diff options
Diffstat (limited to 'src/ipa/raspberrypi/raspberrypi.cpp')
| -rw-r--r-- | src/ipa/raspberrypi/raspberrypi.cpp | 62 |
1 files changed, 32 insertions, 30 deletions
diff --git a/src/ipa/raspberrypi/raspberrypi.cpp b/src/ipa/raspberrypi/raspberrypi.cpp index 0c4752ec..33b316b9 100644 --- a/src/ipa/raspberrypi/raspberrypi.cpp +++ b/src/ipa/raspberrypi/raspberrypi.cpp @@ -54,19 +54,22 @@ namespace libcamera { +using namespace std::literals::chrono_literals; +using utils::Duration; + /* Configure the sensor with these values initially. */ constexpr double DefaultAnalogueGain = 1.0; -constexpr unsigned int DefaultExposureTime = 20000; -constexpr double defaultMinFrameDuration = 1e6 / 30.0; -constexpr double defaultMaxFrameDuration = 1e6 / 0.01; +constexpr Duration DefaultExposureTime = 20.0ms; +constexpr Duration defaultMinFrameDuration = 1.0s / 30.0; +constexpr Duration defaultMaxFrameDuration = 100.0s; /* - * Determine the minimum allowable inter-frame duration (in us) 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. + * 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 double controllerMinFrameDuration = 1e6 / 60.0; +constexpr Duration controllerMinFrameDuration = 1.0s / 60.0; LOG_DEFINE_CATEGORY(IPARPI) @@ -110,7 +113,7 @@ private: void reportMetadata(); void fillDeviceStatus(const ControlList &sensorControls); void processStats(unsigned int bufferId); - void applyFrameDurations(double minFrameDuration, double maxFrameDuration); + 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); @@ -166,9 +169,9 @@ private: /* Distinguish the first camera start from others. */ bool firstStart_; - /* Frame duration (1/fps) limits, given in microseconds. */ - double minFrameDuration_; - double maxFrameDuration_; + /* Frame duration (1/fps) limits. */ + Duration minFrameDuration_; + Duration maxFrameDuration_; }; int IPARPi::init(const IPASettings &settings, ipa::RPi::SensorConfig *sensorConfig) @@ -310,10 +313,10 @@ void IPARPi::setMode(const IPACameraSensorInfo &sensorInfo) mode_.noise_factor = sqrt(mode_.bin_x * mode_.bin_y); /* - * Calculate the line length in nanoseconds as the ratio between - * the line length in pixels and the pixel rate. + * Calculate the line length as the ratio between the line length in + * pixels and the pixel rate. */ - mode_.line_length = 1e9 * sensorInfo.lineLength / sensorInfo.pixelRate; + mode_.line_length = sensorInfo.lineLength * (1.0s / sensorInfo.pixelRate); /* * Set the frame length limits for the mode to ensure exposure and @@ -386,7 +389,7 @@ int IPARPi::configure(const IPACameraSensorInfo &sensorInfo, /* Supply initial values for gain and exposure. */ ControlList ctrls(sensorCtrls_); AgcStatus agcStatus; - agcStatus.shutter_time = DefaultExposureTime; + agcStatus.shutter_time = DefaultExposureTime.get<std::micro>(); agcStatus.analogue_gain = DefaultAnalogueGain; applyAGC(&agcStatus, ctrls); @@ -861,7 +864,7 @@ void IPARPi::queueRequest(const ControlList &controls) case controls::FRAME_DURATION_LIMITS: { auto frameDurations = ctrl.second.get<Span<const int64_t>>(); - applyFrameDurations(frameDurations[0], frameDurations[1]); + applyFrameDurations(frameDurations[0] * 1.0us, frameDurations[1] * 1.0us); break; } @@ -936,9 +939,9 @@ void IPARPi::prepareISP(const ipa::RPi::ISPConfig &data) returnEmbeddedBuffer(data.embeddedBufferId); /* Allow a 10% margin on the comparison below. */ - constexpr double eps = controllerMinFrameDuration * 1e3 * 0.1; + Duration delta = (frameTimestamp - lastRunTimestamp_) * 1.0ns; if (lastRunTimestamp_ && frameCount_ > dropFrameCount_ && - frameTimestamp - lastRunTimestamp_ + eps < controllerMinFrameDuration * 1e3) { + 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 @@ -1011,7 +1014,7 @@ void IPARPi::fillDeviceStatus(const ControlList &sensorControls) int32_t exposureLines = sensorControls.get(V4L2_CID_EXPOSURE).get<int32_t>(); int32_t gainCode = sensorControls.get(V4L2_CID_ANALOGUE_GAIN).get<int32_t>(); - deviceStatus.shutter_speed = helper_->Exposure(exposureLines); + deviceStatus.shutter_speed = helper_->Exposure(exposureLines).get<std::micro>(); deviceStatus.analogue_gain = helper_->Gain(gainCode); LOG(IPARPI, Debug) << "Metadata - Exposure : " @@ -1056,10 +1059,10 @@ void IPARPi::applyAWB(const struct AwbStatus *awbStatus, ControlList &ctrls) static_cast<int32_t>(awbStatus->gain_b * 1000)); } -void IPARPi::applyFrameDurations(double minFrameDuration, double maxFrameDuration) +void IPARPi::applyFrameDurations(Duration minFrameDuration, Duration maxFrameDuration) { - const double minSensorFrameDuration = 1e-3 * mode_.min_frame_length * mode_.line_length; - const double maxSensorFrameDuration = 1e-3 * mode_.max_frame_length * mode_.line_length; + const Duration minSensorFrameDuration = mode_.min_frame_length * mode_.line_length; + const Duration maxSensorFrameDuration = mode_.max_frame_length * mode_.line_length; /* * This will only be applied once AGC recalculations occur. @@ -1075,20 +1078,20 @@ void IPARPi::applyFrameDurations(double minFrameDuration, double maxFrameDuratio /* Return the validated limits via metadata. */ libcameraMetadata_.set(controls::FrameDurationLimits, - { static_cast<int64_t>(minFrameDuration_), - static_cast<int64_t>(maxFrameDuration_) }); + { 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. * GetVBlanking() will update maxShutter with the largest exposure * value possible. */ - double maxShutter = std::numeric_limits<double>::max(); + Duration maxShutter = Duration::max(); helper_->GetVBlanking(maxShutter, minFrameDuration_, maxFrameDuration_); RPiController::AgcAlgorithm *agc = dynamic_cast<RPiController::AgcAlgorithm *>( controller_.GetAlgorithm("agc")); - agc->SetMaxShutter(maxShutter); + agc->SetMaxShutter(maxShutter.get<std::micro>()); } void IPARPi::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls) @@ -1096,9 +1099,8 @@ void IPARPi::applyAGC(const struct AgcStatus *agcStatus, ControlList &ctrls) int32_t gainCode = helper_->GainCode(agcStatus->analogue_gain); /* GetVBlanking might clip exposure time to the fps limits. */ - double exposure = agcStatus->shutter_time; - int32_t vblanking = helper_->GetVBlanking(exposure, minFrameDuration_, - maxFrameDuration_); + Duration exposure = agcStatus->shutter_time * 1.0us; + int32_t vblanking = helper_->GetVBlanking(exposure, minFrameDuration_, maxFrameDuration_); int32_t exposureLines = helper_->ExposureLines(exposure); LOG(IPARPI, Debug) << "Applying AGC Exposure: " << exposure |