controller.h
create mode 100644 src/ipa/rpi/controller/denoise_algorithm.h
create mode 100644 src/ipa/rpi/controller/denoise_status.h
create mode 100644 src/ipa/rpi/controller/device_status.cpp
create mode 100644 src/ipa/rpi/controller/device_status.h
create mode 100644 src/ipa/rpi/controller/dpc_status.h
create mode 100644 src/ipa/rpi/controller/geq_status.h
create mode 100644 src/ipa/rpi/controller/histogram.cpp
create mode 100644 src/ipa/rpi/controller/histogram.h
create mode 100644 src/ipa/rpi/controller/lux_status.h
create mode 100644 src/ipa/rpi/controller/meson.build
create mode 100644 src/ipa/rpi/controller/metadata.h
create mode 100644 src/ipa/rpi/controller/noise_status.h
create mode 100644 src/ipa/rpi/controller/pdaf_data.h
create mode 100644 src/ipa/rpi/controller/pwl.cpp
create mode 100644 src/ipa/rpi/controller/pwl.h
create mode 100644 src/ipa/rpi/controller/region_stats.h
create mode 100644 src/ipa/rpi/controller/rpi/af.cpp
create mode 100644 src/ipa/rpi/controller/rpi/af.h
create mode 100644 src/ipa/rpi/controller/rpi/agc.cpp
create mode 100644 src/ipa/rpi/controller/rpi/agc.h
create mode 100644 src/ipa/rpi/controller/rpi/alsc.cpp
create mode 100644 src/ipa/rpi/controller/rpi/alsc.h
create mode 100644 src/ipa/rpi/controller/rpi/awb.cpp
create mode 100644 src/ipa/rpi/controller/rpi/awb.h
create mode 100644 src/ipa/rpi/controller/rpi/black_level.cpp
create mode 100644 src/ipa/rpi/controller/rpi/black_level.h
create mode 100644 src/ipa/rpi/controller/rpi/ccm.cpp
create mode 100644 src/ipa/rpi/controller/rpi/ccm.h
create mode 100644 src/ipa/rpi/controller/rpi/contrast.cpp
create mode 100644 src/ipa/rpi/controller/rpi/contrast.h
create mode 100644 src/ipa/rpi/controller/rpi/dpc.cpp
create mode 100644 src/ipa/rpi/controller/rpi/dpc.h
create mode 100644 src/ipa/rpi/controller/rpi/focus.h
create mode 100644 src/ipa/rpi/controller/rpi/geq.cpp
create mode 100644 src/ipa/rpi/controller/rpi/geq.h
create mode 100644 src/ipa/rpi/controller/rpi/lux.cpp
create mode 100644 src/ipa/rpi/controller/rpi/lux.h
create mode 100644 src/ipa/rpi/controller/rpi/noise.cpp
create mode 100644 src/ipa/rpi/controller/rpi/noise.h
create mode 100644 src/ipa/rpi/controller/rpi/sdn.cpp
create mode 100644 src/ipa/rpi/controller/rpi/sdn.h
create mode 100644 src/ipa/rpi/controller/rpi/sharpen.cpp
create mode 100644 src/ipa/rpi/controller/rpi/sharpen.h
create mode 100644 src/ipa/rpi/controller/sharpen_algorithm.h
create mode 100644 src/ipa/rpi/controller/sharpen_status.h
create mode 100644 src/ipa/rpi/controller/statistics.h
create mode 100644 src/ipa/rpi/meson.build
create mode 100644 src/ipa/rpi/vc4/data/imx219.json
create mode 100644 src/ipa/rpi/vc4/data/imx219_noir.json
create mode 100644 src/ipa/rpi/vc4/data/imx290.json
create mode 100644 src/ipa/rpi/vc4/data/imx296.json
create mode 100644 src/ipa/rpi/vc4/data/imx296_mono.json
create mode 100644 src/ipa/rpi/vc4/data/imx378.json
create mode 100644 src/ipa/rpi/vc4/data/imx477.json
create mode 100644 src/ipa/rpi/vc4/data/imx477_noir.json
create mode 100644 src/ipa/rpi/vc4/data/imx477_scientific.json
create mode 100644 src/ipa/rpi/vc4/data/imx477_v1.json
create mode 100644 src/ipa/rpi/vc4/data/imx519.json
create mode 100644 src/ipa/rpi/vc4/data/imx708.json
create mode 100644 src/ipa/rpi/vc4/data/imx708_noir.json
create mode 100644 src/ipa/rpi/vc4/data/imx708_wide.json
create mode 100644 src/ipa/rpi/vc4/data/imx708_wide_noir.json
create mode 100644 src/ipa/rpi/vc4/data/meson.build
create mode 100644 src/ipa/rpi/vc4/data/ov5647.json
create mode 100644 src/ipa/rpi/vc4/data/ov5647_noir.json
create mode 100644 src/ipa/rpi/vc4/data/ov9281_mono.json
create mode 100644 src/ipa/rpi/vc4/data/se327m12.json
create mode 100644 src/ipa/rpi/vc4/data/uncalibrated.json
create mode 100644 src/ipa/rpi/vc4/meson.build
create mode 100644 src/ipa/rpi/vc4/raspberrypi.cpp
(limited to 'src/ipa/rpi')
diff --git a/src/ipa/rpi/README.md b/src/ipa/rpi/README.md
new file mode 100644
index 00000000..94a8ccc8
--- /dev/null
+++ b/src/ipa/rpi/README.md
@@ -0,0 +1,25 @@
+.. SPDX-License-Identifier: BSD-2-Clause
+
+# _libcamera_ for the Raspberry Pi
+
+Raspberry Pi provides a fully featured pipeline handler and control algorithms
+(IPAs, or "Image Processing Algorithms") to work with _libcamera_. Support is
+included for all existing Raspberry Pi camera modules.
+
+_libcamera_ for the Raspberry Pi allows users to:
+
+1. Use their existing Raspberry Pi cameras.
+1. Change the tuning of the image processing for their Raspberry Pi cameras.
+1. Alter or amend the control algorithms (such as AGC/AEC, AWB or any others)
+ that control the sensor and ISP.
+1. Implement their own custom control algorithms.
+1. Supply new tunings and/or algorithms for completely new sensors.
+
+## How to install and run _libcamera_ on the Raspberry Pi
+
+Please follow the instructions [here](https://www.raspberrypi.com/documentation/accessories/camera.html).
+
+## Documentation
+
+Full documentation for the _Raspberry Pi Camera Algorithm and Tuning Guide_ can
+be found [here](https://datasheets.raspberrypi.com/camera/raspberry-pi-camera-guide.pdf).
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..ddd5e9a4
--- /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
+ *
+ * cam_helper.cpp - 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..58a4b202
--- /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
+ *
+ * cam_helper.h - 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/rpi/cam_helper/cam_helper_imx219.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx219.cpp
new file mode 100644
index 00000000..c3337ed0
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/cam_helper_imx219.cpp
@@ -0,0 +1,115 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * cam_helper_imx219.cpp - camera helper for imx219 sensor
+ */
+
+#include <assert.h>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+/*
+ * We have observed that the imx219 embedded data stream randomly returns junk
+ * register values. Do not rely on embedded data until this has been resolved.
+ */
+#define ENABLE_EMBEDDED_DATA 0
+
+#include "cam_helper.h"
+#if ENABLE_EMBEDDED_DATA
+#include "md_parser.h"
+#endif
+
+using namespace RPiController;
+
+/*
+ * We care about one gain register and a pair of exposure registers. Their I2C
+ * addresses from the Sony IMX219 datasheet:
+ */
+constexpr uint32_t gainReg = 0x157;
+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,
+ lineLengthHiReg, lineLengthLoReg };
+
+class CamHelperImx219 : public CamHelper
+{
+public:
+ CamHelperImx219();
+ uint32_t gainCode(double gain) const override;
+ double gain(uint32_t gainCode) const override;
+ unsigned int mistrustFramesModeSwitch() const override;
+ bool sensorEmbeddedDataPresent() const override;
+
+private:
+ /*
+ * Smallest difference between the frame length and integration time,
+ * in units of lines.
+ */
+ static constexpr int frameIntegrationDiff = 4;
+
+ void populateMetadata(const MdParser::RegisterMap ®isters,
+ Metadata &metadata) const override;
+};
+
+CamHelperImx219::CamHelperImx219()
+#if ENABLE_EMBEDDED_DATA
+ : CamHelper(std::make_unique<MdParserSmia>(registerList), frameIntegrationDiff)
+#else
+ : CamHelper({}, frameIntegrationDiff)
+#endif
+{
+}
+
+uint32_t CamHelperImx219::gainCode(double gain) const
+{
+ return (uint32_t)(256 - 256 / gain);
+}
+
+double CamHelperImx219::gain(uint32_t gainCode) const
+{
+ return 256.0 / (256 - gainCode);
+}
+
+unsigned int CamHelperImx219::mistrustFramesModeSwitch() const
+{
+ /*
+ * For reasons unknown, we do occasionally get a bogus metadata frame
+ * at a mode switch (though not at start-up). Possibly warrants some
+ * investigation, though not a big deal.
+ */
+ return 1;
+}
+
+bool CamHelperImx219::sensorEmbeddedDataPresent() const
+{
+ return ENABLE_EMBEDDED_DATA;
+}
+
+void CamHelperImx219::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(gainReg));
+ deviceStatus.frameLength = registers.at(frameLengthHiReg) * 256 + registers.at(frameLengthLoReg);
+
+ metadata.set("device.status", deviceStatus);
+}
+
+static CamHelper *create()
+{
+ return new CamHelperImx219();
+}
+
+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..7d6f5b54
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/cam_helper_imx290.cpp
@@ -0,0 +1,68 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2021, Raspberry Pi Ltd
+ *
+ * cam_helper_imx290.cpp - 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 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::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..ecb845e7
--- /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
+ *
+ * cam_helper_imx296.cpp - 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/rpi/cam_helper/cam_helper_imx477.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx477.cpp
new file mode 100644
index 00000000..bc769ca7
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/cam_helper_imx477.cpp
@@ -0,0 +1,197 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2020, Raspberry Pi Ltd
+ *
+ * cam_helper_imx477.cpp - camera helper for imx477 sensor
+ */
+
+#include <algorithm>
+#include <assert.h>
+#include <cmath>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <libcamera/base/log.h>
+
+#include "cam_helper.h"
+#include "md_parser.h"
+
+using namespace RPiController;
+using namespace libcamera;
+using libcamera::utils::Duration;
+
+namespace libcamera {
+LOG_DECLARE_CATEGORY(IPARPI)
+}
+
+/*
+ * We care about two gain registers and a pair of exposure registers. Their
+ * I2C addresses from the Sony IMX477 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, frameLengthHiReg, frameLengthLoReg,
+ lineLengthHiReg, lineLengthLoReg, temperatureReg };
+
+class CamHelperImx477 : public CamHelper
+{
+public:
+ CamHelperImx477();
+ 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:
+ /*
+ * 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;
+
+ void populateMetadata(const MdParser::RegisterMap ®isters,
+ Metadata &metadata) const override;
+};
+
+CamHelperImx477::CamHelperImx477()
+ : CamHelper(std::make_unique<MdParserSmia>(registerList), frameIntegrationDiff)
+{
+}
+
+uint32_t CamHelperImx477::gainCode(double gain) const
+{
+ return static_cast<uint32_t>(1024 - 1024 / gain);
+}
+
+double CamHelperImx477::gain(uint32_t gainCode) const
+{
+ return 1024.0 / (1024 - gainCode);
+}
+
+void CamHelperImx477::prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata)
+{
+ MdParser::RegisterMap registers;
+ DeviceStatus deviceStatus;
+
+ if (metadata.get("device.status", deviceStatus)) {
+ LOG(IPARPI, Error) << "DeviceStatus not found from DelayedControls";
+ return;
+ }
+
+ parseEmbeddedData(buffer, metadata);
+
+ /*
+ * 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;
+ }
+}
+
+std::pair<uint32_t, uint32_t> CamHelperImx477::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 = CamHelperImx477::exposureLines(exposure, lineLength);
+ exposureLines = std::min(exposureLines, frameLength - frameIntegrationDiff);
+ exposure = CamHelperImx477::exposure(exposureLines, lineLength);
+ }
+
+ return { frameLength - mode_.height, hblank };
+}
+
+void CamHelperImx477::getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const
+{
+ exposureDelay = 2;
+ gainDelay = 2;
+ vblankDelay = 3;
+ hblankDelay = 3;
+}
+
+bool CamHelperImx477::sensorEmbeddedDataPresent() const
+{
+ return true;
+}
+
+void CamHelperImx477::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);
+}
+
+static CamHelper *create()
+{
+ return new CamHelperImx477();
+}
+
+static RegisterCamHelper reg("imx477", &create);
diff --git a/src/ipa/rpi/cam_helper/cam_helper_imx519.cpp b/src/ipa/rpi/cam_helper/cam_helper_imx519.cpp
new file mode 100644
index 00000000..c7262aa0
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/cam_helper_imx519.cpp
@@ -0,0 +1,196 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Based on cam_helper_imx477.cpp
+ * Copyright (C) 2020, Raspberry Pi Ltd
+ *
+ * cam_helper_imx519.cpp - camera helper for imx519 sensor
+ * Copyright (C) 2021, Arducam Technology co., Ltd.
+ */
+
+#include <assert.h>
+#include <cmath>
+#include <stddef.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <libcamera/base/log.h>
+
+#include "cam_helper.h"
+#include "md_parser.h"
+
+using namespace RPiController;
+using namespace libcamera;
+using libcamera::utils::Duration;
+
+namespace libcamera {
+LOG_DECLARE_CATEGORY(IPARPI)
+}
+
+/*
+ * We care about two gain registers and a pair of exposure registers. Their
+ * I2C addresses from the Sony IMX519 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 std::initializer_list<uint32_t> registerList =
+ { 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 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:
+ /*
+ * Smallest difference between the frame length and integration time,
+ * in units of lines.
