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{
"ct": 5716, "ccm":
[
1.80439, -0.73699, -0.06739, -0.36073, 1.83327, -0.47255, -0.08378, -0.56403, 1.64781
]
},
{
"ct": 8575, "ccm":
[
1.89357, -0.76427, -0.12931, -0.27399, 2.15605, -0.88206, -0.12035, -0.68256, 1.80292
]
}
]
},
"rpi.sharpen":
{
},
"rpi.dpc":
{
}
}
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/* SPDX-License-Identifier: BSD-2-Clause */
/*
* Copyright (C) 2019, Raspberry Pi Ltd
*
* ALSC (auto lens shading correction) control algorithm
*/
#include <algorithm>
#include <functional>
#include <math.h>
#include <numeric>
#include <libcamera/base/log.h>
#include <libcamera/base/span.h>
#include "../awb_status.h"
#include "alsc.h"
/* Raspberry Pi ALSC (Auto Lens Shading Correction) algorithm. */
using namespace RPiController;
using namespace libcamera;
LOG_DEFINE_CATEGORY(RPiAlsc)
#define NAME "rpi.alsc"
static const double InsufficientData = -1.0;
Alsc::Alsc(Controller *controller)
: Algorithm(controller)
{
asyncAbort_ = asyncStart_ = asyncStarted_ = asyncFinished_ = false;
asyncThread_ = std::thread(std::bind(&Alsc::asyncFunc, this));
}
Alsc::~Alsc()
{
{
std::lock_guard<std::mutex> lock(mutex_);
asyncAbort_ = true;
}
asyncSignal_.notify_one();
asyncThread_.join();
}
char const *Alsc::name() const
{
return NAME;
}
static int generateLut(Array2D<double> &lut, const libcamera::YamlObject ¶ms)
{
/* These must be signed ints for the co-ordinate calculations below. */
int X = lut.dimensions().width, Y = lut.dimensions().height;
double cstrength = params["corner_strength"].get<double>(2.0);
if (cstrength <= 1.0) {
LOG(RPiAlsc, Error) << "corner_strength must be > 1.0";
return -EINVAL;
}
double asymmetry = params["asymmetry"].get<double>(1.0);
if (asymmetry < 0) {
LOG(RPiAlsc, Error) << "asymmetry must be >= 0";
return -EINVAL;
}
double f1 = cstrength - 1, f2 = 1 + sqrt(cstrength);
double R2 = X * Y / 4 * (1 + asymmetry * asymmetry);
int num = 0;
for (int y = 0; y < Y; y++) {
for (int x = 0; x < X; x++) {
double dy = y - Y / 2 + 0.5,
dx = (x - X / 2 + 0.5) * asymmetry;
double r2 = (dx * dx + dy * dy) / R2;
lut[num++] =
(f1 * r2 + f2) * (f1 * r2 + f2) /
(f2 * f2); /* this reproduces the cos^4 rule */
}
}
return 0;
}
static int readLut(Array2D<double> &lut, const libcamera::YamlObject ¶ms)
{
if (params.size() != lut.size()) {
LOG(RPiAlsc, Error) << "Invalid number of entries in LSC table";
return -EINVAL;
}
int num = 0;
for (const auto &p : params.asList()) {
auto value = p.get<double>();
if (!value)
return -EINVAL;
lut[num++] = *value;
}
return 0;
}
static int readCalibrations(std::vector<AlscCalibration> &calibrations,
const libcamera::YamlObject ¶ms,
std::string const &name, const Size &size)
{
if (params.contains(name)) {
double lastCt = 0;
for (const auto &p : params[name].asList()) {
auto value = p["ct"].get<double>();
if (!value)
return -EINVAL;
double ct = *value;
if (ct <= lastCt) {
LOG(RPiAlsc, Error)
<< "Entries in " << name << " must be in increasing ct order";
return -EINVAL;
}
AlscCalibration calibration;
calibration.ct = lastCt = ct;
const libcamera::YamlObject &table = p["table"];
if (table.size() != size.width * size.height) {
LOG(RPiAlsc, Error)
<< "Incorrect number of values for ct "
<< ct << " in " << name;
return -EINVAL;
}
int num = 0;
calibration.table.resize(size);
for (const auto &elem : table.asList()) {
value = elem.get<double>();
if (!value)
return -EINVAL;
calibration.table[num++] = *value;
}
calibrations.push_back(std::move(calibration));
LOG(RPiAlsc, Debug)
<< "Read " << name << " calibration for ct " << ct;
}
}
return 0;
}
int Alsc::read(const libcamera::YamlObject ¶ms)
{
config_.tableSize = getHardwareConfig().awbRegions;
config_.framePeriod = params["frame_period"].get<uint16_t>(12);
config_.startupFrames = params["startup_frames"].get<uint16_t>(10);
config_.speed = params["speed"].get<double>(0.05);
double sigma = params["sigma"].get<double>(0.01);
config_.sigmaCr = params["sigma_Cr"].get<double>(sigma);
config_.sigmaCb = params["sigma_Cb"].get<double>(sigma);
config_.minCount = params["min_count"].get<double>(10.0);
config_.minG = params["min_G"].get<uint16_t>(50);
