# SPDX-License-Identifier: BSD-2-Clause # # Copyright (C) 2019, Raspberry Pi Ltd # # ctt_ccm.py - camera tuning tool for CCM (colour correction matrix) from ctt_image_load import * from ctt_awb import get_alsc_patches import colors from scipy.optimize import minimize from ctt_visualise import visualise_macbeth_chart import numpy as np """ takes 8-bit macbeth chart values, degammas and returns 16 bit """ ''' This program has many options from which to derive the color matrix from. The first is average. This minimises the average delta E across all patches of the macbeth chart. Testing across all cameras yeilded this as the most color accurate and vivid. Other options are avalible however. Maximum minimises the maximum Delta E of the patches. It iterates through till a minimum maximum is found (so that there is not one patch that deviates wildly.) This yields generally good results but overall the colors are less accurate Have a fiddle with maximum and see what you think. The final option allows you to select the patches for which to average across. This means that you can bias certain patches, for instance if you want the reds to be more accurate. ''' matrix_selection_types = ["average", "maximum", "patches"] typenum = 0 # select from array above, 0 = average, 1 = maximum, 2 = patches test_patches = [1, 2, 5, 8, 9, 12, 14] ''' Enter patches to test for. Can also be entered twice if you would like twice as much bias on one patch. ''' def degamma(x): x = x / ((2 ** 8) - 1) # takes 255 and scales it down to one x = np.where(x < 0.04045, x / 12.92, ((x + 0.055) / 1.055) ** 2.4) x = x * ((2 ** 16) - 1) # takes one and scales up to 65535, 16 bit color return x def gamma(x): # Take 3 long array of color values and gamma them return [((colour / 255) ** (1 / 2.4) * 1.055 - 0.055) * 255 for colour in x] """ FInds colour correction matrices for list of images """ def ccm(Cam, cal_cr_list, cal_cb_list): global matrix_selection_types, typenum imgs = Cam.imgs """ standard macbeth chart colour values """ m_rgb = np.array([ # these are in RGB [116, 81, 67], # dark skin [199, 147, 129], # light skin [91, 122, 156], # blue sky [90, 108, 64], # foliage [130, 128, 176], # blue flower [92, 190, 172], # bluish green [224, 124, 47], # orange [68, 91, 170], # purplish blue [198, 82, 97], # moderate red [94, 58, 106], # purple [159, 189, 63], # yellow green [230, 162, 39], # orange yellow [35, 63, 147], # blue [67, 149, 74], # green [180, 49, 57], # red [238, 198, 20], # yellow [193, 84, 151], # magenta [0, 136, 170], # cyan (goes out of gamut) [245, 245, 243], # white 9.5 [200, 202, 202], # neutral 8 [161, 163, 163], # neutral 6.5 [121, 121, 122], # neutral 5 [82, 84, 86], # neutral 3.5 [49, 49, 51] # black 2 ]) """ convert reference colours from srgb to rgb """ m_srgb = degamma(m_rgb) # now in 16 bit color. # Produce array of LAB values for ideal color chart m_lab = [colors.RGB_to_LAB(color / 256) for color in m_srgb] """ reorder reference values to match how patches are ordered """ m_srgb = np.array([m_srgb[i::6] for i in range(6)]).reshape((24, 3)) m_lab = np.array([m_lab[i::6] for i in range(6)]).reshape((24, 3)) m_rgb = np.array([m_rgb[i::6] for i in range(6)]).reshape((24, 3)) """ reformat alsc correction tables or set colour_cals to None if alsc is deactivated """ if cal_cr_list is None: colour_cals = None else: colour_cals = {} for cr, cb in zip(cal_cr_list, cal_cb_list): cr_tab = cr['table'] cb_tab = cb['table'] """ normalise tables so min value is 1 """ cr_tab = cr_tab / np.min(cr_tab) cb_tab = cb_tab / np.min(cb_tab) colour_cals[cr['ct']] = [cr_tab, cb_tab] """ for each image, perform awb and alsc corrections. Then calculate the colour correction matrix for that image, recording the ccm and the colour tempertaure. """ ccm_tab = {} for Img in imgs: Cam.log += '\nProcessing image: ' + Img.name """ get macbeth patches with alsc applied if alsc enabled. Note: if alsc is disabled then colour_cals will be set to None and no the function will simply return the macbeth patches """ r, b, g = get_alsc_patches(Img, colour_cals, grey=False) # 256 values for each patch of sRGB values """ do awb Note: awb is done by measuring the macbeth chart in the image, rather than from the awb calibration. This is done so the awb will be perfect and the ccm matrices will be more accurate. """ r_greys, b_greys, g_greys = r[3::4], b[3::4], g[3::4] r_g = np.mean(r_greys / g_greys) b_g = np.mean(b_greys / g_greys) r = r / r_g b = b / b_g """ normalise brightness wrt reference macbeth colours and then average each channel for each patch """ gain = np.mean(m_srgb) / np.mean((r, g, b)) Cam.log += '\nGain with respect to standard colours: {:.3f}'.format(gain) r = np.mean(gain * r, axis=1) b = np.mean(gain * b, axis=1) g = np.mean(gain * g, axis=1) """ calculate ccm matrix """ # ==== All of below should in sRGB ===## sumde = 0 ccm = do_ccm(r, g, b, m_srgb) # This is the initial guess that our optimisation code works with. original_ccm = ccm r1 = ccm[0] r2 = ccm[1] g1 = ccm[3] g2 = ccm[4] b1 = ccm[6] b2 = ccm[7] ''' COLOR MATRIX LOOKS AS BELOW R1 R2 R3 Rval Outr G1 G2 G3 * Gval = G B1 B2 B3 Bval B Will be optimising 6 elements and working out the third element using 1-r1-r2 = r3 ''' x0 = [r1, r2, g1, g2, b1, b2] ''' We use our old CCM as the initial guess for the program to find the optimised matrix ''' result = minimize(guess, x0, args=(r, g, b, m_lab), tol=0.01) ''' This produces a color matrix which has the lowest delta E possible, based off the input data. Note it is impossible for this to reach zero since the input data is imperfect ''' Cam.log += ("\n \n Optimised Matrix Below: \n \n") [r1, r2, g1, g2, b1, b2] = result.x # The new, optimised color correction matrix values optimised_ccm = [r1, r2, (1 - r1 - r2), g1, g2, (1 - g1 - g2), b1, b2, (1 - b1 - b2)] # This is the optimised Color Matrix (preserving greys by summing rows up to 1) Cam.log += str(optimised_ccm) Cam.log += "\n Old Color Correction Matrix Below \n" Cam.log += str(ccm) formatted_ccm = np.array(original_ccm).reshape((3, 3)) ''' below is a whole load of code that then applies the latest color matrix, and returns LAB values for color. This can then be used to calculate the final delta E ''' optimised_ccm_rgb = [] # Original Color Corrected Matrix RGB / LAB optimised_ccm_lab = [] formatted_optimised_ccm = np.array(optimised_ccm).reshape((3, 3)) after_gamma_rgb = [] after_gamma_lab = [] for RGB in zip(r, g, b): ccm_applied_rgb = np.dot(formatted_ccm, (np.array(RGB) / 256)) optimised_ccm_rgb.append(gamma(ccm_applied_rgb)) optimised_ccm_lab.append(colors.RGB_to_LAB(ccm_applied_rgb)) optimised_ccm_applied_rgb = np.dot(formatted_optimised_ccm, np.array(RGB) / 256) after_gamma_rgb.append(gamma(optimised_ccm_applied_rgb)) after_gamma_lab.append(colors.RGB_to_LAB(optimised_ccm_applied_rgb)) ''' Gamma After RGB / LAB - not used in calculations, only used for visualisation We now want to spit out some data that shows how the optimisation has improved the color matrices ''' Cam.log += "Here are the Improvements" # CALCULATE WORST CASE delta e old_worst_delta_e = 0 before_average = transform_and_evaluate(formatted_ccm, r, g, b, m_lab) new_worst_delta_e = 0 after_average = transform_and_evaluate(formatted_optimised_ccm, r, g, b, m_lab) for i in range(24): old_delta_e = deltae(optimised_ccm_lab[i], m_lab[i]) # Current Old Delta E new_delta_e = deltae(after_gamma_lab[i], m_lab[i]) # Current New Delta E if old_delta_e > old_worst_delta_e: old_worst_delta_e = old_delta_e if new_delta_e > new_worst_delta_e: new_worst_delta_e = new_delta_e Cam.log += "Before color correction matrix was optimised, we got an average delta E</span> <span class="hl ppc">#include</span> <span class="hl pps">"jpeg/encoder.h"</span><span class="hl ppc"></span> <span class="hl kwc">class</span> Camera3RequestDescriptor<span class="hl opt">;</span> <span class="hl kwb">struct</span> CameraConfigData<span class="hl opt">;</span> <span class="hl kwc">class</span> CameraDevice <span class="hl opt">:</span> <span class="hl kwc">protected libcamera</span><span class="hl opt">::</span>Loggable <span class="hl opt">{</span> <span class="hl kwc">public</span><span class="hl opt">:</span> <span class="hl kwb">static</span> <span class="hl kwc">std</span><span class="hl opt">::</span>unique_ptr<span class="hl opt"><</span>CameraDevice<span class="hl opt">></span> <span class="hl kwd">create</span><span class="hl opt">(</span><span class="hl kwb">unsigned int</span> id<span class="hl opt">,</span> <span class="hl kwc">std</span><span class="hl opt">::</span>shared_ptr<span class="hl opt"><</span><span class="hl kwc">libcamera</span><span class="hl opt">::</span>Camera<span class="hl opt">></span> cam<span class="hl opt">);</span> <span class="hl opt">~</span><span class="hl kwd">CameraDevice</span><span class="hl opt">();</span> <span class="hl kwb">int</span> <span class="hl kwd">initialize</span><span class="hl opt">(</span><span class="hl kwb">const</span> CameraConfigData <span class="hl opt">*</span>cameraConfigData<span class="hl opt">);</span> <span class="hl kwb">int</span> <span class="hl kwd">open</span><span class="hl opt">(</span><span class="hl kwb">const</span> hw_module_t <span class="hl opt">*</span>hardwareModule<span class="hl opt">);</span> <span class="hl kwb">void</span> <span class="hl kwd">close</span><span class="hl opt">();</span> <span class="hl kwb">void</span> <span class="hl kwd">flush</span><span class="hl opt">();</span> <span class="hl kwb">unsigned int</span> <span class="hl kwd">id</span><span class="hl opt">()</span> <span class="hl kwb">const</span> <span class="hl opt">{</span> <span class="hl kwa">return</span> id_<span class="hl opt">; }</span> camera3_device_t <span class="hl opt">*</span><span class="hl kwd">camera3Device</span><span class="hl opt">() {</span> <span class="hl kwa">return</span> <span class="hl opt">&</span>camera3Device_<span class="hl opt">; }</span> <span class="hl kwb">const</span> CameraCapabilities <span class="hl opt">*</span><span class="hl kwd">capabilities</span><span class="hl opt">()</span> <span class="hl kwb">const</span> <span class="hl opt">{</span> <span class="hl kwa">return</span> <span class="hl opt">&</span>capabilities_<span class="hl opt">; }</span> <span class="hl kwb">const</span> <span class="hl kwc">std</span><span class="hl opt">::</span>shared_ptr<span class="hl opt"><</span><span class="hl kwc">libcamera</span><span class="hl opt">::</span>Camera<span class="hl opt">> &</span><span class="hl kwd">camera</span><span class="hl opt">()</span> <span class="hl kwb">const</span> <span class="hl opt">{</span> <span class="hl