+ */
+ static constexpr int frameIntegrationDiff = 32;
+ /* 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;
+
+ void populateMetadata(const MdParser::RegisterMap ®isters,
+ Metadata &metadata) const override;
+};
+
+CamHelperImx519::CamHelperImx519()
+ : CamHelper(std::make_unique<MdParserSmia>(registerList), frameIntegrationDiff)
+{
+}
+
+uint32_t CamHelperImx519::gainCode(double gain) const
+{
+ return static_cast<uint32_t>(1024 - 1024 / gain);
+}
+
+double CamHelperImx519::gain(uint32_t gainCode) const
+{
+ return 1024.0 / (1024 - gainCode);
+}
+
+void CamHelperImx519::prepare(libcamera::Span<const uint8_t> buffer, Metadata &metadata)
+{
+ MdParser::RegisterMap registers;
+ DeviceStatus deviceStatus;
+
+ if (metadata.get("device.status", deviceStatus)) {
+ LOG(IPARPI, Error) << "DeviceStatus not found from DelayedControls";
+ return;
+ }
+
+ parseEmbeddedData(buffer, metadata);
+
+ /*
+ * 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;
+ }
+}
+
+std::pair<uint32_t, uint32_t> CamHelperImx519::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 = CamHelperImx519::exposureLines(exposure, lineLength);
+ exposureLines = std::min(exposureLines, frameLength - frameIntegrationDiff);
+ exposure = CamHelperImx519::exposure(exposureLines, lineLength);
+ }
+
+ return { frameLength - mode_.height, hblank };
+}
+
+void CamHelperImx519::getDelays(int &exposureDelay, int &gainDelay,
+ int &vblankDelay, int &hblankDelay) const
+{
+ exposureDelay = 2;
+ gainDelay = 2;
+ vblankDelay = 3;
+ hblankDelay = 3;
+}
+
+bool CamHelperImx519::sensorEmbeddedDataPresent() const
+{
+ return true;
+}
+
+void CamHelperImx519::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);
+
+ metadata.set("device.status", deviceStatus);
+}
+
+static CamHelper *create()
+{
+ return new CamHelperImx519();
+}
+
+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..641ba18f
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/cam_helper_imx708.cpp
@@ -0,0 +1,359 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2022, Raspberry Pi Ltd
+ *
+ * cam_helper_imx708.cpp - 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;
+
+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 { return 1; } // seems to be required for HDR
+
+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;
+}
+
+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 > 12 || 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/rpi/cam_helper/cam_helper_ov5647.cpp b/src/ipa/rpi/cam_helper/cam_helper_ov5647.cpp
new file mode 100644
index 00000000..5a99083d
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/cam_helper_ov5647.cpp
@@ -0,0 +1,109 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * cam_helper_ov5647.cpp - camera information for ov5647 sensor
+ */
+
+#include <assert.h>
+
+#include "cam_helper.h"
+
+using namespace RPiController;
+
+class CamHelperOv5647 : public CamHelper
+{
+public:
+ CamHelperOv5647();
+ 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:
+ /*
+ * Smallest difference between the frame length and integration time,
+ * in units of lines.
+ */
+ static constexpr int frameIntegrationDiff = 4;
+};
+
+/*
+ * OV5647 doesn't output metadata, so we have to use the "unicam parser" which
+ * works by counting frames.
+ */
+
+CamHelperOv5647::CamHelperOv5647()
+ : CamHelper({}, frameIntegrationDiff)
+{
+}
+
+uint32_t CamHelperOv5647::gainCode(double gain) const
+{
+ return static_cast<uint32_t>(gain * 16.0);
+}
+
+double CamHelperOv5647::gain(uint32_t gainCode) const
+{
+ return static_cast<double>(gainCode) / 16.0;
+}
+
+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".
+ */
+ exposureDelay = 2;
+ gainDelay = 2;
+ vblankDelay = 2;
+ hblankDelay = 2;
+}
+
+unsigned int CamHelperOv5647::hideFramesStartup() const
+{
+ /*
+ * On startup, we get a couple of under-exposed frames which
+ * we don't want shown.
+ */
+ return 2;
+}
+
+unsigned int CamHelperOv5647::hideFramesModeSwitch() const
+{
+ /*
+ * After a mode switch, we get a couple of under-exposed frames which
+ * we don't want shown.
+ */
+ return 2;
+}
+
+unsigned int CamHelperOv5647::mistrustFramesStartup() const
+{
+ /*
+ * First couple of frames are under-exposed and are no good for control
+ * algos.
+ */
+ return 2;
+}
+
+unsigned int CamHelperOv5647::mistrustFramesModeSwitch() const
+{
+ /*
+ * First couple of frames are under-exposed even after a simple
+ * mode switch, and are no good for control algos.
+ */
+ return 2;
+}
+
+static CamHelper *create()
+{
+ return new CamHelperOv5647();
+}
+
+static RegisterCamHelper reg("ov5647", &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..86c5bc4c
--- /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
+ *
+ * cam_helper_ov9281.cpp - 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/rpi/cam_helper/md_parser.h b/src/ipa/rpi/cam_helper/md_parser.h
new file mode 100644
index 00000000..77d557aa
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/md_parser.h
@@ -0,0 +1,155 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * md_parser.h - image sensor metadata parser interface
+ */
+#pragma once
+
+#include <initializer_list>
+#include <map>
+#include <optional>
+#include <stdint.h>
+
+#include <libcamera/base/span.h>
+
+/*
+ * Camera metadata parser class. Usage as shown below.
+ *
+ * Setup:
+ *
+ * Usually the metadata parser will be made as part of the CamHelper class so
+ * application code doesn't have to worry which kind to instantiate. But for
+ * the sake of example let's suppose we're parsing imx219 metadata.
+ *
+ * MdParser *parser = new MdParserSmia({ expHiReg, expLoReg, gainReg });
+ * parser->SetBitsPerPixel(bpp);
+ * parser->SetLineLengthBytes(pitch);
+ * parser->SetNumLines(2);
+ *
+ * Note 1: if you don't know how many lines there are, the size of the input
+ * buffer is used as a limit instead.
+ *
+ * Note 2: if you don't know the line length, you can leave the line length unset
+ * (or set to zero) and the parser will hunt for the line start instead.
+ *
+ * Then on every frame:
+ *
+ * RegisterMap registers;
+ * if (parser->Parse(buffer, registers) != MdParser::OK)
+ * much badness;
+ * Metadata metadata;
+ * CamHelper::PopulateMetadata(registers, metadata);
+ *
+ * (Note that the CamHelper class converts to/from exposure lines and time,
+ * and gain_code / actual gain.)
+ *
+ * If you suspect your embedded data may have changed its layout, change any line
+ * lengths, number of lines, bits per pixel etc. that are different, and
+ * then:
+ *
+ * parser->Reset();
+ *
+ * before calling Parse again.
+ */
+
+namespace RPiController {
+
+/* Abstract base class from which other metadata parsers are derived. */
+
+class MdParser
+{
+public:
+ using RegisterMap = std::map<uint32_t, uint32_t>;
+
+ /*
+ * Parser status codes:
+ * OK - success
+ * NOTFOUND - value such as exposure or gain was not found
+ * ERROR - all other errors
+ */
+ enum Status {
+ OK = 0,
+ NOTFOUND = 1,
+ ERROR = 2
+ };
+
+ MdParser()
+ : reset_(true), bitsPerPixel_(0), numLines_(0), lineLengthBytes_(0)
+ {
+ }
+
+ virtual ~MdParser() = default;
+
+ void reset()
+ {
+ reset_ = true;
+ }
+
+ void setBitsPerPixel(int bpp)
+ {
+ bitsPerPixel_ = bpp;
+ }
+
+ void setNumLines(unsigned int numLines)
+ {
+ numLines_ = numLines;
+ }
+
+ void setLineLengthBytes(unsigned int numBytes)
+ {
+ lineLengthBytes_ = numBytes;
+ }
+
+ virtual Status parse(libcamera::Span<const uint8_t> buffer,
+ RegisterMap ®isters) = 0;
+
+protected:
+ bool reset_;
+ int bitsPerPixel_;
+ unsigned int numLines_;
+ unsigned int lineLengthBytes_;
+};
+
+/*
+ * This isn't a full implementation of a metadata parser for SMIA sensors,
+ * however, it does provide the findRegs function which will prove useful and
+ * make it easier to implement parsers for other SMIA-like sensors (see
+ * md_parser_imx219.cpp for an example).
+ */
+
+class MdParserSmia final : public MdParser
+{
+public:
+ MdParserSmia(std::initializer_list<uint32_t> registerList);
+
+ MdParser::Status parse(libcamera::Span<const uint8_t> buffer,
+ RegisterMap ®isters) override;
+
+private:
+ /* Maps register address to offset in the buffer. */
+ using OffsetMap = std::map<uint32_t, std::optional<uint32_t>>;
+
+ /*
+ * Note that error codes > 0 are regarded as non-fatal; codes < 0
+ * indicate a bad data buffer. Status codes are:
+ * 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 {
+ ParseOk = 0,
+ MissingRegs = 1,
+ NoLineStart = -1,
+ IllegalTag = -2,
+ BadDummy = -3,
+ BadLineEnd = -4,
+ BadPadding = -5
+ };
+
+ ParseStatus findRegs(libcamera::Span<const uint8_t> buffer);
+
+ OffsetMap offsets_;
+};
+
+} /* 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..210787ed
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/md_parser_smia.cpp
@@ -0,0 +1,149 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019-2021, Raspberry Pi Ltd
+ *
+ * md_parser_smia.cpp - 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++];
+
+ if ((bitsPerPixel_ == 10 &&
+ (currentOffset + 1 - currentLineStart) % 5 == 0) ||
+ (bitsPerPixel_ == 12 &&
+ (currentOffset + 1 - currentLineStart) % 3 == 0)) {
+ 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..bdf2db8e
--- /dev/null
+++ b/src/ipa/rpi/cam_helper/meson.build
@@ -0,0 +1,26 @@
+# 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_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/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..92c08812
--- /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_status.h - 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..36e6c110
--- /dev/null
+++ b/src/ipa/rpi/controller/agc_algorithm.h
@@ -0,0 +1,33 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * agc_algorithm.h - AGC/AEC control algorithm interface
+ */
+#pragma once
+
+#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 void setEv(double ev) = 0;
+ virtual void setFlickerPeriod(libcamera::utils::Duration flickerPeriod) = 0;
+ virtual void setFixedShutter(libcamera::utils::Duration fixedShutter) = 0;
+ virtual void setMaxShutter(libcamera::utils::Duration maxShutter) = 0;
+ virtual void setFixedAnalogueGain(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;
+};
+
+} /* 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..6abf09d9
--- /dev/null
+++ b/src/ipa/rpi/controller/agc_status.h
@@ -0,0 +1,37 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * 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.
+ */
+
+/*
+ * 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;
+ char exposureMode[32];
+ char constraintMode[32];
+ char meteringMode[32];
+ double ev;
+ libcamera::utils::Duration flickerPeriod;
+ int floatingRegionEnable;
+ libcamera::utils::Duration fixedShutter;
+ double fixedAnalogueGain;
+ 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..a957fde5
--- /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
+ *
+ * algorithm.cpp - 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..4aa814eb
--- /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
+ *
+ * algorithm.h - 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..49a9f4a0
--- /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_status.h - 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..8462c4db
--- /dev/null
+++ b/src/ipa/rpi/controller/awb_algorithm.h
@@ -0,0 +1,25 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * awb_algorithm.h - 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 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..dd5a79e3
--- /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_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".
+ */
+
+struct AwbStatus {
+ char mode[32];
+ double temperatureK;
+ double gainR;
+ double gainG;
+ double gainB;
+};
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..fd5e4ccb
--- /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_status.h - 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/camera_mode.h b/src/ipa/rpi/controller/camera_mode.h
new file mode 100644
index 00000000..63b11778
--- /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
+ *
+ * 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.
+ */
+
+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..e2c4d771
--- /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_algorithm.h - 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..5e28ee7c
--- /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_status.h - 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..ce17a4f9
--- /dev/null
+++ b/src/ipa/rpi/controller/contrast_algorithm.h
@@ -0,0 +1,22 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * contrast_algorithm.h - 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;
+};
+
+} /* 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..fb9fe4ba
--- /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_status.h - 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..fa172113
--- /dev/null
+++ b/src/ipa/rpi/controller/controller.cpp
@@ -0,0 +1,181 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * controller.cpp - 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;
+
+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 },
+ .focusRegions = { 4, 3 },
+ .numHistogramBins = 128,
+ .numGammaPoints = 33,
+ .pipelineWidth = 13
+ }
+ },
+};
+
+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);
+ 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..c6af5cd6
--- /dev/null
+++ b/src/ipa/rpi/controller/controller.h
@@ -0,0 +1,73 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * controller.h - 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/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 focusRegions;
+ unsigned int numHistogramBins;
+ unsigned int numGammaPoints;
+ unsigned int pipelineWidth;
+ };
+
+ 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..52009ba9
--- /dev/null
+++ b/src/ipa/rpi/controller/denoise_algorithm.h
@@ -0,0 +1,23 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2021, Raspberry Pi Ltd
+ *
+ * denoise.h - Denoise control algorithm interface
+ */
+#pragma once
+
+#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;
+};
+
+} /* 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..f6b9ee29
--- /dev/null
+++ b/src/ipa/rpi/controller/denoise_status.h
@@ -0,0 +1,16 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019-2021, Raspberry Pi Ltd
+ *
+ * denoise_status.h - Denoise control algorithm status
+ */
+#pragma once
+
+/* This stores the parameters required for Denoise. */
+
+struct DenoiseStatus {
+ double noiseConstant;
+ double noiseSlope;
+ double strength;
+ unsigned int mode;
+};
diff --git a/src/ipa/rpi/controller/device_status.cpp b/src/ipa/rpi/controller/device_status.cpp
new file mode 100644
index 00000000..c907efdd
--- /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_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.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/rpi/controller/device_status.h b/src/ipa/rpi/controller/device_status.h
new file mode 100644
index 00000000..c45db749
--- /dev/null
+++ b/src/ipa/rpi/controller/device_status.h
@@ -0,0 +1,43 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019-2021, Raspberry Pi Ltd
+ *
+ * device_status.h - device (image sensor) status
+ */
+#pragma once
+
+#include <iostream>
+#include <optional>
+
+#include <libcamera/base/utils.h>
+
+/*
+ * Definition of "device metadata" which stores things like shutter time and
+ * analogue gain that downstream control algorithms will want to know.
+ */
+
+struct DeviceStatus {
+ DeviceStatus()
+ : 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 shutterSpeed;
+ /* frame length given in number of lines */
+ 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> flashIntensity;
+ /* Sensor reported temperature value (in degrees) */
+ 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..46d0cf34
--- /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_status.h - 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..2d749fc9
--- /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_status.h - 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/histogram.cpp b/src/ipa/rpi/controller/histogram.cpp
new file mode 100644
index 00000000..16a9207f
--- /dev/null
+++ b/src/ipa/rpi/controller/histogram.cpp
@@ -0,0 +1,64 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * histogram.cpp - 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::interQuantileMean(double qLo, double qHi) const
+{
+ assert(qHi > qLo);
+ double pLo = quantile(qLo);
+ double pHi = quantile(qHi, (int)pLo);
+ double sumBinFreq = 0, cumulFreq = 0;
+ for (double pNext = floor(pLo) + 1.0; pNext <= ceil(pHi);
+ pLo = pNext, pNext += 1.0) {
+ int bin = floor(pLo);
+ double freq = (cumulative_[bin + 1] - cumulative_[bin]) *
+ (std::min(pNext, pHi) - pLo);
+ sumBinFreq += bin * freq;
+ cumulFreq += freq;
+ }
+ /* add 0.5 to give an average for bin mid-points */
+ return sumBinFreq / cumulFreq + 0.5;
+}
diff --git a/src/ipa/rpi/controller/histogram.h b/src/ipa/rpi/controller/histogram.h
new file mode 100644
index 00000000..6b3e3a9e
--- /dev/null
+++ b/src/ipa/rpi/controller/histogram.h
@@ -0,0 +1,53 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * histogram.h - 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 (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..5eb9faac
--- /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_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.