config_.omega = params["omega"].get<double>(1.3);
config_.nIter = params["n_iter"].get<uint32_t>(config_.tableSize.width + config_.tableSize.height);
config_.luminanceStrength =
params["luminance_strength"].get<double>(1.0);
config_.luminanceLut.resize(config_.tableSize, 1.0);
int ret = 0;
if (params.contains("corner_strength"))
ret = generateLut(config_.luminanceLut, params);
else if (params.contains("luminance_lut"))
ret = readLut(config_.luminanceLut, params["luminance_lut"]);
else
LOG(RPiAlsc, Warning)
<< "no luminance table - assume unity everywhere";
if (ret)
return ret;
ret = readCalibrations(config_.calibrationsCr, params, "calibrations_Cr",
config_.tableSize);
if (ret)
return ret;
ret = readCalibrations(config_.calibrationsCb, params, "calibrations_Cb",
config_.tableSize);
if (ret)
return ret;
config_.defaultCt = params["default_ct"].get<double>(4500.0);
config_.threshold = params["threshold"].get<double>(1e-3);
config_.lambdaBound = params["lambda_bound"].get<double>(0.05);
return 0;
}
static double getCt(Metadata *metadata, double defaultCt);
static void getCalTable(double ct, std::vector<AlscCalibration> const &calibrations,
Array2D<double> &calTable);
static void resampleCalTable(const Array2D<double> &calTableIn, CameraMode const &cameraMode,
Array2D<double> &calTableOut);
static void compensateLambdasForCal(const Array2D<double> &calTable,
const Array2D<double> &oldLambdas,
Array2D<double> &newLambdas);
static void addLuminanceToTables(std::array<Array2D<double>, 3> &results,
const Array2D<double> &lambdaR, double lambdaG,
const Array2D<double> &lambdaB,
const Array2D<double> &luminanceLut,
double luminanceStrength);
void Alsc::initialise()
{
frameCount2_ = frameCount_ = framePhase_ = 0;
firstTime_ = true;
ct_ = config_.defaultCt;
const size_t XY = config_.tableSize.width * config_.tableSize.height;
for (auto &r : syncResults_)
r.resize(config_.tableSize);
for (auto &r : prevSyncResults_)
r.resize(config_.tableSize);
for (auto &r : asyncResults_)
r.resize(config_.tableSize);
luminanceTable_.resize(config_.tableSize);
asyncLambdaR_.resize(config_.tableSize);
asyncLambdaB_.resize(config_.tableSize);
/* The lambdas are initialised in the SwitchMode. */
lambdaR_.resize(config_.tableSize);
lambdaB_.resize(config_.tableSize);
/* Temporaries for the computations, but sensible to allocate this up-front! */
for (auto &c : tmpC_)
c.resize(config_.tableSize);
for (auto &m : tmpM_)
m.resize(XY);
}
void Alsc::waitForAysncThread()
{
if (asyncStarted_) {
asyncStarted_ = false;
std::unique_lock<std::mutex> lock(mutex_);
syncSignal_.wait(lock, [&] {
return asyncFinished_;
});
asyncFinished_ = false;
}
}
static bool compareModes(CameraMode const &cm0, CameraMode const &cm1)
{
/*
* Return true if the modes crop from the sensor significantly differently,
* or if the user transform has changed.
*/
if (cm0.transform != cm1.transform)
return true;
int leftDiff = abs(cm0.cropX - cm1.cropX);
int topDiff = abs(cm0.cropY - cm1.cropY);
int rightDiff = fabs(cm0.cropX + cm0.scaleX * cm0.width -
cm1.cropX - cm1.scaleX * cm1.width);
int bottomDiff = fabs(cm0.cropY + cm0.scaleY * cm0.height -
cm1.cropY - cm1.scaleY * cm1.height);
/*
* These thresholds are a rather arbitrary amount chosen to trigger
* when carrying on with the previously calculated tables might be
* worse than regenerating them (but without the adaptive algorithm).
*/
int thresholdX = cm0.sensorWidth >> 4;
int thresholdY = cm0.sensorHeight >> 4;
return leftDiff > thresholdX || rightDiff > thresholdX ||
topDiff > thresholdY || bottomDiff > thresholdY;
}
void Alsc::switchMode(CameraMode const &cameraMode,
[[maybe_unused]] Metadata *metadata)
{
/*
* We're going to start over with the tables if there's any "significant"
* change.
*/
bool resetTables = firstTime_ || compareModes(cameraMode_, cameraMode);
/* Believe the colour temperature from the AWB, if there is one. */
ct_ = getCt(metadata, ct_);
/* Ensure the other thread isn't running while we do this. */
waitForAysncThread();
cameraMode_ = cameraMode;
/*
* We must resample the luminance table like we do the others, but it's
* fixed so we can simply do it up front here.