kwa">return</span> camera_<span class="hl opt">; }</span> <span class="hl kwb">const</span> <span class="hl kwc">std</span><span class="hl opt">::</span>string <span class="hl opt">&</span><span class="hl kwd">maker</span><span class="hl opt">()</span> <span class="hl kwb">const</span> <span class="hl opt">{</span> <span class="hl kwa">return</span> maker_<span class="hl opt">; }</span> <span class="hl kwb">const</span> <span class="hl kwc">std</span><span class="hl opt">::</span>string <span class="hl opt">&</span><span class="hl kwd">model</span><span class="hl opt">()</span> <span class="hl kwb">const</span> <span class="hl opt">{</span> <span class="hl kwa">return</span> model_<span class="hl opt">; }</span> <span class="hl kwb">int</span> <span class="hl kwd">facing</span><span class="hl opt">()</span> <span class="hl kwb">const</span> <span class="hl opt">{</span> <span class="hl kwa">return</span> facing_<span class="hl opt">; }</span> <span class="hl kwb">int</span> <span class="hl kwd">orientation</span><span class="hl opt">()</span> <span class="hl kwb">const</span> <span class="hl opt">{</span> <span class="hl kwa">return</span> orientation_<span class="hl opt">; }</span> <span class="hl kwb">unsigned int</span> <span class="hl kwd">maxJpegBufferSize</span><span class="hl opt">()</span> <span class="hl kwb">const</span><span class="hl opt">;</span> <span class="hl kwb">void</span> <span class="hl kwd">setCallbacks</span><span class="hl opt">(</span><span class="hl kwb">const</span> camera3_callback_ops_t <span class="hl opt">*</span>callbacks<span class="hl opt">);</span> <span class="hl kwb">const</span> camera_metadata_t <span class="hl opt">*</span><span class="hl kwd">getStaticMetadata</span><span class="hl opt">();</span> <span class="hl kwb">const</span> camera_metadata_t <span class="hl opt">*</span><span class="hl kwd">constructDefaultRequestSettings</span><span class="hl opt">(</span><span class="hl kwb">int</span> type<span class="hl opt">);</span> <span class="hl kwb">int</span> <span class="hl kwd">configureStreams</span><span class="hl opt">(</span>camera3_stream_configuration_t <span class="hl opt">*</span>stream_list<span class="hl opt">);</span> <span class="hl kwb">int</span> <span class="hl kwd">processCaptureRequest</span><span class="hl opt">(</span>camera3_capture_request_t <span class="hl opt">*</span>request<span class="hl opt">);</span> <span class="hl kwb">void</span> <span class="hl kwd">requestComplete</span><span class="hl opt">(</span><span class="hl kwc">libcamera</span><span class="hl opt">::</span>Request <span class="hl opt">*</span>request<span class="hl opt">);</span> <span class="hl kwb">void</span> <span class="hl kwd">streamProcessingComplete</span><span class="hl opt">(</span><span class="hl kwc">Camera3RequestDescriptor</span><span class="hl opt">::</span>StreamBuffer <span class="hl opt">*</span>bufferStream<span class="hl opt">,</span> <span class="hl kwc">Camera3RequestDescriptor</span><span class="hl opt">::</span>Status status<span class="hl opt">);</span> <span class="hl kwc">protected</span><span class="hl opt">:</span> <span class="hl kwc">std</span><span class="hl opt">::</span>string <span class="hl kwd">logPrefix</span><span class="hl opt">()</span> <span class="hl kwb">const</span> override<span class="hl opt">;</span> <span class="hl kwc">private</span><span class="hl opt">:</span> <span class="hl kwd">LIBCAMERA_DISABLE_COPY_AND_MOVE</span><span class="hl opt">(</span>CameraDevice<span class="hl opt">)</span> <span class="hl kwd">CameraDevice</span><span