+ */
+
+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..feb0334e
--- /dev/null
+++ b/src/ipa/rpi/controller/meson.build
@@ -0,0 +1,29 @@
+# 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/alsc.cpp',
+ 'rpi/awb.cpp',
+ 'rpi/black_level.cpp',
+ 'rpi/ccm.cpp',
+ 'rpi/contrast.cpp',
+ 'rpi/dpc.cpp',
+ 'rpi/geq.cpp',
+ 'rpi/lux.cpp',
+ 'rpi/noise.cpp',
+ 'rpi/sdn.cpp',
+ 'rpi/sharpen.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..bf8a2393
--- /dev/null
+++ b/src/ipa/rpi/controller/metadata.h
@@ -0,0 +1,126 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019-2021, Raspberry Pi Ltd
+ *
+ * metadata.h - 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(); }
+ 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..da194f71
--- /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_status.h - 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..470510f2
--- /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_data.h - 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..70c2e24b
--- /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
+ *
+ * pwl.cpp - piecewise linear functions
+ */
+
+#include <cassert>
+#include <cmath>
+#include <stdexcept>
+
+#include "pwl.h"
+
+using namespace RPiController;
+
+int Pwl::read(const libcamera::YamlObject ¶ms)
+{
+ if (!params.size() || params.size() % 2)
+ return -EINVAL;
+
+ const auto &list = params.asList();
+
+ for (auto it = list.begin(); it != list.end(); it++) {
+ auto x = it->get<double>();
+ if (!x)
+ return -EINVAL;
+ if (it != list.begin() && *x <= points_.back().x)
+ return -EINVAL;
+
+ auto y = (++it)->get<double>();
+ if (!y)
+ return -EINVAL;
+
+ points_.push_back(Point(*x, *y));
+ }
+
+ return 0;
+}
+
+void Pwl::append(double x, double y, const double eps)
+{
+ if (points_.empty() || points_.back().x + eps < x)
+ points_.push_back(Point(x, y));
+}
+
+void Pwl::prepend(double x, double y, const double eps)
+{
+ if (points_.empty() || points_.front().x - eps > x)
+ points_.insert(points_.begin(), Point(x, y));
+}
+
+Pwl::Interval Pwl::domain() const
+{
+ return Interval(points_[0].x, points_[points_.size() - 1].x);
+}
+
+Pwl::Interval Pwl::range() const
+{
+ double lo = points_[0].y, hi = lo;
+ for (auto &p : points_)
+ lo = std::min(lo, p.y), hi = std::max(hi, p.y);
+ return Interval(lo, hi);
+}
+
+bool Pwl::empty() const
+{
+ return points_.empty();
+}
+
+double Pwl::eval(double x, int *spanPtr, bool updateSpan) const
+{
+ int span = findSpan(x, spanPtr && *spanPtr != -1 ? *spanPtr : points_.size() / 2 - 1);
+ if (spanPtr && updateSpan)
+ *spanPtr = span;
+ return points_[span].y +
+ (x - points_[span].x) * (points_[span + 1].y - points_[span].y) /
+ (points_[span + 1].x - points_[span].x);
+}
+
+int Pwl::findSpan(double x, int span) const
+{
+ /*
+ * Pwls are generally small, so linear search may well be faster than
+ * binary, though could review this if large PWls start turning up.
+ */
+ int lastSpan = points_.size() - 2;
+ /*
+ * some algorithms may call us with span pointing directly at the last
+ * control point
+ */
+ span = std::max(0, std::min(lastSpan, span));
+ while (span < lastSpan && x >= points_[span + 1].x)
+ span++;
+ while (span && x < points_[span].x)
+ span--;
+ return span;
+}
+
+Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span,
+ const double eps) const
+{
+ assert(span >= -1);
+ bool prevOffEnd = false;
+ for (span = span + 1; span < (int)points_.size() - 1; span++) {
+ Point spanVec = points_[span + 1] - points_[span];
+ double t = ((xy - points_[span]) % spanVec) / spanVec.len2();
+ if (t < -eps) /* off the start of this span */
+ {
+ if (span == 0) {
+ perp = points_[span];
+ return PerpType::Start;
+ } else if (prevOffEnd) {
+ perp = points_[span];
+ return PerpType::Vertex;
+ }
+ } else if (t > 1 + eps) /* off the end of this span */
+ {
+ if (span == (int)points_.size() - 2) {
+ perp = points_[span + 1];
+ return PerpType::End;
+ }
+ prevOffEnd = true;
+ } else /* a true perpendicular */
+ {
+ perp = points_[span] + spanVec * t;
+ return PerpType::Perpendicular;
+ }
+ }
+ return PerpType::None;
+}
+
+Pwl Pwl::inverse(bool *trueInverse, const double eps) const
+{
+ bool appended = false, prepended = false, neither = false;
+ Pwl inverse;
+
+ for (Point const &p : points_) {
+ if (inverse.empty())
+ inverse.append(p.y, p.x, eps);
+ else if (std::abs(inverse.points_.back().x - p.y) <= eps ||
+ std::abs(inverse.points_.front().x - p.y) <= eps)
+ /* do nothing */;
+ else if (p.y > inverse.points_.back().x) {
+ inverse.append(p.y, p.x, eps);
+ appended = true;
+ } else if (p.y < inverse.points_.front().x) {
+ inverse.prepend(p.y, p.x, eps);
+ prepended = true;
+ } else
+ neither = true;
+ }
+
+ /*
+ * This is not a proper inverse if we found ourselves putting points
+ * onto both ends of the inverse, or if there were points that couldn't
+ * go on either.
+ */
+ if (trueInverse)
+ *trueInverse = !(neither || (appended && prepended));
+
+ return inverse;
+}
+
+Pwl Pwl::compose(Pwl const &other, const double eps) const
+{
+ double thisX = points_[0].x, thisY = points_[0].y;
+ int thisSpan = 0, otherSpan = other.findSpan(thisY, 0);
+ Pwl result({ { thisX, other.eval(thisY, &otherSpan, false) } });
+ while (thisSpan != (int)points_.size() - 1) {
+ double dx = points_[thisSpan + 1].x - points_[thisSpan].x,
+ dy = points_[thisSpan + 1].y - points_[thisSpan].y;
+ if (std::abs(dy) > eps &&
+ otherSpan + 1 < (int)other.points_.size() &&
+ points_[thisSpan + 1].y >=
+ other.points_[otherSpan + 1].x + eps) {
+ /*
+ * next control point in result will be where this
+ * function's y reaches the next span in other
+ */
+ thisX = points_[thisSpan].x +
+ (other.points_[otherSpan + 1].x -
+ points_[thisSpan].y) *
+ dx / dy;
+ thisY = other.points_[++otherSpan].x;
+ } else if (std::abs(dy) > eps && otherSpan > 0 &&
+ points_[thisSpan + 1].y <=
+ other.points_[otherSpan - 1].x - eps) {
+ /*
+ * next control point in result will be where this
+ * function's y reaches the previous span in other
+ */
+ thisX = points_[thisSpan].x +
+ (other.points_[otherSpan + 1].x -
+ points_[thisSpan].y) *
+ dx / dy;
+ thisY = other.points_[--otherSpan].x;
+ } else {
+ /* we stay in the same span in other */
+ thisSpan++;
+ thisX = points_[thisSpan].x,
+ thisY = points_[thisSpan].y;
+ }
+ result.append(thisX, other.eval(thisY, &otherSpan, false),
+ eps);
+ }
+ return result;
+}
+
+void Pwl::map(std::function<void(double x, double y)> f) const
+{
+ for (auto &pt : points_)
+ f(pt.x, pt.y);
+}
+
+void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1,
+ std::function<void(double x, double y0, double y1)> f)
+{
+ int span0 = 0, span1 = 0;
+ double x = std::min(pwl0.points_[0].x, pwl1.points_[0].x);
+ f(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false));
+ while (span0 < (int)pwl0.points_.size() - 1 ||
+ span1 < (int)pwl1.points_.size() - 1) {
+ if (span0 == (int)pwl0.points_.size() - 1)
+ x = pwl1.points_[++span1].x;
+ else if (span1 == (int)pwl1.points_.size() - 1)
+ x = pwl0.points_[++span0].x;
+ else if (pwl0.points_[span0 + 1].x > pwl1.points_[span1 + 1].x)
+ x = pwl1.points_[++span1].x;
+ else
+ x = pwl0.points_[++span0].x;
+ f(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false));
+ }
+}
+
+Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1,
+ std::function<double(double x, double y0, double y1)> f,
+ const double eps)
+{
+ Pwl result;
+ map2(pwl0, pwl1, [&](double x, double y0, double y1) {
+ result.append(x, f(x, y0, y1), eps);
+ });
+ return result;
+}
+
+void Pwl::matchDomain(Interval const &domain, bool clip, const double eps)
+{
+ int span = 0;
+ prepend(domain.start, eval(clip ? points_[0].x : domain.start, &span),
+ eps);
+ span = points_.size() - 2;
+ append(domain.end, eval(clip ? points_.back().x : domain.end, &span),
+ eps);
+}
+
+Pwl &Pwl::operator*=(double d)
+{
+ for (auto &pt : points_)
+ pt.y *= d;
+ return *this;
+}
+
+void Pwl::debug(FILE *fp) const
+{
+ fprintf(fp, "Pwl {\n");
+ for (auto &p : points_)
+ fprintf(fp, "\t(%g, %g)\n", p.x, p.y);
+ fprintf(fp, "}\n");
+}
diff --git a/src/ipa/rpi/controller/pwl.h b/src/ipa/rpi/controller/pwl.h
new file mode 100644
index 00000000..aacf6039
--- /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
+ *
+ * pwl.h - piecewise linear functions interface
+ */
+#pragma once
+
+#include <functional>
+#include <math.h>
+#include <vector>
+
+#include "libcamera/internal/yaml_parser.h"
+
+namespace RPiController {
+
+class Pwl
+{
+public:
+ struct Interval {
+ Interval(double _start, double _end)
+ : start(_start), end(_end)
+ {
+ }
+ double start, end;
+ bool contains(double value)
+ {
+ return value >= start && value <= end;
+ }
+ double clip(double value)
+ {
+ return value < start ? start
+ : (value > end ? end : value);
+ }
+ double len() const { return end - start; }
+ };
+ struct Point {
+ Point() : x(0), y(0) {}
+ Point(double _x, double _y)
+ : x(_x), y(_y) {}
+ double x, y;
+ Point operator-(Point const &p) const
+ {
+ return Point(x - p.x, y - p.y);
+ }
+ Point operator+(Point const &p) const
+ {
+ return Point(x + p.x, y + p.y);
+ }
+ double operator%(Point const &p) const
+ {
+ return x * p.x + y * p.y;
+ }
+ Point operator*(double f) const { return Point(x * f, y * f); }
+ Point operator/(double f) const { return Point(x / f, y / f); }
+ double len2() const { return x * x + y * y; }
+ double len() const { return sqrt(len2()); }
+ };
+ Pwl() {}
+ Pwl(std::vector<Point> const &points) : points_(points) {}
+ int read(const libcamera::YamlObject ¶ms);
+ void append(double x, double y, const double eps = 1e-6);
+ void prepend(double x, double y, const double eps = 1e-6);
+ Interval domain() const;
+ Interval range() const;
+ bool empty() const;
+ /*
+ * Evaluate Pwl, optionally supplying an initial guess for the
+ * "span". The "span" may be optionally be updated. If you want to know
+ * the "span" value but don't have an initial guess you can set it to
+ * -1.
+ */
+ double eval(double x, int *spanPtr = nullptr,
+ bool updateSpan = true) const;
+ /*
+ * Find perpendicular closest to xy, starting from span+1 so you can
+ * call it repeatedly to check for multiple closest points (set span to
+ * -1 on the first call). Also returns "pseudo" perpendiculars; see
+ * PerpType enum.
+ */
+ enum class PerpType {
+ None, /* no perpendicular found */
+ Start, /* start of Pwl is closest point */
+ End, /* end of Pwl is closest point */
+ Vertex, /* vertex of Pwl is closest point */
+ Perpendicular /* true perpendicular found */
+ };
+ PerpType invert(Point const &xy, Point &perp, int &span,
+ const double eps = 1e-6) const;
+ /*
+ * Compute the inverse function. Indicate if it is a proper (true)
+ * inverse, or only a best effort (e.g. input was non-monotonic).
+ */
+ Pwl inverse(bool *trueInverse = nullptr, const double eps = 1e-6) const;
+ /* Compose two Pwls together, doing "this" first and "other" after. */
+ Pwl compose(Pwl const &other, const double eps = 1e-6) const;
+ /* Apply function to (x,y) values at every control point. */
+ void map(std::function<void(double x, double y)> f) const;
+ /*
+ * Apply function to (x, y0, y1) values wherever either Pwl has a
+ * control point.
+ */
+ static void map2(Pwl const &pwl0, Pwl const &pwl1,
+ std::function<void(double x, double y0, double y1)> f);
+ /*
+ * Combine two Pwls, meaning we create a new Pwl where the y values are
+ * given by running f wherever either has a knot.
+ */
+ static Pwl
+ combine(Pwl const &pwl0, Pwl const &pwl1,
+ std::function<double(double x, double y0, double y1)> f,
+ const double eps = 1e-6);
+ /*
+ * Make "this" match (at least) the given domain. Any extension my be
+ * clipped or linear.