*/
resampleCalTable(config_.luminanceLut, cameraMode_, luminanceTable_);
if (resetTables) {
/*
* Upon every "table reset", arrange for something sensible to be
* generated. Construct the tables for the previous recorded colour
* temperature. In order to start over from scratch we initialise
* the lambdas, but the rest of this code then echoes the code in
* doAlsc, without the adaptive algorithm.
*/
std::fill(lambdaR_.begin(), lambdaR_.end(), 1.0);
std::fill(lambdaB_.begin(), lambdaB_.end(), 1.0);
Array2D<double> &calTableR = tmpC_[0], &calTableB = tmpC_[1], &calTableTmp = tmpC_[2];
getCalTable(ct_, config_.calibrationsCr, calTableTmp);
resampleCalTable(calTableTmp, cameraMode_, calTableR);
getCalTable(ct_, config_.calibrationsCb, calTableTmp);
resampleCalTable(calTableTmp, cameraMode_, calTableB);
compensateLambdasForCal(calTableR, lambdaR_, asyncLambdaR_);
compensateLambdasForCal(calTableB, lambdaB_, asyncLambdaB_);
addLuminanceToTables(syncResults_, asyncLambdaR_, 1.0, asyncLambdaB_,
luminanceTable_, config_.luminanceStrength);
prevSyncResults_ = syncResults_;
framePhase_ = config_.framePeriod; /* run the algo again asap */
firstTime_ = false;
}
}
void Alsc::fetchAsyncResults()
{
LOG(RPiAlsc, Debug) << "Fetch ALSC results";
asyncFinished_ = false;
asyncStarted_ = false;
syncResults_ = asyncResults_;
}
double getCt(Metadata *metadata, double defaultCt)
{
AwbStatus awbStatus;
awbStatus.temperatureK = defaultCt; /* in case nothing found */
if (metadata->get("awb.status", awbStatus) != 0)
LOG(RPiAlsc, Debug) << "no AWB results found, using "
<< awbStatus.temperatureK;
else
LOG(RPiAlsc, Debug) << "AWB results found, using "
<< awbStatus.temperatureK;
return awbStatus.temperatureK;
}
static void copyStats(RgbyRegions ®ions, StatisticsPtr &stats,
std::array<Array2D<double>, 3> &prevSyncResults)
{
if (!regions.numRegions())
regions.init(stats->awbRegions.size());
const std::vector<double> &rTable = prevSyncResults[0].data(); //status.r;
const std::vector<double> &gTable = prevSyncResults[1].data(); //status.g;
const std::vector<double> &bTable = prevSyncResults[2].data(); //status.b;
for (unsigned int i = 0; i < stats->awbRegions.numRegions(); i++) {
auto r = stats->awbRegions.get(i);
if (stats->colourStatsPos == Statistics::ColourStatsPos::PostLsc) {
r.val.rSum = static_cast<uint64_t>(r.val.rSum / rTable[i]);
r.val.gSum = static_cast<uint64_t>(r.val.gSum / gTable[i]);
r.val.bSum = static_cast<uint64_t>(r.val.bSum / bTable[i]);
}
regions.set(i, r);
}
}
void Alsc::restartAsync(StatisticsPtr &stats, Metadata *imageMetadata)
{
LOG(RPiAlsc, Debug) << "Starting ALSC calculation";
/*
* Get the current colour temperature. It's all we need from the
* metadata. Default to the last CT value (which could be the default).
*/
ct_ = getCt(imageMetadata, ct_);
/*
* We have to copy the statistics here, dividing out our best guess of
* the LSC table that the pipeline applied to them which we get from
* prevSyncResults_.
*/
copyStats(statistics_, stats, prevSyncResults_);
framePhase_ = 0;
asyncStarted_ = true;
{
std::lock_guard<std::mutex> lock(mutex_);
asyncStart_ = true;
}
asyncSignal_.notify_one();
}
void Alsc::prepare(Metadata *imageMetadata)
{
/*
* Count frames since we started, and since we last poked the async
* thread.
*/
if (frameCount_ < (int)config_.startupFrames)
frameCount_++;
double speed = frameCount_ < (int)config_.startupFrames
? 1.0
: config_.speed;
LOG(RPiAlsc, Debug)
<< "frame count " << frameCount_ << " speed " << speed;
{
std::unique_lock<std::mutex> lock(mutex_);
if (asyncStarted_ && asyncFinished_)
fetchAsyncResults();
}
/* Apply IIR filter to results and program into the pipeline. */
for (unsigned int j = 0; j < syncResults_.size(); j++) {
for (unsigned int i = 0; i < syncResults_[j].size(); i++)
prevSyncResults_[j][i] = speed * syncResults_[j][i] + (1.0 - speed) * prevSyncResults_[j][i];
}
/* Put output values into status metadata. */
AlscStatus status;
|