class="hl opt">(</span><span class="hl kwb">unsigned int</span> id<span class="hl opt">,</span> <span class="hl kwc">std</span><span class="hl opt">::</span>shared_ptr<span class="hl opt"><</span><span class="hl kwc">libcamera</span><span class="hl opt">::</span>Camera<span class="hl opt">></span> camera<span class="hl opt">);</span> <span class="hl kwb">enum</span> <span class="hl kwc">class</span> State <span class="hl opt">{</span> Stopped<span class="hl opt">,</span> Flushing<span class="hl opt">,</span> Running<span class="hl opt">,</span> <span class="hl opt">};</span> <span class="hl kwb">void</span> <span class="hl kwd">stop</span><span class="hl opt">()</span> <span class="hl kwd">LIBCAMERA_TSA_EXCLUDES</span><span class="hl opt">(</span>stateMutex_<span class="hl opt">);</span> <span class="hl kwc">std</span><span class="hl opt">::</span>unique_ptr<span class="hl opt"><</span>HALFrameBuffer<span class="hl opt">></span> <span class="hl kwd">createFrameBuffer</span><span class="hl opt">(</span><span class="hl kwb">const</span> buffer_handle_t camera3buffer<span class="hl opt">,</span> <span class="hl kwc">libcamera</span><span class="hl opt">::</span>PixelFormat pixelFormat<span class="hl opt">,</span> <span class="hl kwb">const</span> <span class="hl kwc">libcamera</span><span class="hl opt">::</span>Size <span class="hl opt">&</span>size<span class="hl opt">);</span> <span class="hl kwb">void</span> <span class="hl kwd">abortRequest</span><span class="hl opt">(</span>Camera3RequestDescriptor <span class="hl opt">*</span>descriptor<span class="hl opt">)</span> <span class="hl kwb">const</span><span class="hl opt">;</span> <span class="hl kwb">bool</span> <span class="hl kwd">isValidRequest</span><span class="hl opt">(</span>camera3_capture_request_t <span class="hl opt">*</span>request<span class="hl opt">)</span> <span class="hl kwb">const</span><span class="hl opt">;</span> <span class="hl kwb">void</span> <span class="hl kwd">notifyShutter</span><span class="hl opt">(</span><span class="hl kwb">uint32_t</span> frameNumber<span class="hl opt">,</span> <span class="hl kwb">uint64_t</span> timestamp<span class="hl opt">);</span> <span class="hl kwb">void</span> <span class="hl kwd">notifyError</span><span class="hl opt">(</span><span class="hl kwb">uint32_t</span> frameNumber<span class="hl opt">,</span> camera3_stream_t <span class="hl opt">*</span>stream<span class="hl opt">,</span> camera3_error_msg_code code<span class="hl opt">)</span> <span class="hl kwb">const</span><span class="hl opt">;</span> <span class="hl kwb">int</span> <span class="hl kwd">processControls</span><span class="hl opt">(</span>Camera3RequestDescriptor <span class="hl opt">*</span>descriptor<span class="hl opt">);</span> <span class="hl kwb">void</span> <span class="hl kwd">completeDescriptor</span><span class="hl opt">(</span>Camera3RequestDescriptor <span class="hl opt">*</span>descriptor<span class="hl opt">)</span> <span class="hl kwd">LIBCAMERA_TSA_EXCLUDES</span><span class="hl opt">(</span>descriptorsMutex_<span class="hl opt">);</span> <span class="hl kwb">void</span> <span class="hl kwd">sendCaptureResults</span><span class="hl opt">()</span> <span class="hl kwd">LIBCAMERA_TSA_REQUIRES</span><span class="hl opt">(</span>descriptorsMutex_<span class="hl opt">);</span> <span class="hl kwb">void</span> <span class="hl kwd">setBufferStatus</span><span class="hl opt">(</span><span class="hl kwc">Camera3RequestDescriptor</span><span class="hl opt">::</span>StreamBuffer <span class="hl opt">&</span>buffer<span