+ */
+ void matchDomain(Interval const &domain, bool clip = true,
+ const double eps = 1e-6);
+ Pwl &operator*=(double d);
+ void debug(FILE *fp = stdout) const;
+
+private:
+ int findSpan(double x, int span) const;
+ std::vector<Point> points_;
+};
+
+} /* namespace RPiController */
diff --git a/src/ipa/rpi/controller/region_stats.h b/src/ipa/rpi/controller/region_stats.h
new file mode 100644
index 00000000..a8860dc8
--- /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
+ *
+ * region_stats.h - 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..ed0c8a94
--- /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
+ *
+ * af.cpp - 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..6d2bae67
--- /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
+ *
+ * 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<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..e6fb7b8d
--- /dev/null
+++ b/src/ipa/rpi/controller/rpi/agc.cpp
@@ -0,0 +1,922 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * agc.cpp - AGC/AEC control algorithm
+ */
+
+#include <algorithm>
+#include <map>
+#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"
+
+#include "agc.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"
+
+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 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;
+
+ 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);
+
+ return 0;
+}
+
+Agc::ExposureValues::ExposureValues()
+ : shutter(0s), analogueGain(0),
+ totalExposure(0s), totalExposureNoDG(0s)
+{
+}
+
+Agc::Agc(Controller *controller)
+ : AgcAlgorithm(controller), meteringMode_(nullptr),
+ exposureMode_(nullptr), constraintMode_(nullptr),
+ frameCount_(0), lockCount_(0),
+ lastTargetExposure_(0s), ev_(1.0), flickerPeriod_(0s),
+ maxShutter_(0s), fixedShutter_(0s), fixedAnalogueGain_(0.0)
+{
+ memset(&awb_, 0, sizeof(awb_));
+ /*
+ * Setting status_.totalExposureValue_ 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;
+}
+
+int Agc::read(const libcamera::YamlObject ¶ms)
+{
+ LOG(RPiAgc, Debug) << "Agc";
+
+ int ret = config_.read(params);
+ if (ret)
+ return ret;
+
+ const Size &size = getHardwareConfig().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 Agc::disableAuto()
+{
+ fixedShutter_ = status_.shutterTime;
+ fixedAnalogueGain_ = status_.analogueGain;
+}
+
+void Agc::enableAuto()
+{
+ fixedShutter_ = 0s;
+ fixedAnalogueGain_ = 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 (fixedShutter_ && fixedAnalogueGain_)
+ return 0;
+ else
+ return config_.convergenceFrames;
+}
+
+void Agc::setEv(double ev)
+{
+ ev_ = ev;
+}
+
+void Agc::setFlickerPeriod(Duration flickerPeriod)
+{
+ flickerPeriod_ = flickerPeriod;
+}
+
+void Agc::setMaxShutter(Duration maxShutter)
+{
+ maxShutter_ = maxShutter;
+}
+
+void Agc::setFixedShutter(Duration fixedShutter)
+{
+ fixedShutter_ = fixedShutter;
+ /* Set this in case someone calls disableAuto() straight after. */
+ status_.shutterTime = limitShutter(fixedShutter_);
+}
+
+void Agc::setFixedAnalogueGain(double fixedAnalogueGain)
+{
+ fixedAnalogueGain_ = fixedAnalogueGain;
+ /* Set this in case someone calls disableAuto() straight after. */
+ status_.analogueGain = limitGain(fixedAnalogueGain);
+}
+
+void Agc::setMeteringMode(std::string const &meteringModeName)
+{
+ meteringModeName_ = meteringModeName;
+}
+
+void Agc::setExposureMode(std::string const &exposureModeName)
+{
+ exposureModeName_ = exposureModeName;
+}
+
+void Agc::setConstraintMode(std::string const &constraintModeName)
+{
+ constraintModeName_ = constraintModeName;
+}
+
+void Agc::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 Agc::prepare(Metadata *imageMetadata)
+{
+ Duration totalExposureValue = status_.totalExposureValue;
+ AgcStatus delayedStatus;
+
+ if (!imageMetadata->get("agc.delayed_status", delayedStatus))
+ totalExposureValue = delayedStatus.totalExposureValue;
+
+ status_.digitalGain = 1.0;
+ fetchAwbStatus(imageMetadata); /* always fetch it so that Process knows it's been done */
+
+ 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) {
+ status_.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?
+ */
+ status_.digitalGain = std::max(1.0, std::min(status_.digitalGain, 4.0));
+ LOG(RPiAgc, Debug) << "Actual exposure " << actualExposure;
+ LOG(RPiAgc, Debug) << "Use digitalGain " << status_.digitalGain;
+ LOG(RPiAgc, Debug) << "Effective exposure "
+ << actualExposure * status_.digitalGain;
+ /* Decide whether AEC/AGC has converged. */
+ updateLockStatus(deviceStatus);
+ }
+ } else
+ LOG(RPiAgc, Warning) << name() << ": no device metadata";
+ imageMetadata->set("agc.status", status_);
+ }
+}
+
+void Agc::process(StatisticsPtr &stats, Metadata *imageMetadata)
+{
+ 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(imageMetadata);
+ /* 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);
+ /*
+ * 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, targetY);
+ /* 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(imageMetadata, desaturate);
+}
+
+void Agc::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_;
+ status_.locked = lockCount_ == maxLockCount;
+}
+
+static void copyString(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_.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 (strcmp(meteringModeName_.c_str(), status_.meteringMode)) {
+ auto it = config_.meteringModes.find(meteringModeName_);
+ if (it == config_.meteringModes.end())
+ LOG(RPiAgc, Fatal) << "No metering mode " << meteringModeName_;
+ meteringMode_ = &it->second;
+ copyString(meteringModeName_, status_.meteringMode,
+ sizeof(status_.meteringMode));
+ }
+ if (strcmp(exposureModeName_.c_str(), status_.exposureMode)) {
+ auto it = config_.exposureModes.find(exposureModeName_);
+ if (it == config_.exposureModes.end())
+ LOG(RPiAgc, Fatal) << "No exposure profile " << exposureModeName_;
+ exposureMode_ = &it->second;
+ copyString(exposureModeName_, status_.exposureMode,
+ sizeof(status_.exposureMode));
+ }
+ if (strcmp(constraintModeName_.c_str(), status_.constraintMode)) {
+ auto it =
+ config_.constraintModes.find(constraintModeName_);
+ if (it == config_.constraintModes.end())
+ LOG(RPiAgc, Fatal) << "No constraint list " << constraintModeName_;
+ constraintMode_ = &it->second;
+ copyString(constraintModeName_, status_.constraintMode,
+ sizeof(status_.constraintMode));
+ }
+ LOG(RPiAgc, Debug) << "exposureMode "
+ << exposureModeName_ << " constraintMode "
+ << constraintModeName_ << " meteringMode "
+ << meteringModeName_;
+}
+
+void Agc::fetchCurrentExposure(Metadata *imageMetadata)
+{
+ std::unique_lock<Metadata> lock(*imageMetadata);
+ DeviceStatus *deviceStatus =
+ imageMetadata->getLocked<DeviceStatus>("device.status");
+ if (!deviceStatus)
+ LOG(RPiAgc, Fatal) << "No device metadata";
+ current_.shutter = deviceStatus->shutterSpeed;
+ current_.analogueGain = deviceStatus->analogueGain;
+ AgcStatus *agcStatus =
+ imageMetadata->getLocked<AgcStatus>("agc.status");
+ current_.totalExposure = agcStatus ? agcStatus->totalExposureValue : 0s;
+ current_.totalExposureNoDG = current_.shutter * current_.analogueGain;
+}
+
+void Agc::fetchAwbStatus(Metadata *imageMetadata)
+{
+ awb_.gainR = 1.0; /* in case not found in metadata */
+ awb_.gainG = 1.0;
+ awb_.gainB = 1.0;
+ 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;
+
+ ASSERT(weights.size() == stats->agcRegions.numRegions());
+
+ /*
+ * Note how the calculation below means that equal weights give you
+ * "average" metering (i.e. all pixels equally important).
+ */
+ 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);
+ double rAcc = std::min<double>(region.val.rSum * gain, (maxVal - 1) * region.counted);
+ double gAcc = std::min<double>(region.val.gSum * gain, (maxVal - 1) * region.counted);
+ double bAcc = std::min<double>(region.val.bSum * gain, (maxVal - 1) * region.counted);
+ rSum += rAcc * weights[i];
+ gSum += gAcc * weights[i];
+ bSum += bAcc * weights[i];
+ pixelSum += region.counted * weights[i];
+ }
+ if (pixelSum == 0.0) {
+ LOG(RPiAgc, Warning) << "computeInitialY: pixelSum is zero";
+ return 0;
+ }
+ double ySum = rSum * awb.gainR * .299 +
+ gSum * awb.gainG * .587 +
+ bSum * awb.gainB * .114;
+ return ySum / pixelSum / maxVal;
+}
+
+/*
+ * 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 Agc::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 Agc::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 Agc::applyDigitalGain(double gain, double targetY)
+{
+ 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 = targetY > config_.fastReduceThreshold &&
+ gain < sqrt(targetY);
+ if (desaturate)
+ dg /= config_.fastReduceThreshold;
+ LOG(RPiAgc, Debug) << "Digital gain " << dg << " desaturate? " << desaturate;
+ target_.totalExposureNoDG = target_.totalExposure / dg;
+ LOG(RPiAgc, Debug) << "Target totalExposureNoDG " << target_.totalExposureNoDG;
+ 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_.fixedShutter && status_.fixedAnalogueGain) ||
+ frameCount_ <= config_.startupFrames)
+ speed = 1.0;
+ if (!filtered_.totalExposure) {
+ filtered_.totalExposure = target_.totalExposure;
+ filtered_.totalExposureNoDG = target_.totalExposureNoDG;
+ } 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);
+ /*
+ * When desaturing, take a big jump down in totalExposureNoDG,
+ * which we'll hide with digital gain.
+ */
+ if (desaturate)
+ filtered_.totalExposureNoDG =
+ target_.totalExposureNoDG;
+ else
+ filtered_.totalExposureNoDG =
+ speed * target_.totalExposureNoDG +
+ filtered_.totalExposureNoDG * (1.0 - speed);
+ }
+ /*
+ * We can't let the totalExposureNoDG 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_.totalExposureNoDG <
+ filtered_.totalExposure * config_.fastReduceThreshold)
+ filtered_.totalExposureNoDG = filtered_.totalExposure * config_.fastReduceThreshold;
+ LOG(RPiAgc, Debug) << "After filtering, totalExposure " << filtered_.totalExposure
+ << " no dg " << filtered_.totalExposureNoDG;
+}
+
+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 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 Agc::writeAndFinish(Metadata *imageMetadata, bool desaturate)
+{
+ status_.totalExposureValue = filtered_.totalExposure;
+ status_.targetExposureValue = desaturate ? 0s : target_.totalExposureNoDG;
+ 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 Agc::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 Agc::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;
+}
+
+/* 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..4e5f272f
--- /dev/null
+++ b/src/ipa/rpi/controller/rpi/agc.h
@@ -0,0 +1,133 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * agc.h - AGC/AEC control algorithm
+ */
+#pragma once
+
+#include <vector>
+#include <mutex>
+
+#include <libcamera/base/utils.h>
+
+#include "../agc_algorithm.h"
+#include "../agc_status.h"
+#include "../pwl.h"
+
+/* This is our implementation of AGC. */
+
+namespace RPiController {
+
+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 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;
+ 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;
+};
+
+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;
+ void setEv(double ev) override;
+ void setFlickerPeriod(libcamera::utils::Duration flickerPeriod) override;
+ void setMaxShutter(libcamera::utils::Duration maxShutter) override;
+ void setFixedShutter(libcamera::utils::Duration fixedShutter) override;
+ void setFixedAnalogueGain(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;
+
+private:
+ void updateLockStatus(DeviceStatus const &deviceStatus);
+ AgcConfig config_;
+ void housekeepConfig();
+ void fetchCurrentExposure(Metadata *imageMetadata);
+ void fetchAwbStatus(Metadata *imageMetadata);
+ void computeGain(StatisticsPtr &statistics, Metadata *imageMetadata,
+ double &gain, double &targetY);
+ void computeTargetExposure(double gain);
+ bool applyDigitalGain(double gain, double targetY);
+ void filterExposure(bool desaturate);
+ 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..3a2e8fe0
--- /dev/null
+++ b/src/ipa/rpi/controller/rpi/alsc.cpp
@@ -0,0 +1,865 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * alsc.cpp - 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,
+ AlscStatus const &status)
+{
+ if (!regions.numRegions())
+ regions.init(stats->awbRegions.size());
+
+ const std::vector<double> &rTable = status.r;
+ const std::vector<double> &gTable = status.g;
+ const std::vector<double> &bTable = status.b;
+ for (unsigned int i = 0; i < stats->awbRegions.numRegions(); i++) {
+ auto r = stats->awbRegions.get(i);
+ 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.
+ */
+ AlscStatus alscStatus;
+ if (imageMetadata->get("alsc.status", alscStatus) != 0) {
+ LOG(RPiAlsc, Warning)
+ << "No ALSC status found for applied gains!";
+ alscStatus.r.resize(config_.tableSize.width * config_.tableSize.height, 1.0);
+ alscStatus.g.resize(config_.tableSize.width * config_.tableSize.height, 1.0);
+ alscStatus.b.resize(config_.tableSize.width * config_.tableSize.height, 1.0);
+ }
+ copyStats(statistics_, stats, alscStatus);
+ 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);
+}
+
+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);
+
+ if (s.counted <= minCount || s.val.gSum / 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..0b6d9478
--- /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.h - 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..ef3435d6
--- /dev/null
+++ b/src/ipa/rpi/controller/rpi/awb.cpp
@@ -0,0 +1,734 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * awb.cpp - AWB control algorithm
+ */
+
+#include <assert.h>
+#include <functional>
+
+#include <libcamera/base/log.h>
+
+#include "../lux_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::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,
+ RgbyRegions &stats, double minPixels,
+ double minG)
+{
+ for (auto const ®ion : stats) {
+ Awb::RGB zone;
+ if (region.counted >= minPixels) {
+ zone.G = region.val.gSum / region.counted;
+ if (zone.G >= minG) {
+ zone.R = region.val.rSum / region.counted;
+ zone.B = region.val.bSum / region.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.
+ */
+ generateStats(zones_, statistics_->awbRegions, config_.minPixels,
+ config_.minG);
+ /*
+ * 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..e7d49cd8
--- /dev/null
+++ b/src/ipa/rpi/controller/rpi/awb.h
@@ -0,0 +1,191 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * awb.h - 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 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..85baec3f
--- /dev/null
+++ b/src/ipa/rpi/controller/rpi/black_level.cpp
@@ -0,0 +1,66 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * 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.h"
+
+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;
+}
+
+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::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..2403f7f7
--- /dev/null
+++ b/src/ipa/rpi/controller/rpi/black_level.h
@@ -0,0 +1,30 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * black_level.h - black level control algorithm
+ */
+#pragma once
+
+#include "../algorithm.h"
+#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;
+ int read(const libcamera::YamlObject ¶ms) override;
+ void prepare(Metadata *imageMetadata) override;
+
+private:
+ double blackLevelR_;
+ double blackLevelG_;
+ double blackLevelB_;
+};
+
+} /* 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..2e2e6664
--- /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.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.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/rpi/controller/rpi/ccm.h b/src/ipa/rpi/controller/rpi/ccm.h
new file mode 100644
index 00000000..286d0b33
--- /dev/null
+++ b/src/ipa/rpi/controller/rpi/ccm.h
@@ -0,0 +1,75 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * ccm.h - CCM (colour correction matrix) control algorithm
+ */
+#pragma once
+
+#include <vector>
+
+#include "../ccm_algorithm.h"
+#include "../pwl.h"
+
+namespace RPiController {
+
+/* 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];
+ int read(const libcamera::YamlObject ¶ms);
+};
+static inline Matrix operator*(double d, Matrix const &m)
+{
+ return Matrix(m.m[0][0] * d, m.m[0][1] * d, m.m[0][2] * d,
+ m.m[1][0] * d, m.m[1][1] * d, m.m[1][2] * d,
+ m.m[2][0] * d, m.m[2][1] * d, m.m[2][2] * d);
+}
+static inline Matrix operator*(Matrix const &m1, Matrix const &m2)
+{
+ Matrix m;
+ for (int i = 0; i < 3; i++)
+ for (int j = 0; j < 3; j++)
+ m.m[i][j] = m1.m[i][0] * m2.m[0][j] +
+ m1.m[i][1] * m2.m[1][j] +
+ m1.m[i][2] * m2.m[2][j];
+ return m;
+}
+static inline Matrix operator+(Matrix const &m1, Matrix const &m2)
+{
+ Matrix m;
+ for (int i = 0; i < 3; i++)
+ for (int j = 0; j < 3; j++)
+ m.m[i][j] = m1.m[i][j] + m2.m[i][j];
+ return m;
+}
+
+struct CtCcm {
+ double ct;
+ Matrix ccm;
+};
+
+struct CcmConfig {
+ std::vector<CtCcm> ccms;
+ Pwl saturation;
+};
+
+class Ccm : public CcmAlgorithm
+{
+public:
+ Ccm(Controller *controller = NULL);
+ 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 */
diff --git a/src/ipa/rpi/controller/rpi/contrast.cpp b/src/ipa/rpi/controller/rpi/contrast.cpp
new file mode 100644
index 00000000..bee1eadd
--- /dev/null
+++ b/src/ipa/rpi/controller/rpi/contrast.cpp
@@ -0,0 +1,181 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * contrast.cpp - 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);
+ // 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::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 (config_.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..9c81277a
--- /dev/null
+++ b/src/ipa/rpi/controller/rpi/contrast.h
@@ -0,0 +1,51 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019, Raspberry Pi Ltd
+ *
+ * contrast.h - 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 initialise() override;
+ void prepare(Metadata *imageMetadata) override;
+ void process(StatisticsPtr &stats, Metadata *imageMetadata) override;
+
+private:
+ ContrastConfig config_;
+ double brightness_;
+ double contrast_;
+ ContrastStatus status_;
+};
+
+} /* 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..be3871df
--- /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.cpp - 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..84a05604
--- /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.h - 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/rpi/controller/rpi/focus.h b/src/ipa/rpi/controller/rpi/focus.h
new file mode 100644
index 00000000..8556039d
--- /dev/null
+++ b/src/ipa/rpi/controller/rpi/focus.h
@@ -0,0 +1,28 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2020, Raspberry Pi Ltd
+ *
+ * focus.h - focus algorithm
+ */
+#pragma once
+
+#include "../algorithm.h"
+#include "../metadata.h"
+
+/*
+ * The "focus" algorithm. All it does it print out a version of the
+ * focus contrast measure; there is no actual auto-focus mechanism to
+ * control.
+ */
+
+namespace RPiController {
+
+class Focus : public Algorithm
+{
+public:
+ Focus(Controller *controller);
+ 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..510870e9
--- /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.cpp - 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..ee3a52ff
--- /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.h - 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/lux.cpp b/src/ipa/rpi/controller/rpi/lux.cpp
new file mode 100644
index 00000000..06625f3a
--- /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.cpp - 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..89411a54
--- /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.h - 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..bcd8b9ed
--- /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.cpp - 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..74c31e64
--- /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.h - 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/sdn.cpp b/src/ipa/rpi/controller/rpi/sdn.cpp
new file mode 100644
index 00000000..b6b66251
--- /dev/null
+++ b/src/ipa/rpi/controller/rpi/sdn.cpp
@@ -0,0 +1,80 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019-2021, Raspberry Pi Ltd
+ *
+ * sdn.cpp - SDN (spatial denoise) control algorithm
+ */
+
+#include <libcamera/base/log.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)
+{
+ 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 = static_cast<std::underlying_type_t<DenoiseMode>>(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..9dd73c38
--- /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.h - 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..4f6f020a
--- /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
+ *
+ * sharpen.cpp - 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..8bb7631e
--- /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
+ *
+ * sharpen.h - 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/sharpen_algorithm.h b/src/ipa/rpi/controller/sharpen_algorithm.h
new file mode 100644
index 00000000..3be21c32
--- /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
+ *
+ * sharpen_algorithm.h - 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..106166db
--- /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_status.h - 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..015d4efc
--- /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
+ *
+ * statistics.h - 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/meson.build b/src/ipa/rpi/meson.build
new file mode 100644
index 00000000..7d7a61f7
--- /dev/null
+++ b/src/ipa/rpi/meson.build
@@ -0,0 +1,13 @@
+# SPDX-License-Identifier: CC0-1.0
+
+subdir('cam_helper')
+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..efe7210a
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx219.json
@@ -0,0 +1,486 @@
+{
+ "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": 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":
+ [
+ 0, 0.8,
+ 1000, 0.8
+ ]
+ }
+ ],
+ "shadows": [
+ {
+ "bound": "LOWER",
+ "q_lo": 0.0,
+ "q_hi": 0.5,
+ "y_target":
+ [
+ 0, 0.17,
+ 1000, 0.17
+ ]
+ }
+ ]
+ },
+ "y_target":
+ [
+ 0, 0.16,
+ 1000, 0.165,
+ 10000, 0.17
+ ]
+ }
+ },
+ {
+ "rpi.alsc":
+ {
+ "omega": 1.3,
+ "n_iter": 100,
+ "luminance_strength": 0.7,
+ "calibrations_Cr": [
+ {
+ "ct": 3000,
+ "table":
+ [
+ 1.487, 1.481, 1.481, 1.445, 1.389, 1.327, 1.307, 1.307, 1.307, 1.309, 1.341, 1.405, 1.458, 1.494, 1.494, 1.497,
+ 1.491, 1.481, 1.448, 1.397, 1.331, 1.275, 1.243, 1.229, 1.229, 1.249, 1.287, 1.349, 1.409, 1.463, 1.494, 1.497,
+ 1.491, 1.469, 1.405, 1.331, 1.275, 1.217, 1.183, 1.172, 1.172, 1.191, 1.231, 1.287, 1.349, 1.424, 1.484, 1.499,
+ 1.487, 1.444, 1.363, 1.283, 1.217, 1.183, 1.148, 1.138, 1.138, 1.159, 1.191, 1.231, 1.302, 1.385, 1.461, 1.492,
+ 1.481, 1.423, 1.334, 1.253, 1.189, 1.148, 1.135, 1.119, 1.123, 1.137, 1.159, 1.203, 1.272, 1.358, 1.442, 1.488,
+ 1.479, 1.413, 1.321, 1.236, 1.176, 1.139, 1.118, 1.114, 1.116, 1.123, 1.149, 1.192, 1.258, 1.344, 1.432, 1.487,
+ 1.479, 1.413, 1.321, 1.236, 1.176, 1.139, 1.116, 1.114, 1.115, 1.123, 1.149, 1.192, 1.258, 1.344, 1.432, 1.487,
+ 1.479, 1.425, 1.336, 1.251, 1.189, 1.149, 1.136, 1.118, 1.121, 1.138, 1.158, 1.206, 1.275, 1.358, 1.443, 1.488,
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+ }
+ ]
+}
\ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/imx219_noir.json b/src/ipa/rpi/vc4/data/imx219_noir.json
new file mode 100644
index 00000000..cfedb943
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx219_noir.json
@@ -0,0 +1,402 @@
+{
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+ "reference_aperture": 1.0,
+ "reference_lux": 998,
+ "reference_Y": 12744
+ }
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+ {
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+ "reference_slope": 3.67
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+}
\ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/imx290.json b/src/ipa/rpi/vc4/data/imx290.json
new file mode 100644
index 00000000..ace68d0e
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx290.json
@@ -0,0 +1,200 @@
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\ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/imx296.json b/src/ipa/rpi/vc4/data/imx296.json
new file mode 100644
index 00000000..ae8722c4
--- /dev/null
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diff --git a/src/ipa/rpi/vc4/data/imx296_mono.json b/src/ipa/rpi/vc4/data/imx296_mono.json
new file mode 100644
index 00000000..30965b4b
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx296_mono.json
@@ -0,0 +1,233 @@
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diff --git a/src/ipa/rpi/vc4/data/imx378.json b/src/ipa/rpi/vc4/data/imx378.json
new file mode 100644
index 00000000..8b4ed225
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx378.json
@@ -0,0 +1,413 @@
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+}
\ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/imx477.json b/src/ipa/rpi/vc4/data/imx477.json
new file mode 100644
index 00000000..daffc268
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx477.json
@@ -0,0 +1,518 @@
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+ ]
+}
\ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/imx477_noir.json b/src/ipa/rpi/vc4/data/imx477_noir.json
new file mode 100644
index 00000000..52d7f072
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx477_noir.json
@@ -0,0 +1,429 @@
+{
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+ }
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+ {
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+ },
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+}
\ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/imx477_scientific.json b/src/ipa/rpi/vc4/data/imx477_scientific.json
new file mode 100644
index 00000000..26c692fd
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx477_scientific.json
@@ -0,0 +1,479 @@
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diff --git a/src/ipa/rpi/vc4/data/imx477_v1.json b/src/ipa/rpi/vc4/data/imx477_v1.json
new file mode 100644
index 00000000..d6402009
--- /dev/null
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@@ -0,0 +1,516 @@
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+}
\ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/imx519.json b/src/ipa/rpi/vc4/data/imx519.json
new file mode 100644
index 00000000..8ccfd3a6
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx519.json
@@ -0,0 +1,413 @@
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+ },
+ {
+ "rpi.sharpen": { }
+ }
+ ]
+}
\ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/imx708.json b/src/ipa/rpi/vc4/data/imx708.json
new file mode 100644
index 00000000..b9830a3b
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx708.json
@@ -0,0 +1,556 @@
+{
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+ "target": "bcm2835",
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+ {