class="hl opt">,</span> <span class="hl kwc">Camera3RequestDescriptor</span><span class="hl opt">::</span>Status status<span class="hl opt">);</span> <span class="hl kwc">std</span><span class="hl opt">::</span>unique_ptr<span class="hl opt"><</span>CameraMetadata<span class="hl opt">></span> <span class="hl kwd">getResultMetadata</span><span class="hl opt">(</span> <span class="hl kwb">const</span> Camera3RequestDescriptor <span class="hl opt">&</span>descriptor<span class="hl opt">)</span> <span class="hl kwb">const</span><span class="hl opt">;</span> <span class="hl kwb">unsigned int</span> id_<span class="hl opt">;</span> camera3_device_t camera3Device_<span class="hl opt">;</span> <span class="hl kwc">libcamera</span><span class="hl opt">::</span>Mutex stateMutex_<span class="hl opt">;</span> <span class="hl com">/* Protects access to the camera state. */</span> State state_ <span class="hl kwd">LIBCAMERA_TSA_GUARDED_BY</span><span class="hl opt">(</span>stateMutex_<span class="hl opt">);</span> <span class="hl kwc">std</span><span class="hl opt">::</span>shared_ptr<span class="hl opt"><</span><span class="hl kwc">libcamera</span><span class="hl opt">::</span>Camera<span class="hl opt">></span> camera_<span class="hl opt">;</span> <span class="hl kwc">std</span><span class="hl opt">::</span>unique_ptr<span class="hl opt"><</span><span class="hl kwc">libcamera</span><span class="hl opt">::</span>CameraConfiguration<span class="hl opt">></span> config_<span class="hl opt">;</span> CameraCapabilities capabilities_<span class="hl opt">;</span> <span class="hl kwc">std</span><span class="hl opt">::</span>map<span class="hl opt"><</span><span class="hl kwb">unsigned int</span><span class="hl opt">,</span> <span class="hl kwc">std</span><span class="hl opt">::</span>unique_ptr<span class="hl opt"><</span>CameraMetadata<span class="hl opt">>></span> requestTemplates_<span class="hl opt">;</span> <span class="hl kwb">const</span> camera3_callback_ops_t <span class="hl opt">*</span>callbacks_<span class="hl opt">;</span> <span class="hl kwc">std</span><span class="hl opt">::</span>vector<span class="hl opt"><</span>CameraStream<span class="hl opt">></span> streams_<span class="hl opt">;</span> <span class="hl kwc">libcamera</span><span class="hl opt">::</span>Mutex descriptorsMutex_ <span class="hl kwd">LIBCAMERA_TSA_ACQUIRED_AFTER</span><span class="hl opt">(</span>stateMutex_<span class="hl opt">);</span> <span class="hl kwc">std</span><span class="hl opt">::</span>queue<span class="hl opt"><</span><span class="hl kwc">std</span><span class="hl opt">::</span>unique_ptr<span class="hl opt"><</span>Camera3RequestDescriptor<span class="hl opt">>></span> descriptors_ <span class="hl kwd">LIBCAMERA_TSA_GUARDED_BY</span><span class="hl opt">(</span>descriptorsMutex_<span class="hl opt">);</span> <span class="hl kwc">std</span><span class="hl opt">::</span>string maker_<span class="hl opt">;</span> <span class="hl kwc">std</span><span class="hl opt">::</span>string model_<span class="hl opt">;</span> <span class="hl kwb">int</span> facing_<span class="hl opt">;</span> <span class="hl kwb">int</span> orientation_<span class="hl opt">;</span> CameraMetadata lastSettings_<span class="hl opt">;</span> <span class="hl opt">};</span> </code></pre></td></tr></table> </div> <!-- class=content --> <div class='footer'>generated by <a href='https://git.zx2c4.com/cgit/about/'>cgit v1.2.1</a> (<a href='https://git-scm.com/'>git 2.18.0</a>) at 2025-02-20 06:50:58 +0000</div> </div> <!-- id=cgit --> </body> </html>