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+ }
+ },
+ {
+ "rpi.dpc": { }
+ },
+ {
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+ "reference_lux": 977,
+ "reference_Y": 8627
+ }
+ },
+ {
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+ "reference_slope": 4.0
+ }
+ },
+ {
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+ }
+ },
+ {
+ "rpi.sdn": { }
+ },
+ {
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+ {
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+ 13000, 0.0
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+ },
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+ },
+ "daylight":
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+ "hi": 6500
+ },
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+ "convergence_frames": 6,
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diff --git a/src/ipa/rpi/vc4/data/imx708_noir.json b/src/ipa/rpi/vc4/data/imx708_noir.json
new file mode 100644
index 00000000..075f7035
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx708_noir.json
@@ -0,0 +1,556 @@
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diff --git a/src/ipa/rpi/vc4/data/imx708_wide.json b/src/ipa/rpi/vc4/data/imx708_wide.json
new file mode 100644
index 00000000..b772efee
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx708_wide.json
@@ -0,0 +1,459 @@
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diff --git a/src/ipa/rpi/vc4/data/imx708_wide_noir.json b/src/ipa/rpi/vc4/data/imx708_wide_noir.json
new file mode 100644
index 00000000..c5f6b53d
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/imx708_wide_noir.json
@@ -0,0 +1,459 @@
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+ 3.346, 3.378, 3.378, 3.369, 3.363, 3.358, 3.351, 3.348, 3.347, 3.346, 3.347, 3.348, 3.354, 3.364, 3.363, 3.345,
+ 3.351, 3.381, 3.381, 3.368, 3.361, 3.357, 3.349, 3.347, 3.347, 3.345, 3.345, 3.347, 3.353, 3.364, 3.364, 3.347,
+ 3.353, 3.379, 3.379, 3.366, 3.359, 3.351, 3.348, 3.343, 3.342, 3.342, 3.343, 3.345, 3.351, 3.363, 3.363, 3.347,
+ 3.353, 3.376, 3.376, 3.363, 3.351, 3.347, 3.343, 3.338, 3.336, 3.338, 3.339, 3.343, 3.351, 3.361, 3.361, 3.347,
+ 3.351, 3.374, 3.374, 3.359, 3.351, 3.345, 3.338, 3.334, 3.333, 3.334, 3.336, 3.339, 3.347, 3.358, 3.358, 3.345,
+ 3.346, 3.368, 3.368, 3.359, 3.349, 3.343, 3.336, 3.332, 3.327, 3.331, 3.333, 3.337, 3.346, 3.356, 3.356, 3.341,
+ 3.336, 3.362, 3.364, 3.359, 3.351, 3.342, 3.334, 3.324, 3.324, 3.325, 3.329, 3.336, 3.346, 3.351, 3.351, 3.333,
+ 3.324, 3.349, 3.359, 3.358, 3.352, 3.341, 3.329, 3.323, 3.321, 3.322, 3.326, 3.336, 3.346, 3.347, 3.339, 3.319,
+ 3.311, 3.328, 3.352, 3.354, 3.352, 3.341, 3.329, 3.321, 3.319, 3.321, 3.324, 3.338, 3.343, 3.343, 3.319, 3.312
+ ]
+ },
+ {
+ "ct": 5000,
+ "table":
+ [
+ 1.634, 1.647, 1.665, 1.668, 1.668, 1.664, 1.662, 1.662, 1.661, 1.661, 1.661, 1.663, 1.663, 1.659, 1.643, 1.636,
+ 1.639, 1.656, 1.668, 1.669, 1.668, 1.666, 1.664, 1.663, 1.663, 1.661, 1.661, 1.662, 1.663, 1.662, 1.654, 1.642,
+ 1.645, 1.663, 1.669, 1.668, 1.667, 1.667, 1.667, 1.668, 1.668, 1.665, 1.662, 1.661, 1.662, 1.664, 1.661, 1.649,
+ 1.651, 1.669, 1.669, 1.667, 1.666, 1.668, 1.669, 1.672, 1.672, 1.668, 1.665, 1.661, 1.661, 1.665, 1.665, 1.655,
+ 1.654, 1.669, 1.669, 1.666, 1.666, 1.669, 1.672, 1.673, 1.673, 1.671, 1.666, 1.661, 1.661, 1.665, 1.665, 1.659,
+ 1.654, 1.669, 1.669, 1.666, 1.666, 1.669, 1.671, 1.673, 1.672, 1.669, 1.667, 1.661, 1.661, 1.665, 1.665, 1.659,
+ 1.654, 1.668, 1.668, 1.664, 1.663, 1.667, 1.669, 1.671, 1.669, 1.668, 1.665, 1.661, 1.661, 1.663, 1.663, 1.659,
+ 1.653, 1.665, 1.665, 1.661, 1.661, 1.664, 1.667, 1.668, 1.668, 1.665, 1.661, 1.658, 1.659, 1.662, 1.662, 1.657,
+ 1.651, 1.664, 1.664, 1.659, 1.659, 1.661, 1.663, 1.663, 1.662, 1.661, 1.658, 1.656, 1.657, 1.662, 1.662, 1.655,
+ 1.645, 1.661, 1.663, 1.661, 1.659, 1.659, 1.659, 1.657, 1.657, 1.656, 1.654, 1.655, 1.656, 1.661, 1.661, 1.649,
+ 1.641, 1.654, 1.661, 1.661, 1.659, 1.657, 1.655, 1.653, 1.652, 1.651, 1.652, 1.653, 1.657, 1.658, 1.655, 1.644,
+ 1.635, 1.645, 1.661, 1.661, 1.661, 1.655, 1.653, 1.649, 1.648, 1.647, 1.651, 1.653, 1.657, 1.657, 1.646, 1.638
+ ]
+ }
+ ],
+ "luminance_lut":
+ [
+ 3.535, 3.279, 3.049, 2.722, 2.305, 1.958, 1.657, 1.647, 1.647, 1.656, 1.953, 2.289, 2.707, 3.058, 3.325, 3.589,
+ 3.379, 3.157, 2.874, 2.421, 1.973, 1.735, 1.472, 1.388, 1.388, 1.471, 1.724, 1.963, 2.409, 2.877, 3.185, 3.416,
+ 3.288, 3.075, 2.696, 2.169, 1.735, 1.472, 1.311, 1.208, 1.208, 1.306, 1.471, 1.724, 2.159, 2.695, 3.092, 3.321,
+ 3.238, 3.001, 2.534, 1.981, 1.572, 1.311, 1.207, 1.082, 1.082, 1.204, 1.306, 1.563, 1.973, 2.529, 3.008, 3.259,
+ 3.211, 2.938, 2.414, 1.859, 1.468, 1.221, 1.082, 1.036, 1.031, 1.079, 1.217, 1.463, 1.851, 2.403, 2.931, 3.229,
+ 3.206, 2.904, 2.356, 1.802, 1.421, 1.181, 1.037, 1.002, 1.002, 1.032, 1.175, 1.414, 1.793, 2.343, 2.899, 3.223,
+ 3.206, 2.904, 2.356, 1.802, 1.421, 1.181, 1.037, 1.005, 1.005, 1.032, 1.175, 1.414, 1.793, 2.343, 2.899, 3.223,
+ 3.211, 2.936, 2.417, 1.858, 1.468, 1.222, 1.083, 1.037, 1.032, 1.083, 1.218, 1.463, 1.848, 2.403, 2.932, 3.226,
+ 3.234, 2.997, 2.536, 1.979, 1.569, 1.311, 1.206, 1.084, 1.084, 1.204, 1.305, 1.565, 1.966, 2.524, 2.996, 3.251,
+ 3.282, 3.069, 2.697, 2.166, 1.731, 1.471, 1.311, 1.207, 1.207, 1.305, 1.466, 1.729, 2.158, 2.689, 3.077, 3.304,
+ 3.369, 3.146, 2.873, 2.415, 1.964, 1.722, 1.471, 1.382, 1.382, 1.466, 1.722, 1.964, 2.408, 2.871, 3.167, 3.401,
+ 3.524, 3.253, 3.025, 2.691, 2.275, 1.939, 1.657, 1.628, 1.628, 1.654, 1.936, 2.275, 2.687, 3.029, 3.284, 3.574
+ ],
+ "sigma": 0.00195,
+ "sigma_Cb": 0.00241
+ }
+ },
+ {
+ "rpi.contrast":
+ {
+ "ce_enable": 1,
+ "gamma_curve":
+ [
+ 0, 0,
+ 1024, 5040,
+ 2048, 9338,
+ 3072, 12356,
+ 4096, 15312,
+ 5120, 18051,
+ 6144, 20790,
+ 7168, 23193,
+ 8192, 25744,
+ 9216, 27942,
+ 10240, 30035,
+ 11264, 32005,
+ 12288, 33975,
+ 13312, 35815,
+ 14336, 37600,
+ 15360, 39168,
+ 16384, 40642,
+ 18432, 43379,
+ 20480, 45749,
+ 22528, 47753,
+ 24576, 49621,
+ 26624, 51253,
+ 28672, 52698,
+ 30720, 53796,
+ 32768, 54876,
+ 36864, 57012,
+ 40960, 58656,
+ 45056, 59954,
+ 49152, 61183,
+ 53248, 62355,
+ 57344, 63419,
+ 61440, 64476,
+ 65535, 65535
+ ]
+ }
+ },
+ {
+ "rpi.ccm":
+ {
+ "ccms": [
+ {
+ "ct": 2750,
+ "ccm":
+ [
+ 1.13004, 0.36392, -0.49396,
+ -0.45885, 1.68171, -0.22286,
+ -0.06473, -0.86962, 1.93435
+ ]
+ },
+ {
+ "ct": 2940,
+ "ccm":
+ [
+ 1.29876, 0.09627, -0.39503,
+ -0.43085, 1.60258, -0.17172,
+ -0.02638, -0.92581, 1.95218
+ ]
+ },
+ {
+ "ct": 3650,
+ "ccm":
+ [
+ 1.57729, -0.29734, -0.27995,
+ -0.42965, 1.66231, -0.23265,
+ -0.02183, -0.62331, 1.64514
+ ]
+ },
+ {
+ "ct": 4625,
+ "ccm":
+ [
+ 1.52145, -0.22382, -0.29763,
+ -0.40445, 1.82186, -0.41742,
+ -0.05732, -0.56222, 1.61954
+ ]
+ },
+ {
+ "ct": 5715,
+ "ccm":
+ [
+ 1.67851, -0.39193, -0.28658,
+ -0.37169, 1.72949, -0.35781,
+ -0.09556, -0.41951, 1.51508
+ ]
+ }
+ ]
+ }
+ },
+ {
+ "rpi.sharpen": { }
+ },
+ {
+ "rpi.af":
+ {
+ "ranges":
+ {
+ "normal":
+ {
+ "min": 0.0,
+ "max": 12.0,
+ "default": 1.0
+ },
+ "macro":
+ {
+ "min": 4.0,
+ "max": 32.0,
+ "default": 6.0
+ }
+ },
+ "speeds":
+ {
+ "normal":
+ {
+ "step_coarse": 2.0,
+ "step_fine": 0.5,
+ "contrast_ratio": 0.75,
+ "pdaf_gain": -0.03,
+ "pdaf_squelch": 0.2,
+ "max_slew": 4.0,
+ "pdaf_frames": 20,
+ "dropout_frames": 6,
+ "step_frames": 4
+ },
+ "fast":
+ {
+ "step_coarse": 2.0,
+ "step_fine": 0.5,
+ "contrast_ratio": 0.75,
+ "pdaf_gain": -0.05,
+ "pdaf_squelch": 0.2,
+ "max_slew": 5.0,
+ "pdaf_frames": 16,
+ "dropout_frames": 6,
+ "step_frames": 4
+ }
+ },
+ "conf_epsilon": 8,
+ "conf_thresh": 12,
+ "conf_clip": 512,
+ "skip_frames": 5,
+ "map": [ 0.0, 420, 35.0, 920 ]
+ }
+ }
+ ]
+}
diff --git a/src/ipa/rpi/vc4/data/meson.build b/src/ipa/rpi/vc4/data/meson.build
new file mode 100644
index 00000000..bcf5658b
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/meson.build
@@ -0,0 +1,26 @@
+# SPDX-License-Identifier: CC0-1.0
+
+conf_files = files([
+ 'imx219.json',
+ '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_mono.json',
+ 'se327m12.json',
+ 'uncalibrated.json',
+])
+
+install_data(conf_files,
+ install_dir : ipa_data_dir / 'rpi' / 'vc4')
diff --git a/src/ipa/rpi/vc4/data/ov5647.json b/src/ipa/rpi/vc4/data/ov5647.json
new file mode 100644
index 00000000..d770e44f
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/ov5647.json
@@ -0,0 +1,487 @@
+{
+ "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": 4000,
+ "hi": 4700
+ },
+ "indoor":
+ {
+ "lo": 3000,
+ "hi": 5000
+ },
+ "daylight":
+ {
+ "lo": 5500,
+ "hi": 6500
+ },
+ "cloudy":
+ {
+ "lo": 7000,
+ "hi": 8600
+ }
+ },
+ "bayes": 1,
+ "ct_curve":
+ [
+ 2500.0, 1.0289, 0.4503,
+ 2803.0, 0.9428, 0.5108,
+ 2914.0, 0.9406, 0.5127,
+ 3605.0, 0.8261, 0.6249,
+ 4540.0, 0.7331, 0.7533,
+ 5699.0, 0.6715, 0.8627,
+ 8625.0, 0.6081, 1.0012
+ ],
+ "sensitivity_r": 1.05,
+ "sensitivity_b": 1.05,
+ "transverse_pos": 0.0321,
+ "transverse_neg": 0.04313
+ }
+ },
+ {
+ "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":
+ [
+ 0, 0.8,
+ 1000, 0.8
+ ]
+ }
+ ],
+ "shadows": [
+ {
+ "bound": "LOWER",
+ "q_lo": 0.0,
+ "q_hi": 0.5,
+ "y_target":
+ [
+ 0, 0.17,
+ 1000, 0.17
+ ]
+ }
+ ]
+ },
+ "y_target":
+ [
+ 0, 0.16,
+ 1000, 0.165,
+ 10000, 0.17
+ ],
+ "base_ev": 1.25
+ }
+ },
+ {
+ "rpi.alsc":
+ {
+ "omega": 1.3,
+ "n_iter": 100,
+ "luminance_strength": 0.5,
+ "calibrations_Cr": [
+ {
+ "ct": 3000,
+ "table":
+ [
+ 1.105, 1.103, 1.093, 1.083, 1.071, 1.065, 1.065, 1.065, 1.066, 1.069, 1.072, 1.077, 1.084, 1.089, 1.093, 1.093,
+ 1.103, 1.096, 1.084, 1.072, 1.059, 1.051, 1.047, 1.047, 1.051, 1.053, 1.059, 1.067, 1.075, 1.082, 1.085, 1.086,
+ 1.096, 1.084, 1.072, 1.059, 1.051, 1.045, 1.039, 1.038, 1.039, 1.045, 1.049, 1.057, 1.063, 1.072, 1.081, 1.082,
+ 1.092, 1.075, 1.061, 1.052, 1.045, 1.039, 1.036, 1.035, 1.035, 1.039, 1.044, 1.049, 1.056, 1.063, 1.072, 1.081,
+ 1.092, 1.073, 1.058, 1.048, 1.043, 1.038, 1.035, 1.033, 1.033, 1.035, 1.039, 1.044, 1.051, 1.057, 1.069, 1.078,
+ 1.091, 1.068, 1.054, 1.045, 1.041, 1.038, 1.035, 1.032, 1.032, 1.032, 1.036, 1.041, 1.045, 1.055, 1.069, 1.078,
+ 1.091, 1.068, 1.052, 1.043, 1.041, 1.038, 1.035, 1.032, 1.031, 1.032, 1.034, 1.036, 1.043, 1.055, 1.069, 1.078,
+ 1.092, 1.068, 1.052, 1.047, 1.042, 1.041, 1.038, 1.035, 1.032, 1.032, 1.035, 1.039, 1.043, 1.055, 1.071, 1.079,
+ 1.092, 1.073, 1.057, 1.051, 1.047, 1.047, 1.044, 1.041, 1.038, 1.038, 1.039, 1.043, 1.051, 1.059, 1.076, 1.083,
+ 1.092, 1.081, 1.068, 1.058, 1.056, 1.056, 1.053, 1.052, 1.049, 1.048, 1.048, 1.051, 1.059, 1.066, 1.083, 1.085,
+ 1.091, 1.087, 1.081, 1.068, 1.065, 1.064, 1.062, 1.062, 1.061, 1.056, 1.056, 1.056, 1.064, 1.069, 1.084, 1.089,
+ 1.091, 1.089, 1.085, 1.079, 1.069, 1.068, 1.067, 1.067, 1.067, 1.063, 1.061, 1.063, 1.068, 1.069, 1.081, 1.092
+ ]
+ },
+ {
+ "ct": 5000,
+ "table":
+ [
+ 1.486, 1.484, 1.468, 1.449, 1.427, 1.403, 1.399, 1.399, 1.399, 1.404, 1.413, 1.433, 1.454, 1.473, 1.482, 1.488,
+ 1.484, 1.472, 1.454, 1.431, 1.405, 1.381, 1.365, 1.365, 1.367, 1.373, 1.392, 1.411, 1.438, 1.458, 1.476, 1.481,
+ 1.476, 1.458, 1.433, 1.405, 1.381, 1.361, 1.339, 1.334, 1.334, 1.346, 1.362, 1.391, 1.411, 1.438, 1.462, 1.474,
+ 1.471, 1.443, 1.417, 1.388, 1.361, 1.339, 1.321, 1.313, 1.313, 1.327, 1.346, 1.362, 1.391, 1.422, 1.453, 1.473,
+ 1.469, 1.439, 1.408, 1.377, 1.349, 1.321, 1.312, 1.299, 1.299, 1.311, 1.327, 1.348, 1.378, 1.415, 1.446, 1.468,
+ 1.468, 1.434, 1.402, 1.371, 1.341, 1.316, 1.299, 1.296, 1.295, 1.299, 1.314, 1.338, 1.371, 1.408, 1.441, 1.466,
+ 1.468, 1.434, 1.401, 1.371, 1.341, 1.316, 1.301, 1.296, 1.295, 1.297, 1.314, 1.338, 1.369, 1.408, 1.441, 1.465,
+ 1.469, 1.436, 1.401, 1.374, 1.348, 1.332, 1.315, 1.301, 1.301, 1.313, 1.324, 1.342, 1.372, 1.409, 1.442, 1.465,
+ 1.471, 1.444, 1.413, 1.388, 1.371, 1.348, 1.332, 1.323, 1.323, 1.324, 1.342, 1.362, 1.386, 1.418, 1.449, 1.467,
+ 1.473, 1.454, 1.431, 1.407, 1.388, 1.371, 1.359, 1.352, 1.351, 1.351, 1.362, 1.383, 1.404, 1.433, 1.462, 1.472,
+ 1.474, 1.461, 1.447, 1.424, 1.407, 1.394, 1.385, 1.381, 1.379, 1.381, 1.383, 1.401, 1.419, 1.444, 1.466, 1.481,
+ 1.474, 1.464, 1.455, 1.442, 1.421, 1.408, 1.403, 1.403, 1.403, 1.399, 1.402, 1.415, 1.432, 1.446, 1.467, 1.483
+ ]
+ },
+ {
+ "ct": 6500,
+ "table":
+ [
+ 1.567, 1.565, 1.555, 1.541, 1.525, 1.518, 1.518, 1.518, 1.521, 1.527, 1.532, 1.541, 1.551, 1.559, 1.567, 1.569,
+ 1.565, 1.557, 1.542, 1.527, 1.519, 1.515, 1.511, 1.516, 1.519, 1.524, 1.528, 1.533, 1.542, 1.553, 1.559, 1.562,
+ 1.561, 1.546, 1.532, 1.521, 1.518, 1.515, 1.511, 1.516, 1.519, 1.524, 1.528, 1.529, 1.533, 1.542, 1.554, 1.559,
+ 1.561, 1.539, 1.526, 1.524, 1.521, 1.521, 1.522, 1.524, 1.525, 1.531, 1.529, 1.529, 1.531, 1.538, 1.549, 1.558,
+ 1.559, 1.538, 1.526, 1.525, 1.524, 1.528, 1.534, 1.536, 1.536, 1.536, 1.532, 1.529, 1.531, 1.537, 1.548, 1.556,
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+ {
+ "rpi.sharpen": { }
+ }
+ ]
+}
\ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/ov5647_noir.json b/src/ipa/rpi/vc4/data/ov5647_noir.json
new file mode 100644
index 00000000..a6c6722f
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/ov5647_noir.json
@@ -0,0 +1,403 @@
+{
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+ "target": "bcm2835",
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+ }
+ },
+ {
+ "rpi.dpc": { }
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+ "reference_aperture": 1.0,
+ "reference_lux": 987,
+ "reference_Y": 8961
+ }
+ },
+ {
+ "rpi.noise":
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+ "reference_slope": 4.25
+ }
+ },
+ {
+ "rpi.geq":
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+ "slope": 0.05619
+ }
+ },
+ {
+ "rpi.sdn": { }
+ },
+ {
+ "rpi.awb":
+ {
+ "bayes": 0
+ }
+ },
+ {
+ "rpi.agc":
+ {
+ "metering_modes":
+ {
+ "centre-weighted":
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+ },
+ "spot":
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+ },
+ "matrix":
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+ }
+ },
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+ "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ]
+ },
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+ },
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+ ]
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+ }
+ },
+ {
+ "rpi.sharpen": { }
+ }
+ ]
+}
\ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/ov9281_mono.json b/src/ipa/rpi/vc4/data/ov9281_mono.json
new file mode 100644
index 00000000..37944c63
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/ov9281_mono.json
@@ -0,0 +1,123 @@
+{
+ "version": 2.0,
+ "target": "bcm2835",
+ "algorithms": [
+ {
+ "rpi.black_level":
+ {
+ "black_level": 4096
+ }
+ },
+ {
+ "rpi.lux":
+ {
+ "reference_shutter_speed": 2000,
+ "reference_gain": 1.0,
+ "reference_aperture": 1.0,
+ "reference_lux": 800,
+ "reference_Y": 20000
+ }
+ },
+ {
+ "rpi.noise":
+ {
+ "reference_constant": 0,
+ "reference_slope": 2.5
+ }
+ },
+ {
+ "rpi.sdn": { }
+ },
+ {
+ "rpi.agc":
+ {
+ "metering_modes":
+ {
+ "centre-weighted":
+ {
+ "weights": [ 4, 4, 4, 2, 2, 2, 2, 1, 1, 1, 1, 0, 0, 0, 0 ]
+ }
+ },
+ "exposure_modes":
+ {
+ "normal":
+ {
+ "shutter": [ 100, 15000, 30000, 60000, 120000 ],
+ "gain": [ 1.0, 2.0, 3.0, 4.0, 8.0 ]
+ }
+ },
+ "constraint_modes":
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+ "y_target":
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+ 1000, 0.4
+ ]
+ }
+ ]
+ },
+ "y_target":
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+ 1000, 0.165,
+ 10000, 0.17
+ ]
+ }
+ },
+ {
+ "rpi.alsc":
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+ "luminance_strength": 1.0,
+ "corner_strength": 1.5
+ }
+ },
+ {
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+ {
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+ }
+ ]
+}
\ No newline at end of file
diff --git a/src/ipa/rpi/vc4/data/se327m12.json b/src/ipa/rpi/vc4/data/se327m12.json
new file mode 100644
index 00000000..ee69caea
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/se327m12.json
@@ -0,0 +1,418 @@
+{
+ "version": 2.0,
+ "target": "bcm2835",
+ "algorithms": [
+ {
+ "rpi.black_level":
+ {
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+ }
+ },
+ {
+ "rpi.dpc": { }
+ },
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+ "reference_aperture": 1.0,
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+ }
+ },
+ {
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+ "reference_slope": 1.986
+ }
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+ {
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+ "slope": 0.00539
+ }
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+ {
+ "rpi.sdn": { }
+ },
+ {
+ "rpi.awb":
+ {
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+ "prior":
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+ 3000, 0.0,
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+ ]
+ },
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+ ]
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+ "modes":
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+ "hi": 8000
+ },
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+ },
+ "tungsten":
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+ },
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+ },
+ "indoor":
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+ "hi": 5000
+ },
+ "daylight":
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+ "hi": 6500
+ },
+ "cloudy":
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+ "hi": 8600
+ }
+ },
+ "bayes": 1,
+ "ct_curve":
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+ "sensitivity_b": 1.0,
+ "transverse_pos": 0.0162,
+ "transverse_neg": 0.0204
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+ },
+ {
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+ },
+ "spot":
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+ },
+ "matrix":
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+ }
+ },
+ "exposure_modes":
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+ "shutter": [ 100, 10000, 30000, 60000, 120000 ],
+ "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ]
+ },
+ "short":
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+ "gain": [ 1.0, 2.0, 4.0, 6.0, 8.0 ]
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+ },
+ "constraint_modes":
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+ "q_hi": 1.0,
+ "y_target":
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+ "highlight": [
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+ },
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+ }
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+ }
+ },
+ {
+ "rpi.alsc":
+ {
+ "omega": 1.3,
+ "n_iter": 100,
+ "luminance_strength": 0.5,
+ "calibrations_Cr": [
+ {
+ "ct": 4000,
+ "table":
+ [
+ 1.481, 1.471, 1.449, 1.429, 1.416, 1.404, 1.394, 1.389, 1.389, 1.389, 1.392, 1.397, 1.404, 1.416, 1.429, 1.437,
+ 1.472, 1.456, 1.436, 1.418, 1.405, 1.394, 1.389, 1.384, 1.382, 1.382, 1.386, 1.388, 1.398, 1.407, 1.422, 1.429,
+ 1.465, 1.443, 1.426, 1.411, 1.397, 1.389, 1.383, 1.377, 1.377, 1.377, 1.379, 1.384, 1.388, 1.398, 1.411, 1.422,
+ 1.462, 1.441, 1.423, 1.409, 1.395, 1.385, 1.379, 1.376, 1.374, 1.374, 1.375, 1.379, 1.384, 1.394, 1.407, 1.418,
+ 1.461, 1.439, 1.421, 1.407, 1.394, 1.385, 1.381, 1.376, 1.373, 1.373, 1.373, 1.376, 1.381, 1.389, 1.403, 1.415,
+ 1.461, 1.439, 1.419, 1.404, 1.392, 1.384, 1.379, 1.376, 1.373, 1.372, 1.374, 1.375, 1.379, 1.389, 1.401, 1.413,
+ 1.461, 1.438, 1.419, 1.402, 1.389, 1.383, 1.377, 1.375, 1.373, 1.372, 1.372, 1.375, 1.381, 1.388, 1.401, 1.414,
+ 1.462, 1.438, 1.419, 1.403, 1.391, 1.381, 1.377, 1.374, 1.373, 1.373, 1.374, 1.376, 1.381, 1.389, 1.401, 1.414,
+ 1.462, 1.441, 1.423, 1.405, 1.392, 1.383, 1.377, 1.374, 1.373, 1.372, 1.373, 1.376, 1.382, 1.391, 1.402, 1.414,
+ 1.465, 1.444, 1.424, 1.407, 1.393, 1.382, 1.378, 1.373, 1.369, 1.369, 1.372, 1.375, 1.381, 1.389, 1.402, 1.417,
+ 1.469, 1.449, 1.427, 1.413, 1.396, 1.384, 1.381, 1.375, 1.371, 1.371, 1.373, 1.377, 1.385, 1.393, 1.407, 1.422,
+ 1.474, 1.456, 1.436, 1.419, 1.407, 1.391, 1.383, 1.379, 1.377, 1.377, 1.378, 1.381, 1.391, 1.404, 1.422, 1.426
+ ]
+ },
+ {
+ "ct": 5000,
+ "table":
+ [
+ 1.742, 1.721, 1.689, 1.661, 1.639, 1.623, 1.613, 1.609, 1.607, 1.606, 1.609, 1.617, 1.626, 1.641, 1.665, 1.681,
+ 1.728, 1.703, 1.672, 1.645, 1.631, 1.614, 1.602, 1.599, 1.596, 1.597, 1.601, 1.608, 1.618, 1.631, 1.653, 1.671,
+ 1.713, 1.691, 1.658, 1.635, 1.618, 1.606, 1.595, 1.591, 1.588, 1.588, 1.591, 1.601, 1.608, 1.624, 1.641, 1.658,
+ 1.707, 1.681, 1.651, 1.627, 1.613, 1.599, 1.591, 1.585, 1.583, 1.584, 1.587, 1.591, 1.601, 1.615, 1.633, 1.655,
+ 1.699, 1.672, 1.644, 1.622, 1.606, 1.593, 1.586, 1.581, 1.579, 1.581, 1.583, 1.587, 1.597, 1.611, 1.631, 1.652,
+ 1.697, 1.665, 1.637, 1.617, 1.601, 1.589, 1.584, 1.579, 1.577, 1.578, 1.581, 1.585, 1.597, 1.607, 1.627, 1.652,
+ 1.697, 1.662, 1.634, 1.613, 1.599, 1.591, 1.583, 1.578, 1.576, 1.576, 1.579, 1.586, 1.597, 1.607, 1.628, 1.653,
+ 1.697, 1.662, 1.633, 1.613, 1.598, 1.589, 1.582, 1.578, 1.576, 1.577, 1.582, 1.589, 1.598, 1.611, 1.635, 1.655,
+ 1.701, 1.666, 1.636, 1.616, 1.602, 1.589, 1.583, 1.578, 1.577, 1.581, 1.583, 1.591, 1.601, 1.617, 1.639, 1.659,
+ 1.708, 1.671, 1.641, 1.618, 1.603, 1.591, 1.584, 1.581, 1.578, 1.581, 1.585, 1.594, 1.604, 1.622, 1.646, 1.666,
+ 1.714, 1.681, 1.648, 1.622, 1.608, 1.599, 1.591, 1.584, 1.583, 1.584, 1.589, 1.599, 1.614, 1.629, 1.653, 1.673,
+ 1.719, 1.691, 1.659, 1.631, 1.618, 1.606, 1.596, 1.591, 1.591, 1.593, 1.599, 1.608, 1.623, 1.642, 1.665, 1.681
+ ]
+ }
+ ],
+ "calibrations_Cb": [
+ {
+ "ct": 4000,
+ "table":
+ [
+ 2.253, 2.267, 2.289, 2.317, 2.342, 2.359, 2.373, 2.381, 2.381, 2.378, 2.368, 2.361, 2.344, 2.337, 2.314, 2.301,
+ 2.262, 2.284, 2.314, 2.335, 2.352, 2.371, 2.383, 2.391, 2.393, 2.391, 2.381, 2.368, 2.361, 2.342, 2.322, 2.308,
+ 2.277, 2.303, 2.321, 2.346, 2.364, 2.381, 2.391, 2.395, 2.397, 2.397, 2.395, 2.381, 2.367, 2.354, 2.332, 2.321,
+ 2.277, 2.304, 2.327, 2.349, 2.369, 2.388, 2.393, 2.396, 2.396, 2.398, 2.396, 2.391, 2.376, 2.359, 2.339, 2.328,
+ 2.279, 2.311, 2.327, 2.354, 2.377, 2.389, 2.393, 2.397, 2.397, 2.398, 2.395, 2.393, 2.382, 2.363, 2.344, 2.332,
+ 2.282, 2.311, 2.329, 2.354, 2.377, 2.386, 2.396, 2.396, 2.395, 2.396, 2.397, 2.394, 2.383, 2.367, 2.346, 2.333,
+ 2.283, 2.314, 2.333, 2.353, 2.375, 2.389, 2.394, 2.395, 2.395, 2.395, 2.396, 2.394, 2.386, 2.368, 2.354, 2.336,
+ 2.287, 2.309, 2.331, 2.352, 2.373, 2.386, 2.394, 2.395, 2.395, 2.396, 2.396, 2.394, 2.384, 2.371, 2.354, 2.339,
+ 2.289, 2.307, 2.326, 2.347, 2.369, 2.385, 2.392, 2.397, 2.398, 2.398, 2.397, 2.392, 2.383, 2.367, 2.352, 2.337,
+ 2.286, 2.303, 2.322, 2.342, 2.361, 2.379, 2.389, 2.394, 2.397, 2.398, 2.396, 2.389, 2.381, 2.366, 2.346, 2.332,
+ 2.284, 2.291, 2.312, 2.329, 2.351, 2.372, 2.381, 2.389, 2.393, 2.394, 2.389, 2.385, 2.374, 2.362, 2.338, 2.325,
+ 2.283, 2.288, 2.305, 2.319, 2.339, 2.365, 2.374, 2.381, 2.384, 2.386, 2.385, 2.379, 2.368, 2.342, 2.325, 2.318
+ ]
+ },
+ {
+ "ct": 5000,
+ "table":
+ [
+ 1.897, 1.919, 1.941, 1.969, 1.989, 2.003, 2.014, 2.019, 2.019, 2.017, 2.014, 2.008, 1.999, 1.988, 1.968, 1.944,
+ 1.914, 1.932, 1.957, 1.982, 1.998, 2.014, 2.023, 2.029, 2.031, 2.029, 2.022, 2.014, 2.006, 1.995, 1.976, 1.955,
+ 1.925, 1.951, 1.974, 1.996, 2.013, 2.027, 2.035, 2.039, 2.039, 2.038, 2.035, 2.026, 2.015, 2.002, 1.984, 1.963,
+ 1.932, 1.958, 1.986, 2.007, 2.024, 2.034, 2.041, 2.041, 2.045, 2.045, 2.042, 2.033, 2.023, 2.009, 1.995, 1.971,
+ 1.942, 1.964, 1.994, 2.012, 2.029, 2.038, 2.043, 2.046, 2.047, 2.046, 2.045, 2.039, 2.029, 2.014, 1.997, 1.977,
+ 1.946, 1.974, 1.999, 2.015, 2.031, 2.041, 2.046, 2.047, 2.048, 2.047, 2.044, 2.041, 2.031, 2.019, 1.999, 1.978,
+ 1.948, 1.975, 2.002, 2.018, 2.031, 2.041, 2.046, 2.047, 2.048, 2.048, 2.045, 2.041, 2.029, 2.019, 1.998, 1.978,
+ 1.948, 1.973, 2.002, 2.018, 2.029, 2.042, 2.045, 2.048, 2.048, 2.048, 2.044, 2.037, 2.027, 2.014, 1.993, 1.978,
+ 1.945, 1.969, 1.998, 2.015, 2.028, 2.037, 2.045, 2.046, 2.047, 2.044, 2.039, 2.033, 2.022, 2.008, 1.989, 1.971,
+ 1.939, 1.964, 1.991, 2.011, 2.024, 2.032, 2.036, 2.042, 2.042, 2.039, 2.035, 2.024, 2.012, 1.998, 1.977, 1.964,
+ 1.932, 1.953, 1.981, 2.006, 2.016, 2.024, 2.028, 2.031, 2.034, 2.031, 2.024, 2.015, 2.005, 1.989, 1.966, 1.955,
+ 1.928, 1.944, 1.973, 1.999, 2.007, 2.016, 2.019, 2.025, 2.026, 2.025, 2.017, 2.008, 1.997, 1.975, 1.958, 1.947
+ ]
+ }
+ ],
+ "luminance_lut":
+ [
+ 1.877, 1.597, 1.397, 1.269, 1.191, 1.131, 1.093, 1.078, 1.071, 1.069, 1.086, 1.135, 1.221, 1.331, 1.474, 1.704,
+ 1.749, 1.506, 1.334, 1.229, 1.149, 1.088, 1.058, 1.053, 1.051, 1.046, 1.053, 1.091, 1.163, 1.259, 1.387, 1.587,
+ 1.661, 1.451, 1.295, 1.195, 1.113, 1.061, 1.049, 1.048, 1.047, 1.049, 1.049, 1.066, 1.124, 1.211, 1.333, 1.511,
+ 1.615, 1.411, 1.267, 1.165, 1.086, 1.052, 1.047, 1.047, 1.047, 1.049, 1.052, 1.056, 1.099, 1.181, 1.303, 1.471,
+ 1.576, 1.385, 1.252, 1.144, 1.068, 1.049, 1.044, 1.044, 1.045, 1.049, 1.053, 1.054, 1.083, 1.163, 1.283, 1.447,
+ 1.561, 1.373, 1.245, 1.135, 1.064, 1.049, 1.044, 1.044, 1.044, 1.046, 1.048, 1.054, 1.073, 1.153, 1.271, 1.432,
+ 1.571, 1.377, 1.242, 1.137, 1.066, 1.055, 1.052, 1.051, 1.051, 1.049, 1.047, 1.048, 1.068, 1.148, 1.271, 1.427,
+ 1.582, 1.396, 1.259, 1.156, 1.085, 1.068, 1.059, 1.054, 1.049, 1.045, 1.041, 1.043, 1.074, 1.157, 1.284, 1.444,
+ 1.623, 1.428, 1.283, 1.178, 1.105, 1.074, 1.069, 1.063, 1.056, 1.048, 1.046, 1.051, 1.094, 1.182, 1.311, 1.473,
+ 1.691, 1.471, 1.321, 1.213, 1.135, 1.088, 1.073, 1.069, 1.063, 1.059, 1.053, 1.071, 1.129, 1.222, 1.351, 1.521,
+ 1.808, 1.543, 1.371, 1.253, 1.174, 1.118, 1.085, 1.072, 1.067, 1.064, 1.071, 1.106, 1.176, 1.274, 1.398, 1.582,
+ 1.969, 1.666, 1.447, 1.316, 1.223, 1.166, 1.123, 1.094, 1.089, 1.097, 1.118, 1.163, 1.239, 1.336, 1.471, 1.681
+ ],
+ "sigma": 0.00218,
+ "sigma_Cb": 0.00194
+ }
+ },
+ {
+ "rpi.contrast":
+ {
+ "ce_enable": 1,
+ "gamma_curve":
+ [
+ 0, 0,
+ 1024, 5040,
+ 2048, 9338,
+ 3072, 12356,
+ 4096, 15312,
+ 5120, 18051,
+ 6144, 20790,
+ 7168, 23193,
+ 8192, 25744,
+ 9216, 27942,
+ 10240, 30035,
+ 11264, 32005,
+ 12288, 33975,
+ 13312, 35815,
+ 14336, 37600,
+ 15360, 39168,
+ 16384, 40642,
+ 18432, 43379,
+ 20480, 45749,
+ 22528, 47753,
+ 24576, 49621,
+ 26624, 51253,
+ 28672, 52698,
+ 30720, 53796,
+ 32768, 54876,
+ 36864, 57012,
+ 40960, 58656,
+ 45056, 59954,
+ 49152, 61183,
+ 53248, 62355,
+ 57344, 63419,
+ 61440, 64476,
+ 65535, 65535
+ ]
+ }
+ },
+ {
+ "rpi.ccm":
+ {
+ "ccms": [
+ {
+ "ct": 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
+ }
+ }
+ ]
+}
\ 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..13eb3f17
--- /dev/null
+++ b/src/ipa/rpi/vc4/data/uncalibrated.json
@@ -0,0 +1,118 @@
+{
+ "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 ]
+ }
+ },
+ "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..df01c150
--- /dev/null
+++ b/src/ipa/rpi/vc4/meson.build
@@ -0,0 +1,47 @@
+# 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_controller_lib
+]
+
+vc4_ipa_includes = [
+ ipa_includes,
+ libipa_includes,
+]
+
+vc4_ipa_sources = files([
+ 'raspberrypi.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/raspberrypi.cpp b/src/ipa/rpi/vc4/raspberrypi.cpp
new file mode 100644
index 00000000..5d3bf4ca
--- /dev/null
+++ b/src/ipa/rpi/vc4/raspberrypi.cpp
@@ -0,0 +1,1853 @@
+/* SPDX-License-Identifier: BSD-2-Clause */
+/*
+ * Copyright (C) 2019-2021, Raspberry Pi Ltd
+ *
+ * rpi.cpp - Raspberry Pi Image Processing Algorithms
+ */
+
+#include <algorithm>
+#include <array>
+#include <cstring>
+#include <deque>
+#include <fcntl.h>
+#include <math.h>
+#include <stdint.h>
+#include <string.h>
+#include <sys/mman.h>
+#include <vector>
+
+#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/request.h>
+
+#include <libcamera/ipa/ipa_interface.h>
+#include <libcamera/ipa/ipa_module_info.h>
+#include <libcamera/ipa/raspberrypi_ipa_interface.h>
+
+#include "libcamera/internal/mapped_framebuffer.h"
+
+#include "cam_helper/cam_helper.h"
+#include "controller/af_algorithm.h"
+#include "controller/af_status.h"
+#include "controller/agc_algorithm.h"
+#include "controller/agc_status.h"
+#include "controller/alsc_status.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/contrast_status.h"
+#include "controller/controller.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/metadata.h"
+#include "controller/sharpen_algorithm.h"
+#include "controller/sharpen_status.h"
+#include "controller/statistics.h"
+
+namespace libcamera {
+
+using namespace std::literals::chrono_literals;
+using utils::Duration;
+
+/* Number of metadata objects available in the context list. */
+constexpr unsigned int numMetadataContexts = 16;
+
+/* 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 */
+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) }
+};
+
+/* IPA controls handled conditionally, if the lens has a focus control */
+static 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) }
+};
+
+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),
+ lastTimeout_(0s)
+ {
+ }
+
+ ~IPARPi()
+ {
+ if (lsTable_)
+ munmap(lsTable_, MaxLsGridSize);
+ }
+
+ int init(const IPASettings &settings, bool lensPresent, IPAInitResult *result) override;
+ void start(const ControlList &controls, StartConfig *startConfig) override;
+ void stop() override {}
+
+ int configure(const IPACameraSensorInfo &sensorInfo, 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, uint32_t ipaContext) override;
+ void signalQueueRequest(const ControlList &controls) override;
+ void signalIspPrepare(const ISPConfig &data) override;
+
+private:
+ void setMode(const IPACameraSensorInfo &sensorInfo);
+ bool validateSensorControls();
+ bool validateIspControls();
+ bool validateLensControls();
+ void queueRequest(const ControlList &controls);
+ void returnEmbeddedBuffer(unsigned int bufferId);
+ void prepareISP(const ISPConfig &data);
+ void reportMetadata(unsigned int ipaContext);
+ void fillDeviceStatus(const ControlList &sensorControls, unsigned int ipaContext);
+ RPiController::StatisticsPtr fillStatistics(bcm2835_isp_stats *stats) const;
+ void processStats(unsigned int bufferId, unsigned int ipaContext);
+ void setCameraTimeoutValue();
+ 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 applyAF(const struct AfStatus *afStatus, ControlList &lensCtrls);
+ void resampleTable(uint16_t dest[], const std::vector<double> &src, int destW, int destH);
+
+ std::map<unsigned int, MappedFrameBuffer> buffers_;
+
+ ControlInfoMap sensorCtrls_;
+ ControlInfoMap ispCtrls_;
+ ControlInfoMap lensCtrls_;
+ bool lensPresent_;
+ ControlList libcameraMetadata_;
+
+ /* Camera sensor params. */
+ CameraMode mode_;
+
+ /* Raspberry Pi controller specific defines. */
+ std::unique_ptr<RPiController::CamHelper> helper_;
+ RPiController::Controller controller_;
+ 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_;
+
+ /* 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_;
+
+ /* Track the frame length times over FrameLengthsQueueSize frames. */
+ std::deque<Duration> frameLengths_;
+ Duration lastTimeout_;
+};
+
+int IPARPi::init(const IPASettings &settings, bool lensPresent, 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, 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;
+ }
+
+ const std::string &target = controller_.getTarget();
+ if (target != "bcm2835") {
+ LOG(IPARPI, Error)
+ << "Tuning data file target returned \"" << target << "\""
+ << ", expected \"bcm2835\"";
+ return -EINVAL;
+ }
+
+ lensPresent_ = lensPresent;
+
+ controller_.initialise();
+
+ /* Return the controls handled by the IPA */
+ ControlInfoMap::Map ctrlMap = ipaControls;
+ if (lensPresent_)
+ ctrlMap.merge(ControlInfoMap::Map(ipaAfControls));
+ 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);
+
+ /* 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);
+ startConfig->controls = std::move(ctrls);
+ setCameraTimeoutValue();
+ }
+
+ /*
+ * 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_;
+
+ 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_.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 = 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);
+
+ /*
+ * 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>());
+
+ /* 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);
+}
+
+int IPARPi::configure(const IPACameraSensorInfo &sensorInfo, const IPAConfig &ipaConfig,
+ ControlList *controls, IPAConfigResult *result)
+{
+ sensorCtrls_ = ipaConfig.sensorControls;
+ ispCtrls_ = ipaConfig.ispControls;
+
+ if (!validateSensorControls()) {
+ LOG(IPARPI, Error) << "Sensor control validation failed.";
+ return -1;
+ }
+
+ if (!validateIspControls()) {
+ LOG(IPARPI, Error) << "ISP control validation failed.";
+ return -1;
+ }
+
+ if (lensPresent_) {
+ lensCtrls_ = ipaConfig.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>(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.shutterTime = defaultExposureTime;
+ agcStatus.analogueGain = 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;
+ 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 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 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, uint32_t ipaContext)
+{
+ unsigned int context = ipaContext % rpiMetadata_.size();
+
+ if (++checkCount_ != frameCount_) /* assert here? */
+ LOG(IPARPI, Error) << "WARNING: Prepare/Process mismatch!!!";
+ if (processPending_ && frameCount_ > mistrustCount_)
+ processStats(bufferId, context);
+
+ reportMetadata(context);
+
+ statsMetadataComplete.emit(bufferId, 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);
+}
+
+void IPARPi::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);
+ }
+
+ AgcStatus *agcStatus = rpiMetadata.getLocked<AgcStatus>("agc.status");
+ if (agcStatus) {
+ libcameraMetadata_.set(controls::AeLocked, agcStatus->locked);
+ libcameraMetadata_.set(controls::DigitalGain, agcStatus->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) >> 16;
+ 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);
+ }
+}
+
+bool IPARPi::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 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;
+}
+
+bool IPARPi::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::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 },
+};
+
+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 },
+};
+
+void IPARPi::queueRequest(const ControlList &controls)
+{
+ using RPiController::AfAlgorithm;
+
+ /* 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
+ 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(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::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: {
+ 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;
+ }
+
+ 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;
+ }
+
+ default:
+ LOG(IPARPI, Warning)
+ << "Ctrl " << controls::controls.at(ctrl.first)->name()
+ << " is not handled.";
+ break;
+ }
+ }
+}
+
+void IPARPi::returnEmbeddedBuffer(unsigned int bufferId)
+{
+ embeddedComplete.emit(bufferId);
+}
+
+void IPARPi::prepareISP(const ISPConfig &data)
+{
+ int64_t frameTimestamp = data.controls.get(controls::SensorTimestamp).value_or(0);
+ unsigned int ipaContext = data.ipaContext % rpiMetadata_.size();
+ RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext];
+ Span<uint8_t> embeddedBuffer;
+
+ rpiMetadata.clear();
+ fillDeviceStatus(data.controls, ipaContext);
+
+ 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];
+ }
+
+ /*
+ * 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.
+ */
+ AgcStatus agcStatus;
+ RPiController::Metadata &delayedMetadata = rpiMetadata_[data.delayContext];
+ if (!delayedMetadata.get<AgcStatus>("agc.status", agcStatus))
+ rpiMetadata.set("agc.delayed_status", agcStatus);
+
+ /*
+ * 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().
+ */
+ RPiController::Metadata &lastMetadata =
+ rpiMetadata_[(ipaContext ? ipaContext : rpiMetadata_.size()) - 1];
+ rpiMetadata.mergeCopy(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);
+
+ 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);
+}
+
+void IPARPi::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);
+}
+
+RPiController::StatisticsPtr IPARPi::fillStatistics(bcm2835_isp_stats *stats) const
+{
+ using namespace RPiController;
+
+ const Controller::HardwareConfig &hw = controller_.getHardwareConfig();
+ unsigned int i;
+ StatisticsPtr statistics =
+ std::make_unique<Statistics>(Statistics::AgcStatsPos::PreWb, Statistics::ColourStatsPos::PostLsc);
+
+ /* 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 });
+
+ statistics->agcRegions.init(hw.agcRegions);
+ for (i = 0; i < statistics->agcRegions.numRegions(); i++)
+ statistics->agcRegions.set(i, { { stats->agc_stats[i].r_sum << scale,
+ stats->agc_stats[i].g_sum << scale,
+ stats->agc_stats[i].b_sum << scale },
+ stats->agc_stats[i].counted,
+ stats->awb_stats[i].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] });
+ return statistics;
+}
+
+void IPARPi::processStats(unsigned int bufferId, unsigned int ipaContext)
+{
+ RPiController::Metadata &rpiMetadata = rpiMetadata_[ipaContext];
+
+ 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 = fillStatistics(stats);
+
+ /* Save the focus stats in the metadata structure to report out later. */
+ rpiMetadata_[ipaContext].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();
+ }
+}
+
+void IPARPi::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;
+ }
+}
+
+void IPARPi::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 IPARPi::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 IPARPi::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)));
+}
+
+void IPARPi::applyDG(const struct AgcStatus *dgStatus, ControlList &ctrls)
+{
+ ctrls.set(V4L2_CID_DIGITAL_GAIN,
+ static_cast<int32_t>(dgStatus->digitalGain * 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)
+{
+ 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 IPARPi::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 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->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 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);
+}
+
+void IPARPi::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 IPARPi::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,
+ "PipelineHandlerRPi",
+ "rpi/vc4",
+};
+
+IPAInterface *ipaCreate()
+{
+ return new ipa::RPi::IPARPi();
+}
+
+} /* extern "C" */
+
+} /* namespace libcamera */
--
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